Cleaning device

Abstract

Cleaning device (1000), comprising: a device body (110); a movement mechanism (190), wherein the movement mechanism (190) is arranged on each of the two sides of the device body (110); a filter box (120); at least one dirt inlet (1111) arranged on a bottom or side section of the device body (110); and a main drive pump (210), wherein the main drive pump (210) is arranged in the device body (110) and is configured to drive the water to flow through the at least one dirt inlet (1111) to the filter box (120); characterized by the fact that the cleaning device (1000) further comprises a camera unit (140a), at least one additional light element (140b), and at least one first detection assembly (130), where the camera unit (140a) is arranged on a front side of the cleaning device (1000); that at least one additional light element (140b) is arranged on a front side of the cleaning device (1000); the at least one first detection assembly (130) is arranged at the front of the cleaning device (1000) and is configured to detect a distance between an obstacle and the at least one first detection assembly (130), and the camera unit (140a) and the at least one first detection assembly (130) are arranged at different heights on the front of the cleaning device (1000).

Description

TECHNICAL AREA

[0001] The present disclosure relates to the technical field of operating devices used in liquids, and in particular a cleaning device. BACKGROUND

[0002] As people's living standards improve, more and more are choosing swimming as a form of exercise that not only enhances enjoyment of life but also strengthens physical fitness. Furthermore, the water quality of a swimming pool is also receiving considerable attention.

[0003] In a related technology, a specialized underwater cleaning device is typically used to clean the swimming pool and improve its water quality. However, the surface topography of the swimming pool is complex and varied, and the existing cleaning device, due to its design, cannot identify any specific surface topography. Consequently, the cleaning device's movement is limited. REVELATION OF THE INVENTION

[0004] The present disclosure provides a cleaning device. The cleaning device comprises a device body; a movement mechanism, wherein the movement mechanism is arranged on each of the two sides of the device body; a filter box; at least one dirt inlet, wherein the at least one dirt inlet is arranged on a bottom or a side section of the cleaning device; a main drive pump, wherein the main drive pump is arranged in the device body and is configured to drive the water to flow through the at least one dirt inlet into the filter box; a camera unit; at least one light accessory element; and at least one first detection assembly.The camera unit is arranged on the front of the cleaning device, as is the at least one additional light element, and the at least one first detection assembly is also arranged on the front of the cleaning device and configured to detect the distance between itself and an obstacle. The camera unit and the first detection assembly are arranged at different heights on the front of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a schematic structural view of a cleaning device according to an embodiment of the present disclosure; Fig. Figure 2 is a schematic view of a cleaning device according to the present disclosure, which is located on a target floor wall of a target area; Fig. Figure 3 is a schematic view of a cleaning device according to the present disclosure, which is located on a target side wall of a target area; Fig. 4 is a side view of a cleaning device according to a further embodiment of the present disclosure; Fig. 5 is a principal view of a cleaning device according to a further embodiment of the present disclosure; Fig. Figure 6 is a schematic structural view of the connection between a camera unit, a light accessory element and a mounting plate of an image sensor assembly of a cleaning device according to the present disclosure; Fig. Figure 7 is a schematic structural view of the connection between a control system and part of a structure of an electronic control box of a cleaning device according to the present disclosure; Fig. Figure 8 is a schematic exploded view of the structure of an image sensor assembly of a cleaning device according to an embodiment of the present disclosure; Fig. Figure 9 is a schematic structural view of a heat sink of an image sensor assembly of a cleaning device according to an embodiment of the present disclosure; Fig. 10 is a principal view of a cleaning device according to an embodiment of the present disclosure; Fig. Figure 11 is a partially schematic view of a cleaning device according to an embodiment of the present disclosure; Fig. 12 is a bottom view of a cleaning device according to a further embodiment of the present disclosure; Fig. 13 is a side view of a cleaning device according to a fourth embodiment of the present disclosure; Fig. 14 is a sectional view of a cleaning device according to a further embodiment of the present disclosure; Fig. Figure 15 is a partially schematic structural view of the base of a cleaning device according to an embodiment of the present disclosure; and Fig. Figure 16 is a partially schematic structural view of a floor of a cleaning device according to a further embodiment of the present disclosure. Fig. 17 is a schematic structural diagram of a cleaning device according to the present disclosure; Fig. Figure 18 is a schematic diagram of a cleaning device according to the present disclosure, after some components have been removed; Fig. Figure 19 is a schematic structural diagram of a horizontal section of a cleaning device according to the present disclosure; Fig. Figure 20 is a schematic structural diagram of a longitudinal section of a cleaning device according to the present disclosure; Fig. 21 is a side view of a cleaning device according to a fifth embodiment of the present disclosure; Fig. Figure 22 is a side view of a cleaning device according to a sixth embodiment of the present disclosure; and Fig. Figure 23 is a partial side exploded view of a cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0005] The technical solutions in embodiments of the present disclosure are described below with reference to the accompanying drawings. It is understood that the described embodiments represent only some, but not all, embodiments of the present disclosure. All other embodiments that a person skilled in the art in this field obtains without creative effort based on the embodiments of the present disclosure fall within the scope of protection of the present disclosure.

[0006] See Fig. 1, Fig. 2 to Fig. 3. Fig. Figure 1 is a schematic structural view of a cleaning device according to an embodiment of the present disclosure. Fig. Figure 2 is a schematic view of a cleaning device according to the present disclosure, which is located on a target floor wall of a target area. Fig. Figure 3 is a schematic view of a cleaning device according to the present disclosure, located on a target sidewall of a 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. For example, the target area 100 can be, but is not limited to, a swimming pool, a pipe, a ship's hull, an oil well, or the like. The target area 100 comprises a movement area 101. The movement area 101 is part of a surface to be cleaned, and this part is in contact with a movement mechanism 190. The movement area 101 comprises a target sidewall 1011 and a target bottom wall 1012.In embodiments of the present disclosure, an example is used for description in which the cleaning device 1000 is used to clean a swimming pool. The target side wall 1011 can be a side wall of the swimming pool, and the target bottom wall 1012 can be a bottom wall of the swimming pool.

[0007] The cleaning device 1000 has a first side 113 and a second side 114, which are opposite each other, a third side 115 and a fourth side 116, which are opposite each other, and a fifth side 117 and a sixth side 118, which are opposite each other. The first side 113 is located on a front section of the cleaning device 1000. The second side 114 is located on a rear section of the cleaning device 1000. The third side 115 is located on a left side of the cleaning device 1000. The fourth side 116 is located on a right side of the cleaning device 1000. The fifth side 117 is located on a bottom of the cleaning device 1000. The sixth side 118 is located on a top of the cleaning device 1000.

[0008] Fig. Figure 4 is a side view of a cleaning device according to a further embodiment of the present disclosure. Fig. Figure 5 is a principal view of a cleaning device according to a further embodiment of the present disclosure. The cleaning device 1000 comprises a cleaning device body 110. The cleaning device body 110 serves as a support for other components of the cleaning device 1000, and the cleaning device body 110 can be a frame of the cleaning device 1000. The cleaning device 1000 further comprises at least one dirt inlet 1111, at least one filter box 120, at least one group of detection assemblies 130, and a control system 231.

[0009] The at least one dirt inlet 1111 is arranged on the cleaning device body 110, so that a dust-laden water stream can enter the cleaning device body 110 through the dirt inlet 1111. The at least one filter box 120 can be removably arranged in the cleaning device body 110. The filter box 120 has a water stream inlet. The water stream inlet is in fluid communication with the at least one dirt inlet 1111. The dust-laden water stream in the target area 100 can enter the filter box 120 sequentially through the dirt inlet 1111 and the water stream inlet.

[0010] With reference to Fig. The cleaning device body 110 comprises a first receiving chamber 111. The first receiving chamber 111 is connected to an external environment via the dirt inlet 1111, so that the target area 100 is connected to the first receiving chamber 111 via the dirt inlet 1111 when the cleaning device 1000 enters the target area 100. The filter box 120 can be removably arranged in the first receiving chamber 111. The dirt inlet 1111 is configured as an opening through which the dust-laden water stream can enter the filter box 120 from outside the cleaning device body 110. The dust-laden water stream is filtered by the filter box 120 and then expelled from the cleaning device body 110 to clean the target area 100. The filter box 120 is at least partially removable and is installed in the first recording chamber 111, so that the filter box 120 can be removed.This makes it easier to clean the waste in the filter box 120.

[0011] The at least one group of detection assemblies 130 is arranged on a side surface of the cleaning device body 110, for example on one or more of the first side 113 to the sixth side 118, or at a connection point between side surfaces of the cleaning device body 110, for example a connection point between the first side 113 and the third side 115, a connection point between the second side 114 and the third side 115, a connection point between the first side 113 and the fourth side 116, or a connection point between the second side 114 and the fourth side 116. The detection assembly 130 is configured to identify an obstacle in the target area 100.The control system 231 is electrically connected to the at least one group of sensing modules 130 in order to set the operating position of the cleaning device 1000 based on information from the sensing modules 130. The control system 231 can be located in the electronic control box 220 of the cleaning device 1000. A section within the electronic control box 220 is closed or sealed.

[0012] During operation of the cleaning device 1000, the sensing assembly 130 can detect the wall topography of the target area 100 facing the sensing assembly 130 in real time, and the control system 231 can adjust the operating position of the cleaning device 1000 based on the wall topography identified by the sensing assembly 130. In one embodiment, the sensing assembly 130 is located on the third side 115 or the fourth side 116 of the cleaning device 1000. When the cleaning device 1000 moves along the target side wall 1011 and the sensing assembly 130 identifies that the cleaning device 1000 is moving along the curved target side wall 1011, the control system 231 can adjust a movement path for the cleaning device 1000 corresponding to the curved side wall and adjust the operating position of the cleaning device 1000 based on this movement path.In this way, the following scenario can be avoided: the cleaning device 1000 slips off the edge of the target sidewall 1011, climbs vertically along the target sidewall 1011, or strikes the target sidewall 1011 directly, causing the cleaning device 1000 to tip over or be damaged. The detection assembly 130 is arranged so that the cleaning device 1000 can move safely and perform cleaning along the edge. Furthermore, the detection assembly 130 can determine a distance between itself and a target sidewall 1011 opposite the detection assembly 130, allowing the cleaning device 1000 to move along the edge at a specific distance from the target sidewall 1011 and perform the cleaning. This prevents the cleaning device 1000 from scraping along the target sidewall 1011.The area topographies of the target area 100 can further include a topography of an object within the target area 100. The object within the target area 100 can be a fixture located within the target area 100, for example, a ladder, or an obstacle present within the target area 100, for example, a stone. The control system 231 can set the operating state of the cleaning device 1000 based on a distance between the detection assembly 130 and the fixture or obstacle within the target area 100 that is detected by the detection assembly 130. For example, if the detection assembly 130 detects that an obstacle is located within a preset area in front of the cleaning device 1000, the control system 231 sets the operating state of the cleaning device 1000 when the cleaning device 1000 moves to avoid the obstacle.

[0013] The detection assembly 130 comprises at least one first detection sub-assembly 131 and one second detection sub-assembly 132. The first detection sub-assembly 131 is distinct from the second detection sub-assembly 132 and is located in its vicinity. The first detection sub-assembly 131 and the second detection sub-assembly 132 can be arranged to the left and right, vertically, or offset on a side face. The first detection sub-assembly 131 and the second detection sub-assembly 132 are arranged to extend an identification area, making it easier to identify a specific area topography. The control system 231 can then adjust the operation of the cleaning device 1000 based on the area topography identified by the detection assembly 130, so that the movement of the cleaning device 1000 is not restricted by the varying area topographies of the target area 100.

[0014] The cleaning device 1000 in a related technology cannot identify the curved target sidewall 1011, which causes the cleaning device 1000 to slip off the edge of the target sidewall 1011, climb in the vertical direction of the target sidewall 1011, or collide directly with the target sidewall 1011 when moving towards the curved target sidewall 1011. Consequently, the movement of the cleaning device 1000 is restricted.

[0015] In some embodiments, the cleaning device 1000 comprises two groups of detection assemblies 130. One group of detection assemblies 130 is arranged on the first side 113 of the cleaning device body 110. The other group of detection assemblies 130 is arranged on the fourth side 116 adjacent to the first side 113. The group of detection assemblies 130 arranged on the first side 113 of the cleaning device body 110 is configured to identify an area topography of the target area 100 located in front of the cleaning device body 110, for example, a wall topography of a target side wall 1011 opposite the first side 113 and / or a distance between the first side 113 and the corresponding target side wall 1011.The other group of detection assemblies 130, located on the fourth side 116 of the cleaning device body 110, is configured to identify an area topography of the target area 100 on one side of the cleaning device body 110, for example, a wall topography of a target side wall 1011 opposite the fourth side 116 and / or a distance between the fourth side 116 and the corresponding target side wall 1011. The two groups of detection assemblies 130 are arranged to improve identification sensitivity and reduce the probability of incorrect decisions. Furthermore, identification efficiency is improved.In this way, the following case can be avoided: the operating position of the cleaning device 1000 cannot be adjusted, which causes the cleaning device 1000 to slip off the edge of the target side wall 1011, climb in the vertical direction of the target side wall 1011, or hit the target side wall 1011 directly.

[0016] In some embodiments, the cleaning device 1000 comprises two groups of detection assemblies 130. One group of detection assemblies 130 is arranged on the first side 113 of the cleaning device body 110. The other group of detection assemblies 130 is arranged on the third side 115 adjacent to the first side 113. In other embodiments, the cleaning device 1000 comprises three groups of detection assemblies 130. The three groups of detection assemblies 130 are arranged on the first side 113, the third side 115, and the fourth side 116 of the cleaning device body 110, respectively.

[0017] In some embodiments, the first detection subassembly 131 is an infrared sensor and the second detection subassembly 132 is an ultrasonic sensor. The ultrasonic sensor has a large detection range and can detect an obstacle far away from the cleaning device 1000. The infrared sensor has a small detection range and can only detect an obstacle near the cleaning device 1000. In practice, the ultrasonic sensor is used as the primary detection component and the infrared sensor as an auxiliary detection component. However, if the cleaning device 1000 is near the obstacle and the obstacle has a particular shape, the detection performance of the infrared sensor is better than that of the ultrasonic sensor.For example, if a boundary of the target sidewall 1011 is curved and the wall has a steep incline, the ultrasonic sensor may not receive a returned signal and therefore may not obtain distance data after sending a detection signal to the wall. As a result, the ultrasonic sensor may incorrectly identify the boundary as the operating area, causing the cleaning device 1000 to climb vertically along the target sidewall 1011 or to collide directly with it. The infrared sensor can be positioned to more accurately detect the target sidewall 1011 near the cleaning device 1000. In this way, the infrared and ultrasonic sensors can work together to detect the area topography of the target area 1000.For example, if the cleaning device 1000 needs to identify the boundary of the target side wall 1011 and both the ultrasonic sensor and the infrared sensor can obtain distance data, the boundary of the target side wall 1011 of the target area 100 is straight, or if the ultrasonic sensor cannot obtain distance data and the infrared sensor can obtain the distance data, the boundary of the target side wall 1011 of the target area 100 is arc-shaped.

[0018] In one embodiment, the first detection subassembly 131 and the second detection subassembly 132 can both be ultrasonic sensors or infrared sensors.

[0019] In some embodiments, the boundary of the target side wall 1011 is identified by the detection assembly 130, so that the cleaning device 1000 can move along the target side wall 1011, and as the cleaning device 1000 moves along the edge, the detection assembly 130 can record a path of motion, a distance of motion and a change in the wall topography of the target side wall 1011 that is present when the cleaning device 1000 moves in a circle around the target side wall 1011, and wherein a map of the target area 100 can be generated based on the path of motion, the distance of motion and the change in the wall topography of the target side wall 1011 that is present when the cleaning device 1000 moves in a circle around the target side wall 1011.The acquisition unit 130 is arranged so that map creation can be completed after the cleaning device 1000 has moved in a circle around the target side wall 1011, which saves time and is efficient. This effectively improves the efficiency of map creation.

[0020] In some embodiments, the operating position of the cleaning device 1000 can be further adjusted via an inertial measurement unit (IMU) after the detection assembly 130 has identified the area topography.

[0021] In one embodiment, the cleaning device 1000 further comprises an image sensor assembly 140. The image sensor assembly 140 is configured to capture an image of the target area 100, and the captured image is processed by a control assembly to control an action or behavior of the cleaning device 1000. For example, the image sensor assembly 140 is configured to capture an environment of the target area 100 and identify an image feature, so that functions such as localization, target identification, mapping, obstacle avoidance, and the like are implemented based on the image feature.For example, a previous frame of a captured image is compared with a subsequent frame of a captured image to correct a positioning error due to the cleaning device 1000 slipping or tipping over, an accumulated error of the cleaning device 1000's inertial measurement unit, or the like. Furthermore, images are continuously captured during the operation of the cleaning device 1000. If the cleaning device 1000 determines that the mapping process is complete and such an image matches a historical image, the cleaning device 1000 can reposition itself if it has become lost. Additionally, a specific target can be identified, and it can be determined whether this target is debris to be vacuumed up or an obstacle to be avoided.The image sensor assembly 140 and / or the detection assembly 130 can be configured to plan a movement path for the cleaning device 1000, enabling the cleaning device 1000 to regularly clean the target area 100 and create a map. This can improve the cleaning efficiency and effectiveness of the cleaning device 1000.

[0022] See Fig. 6. Fig. Figure 6 is a schematic structural view of the connection between a camera unit, a light source, and a mounting plate of an image sensor assembly of a cleaning device according to the present disclosure. The image sensor assembly 140 comprises a camera unit 140a and several light sources 140b. The camera unit 140a is configured to capture an image of the target area 100. The light source 140b is configured to adjust the brightness of an area captured by the camera unit 140a.

[0023] The camera unit 140a and the light element 140b can be arranged on any side face of the cleaning device body 110. For example, the image sensor assembly 140 can be oriented in the forward direction of the cleaning device 1000, i.e., the image sensor assembly 140 can be arranged on the first side 113. The camera unit 140a and the light element 140b can be located on one side of the cleaning device body 110, and this side of the cleaning device body 110 is provided with the dirt inlet 1111. If the camera unit 140a detects, through target identification, that there is debris within its field of view, the cleaning device 1000 can move specifically to the area of ​​debris and perform spot cleaning of that area. This improves the cleaning effect of the cleaning device 1000.In some embodiments, when the camera unit 140a detects that debris is within its field of view, the image sensor assembly 140 can position the debris and plan a movement path based on the debris's location. The cleaning device 1000 then moves along the planned path, bringing a first debris inlet 1111a close to the debris. When the first debris inlet 1111a is close to the debris, a locking door 119 at the first debris inlet 1111a opens, allowing the debris to be sucked into the filter box 120. In this case, no cleaning mechanism needs to be started, thus conserving energy. Furthermore, the cleaning device 1000 moves along the planned path, preventing the debris from entering a dead / blind area of ​​the camera unit 140a.

[0024] With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4 to Fig. 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 an edge of the dirt inlet 1111 and is configured to direct at least some of the waste in the target area 100 to a working area of ​​the dirt inlet 1111 or to scrub the target side wall 1011 of the target area 100. The second auxiliary cleaning assembly 160 is configured to spray water onto an area of ​​the target area 100 to be cleaned in order to direct at least some of the waste to the working area of ​​the dirt inlet 1111 or to rinse the target side wall 1011 or the target bottom wall 1012 of the target area 100. A projection of the first auxiliary cleaning assembly 150 on the movement area 101 extends at least partially beyond a projection of an outer contour of a track 193 on the movement area 101.

[0025] The cleaning device 1000 further comprises a drive assembly 180 and a movement mechanism 190. The drive assembly 180 is configured to drive the cleaning device 1000 to move on the water surface or in the water of the target area 100. The movement mechanism 190 is configured to drive the cleaning device 1000 to move on the movement surface 101 of the target area 100. The movement mechanisms 190 are arranged substantially symmetrically on both sides of the cleaning device 1000. In some embodiments, the cleaning device 1000 comprises at least two movement mechanisms 190 to drive the cleaning device 1000 to move on the target bottom wall 1012 and the target side wall 1011. A movement mechanism 190 is arranged on one side of the cleaning device body 110, for example on the third side 115 of the cleaning device body 110.The other movement mechanism 190 is arranged on a different side opposite the side of the cleaning device body 110, for example on the fourth side 116 of the cleaning device body 110. The movement mechanism 190 is configured to drive the cleaning device 1000 to move.

[0026] In some embodiments, the cleaning device 1000 further comprises an adjustment assembly 235. The adjustment assembly 235 is connected to the control system 231. Based on the brightness level of an image captured by the camera unit 140a, the control system 231 can determine the brightness level of the environment in which the camera unit 140a is currently located. Based on the brightness level of the environment in which the cleaning device 1000 is currently located, the control system 231 can then control the adjustment assembly 235 to adjust the additional brightness of the light element 140b. The adjustment of the adjustment assembly 235 for the light element 140b can include switching the light element 140b on, switching it off, increasing the brightness of the light element 140b, and decreasing the brightness of the light element 140b.For example, if the camera unit 140a is in a low-light or backlit environment, the brightness of the light source 140b is increased by the adjustment assembly 235 based on the brightness level of the light or the degree of backlighting to improve the resolution of the image captured by the camera unit 140a. If the camera unit 140a is in a bright-light environment, the light source 140b is switched off or its brightness is decreased by the adjustment assembly 235 to reduce the power consumption of the cleaning device 1000 without affecting the resolution of the image captured by the camera unit 140a.In some embodiments, the control system 231 can control the setting assembly 235 based on an exposure level of the image captured by the camera unit 140a in order to set an exposure parameter of the camera unit 140a and thus improve the image quality of the camera unit 140a.

[0027] In some embodiments, the control system 231 can control the adjustment assembly 235 based on the current state and / or acquisition data of the cleaning device 1000 such that the light accessory 140b is continuously switched off or the brightness of the light accessory 140b is reduced. The current state of the cleaning device 1000 can include its position. The acquisition data of the cleaning device 1000 can include, but is not limited to, the brightness level of the environment as detected by the cleaning device 1000 in which the camera unit 140a is currently located.

[0028] If the current state and / or the acquisition data of the cleaning device 1000 meet a preset condition, the auxiliary light element 140b is continuously switched off or its brightness remains within a defined range until a condition for switching the auxiliary light element 140b on or increasing its brightness is met. For example, if the brightness level reaches a preset threshold within a preset time, the cleaning device 1000 may be in a scenario where it is about to make contact with the target side wall 1011. In this case, the auxiliary light element 140b is continuously switched off or its brightness is reduced.When the cleaning device 1000 is almost perpendicular to a horizontal plane and the first side 113 faces upwards, the cleaning device 1000 may be in a scenario where it is about to climb from the target bottom wall 1012 to the target side wall 1011 or a platform. In this case, the light accessory 140b is continuously switched off or its brightness is reduced. This prevents the following scenario: the brightness is frequently adjusted using the light accessory 140b due to a misjudgment of the frequent changes in the ambient brightness level of the environment in which the camera unit 140a is located, leading to increased consumption of the light accessory 140b and negatively impacting the user experience. This improves the operational efficiency of the light accessory 140b.

[0029] In some embodiments, the cleaning device 1000 further comprises a targeting assembly 236. The targeting assembly 236 has an identification function and a targeting function. The targeting assembly 236 is connected to the camera unit 140a. The targeting assembly 236 can determine a specific target in the target area 100 based on a captured image in a manner such as machine learning, so that the cleaning device 1000 can perform obstacle avoidance or move to the specific target to perform cleaning.For example, if the locator assembly 236 identifies a fixed object such as a ladder or an obstacle such as a stone, the cleaning device 1000 performs obstacle avoidance. Similarly, if the locator assembly 236 identifies debris such as a leaf or a cleanable area such as a platform, the cleaning device 1000 moves to the debris or cleanable area to perform the cleaning. Furthermore, the locator assembly 236 can identify the structure of the target from the acquired image, allowing the cleaning device 1000 to complete cleaning one area before moving on to another. This prevents the cleaning device 1000 from moving to another area before completing cleaning the area where it is located.

[0030] In some embodiments, the detection assembly 236 can also track waste. This prevents the waste from entering the blind spot of the camera unit 140a and thus from being cleaned.

[0031] In some embodiments, the image sensor assembly 140 and / or the destination assembly 236 are activated in a specific cleaning mode. The specific cleaning mode can be executed independently after activation or after completion of a conventional cleaning mode. This is not limited herein. A conventional cleaning mode is a mode in which the image sensor assembly 140 and / or the destination assembly 236 are not activated. In particular, the specific cleaning mode is a mode in which the cleaning device 1000 travels along a preset cleaning path, for example, an arc-shaped path (the arc-shaped path means that two adjacent paths run parallel to each other and the pool robot moves along the two adjacent paths in two opposite forward directions) or a square spiral path, within the target area 100 and performs a cleaning action.If, during the cleaning process, a specific target, such as a leaf, is detected within target area 100, the cleaning device moves to that target to perform the cleaning. Once cleaning is complete, the cleaning device 1000 can reverse to return to its original cleaning path and continue along the preset cleaning path. Whether the cleaning of the specific target is complete can be determined in several ways. For example, the determination assembly 236 can directly identify whether the target has been cleaned, or a determination condition can be preset, and when that condition is met, the cleaning is considered complete.For example, the determining condition is a time condition, and if the cleaning device 1000 remains at the specified target for a preset time, the cleaning is considered complete. The specific content of the determining condition is not limited here.

[0032] In some embodiments, the distance between adjacent subpaths of the preset cleaning path can be dynamically adjusted in the specific cleaning mode. For example, if the detection assembly 236 does not identify any waste on a successive preset number of adjacent subpaths, the cleaning device 1000 is controlled to increase the distance between adjacent subpaths to be traversed. For example, the distance is adjusted from a first path distance to a second path distance, where the second path distance is greater than the first path distance.When the detection unit 236 identifies waste on the successive preset number of adjacent subpaths, or identifies multiple pieces of waste on a single subpath, the cleaning device 1000 is controlled to adjust the distance between the adjacent subpaths to be traversed from the second path distance to the first path distance, or to any distance smaller than the second path distance. This improves the cleaning effect and efficiency.

[0033] In some embodiments, a stop condition is included when the cleaning device is in a specific cleaning mode. The stop condition can be the completion of the journey through the target area 100 or the end time of the cleaning, which is estimated based on an area of ​​the target area 100. The area of ​​the target area 100 can be estimated after the mapping module 234 has created a map of the target area 100.

[0034] In some embodiments, a platform cleaning function is also performed when the cleaning device is in the specific cleaning mode. A platform can be a surface in the target area 100, wherein the surface is higher than the target floor wall 1012 and has a step.

[0035] See Fig. 1 and Fig. 8. Fig. Figure 8 is a schematic exploded view of the structure of an image sensor assembly of a cleaning device according to an embodiment of the present disclosure. The cleaning device body 110 comprises a second receiving chamber 112. The image sensor assembly 140 is arranged in the second receiving chamber 112. The second receiving chamber 112 has a first opening 112a. The first opening 112a can be arranged on any side of the cleaning device body 110. For example, the first opening 112a can be arranged on the first side 113 of the cleaning device body 110. The image sensor assembly 140 further comprises a receiving chamber 141 and a mounting plate 142, as well as a light transmission element 143, which are arranged in the receiving chamber 141.The receiving chamber 141 is a base carrier of the image sensor assembly 140, provides receiving space and fixed positions for the mounting plate 142, the light transmission part 143, the camera unit 140a and the light accessory element 140b as well as other components of the image sensor assembly 140 and protects the mounting plate 142, the light transmission part 143, the camera unit 140a and the light accessory element 140b as well as other components of the image sensor assembly 140 from water, vibrations and the like.

[0036] The receiving chamber 141 is mounted within the second receiving chamber 112. Mounting methods include screw fixing, rivet fixing, bolt fixing, pin and wedge fixing, welding fixing, adhesive fixing, snap fixing, magnetic adsorption fixing, and the like. However, this list is not limited to these methods.

[0037] The mounting plate 142 is arranged at one end of the receiving chamber 141, the end of which is provided with a chamber opening 141a, and the mounting plate 142 is located within the receiving chamber 141. The camera unit 140a and the light accessory 140b are mounted on the mounting plate 142. The mounting plate 142 can be integrally formed with the receiving chamber 141 to ensure the structural strength of the mounting plate 142 and the sealing effect between the mounting plate 142 and the receiving chamber 141. Alternatively, the mounting plate 142 can be rigidly connected to the receiving chamber 141.

[0038] The image sensor assembly 140 can comprise several light source elements 140b. The multiple light source elements 140b are arranged around the camera unit 140a. In embodiments of the present disclosure, an example is used for description in which the image sensor assembly 140 comprises two light source elements 140b. One light source element 140b is arranged on one side of the camera unit 140a, and the other light source element 140b is arranged on the other side of the camera unit 140a. In some embodiments, an optical axis of the camera unit 140a is located lower than the center of the light source element 140b. For example, the camera unit 140a is closer to the fifth side 117 of the cleaning device 1000 than the light accessory element 140b, in order to avoid the following case: light radiates from the light accessory element 140b to the camera unit 140a, resulting in overexposure of an image taken by the camera unit 140a.

[0039] In some embodiments, a connecting line between a center of the camera unit 140a and the centers of the two light accessory elements 140b can run parallel to an arrangement direction of the third side 115 and the fourth side 116 of the cleaning device 1000.

[0040] In some embodiments, one side of the mounting plate 142 faces the chamber opening 141a, and wherein the side has a first surface 1422, a second surface 1423 and a third surface 1424 which are connected successively, as in Fig. Figure 6 shows that one side of each of the first surface 1422 and the second surface 1423 faces away from the chamber opening 141a, forming an enclosed angle between the sides, and the enclosed angle being obtuse. One side of each of the second surface 1423 and the third surface 1424 faces away from the chamber opening 141a, also forming an enclosed angle between the sides, and the enclosed angle being obtuse. The camera unit 140a is located on the second surface 1423. One light source element 140b is located on the first surface 1422. The other light source element 140b is located on the third surface 1424. The irradiation areas of the light sources elements 140b on two sides of the camera unit 140a differ from the field of view of the camera unit 140a.In this way, if the field of view of the camera unit 140a is tilted downwards, the following case can be avoided: the light in the field of view of the camera unit 140a is too strong, which leads to overexposure of an image taken by the camera unit 140a.

[0041] In some embodiments, the image sensor assembly 140 further comprises a light shielding element 1421. The light shielding element 1421 is mounted on the mounting plate 142. The light shielding element 1421 is arranged on a circumference of the camera unit 140a or on an edge of a side of the camera unit 140a, the side of the camera unit 140a being located close to the light accessory element 140b.

[0042] The light transmission part 143 covers the chamber opening 141a of the receiving chamber 141. The light transmission part 143 is located on one side of the mounting plate 142, and this side of the mounting plate 142 is located near the chamber opening 141a of the receiving chamber 141. The camera unit 140a can capture the target area 100 through the light transmission part 143. Light from the light accessory element 140b can pass through the light transmission part 143.

[0043] To ensure the image quality of the camera unit 140a, the service life of the camera unit 140a and the service life of the light accessory element 140b, a certain sealing effect must be ensured between the light transmission part 143 and the recording chamber 141 to prevent liquid from entering a gap between a light transmission lens and the mounting plate 142 or moisture from adhering to the side of the light transmission part 143 where the side of the light transmission part 143 faces the mounting plate 142.

[0044] In some embodiments, the receiving chamber 141 and the light transmission part 143 are sealed using a sealant. The receiving chamber 141 and the light transmission part 143 are sealed using the sealant so that the liquid in the target area 100 cannot penetrate from a gap between the receiving chamber 141 and the light transmission part 143 into the gap between the light transmission part 143 and the mounting plate 142.

[0045] The rear panel 147 is provided with an opening 147a that communicates with the interior of the receiving chamber 141. The opening 147a is configured to allow the insertion of a cable harness 1463. A sleeve seat 148 is arranged at one edge of the opening 147a. The sleeve seat 148 is configured to seal the opening 147a and the cable harness 1463.

[0046] In some embodiments see Fig. 9. Fig. Figure 9 is a schematic structural view of a heat sink of an image sensor assembly of a cleaning device according to an embodiment of the present disclosure. The image sensor assembly 140 further comprises a heat dissipation element 1491. The heat dissipation element 1491 is arranged on an inner wall of the receiving chamber 141, on a side of the rear panel 147 where the side faces the mounting plate 142, and / or on a side of the mounting plate 142 where the side faces the rear panel 147. The heat dissipation element 1491 is thermally connected to the inner wall of the receiving chamber 141, the rear panel 147, and / or the mounting plate 142. The heat dissipation part 1491 can absorb the heat generated by a heat dissipation component inside the receiving chamber 141 and transfer the heat to the inner wall of the receiving chamber 141, so that the heat is released to the outside environment via the inner wall of the receiving chamber 141.

[0047] In some embodiments, the image sensor assembly 140 further comprises a thermally conductive material 1492. The thermally conductive material 1492 is arranged between the inner wall of the receiving chamber 141 and the heat dissipation part 1491, between the backplate 147 and the heat dissipation part 1491, and / or between the mounting plate 142 and the heat dissipation part 1491. The thermally conductive material 1492 can be a product with high thermal conductivity, for example, thermally conductive silica gel, thermally conductive silicone grease, or a soft silica gel thermal pad.

[0048] In some embodiments, it can refer to Fig. 1. Provide one or more dirt inlets 1111, which may be located on the bottom of the cleaning device 1000 or on a front, top, or the like of the cleaning device 1000. For example, the dirt inlets 1111 include the first dirt inlet 1111a, located on the first side 113 of the cleaning device 1000, and / or the second dirt inlet 1111b, located on the fifth side 117 of the cleaning device 1000. In particular, the first dirt inlet 1111a may be located on the first side 113 of the cleaning device body 110, with the position being near the sixth side 118. The second dirt inlet 1111b may be located on the fifth side 117 of the cleaning device body 110, with the position being near the first side 113. However, this is not limited to.

[0049] In some embodiments, the first auxiliary cleaning assembly 150 is arranged near the first dirt inlet 1111a and / or the second dirt inlet 1111b, for example, at an edge of the first dirt inlet 1111a. At least a portion of the first auxiliary cleaning assembly 150 is located upstream of the dirt inlet 1111 in order to direct at least a portion of the debris from outside the working area of ​​the dirt inlet 1111 into the working area of ​​the dirt inlet 1111. The cleaning device 1000 can comprise two first auxiliary cleaning assemblies 150. The two first auxiliary cleaning assemblies 150 are arranged opposite each other on opposite sides of the dirt inlet 1111, for example, on opposite sides of the first dirt inlet 1111a or on opposite sides of the second dirt inlet 1111b. The first auxiliary cleaning assemblies 150 can rotate towards the dirt inlet 1111 to direct the waste to the working area of ​​the dirt inlet 1111.Of course, the first auxiliary cleaning assembly 150 can alternatively be arranged in a different position, provided that it can be ensured that the first auxiliary cleaning assembly 150 can direct the waste to the working area of ​​the dirt inlet 1111.

[0050] In some embodiments, at least a part of the first auxiliary cleaning assembly 150 is located in the direction of movement of the cleaning device 1000 in front of the first dirt inlet 1111a in order to direct a water flow from outside the working area of ​​the first dirt inlet 1111a to the working area of ​​the first dirt inlet 1111a.

[0051] In embodiments of the present disclosure, an example is used for description in which the first auxiliary cleaning assembly 150 directs floating debris on the water surface of the target area 100 to the working area of ​​the first dirt inlet 1111a when the cleaning device 1000 moves on the water surface of the target area 100. When the cleaning device 1000 moves on the water surface of the target area 100, at least a part of the first auxiliary cleaning assembly 150 is exposed above the water surface, i.e.,, the first auxiliary cleaning assembly 150 is completely exposed above the water surface, and there is a preset distance between the first auxiliary cleaning assembly 150 and a horizontal plane; or the first auxiliary cleaning assembly 150 is completely exposed at the water surface and the first auxiliary cleaning assembly 150 faces the water surface and is in contact with it, or part of the first auxiliary cleaning assembly 150 is immersed in liquid and another part of the first auxiliary cleaning assembly 150 is exposed at the water surface.When the cleaning device 1000 cleans the water surface of the target area 100 using the first auxiliary cleaning assembly 150, the locking door 119 is opened to expose the first dirt inlet 1111a, and the first auxiliary cleaning assembly 150 rotates to push the debris floating on the water surface of the target area 100 towards the working area of ​​the first dirt inlet 1111a, so that the debris is sucked in through the first dirt inlet 1111a.

[0052] With reference to Fig. 1, Fig. 5 and Fig. 10. The cleaning device 1000 can comprise two first auxiliary cleaning assemblies 150, one of which is arranged at the junction between the first side 113 and the third side 115, and the other of which 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 debris on the first side 113, the third side 115, and the fourth side 116 of the cleaning device 1000 toward the working area of ​​the dirt inlet 1111. This extends the cleaning area of ​​the first auxiliary cleaning assembly 150. In addition, the first auxiliary cleaning assembly 150 can be further configured to perform an auxiliary cleaning, for example, cleaning the target side wall 1011, as the cleaning device 1000 approaches the target side wall 1011. This improves the cleaning efficiency and cleaning effect of the cleaning device 1000.

[0053] The first auxiliary cleaning assembly 150 can direct waste that was originally located outside the coverage area of ​​the first dirt inlet 1111a into the working area of ​​the first dirt inlet 1111a, thus extending the cleaning area of ​​the first dirt inlet 1111a. This improves the efficiency of the waste cleaning.

[0054] The first auxiliary cleaning assembly 150 stirs the water flow towards the first dirt inlet 1111a, or the suction power of the first dirt inlet 1111a is enhanced to extend the cleaning area of ​​the first dirt inlet 1111a using the first auxiliary cleaning assembly 150. This is not limited here. In a specific embodiment, the first auxiliary cleaning assembly 150 can be rotatably mounted on the cleaning device body 110 to stir a water flow near the first dirt inlet 1111a, so that the water flow from outside the working area of ​​the first dirt inlet 1111a flows into the working area of ​​the first dirt inlet 1111a. In this way, debris located outside the working area can be caused to flow with the water flow into the working area of ​​the first dirt inlet 1111a and into the cleaning device body 110.

[0055] The direction of rotation of the first auxiliary cleaning assembly 150 can be adjusted according to the actual situation, provided that the water flow can be agitated so that it flows to the first dirt inlet 1111a. For example, looking from the top of the cleaning device 1000 to the bottom of the cleaning device 1000 in the direction of movement, if the first auxiliary cleaning assembly 150 is closer to the left side of the cleaning device body 110 than the first dirt inlet 1111a, the first auxiliary cleaning assembly 150 rotates clockwise, and if the first auxiliary cleaning assembly 150 is closer to the right side of the cleaning device body 110 than the first dirt inlet 1111a, the first auxiliary cleaning assembly 150 rotates counterclockwise.Based on the above arrangement, when in operation, the first auxiliary cleaning assembly 150 stirs a stream of water away from the first dirt inlet 1111a, in particular a stream of water located at the left or right front of the cleaning device 1000, towards the first dirt inlet 1111a, and the direction of this water stream is substantially opposite to the direction of movement of the cleaning device 1000. In other words, the stream of water directed by the first auxiliary cleaning assembly 150 is drawn through the first dirt inlet 1111a into the cleaning device body 110 as the cleaning device 1000 moves.

[0056] In some embodiments, the first auxiliary cleaning assembly 150 comprises at least one side brush 151, as shown in Fig. Figure 10 shows the side brush 151 rotatably mounted on the cleaning device body 110, for example rotatably mounted at a connection point between two adjacent sides of the cleaning device body 110, and configured to direct at least part of the debris in the target area 100 to the working area of ​​the first dirt inlet 1111.

[0057] At least part of the side brush 151 extends beyond a contour of the cleaning device 1000. It is understood that when the cleaning device 1000 is located on the movement surface 101, an orthogonal projection of the side brush 151 on the movement surface 101 lies at least partially outside a contour of a boundary of an orthogonal projection of the cleaning device 1000 on the movement surface 101, in order to extend the cleaning area of ​​the side brush 151 so that the side brush 151 can direct the debris further from the covering area of ​​the first dirt inlet 1111a to the working area of ​​the first dirt inlet 1111a. This improves the efficiency of the debris cleaning.

[0058] 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 cleaning device body 110. The rotating shaft 1512 is rotatably mounted in the side brush cover 1513. The side brush body 1511 is arranged around the rotating shaft 1512. The side brush body 1511 is configured to stir a water stream or to come into contact with and clean wall surfaces such as the target side wall 1011 and the target bottom wall 1012. In particular, the rotating shaft 1512 drives the side brush body 1511 to rotate during rotation. During rotation, the side brush body 1511 can stir a water stream or clean wall surfaces such as the target side wall 1011 and the target bottom wall 1012.

[0059] With reference to Fig. 2. The motion 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 bottom wall 1012 and the target side wall 1011. The dimensions of the first guide wheel 191 and the second guide wheel 192 can be substantially the same. For the sake of simplicity, the present disclosure defines a plane in which the motion mechanism 190 of the cleaning device 1000 is in contact with the surface to be cleaned as the motion surface 101 of the cleaning device. The motion surface 101 is parallel to the forward direction of the cleaning device 1000 and substantially parallel to the surface to be cleaned.A plane on which a rotating shaft of the first guide wheel 191 and a rotating shaft of the second guide wheel 192 of the motion mechanism 190 of the cleaning device 1000 are located is defined as the longitudinal plane of the cleaning device 1000. The longitudinal plane runs parallel to the motion surface 101. A plane that is perpendicular to the longitudinal plane and parallel to the directions of extension of the rotating shafts of the first guide wheel 191 and the second guide wheel 192 is defined as the central plane of the cleaning device 1000, and the distance between this plane and the rotating shaft of the first guide wheel 191 is equal to the distance between this plane and the rotating shaft of the second guide wheel 192. The central plane α lies opposite the first side 113 and the second side 114 of the cleaning device 1000.

[0060] When the cleaning device 1000 is in a horizontal state, the projection of the side brush 151 on the central plane α of the cleaning device 1000 overlaps at least partially the projection of the first dirt inlet 1111a on the central plane α of the cleaning device 1000 in a vertical direction, namely a vertical direction of the cleaning device 1000. The first dirt inlet 1111a comprises at least a first edge 1111a1 near the sixth side 118 of the cleaning device 1000 and a second edge 1111a2 near the fifth side 117 of the cleaning device 1000.The projection relationship mentioned above can be described in more detail as follows: in the vertical direction of the cleaning device 1000, the projection of the side brush 151 on the central plane 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 central plane 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.

[0061] The height of the projection of the side brush 151 onto the central plane α of the cleaning device 1000 is h1. The height of the projection of the first dirt inlet 1111a onto the central plane α of the cleaning device 1000 can be h2 or h3. h1 overlaps at least partially with h2 or h3. The height of the projection is the height of a projection plane.

[0062] When the cleaning device 1000 performs cleaning on the water surface, the first dirt inlet 1111a is at least partially submerged. In other words, the second edge 1111a2 is submerged, and the first edge 1111a1 may be either above or below the water surface. Alternatively, the side brush 151 may be at least partially submerged. An example is given where the first edge 1111a1 of the first dirt inlet 1111a is above the water surface, part of the side brush 151 is on the water surface, and another part of the side brush 151 is submerged. In this case, part of the first dirt inlet 1111a is above the water surface and another part of the first dirt inlet 1111a is below the water surface.When the side brush 151 is in operation, debris near the cleaning device 1000 can be directed to an area between the first edge 1111a1 and the second edge 1111a2 and sucked directly through the first dirt inlet 1111a.

[0063] In the direction of movement of the cleaning device 1000, at least part of the side brush 151 is located in front of the first dirt inlet 1111a. When the cleaning device body 110 moves forward, the debris cleaned and propelled by the side brush 151 can naturally reach the working area of ​​the first dirt inlet 1111a.

[0064] In one embodiment, the cleaning device 1000 further comprises a guide part 154, as shown in Fig. Figure 11 shows that the guide element 154 can be rotatably mounted on the cleaning device body 110 or on an opening of the filter box 120 (namely, a dirt inlet of the filter box for water surface cleaning). As the guide element 154 rotates, a water flow from outside the filter box 120 is directed to flow through the opening of the filter box 120 and enter the filter box 120. When the cleaning device 1000 is in a water surface cleaning state, the guide element 154 is at least partially submerged in water to effectively agitate the water flow at the opening of the filter box 120. This improves the efficiency of external dirt particles entering the filter box 120.In a specific embodiment, during the cleaning of the water surface, part of the guide part 154 is located below the water surface and another part of the guide part 154 is located above the water surface, which corresponds to a case in which part of the first dirt inlet 1111a is located above the water surface and another part of the first dirt inlet 1111a is located below the water surface in order to achieve a better cleaning effect of the water surface.

[0065] In some embodiments, the second auxiliary cleaning assembly 160 comprises at least one water spray part 161 and a second drive part 162, as shown in Fig. 2 and Fig. 3 shown.

[0066] In some embodiments, the second drive part 162 can comprise a first impeller 1621 and a first drive motor 1622, as in Fig. Figure 2 shows the first drive motor 1622 connected to the first impeller 1621. The first drive motor 1622 is configured to rotate the first impeller 1621, causing the liquid in the target area 100 to flow from another end of the water spray section 161 and be sprayed out through the outlet 1611. The power of the first drive motor 1622 is positively correlated with the pressure of the water stream sprayed out through the outlet 1611.

[0067] 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 cleaning device body 110. The roller brush assembly 171 is configured 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 scrub the target bottom wall 1012 and the target side wall 1011 to scrub off the debris adhering to the target bottom wall 1012 and the target side wall 1011, so that the debris can be drawn in through the second dirt inlet 1111b, which is located on the fifth side 117 of the cleaning device 1000. This improves the cleaning effect.

[0068] In some embodiments, the second auxiliary cleaning assembly 160 can be arranged on one side of the movement mechanism 190, as shown in Fig. 2 shown, wherein the side is turned away from the cleaning device body 110, so that a flow path of the liquid sprayed out through the outlet 1611 is not blocked by the cleaning device body 110.

[0069] In some embodiments, the movement mechanism 190 comprises the first guide wheel 191, the second guide wheel 192, and the track 193. The first guide wheel 191 is spaced apart from the second guide wheel 192. The track 193 is mounted on the first guide wheel 191 and the second guide wheel 192. In some embodiments, the movement mechanism 190 further comprises a fourth drive element 194. The fourth drive element 194 can be a motor, an electric pump, or the like. However, this is not limited to such devices. The fourth drive element 194 can be connected to the first guide wheel 191 and / or the second guide wheel 192.

[0070] In some embodiments, the cleaning device 1000 comprises two roller brush assemblies 171.

[0071] In some embodiments see Fig. 12. Fig. Figure 12 is a bottom view of a cleaning device according to a further embodiment of the present disclosure. The cleaning device 1000 further comprises at least one topography detection assembly 196. The at least one topography detection assembly 196 is arranged on the bottom of the front section of the cleaning device 1000 and near the movement mechanism 190 of the cleaning device 1000. The topography detection assembly 196 is configured to detect the topography of a surface to be cleaned beneath the cleaning device 1000 in order to adjust the operating position of the cleaning device 1000.For example, the topography detection assembly 196 can detect whether a topography in the direction of movement of the cleaning device 1000 is a recessed area that is lower than the current movement surface 101, for example an overhanging area, so that if the topography detection assembly 196 detects that the cleaning device 1000 is about to enter the overhanging area, the cleaning device 1000 can perform a steering maneuver or a turn to avoid the following: the cleaning device 1000 entering the overhanging area, causing the cleaning device 1000 to tip over or be damaged, thus protecting the cleaning device 1000, or so that if the topography detection assembly 196 detects that the cleaning device 1000 is about to enter the overhanging area, the cleaning device 1000 can tip over to reach another movement surface 101.In this way, the movement requirements can be met in some scenarios. This improves the movement flexibility of the cleaning device 1000.

[0072] The cleaning device 1000 can comprise one or more topography sensing assemblies 196. The topography sensing assembly 196 can be arranged on the bottom of the cleaning device body 110. For example, the topography sensing assembly 196 can be arranged in an area on the bottom of the cleaning device body 110 near the second side 114, or in an area on the bottom of the cleaning device body 110 near the first side 113. Alternatively, the topography sensing assembly 196 can be arranged on the first side 113. Optionally, the cleaning device 1000 comprises two topography sensing assemblies 196. The two topography sensing assemblies 196 are both arranged in the area on the bottom of the cleaning device body 110 near the first side 113.One topography sensing assembly 196 is located near one motion mechanism 190, and the other topography sensing assembly 196 is located near the other motion mechanism 190.

[0073] In some embodiments, the topography detection assembly 196 faces an area below the front section of the cleaning device 1000 and / or an area below the rear section of the cleaning device 1000. For example, the topography detection assembly 196 is arranged at an arbitrary position on the cleaning device body 110 such that a signal receiver of the topography detection assembly 196 faces the area below the front section and / or the area below the rear section of the cleaning device in order to detect a topography of a surface to be cleaned below the front section and / or the rear section of the cleaning device 1000. As shown in Fig. 15 and Fig. As shown in Figure 16, at least one transmission channel 1961 is arranged within the cleaning device body 110. The transmission channel 1961 projects from the lower housing of the cleaning device body 110 towards the interior of the cleaning device body 110 and has a hollow structure. Two sides of the transmission channel 1961 are provided with a third opening 19611 and a fourth opening 19612. The third opening 19611 is located on the fifth side 117 of the cleaning device body 110. The fourth opening 19612 is located inside the cleaning device body 110. The signal receiver of the topography detection assembly 196 is arranged near the fourth opening 19612, so that a transmitted detection signal can pass through the transmission channel 1961 and be transmitted through the third opening 19611 to the outside of the cleaning device body 110.A process in which the topography sensing assembly 196 receives an external signal from the cleaning device body 110 is the reverse of the process described above. The external signal of the cleaning device body 110 is a signal originating from outside the cleaning device body 110. For example, if the topography sensing assembly 196 is an ultrasonic sensor, the sensing signal transmitted by the topography sensing assembly 196 is an ultrasonic signal, and the external signal can be a signal obtained by reflection of the ultrasonic signal.

[0074] The transmission channel 1961 can have the shape of a truncated cone tapering from the fifth side 117 to the sixth side 118, or the shape of a cylinder. This is not limited herein. The transmission channel 1961 can be integrally formed with the lower housing of the cleaning device body 110 or detachably attached to the lower housing of the cleaning device body 110. The transmission channel 1961 is arranged such that the topography sensing assembly 196 can be located inside the cleaning device body 110, thus avoiding the following situation: the topography sensing assembly 196 is located outside the cleaning device body 110 and may be exposed to interference from an external factor such as the environment.This reduces the influence of the external factor on the acquisition result of the topography acquisition unit 196 and thus ensures the accuracy of the acquisition result. The transmission channel 1961 is arranged to increase the transmission distance of the signal transmitter of the topography acquisition unit 196 in order to avoid the following situation: the signal transmission distance is too short, which leads to a reduction in acquisition accuracy.

[0075] See Fig. 2, Fig. 4 and Fig. 13. Fig. Figure 13 is a side view of a cleaning device according to a fourth embodiment of the present disclosure. The cleaning device 1000 further comprises a cover plate 195. The cover plate 195 covers one side of the movement mechanism 190, this side facing away from the cleaning device body 110, and covers 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 an outer side section of the cleaning device 1000. If the movement mechanism 190 comprises the track 193, the area of ​​a ring formed by the track 193 corresponds substantially to the area of ​​the cover plate. The cover plate 195 can be removably fitted to cover the side of the movement mechanism 190 facing away from the cleaning device body 110, so that the cover plate 195 can be removed.This facilitates the cleaning and maintenance of the first guide wheel 191 and the second guide wheel 192. One side surface of the cover plate 195 faces away from the cleaning device body 110, and the side surface can be a complete plane or an incomplete plane, for example, a grid. This is not limited here.

[0076] The cleaning device 1000 further comprises a first anti-collision part 200. There can be one or more first anti-collision parts 200. The first anti-collision part 200 projects at least partially or completely from the contour of the cleaning device body 110.

[0077] In some embodiments, the cleaning device 1000 may comprise two drive assemblies 180. One drive assembly 180 is arranged on one side of the cleaning device body 110, and the other drive assembly 180 is arranged on the other side of the cleaning device body 110. When the cleaning device needs to turn or rotate, the power or direction of each drive assembly 180 is adjusted so that the cleaning device can turn or rotate.When the cleaning device 1000 moves in the liquid, the cleaning device 1000 can adjust the power of the drive assembly 180 on each of the two sides of the cleaning device body 110 to set a speed at which the liquid is driven by the drive assembly 180 on each of the two sides of the cleaning device body 110 to move in a preset direction, so that the cleaning device 1000 makes a turn.

[0078] In some embodiments, such as in Fig. 21 and Fig. As shown in Figure 22, the drive assembly 180 is arranged inside the movement mechanism 190. Specifically, the drive assembly 180 can be located between the first guide wheel 191 and the second guide wheel 192, which are situated on the same side. This reduces the structural complexity of the cleaning device 1000. The cover plate 195 of the movement mechanism 190 can have a partially hollow structure. The drive assembly 180 can be seen from outside the cover plate 195 at a certain viewing angle.Water outside the cleaning device 1000 can enter the interior of the movement mechanism 190 from one side of at least one part of the hollow structure (namely, a first hollow structure 1952), flow through the drive assembly 180 located in the interior of the movement mechanism 190, and then flow out of the interior of the movement mechanism 190 from another side of at least another part of the hollow structure (namely, a second hollow structure 1953) to form a complete fluid path of the drive assembly 180. In this embodiment, the third drive part 182 (including the second impeller 1821 and the second drive motor 1822) of the drive assembly 180 can alternatively rotate in the opposite direction to form two fluid paths in opposite directions. In this case, the drive assembly 180 can implement both the drive function and the auxiliary cleaning function.Naturally, the third drive element 182 of the drive assembly 180 cannot rotate in the opposite direction to perform only the drive function. If the auxiliary cleaning function is not required, the second auxiliary cleaning assembly 160 can be omitted.

[0079] In some embodiments see Fig. 21 and Fig. 23. Fig. Figure 21 is a side view of a cleaning device according to a fifth embodiment of the present disclosure. Fig. Figure 23 is an exploded view of part of a side surface of a cleaning device according to an embodiment of the present disclosure. For the sake of simplicity, the third drive part 182 is shown in Fig. Figure 23 omitted. The drive assembly 180 comprises the third drive part 182. A base 1901 is further arranged in the interior of the movement mechanism 190. The base 1901 is located on one side of the drive assembly 180, and this side faces the cleaning device body 110. The drive assembly 180 may be partially or completely enclosed within the space formed by the base 1901. The base 1901 may be arranged on a side plate (not shown) on one side of the movement mechanism 190, with this side being close to the cleaning device body 110. However, this is not limited to this. In some embodiments, see Fig. 22 and Fig. 23. Fig. Figure 22 is a side view of a cleaning device according to a sixth embodiment of the present disclosure. The cleaning device 1000 is further provided with a flow channel baffle plate 1902. The flow channel baffle plate 1902 is arranged on one side of the drive assembly 180, and this side faces away from the cleaning device body 110. The flow channel baffle plate 1902 can be fixedly or detachably connected to the base 1901 and, together with the base 1901, form at least part of a fluid flow channel of the drive assembly 180. The flow channel baffle plate 1902 can be arranged on a side surface of the cover plate 195, with this side surface facing the cleaning device body 110. When the cover plate 195 covers the movement mechanism 190, the base 1901 and the flow channel baffle plate 1902 together form at least part of the fluid flow channel of the drive assembly 180.When the cover plate 195 is removed, the base 1901 and the drive assembly 180 are accessible, and the user can clean the drive assembly 180. The flow channel of the drive assembly 180 is restricted to limit the direction in which water flows through the drive assembly 180. This increases the operational efficiency of the drive assembly 180.

[0080] In some embodiments, the side surface of the cover plate 195 faces away from the cleaning device body 110, and the side surface is further provided with an additional baffle plate 1951. Both ends of the additional baffle plate 1951 are connected to the cover plate 195. For example, one end of the additional baffle plate 1951 is attached to an upper edge of the cover plate 195, and the other end is attached to a lower edge of the cover plate 195. The additional baffle plate 1951 and the cover plate 195 can be integrally formed or detachably connected to each other. In the longitudinal direction of the cover plate 195, the additional baffle plate 1951 can cover an entire surface of the cover plate 195 or be embedded in the cover plate 195. Furthermore, the additional baffle plate 1951 can be arranged in a position corresponding to the drive assembly 180 in order to shield and protect the drive assembly 180.The additional impact plate 1951 can have any shape, including but not limited to a circle, a triangle, a polygon, and the like. The structure of the additional impact plate 1951 can be solid or partially hollow. This is not limited here.

[0081] In some embodiments, one or more anti-collision strips 19512 are additionally arranged on the additional impact plate 1951. The anti-collision strip 19512 projects from the additional impact plate 1951 and can be arranged at any easily accessible position on the additional impact plate 1951 to prevent any surface of the additional impact plate 1951 from being scratched. A length of the anti-collision strip 19512 can extend across the additional impact plate 1951 in the longitudinal direction, and the anti-collision strip 19512 can be made of any friction-resistant material. This is not limited herein. In one embodiment, the cover plate 195 is provided with the first hollow structure and the second hollow structure, as shown in Fig. Figure 13 shows that, in the forward direction of the cleaning device, the first hollow structure is located in front of the second hollow structure, and the first and second hollow structures are arranged on opposite sides of the additional baffle plate. As the cleaning device moves on the water surface, the first hollow structure serves as the water inlet for the drive assembly, and the second hollow structure serves as the water outlet for the drive assembly. The motor of the drive assembly rotates in the forward direction, and the water flows successively through the first hollow structure, a cavity formed between the base 1901 and the cover plate 195, and the drive assembly, and is finally expelled from the cleaning device through the second hollow structure to provide forward thrust to the cleaning device and drive it to move on the water surface.If the side wall needs to be rinsed underwater, the motor of the drive assembly rotates in the opposite direction. In this case, the first hollow structure serves as the water outlet and the second hollow structure as the water inlet. The liquid enters the cavity between the base and the baffle plate through the second hollow structure, flows through the drive assembly, is finally expelled through the first hollow structure, and sprayed through outlet 1611.

[0082] In one embodiment, each of the first and second hollow structures can be a grid, a hole, an opening, or the like. Each of the first and second hollow structures is a grid and can shield the drive assembly to some extent, while allowing water to flow through the first and second hollow structures.

[0083] In some embodiments, the additional impact plate 1951 is further provided with one or more second anti-collision parts 19511 which protrude partially or completely from the additional impact plate 1951, i.e., protrude partially or completely from the contour of the side section of the cleaning device body 110, in order to prevent the additional impact plate 1951 from being scratched.If the first anti-collision part 200 is located on the side of the cover plate 195 facing away from the movement mechanism 190, the horizontal distance by which the second anti-collision part 19511 projects from the contour of the side section of the cleaning device body 110 is less than or equal to the horizontal distance by which the first anti-collision part 200 projects from the contour of the side section of the cleaning device body 110. This prevents the second anti-collision part 19511 from protruding significantly, thus reducing the likelihood of the second anti-collision part 19511 being struck in the center. This reduces the possibility of damage to the second anti-collision part 19511. The structure of the second anti-collision part 19511 may resemble that of the first anti-collision part 200, and the size of the second anti-collision part 19511 may differ from that of the first anti-collision part 200. This is not limited here.In the vertical direction, the second anti-collision part 19511 can be arranged at a position on the additional impact plate 1951, with the position being near the fifth side 117. In this way, the possibility of the additional impact plate 1951 being scratched is reduced if there is a boundary with an inclination in the target area 100, for example, a circular arc-shaped boundary.

[0084] In some embodiments Fig. Figure 14 shows a sectional view of a cleaning device according to a further embodiment of the present disclosure. The cleaning device 1000 further comprises a main drive pump 210. An opening is formed in the filter box 120. The opening can be connected to the dirt inlet 1111, for example, the first dirt inlet 1111a. The filter box 120 has a filter surface. A first liquid outlet opening 1112 is arranged on the first receiving chamber 111. The dirt inlet 1111, the filter box 120, and the first liquid outlet opening 1112 are in fluid communication with each other. The main drive pump 210 is configured to drive water to flow through the dirt inlet 1111 into the filter box 120, through the filter surface of the filter box 120, and then out of the first receiving chamber 111 through the first liquid outlet opening 1112.The water flowing through the dirt inlet 1111 into the filter box 120 contains debris. After being filtered out by the filter box 120, the debris remains in the filter box 120, and the liquid flows through the filter surface of the filter box 120 to the first liquid outlet opening 1112 to be expelled from the first receiving chamber 111.

[0085] A second opening 118a is arranged on the sixth side 118 of the cleaning device body 110. The second opening 118a corresponds to the filter box opening 122.

[0086] A filter box cover 124 is arranged on the housing. The filter box cover 124 is hinged or movable on an insertion and removal opening on the housing and is configured so that it can cover the insertion and removal opening or be opened to expose the insertion and removal opening so that the filter box can be removed from the filter box space 1010 or the cleaning device body.

[0087] The cleaning device 1000 comprises a second liquid outlet opening 212, which is in fluid communication with the first liquid outlet opening 1112. The second liquid outlet opening 212 is located on the top of the cleaning device 1000, specifically on the sixth side 118 of the cleaning device body 110. The main drive pump 210 can further drive the liquid flowing into the main drive pump 210 through the first liquid outlet opening 1112 and the liquid inlet 211, so that it flows along the main drive pump 210 and is expelled through the second liquid outlet opening 212. The second liquid outlet opening 212 of the main drive pump 210 is provided with a grid element 213. The grid element 213 can guide the liquid flowing through it.In one embodiment, a grid of the grid part 213 can be rotatably arranged and configured to direct the liquid outlet of the second liquid outlet opening 212. The main drive pump 210 can be mounted on an outer wall of the electronic control box 220 and / or in the cleaning device body 110. The grid part 213 is arranged at and locked to the second liquid outlet opening 212 of the main drive pump 210.

[0088] The cleaning device 1000 further comprises a flow dividing plate 214. The flow dividing plate 214 is arranged behind the second liquid outlet opening 212.

[0089] In some embodiments, an escape opening 251a is arranged on the cleaning device body 110, so that the user can reach into the escape opening 251a and grasp the first handle 251 to lift the cleaning device 1000.

[0090] The cleaning device 1000 further comprises a second buoyancy chamber 262. The second buoyancy chamber 262 can be arranged on one side of the first side 113 of the cleaning device body 110, with the side of the first side 113 facing the filter box 120. The second buoyancy chamber 262 is configured to counteract the buoyancy forces exerted on the front and rear sections of the cleaning device 1000 in the forward direction, in order to prevent the cleaning device 1000 from tipping forward or backward. The second buoyancy chamber 262 can be configured to hold liquid and / or gas. The cleaning device 1000 further comprises a second buoyancy force adjustment and control part 2621. The second buoyancy force adjustment and control part 2621 can be configured to adjust a volume of liquid and / or gas in the second buoyancy chamber 262.The volume of liquid and / or gas in the second buoyancy chamber 262 is adjusted by the second buoyancy force adjustment and control part 2621 to balance the buoyancy forces exerted on the front section and the rear section of the cleaning device 1000.

[0091] The cleaning device 1000 further comprises a water quality treatment assembly 270. The water quality treatment assembly 270 can be detachably arranged inside the cleaning device body 110. The water quality treatment assembly 270 comprises a reagent set 271 and a reagent drive unit (not shown in the figure). The reagent set 271 is configured to hold one or more types of reagents.

[0092] The cleaning device 1000 also includes a button 290.

[0093] In one embodiment as in Fig. As shown in Figure 16, at least one third water outlet opening 1114 is further arranged on the bottom of the housing of the cleaning device body, so that water can be quickly drained from the cleaning device in the movement mechanism when the cleaning device is lifted from the water surface. The third water outlet opening 1114 is located at a position on the bottom of the housing of the cleaning device body, the position being near the track 193, and the third water outlet opening 1114 is connected to the interior of the movement mechanism, so that the water can be quickly drained from the movement mechanism when the cleaning device is lifted from the water surface. When the cleaning device is moving, a projection of the third water outlet opening on the movement surface is located within the projection of the track 193 on the movement surface.If several third water outlet openings 1114 are arranged, the several third water outlet openings 1114 can, for example, be arranged in one or more rows, and the projections of the several third water outlet openings 1114 on the movement surface are all within the projection of the caterpillar 193 on the movement surface.

[0094] As in Fig. 17 and Fig. As shown in Figure 18, the drive assembly further comprises a lateral drive mechanism 1800. The lateral drive mechanism 1800 can be arranged on a side section, the top, or the bottom of the cleaning device body 110. The lateral drive mechanism 1800 comprises a fluid inlet and a fluid outlet. Fluid enters the lateral drive mechanism 1800 through the fluid inlet and is expelled through the fluid outlet in a direction away from the side section of the cleaning device body 110. The expelled fluid exerts a first thrust on the cleaning device.The first thrust can provide at least a thrust component in a lateral direction of the cleaning device for the cleaning device 1000, whereby the cleaning device 1000 can be close to a side wall of a pool when the cleaning device 1000 moves along the side wall of the pool in a third movement state, and / or whereby the cleaning device 1000 can be moved laterally along a waterline in a second movement state to clean the waterline.

[0095] The second state of movement includes at least one state in which the cleaning device operates against the pool wall or in a direction parallel to the pool wall. The third state of movement includes at least one state in which the cleaning device operates on the water surface.

[0096] In one embodiment, the lateral drive mechanism 1800 is located below the electronic control box 220 and is arranged in a second cavity 10014b, resulting in a compact structure for the cleaning device. When the first dirt inlet 1111a is opened, the lateral drive mechanism 1800 is activated without affecting the amount of water entering through the first dirt inlet 1111a. Of course, the lateral drive mechanism 1800 can alternatively be arranged in a different position on the cleaning device. The lateral drive mechanism 1800 can be used during cleaning of the water surface along an edge and / or additionally during cleaning of the pool's bottom wall along an edge.

[0097] For example, if the cleaning device body 110 moves along the wall of the pool, the lateral drive mechanism 1800 can be arranged on one side of the cleaning device body 110, with that side facing away from the pool wall. The lateral drive mechanism 1800 ensures that at least one thrust component directed towards the wall is provided, allowing the cleaning device 1000 to move more efficiently along an edge of the pool wall.Particularly when the pool edge is irregular, for example, if it has an irregular bulge or indentation, it is difficult for the cleaning device 1000 to precisely control its action using the sensor assembly due to the drive assembly 180 when the cleaning device 1000 is moving along the edge in the third movement state, resulting in poor performance. In this case, the lateral drive mechanism 1800 is located on one side of the cleaning device 1000, with this side facing away from the pool edge, to generate a thrust component directed towards the pool edge. This allows the cleaning device 1000 to be better controlled to operate according to the shape of the pool edge. The cleaning device 1000 can be pushed towards the pool edge in real time under the thrust component.When the cleaning device 1000 cleans the waterline along the pool wall in its second movement state, the lateral direction of the cleaning device 1000 and the waterline are approximately parallel to each other or form a specific angle. The lateral drive mechanism 1800 provides a lateral thrust, allowing the cleaning device 1000 to essentially sweep sideways along the waterline, thus cleaning the waterline.

[0098] Based on a cleaning requirement, at least one lateral drive mechanism 1800 can be arranged on one side section or on each of the two side sections of the cleaning device 1000. The lateral drive mechanism 1800 can be, but is not limited to, a propeller or a water ejector. Naturally, the lateral drive mechanism 1800 can be arranged at any position on the cleaning device body 110, provided that the lateral drive mechanism provides thrust in a suitable manner. The lateral direction can be defined as a direction indicated by a line connecting the centers of a left side and a right side of the cleaning device 1000.

[0099] In particular, when the cleaning device body 110 moves along an edge in the third movement state, the initial thrust provided by the lateral drive mechanism 1800 enables the cleaning device body 110 to move closely along the edge. This prevents the following situation: the cleaning device body 110 cannot move properly along the edge due to a large edge curvature, an excessively large angle, or a missing edge, and then, due to inertia, the cleaning device body moves into an area without an edge, resulting in missed cleaning. Optionally, the lateral drive mechanism 1800 can be located on the left and / or right side of the cleaning device 1000, with the position being near the front of the cleaning device.A water discharge direction of the lateral drive mechanism 1800 forms an angle with the side (namely, a side wall of the cleaning device on which the lateral drive mechanism 1800 is located) and is directed towards the target area, such that a direction of the first thrust provided to the cleaning device by the lateral drive mechanism 1800 is opposite to the water discharge direction of the lateral drive mechanism. The first thrust has a component in the lateral direction of the cleaning device 1000. One direction of this component is parallel to the central plane α, so that the front of the cleaning device body 110 rests tightly against the edge in a timely manner. This further improves the accuracy of the cleaning device 1000 when moving along the edge.Naturally, the lateral drive mechanism 1800 can be located in a central or rear position on the left or right side section of the cleaning device, so that the cleaning device body can be positioned close to or near the edge of the side wall of the pool.

[0100] In one embodiment as in Fig. As shown in Figure 19, the lateral drive mechanism 1800 comprises a lateral flow channel 18001 arranged laterally on the cleaning device body. The two ends of the lateral flow channel 18001 extend through the two lateral side walls of the cleaning device body and are connected to the outside. Connections at the two ends of the lateral flow channel 18001 each serve as the third opening 18004 and fourth opening 18005. One of the third opening 18004 and the fourth opening 18005 serves as a fluid inlet, the other as a fluid outlet. The lateral drive mechanism 1800 further comprises a lateral impeller 18003 and a lateral motor 18002, which is configured to drive the lateral impeller 18003 to rotation. Both the lateral impeller 18003 and the lateral motor 18002 are arranged in the lateral flow channel 18001. As in Fig. As shown in Figure 19, the third opening 18004 serves as the fluid inlet and the fourth opening 18005 as the fluid discharge outlet when the cleaning device moves along a left edge. To generate a greater initial thrust directed to the left on the right side of the cleaning device, the side impeller 18003 and the side motor 18002 can optionally be located on the right side of the side flow channel 18001 and near the fourth opening. In this way, the initial thrust generated by the fluid discharged through the fluid discharge outlet can be maximized as the side motor rotates forward to drive the impeller. Alternatively, the side impeller and side motor can also be located in a central position on the side flow channel 18001 or near the left side of the side flow channel 18001.In this way, the cleaning device can move along a right edge. For example, the direction of rotation of the side motor 18002 is reversed. When the side motor 18002 rotates backward, the third opening serves as the fluid discharge outlet and the fourth opening as the fluid inlet. In this way, the fluid is discharged through the third opening to the left to generate the initial thrust, which is directed toward the right side of the cleaning device, allowing the cleaning device to move along the right edge.

[0101] Similarly, if the cleaning device moves along the right edge, the lateral impeller and lateral motor can be arranged on the left side of the lateral flow channel 18001 to generate a greater initial thrust directed towards the right side on the left side of the cleaning device.

[0102] In one embodiment, the lateral drive mechanism 1800 extends through two side faces of the cleaning device and is arranged between them. The third opening 18004 is arranged on one side face, and the fourth opening 18005 is arranged on the other side face. In the vertical direction of the cleaning device, the third opening and / or the fourth opening are located within a region of the movement mechanism. As, for example, in Fig.As shown in Figure 18, each of the two ends of the lateral flow channel 1800 is located in an annular area 1173 of a movement mechanism, without occupying any additional space on the cleaning device body, thus making the cleaning device structure more compact and the cleaning device smaller, while allowing the cleaning device to move along the edge. When the cover plate 195 is in place, an escape hole or escape grid is arranged on the cover plate 195 to expose both the third and fourth openings, allowing the two ends of the lateral flow channel 1800 to communicate with the fluid in the pool.

[0103] When the cleaning device body 110 moves along the pool wall, i.e., when the cleaning device is in its second movement state, for example, to clean the waterline, the lateral drive mechanism 1800 is arranged such that the cleaning device body 110 can move left or right along the pool wall to clean the waterline laterally. Furthermore, the cleaning device can move left or right while moving up or down. This improves the movement flexibility of the cleaning device 1000.

[0104] In one embodiment, a sensor assembly is arranged on the cleaning device body 110 and configured to detect or control the cleaning device 1000 to move along an edge in a preset manner. The sensor assembly can comprise at least one of the following components: an image sensor assembly 140, an ultrasonic sensor assembly, or an infrared sensor assembly, arranged on a side section, the top, or the bottom of the cleaning device body 110. The sensor assembly is electrically connected to the control system 231 of the cleaning device 1000.If the sensor assembly detects that the cleaning device 1000 is moving away from the edge of the pool during a movement operation, the control system 231 increases or decreases the discharge power of the fluid discharge outlet of the lateral drive mechanism 1800, so that the cleaning device 1000 can move closer to the edge of the pool or move slightly away from it.

[0105] The above description merely describes embodiments of the present disclosure and is not intended to limit the scope of the present disclosure. Any equivalent structure or equivalent process transformation carried out on the basis of the content of this description and the accompanying drawings of the present disclosure, or applied directly or indirectly in other related technical fields, falls within the scope of protection of the present disclosure.

Claims

[1] Cleaning device (1000), comprising: a device body (110); a movement mechanism (190), wherein the movement mechanism (190) is arranged on each of the two sides of the device body (110); a filter box (120); at least one dirt inlet (1111) arranged on a bottom or side section of the device body (110); and a main drive pump (210), wherein the main drive pump (210) is arranged in the device body (110) and is configured to drive the water to flow through the at least one dirt inlet (1111) to the filter box (120); characterized by , that the cleaning device (1000) further comprises a camera unit (140a), at least one additional light element (140b), and at least one first detection assembly (130), where the camera unit (140a) is arranged on a front side of the cleaning device (1000); that at least one additional light element (140b) is arranged on a front side of the cleaning device (1000); the at least one first detection assembly (130) is arranged at the front of the cleaning device (1000) and is configured to detect a distance between an obstacle and the at least one first detection assembly (130), and the camera unit (140a) and the at least one first detection assembly (130) are arranged at different heights on the front of the cleaning device (1000). [2] Cleaning device according to claim 1, wherein two light supplementary elements (140b) are arranged on two sides of the camera unit (140a) at substantially the same height or at different heights. [3] Cleaning device according to claim 1 or 2, wherein the camera unit (140a) and the at least one light accessory element (140b) are arranged in a receiving chamber (141), wherein the receiving chamber (141) is fixedly arranged in a receiving space (112) of the device body (110). [4] Cleaning device according to one of claims 1 to 3, wherein at least one second detection assembly (130) is arranged on the cleaning device (1000), wherein the at least one second detection assembly (130) is arranged on a side section of the device body (110) and is configured to detect a distance between the at least one second detection assembly (130) and an obstacle on one side of the at least one second detection assembly (130). [5] Cleaning device according to one of claims 1 to 4, wherein the light supplementary element (140b) is controlled such that an additional light brightness of the light supplementary element (140b) is set on the basis of a brightness level of an environment in which the cleaning device is located, wherein the setting of the additional light brightness comprises at least one step selected from switching on the light supplementary element (140b), switching off the light supplementary element (140b), increasing the brightness of the light supplementary element (140b) and decreasing the brightness of the light supplementary element (140b). [6] Cleaning device according to claim 5, wherein the light accessory element (140b) is switched on or the brightness of the light accessory element (140b) is increased based on a degree of brightness of the light or on the basis of a degree of backlighting when the camera unit (140a) is in a low-light or backlighting environment, and wherein the light accessory element (140b) is switched off or the brightness of the light accessory element (140b) is decreased when the camera unit (140a) is in a bright-light environment. [7] Cleaning device according to any one of claims 1 to 6, wherein the movement mechanism (190) comprises a cover plate (195) wherein a grid is formed on at least a part of the cover plate (195) and is configured to allow liquid to flow out of the cleaning device (1000). [8] Cleaning device according to one of claims 1 to 7, wherein the cleaning device further comprises a lateral drive mechanism (1800), wherein the grid serves as a fluid discharge outlet of the lateral drive mechanism (1800). [9] Cleaning device according to claim 8, wherein the lateral drive mechanism (1800) comprises a lateral wheel (18003) and a lateral motor (18002). [10] Cleaning device according to any one of claims 1 to 9, further comprising: a roller brush assembly (171), wherein the roller brush assembly (171) is arranged on the bottom of the device body (110); a second dirt inlet (1111b), wherein the second dirt inlet (1111b) is arranged at the bottom of the device body (110) and is in fluid communication with the filter box (120); and a topography detection assembly (196), wherein the topography detection assembly (196) is arranged between the roller brush assembly (171) and the second dirt inlet (1111b). [11] Cleaning device according to claim 10, wherein two topography detection assemblies (196) are arranged near the movement mechanisms (190) on the two sides of the device body (110) and at least one of the two topography detection assemblies (196) comprises an ultrasonic sensor. [12] Cleaning device (1000), comprising: a device body (110); a movement mechanism (190) which is arranged on each of the two sides of the device body (110); a filter box (120); a first dirt inlet (1111a) which is arranged on a side section of the device body (110); a second dirt inlet (1111b) arranged on a base of the device body; and a main drive pump (210), wherein the main drive pump (210) is arranged in the device body (110) and is configured to drive the water to flow through the first dirt inlet (1111a) and / or the second dirt inlet (1111b) to the filter box (120); characterized by , that the cleaning device (1000) further comprises a camera unit (140a), at least one topography detection assembly (196) and at least one transmission channel (1961), wherein the camera unit (140a) is arranged on a front side of the cleaning device (1000); the at least one topography detection assembly (196) is arranged on the bottom of the device body and is configured to detect a topography of the surface to be cleaned beneath the device body; and a detection signal of at least one topography detection assembly (196) is sent through at least one transmission channel (1961). [13] Cleaning device according to claim 12, further comprising: a roller brush assembly (117) arranged on the bottom of the device body (110), wherein the at least one topography detection assembly (196) is arranged between the roller brush assembly (117) and the second dirt inlet (1111b). [14] Cleaning device according to claim 12 or 13, wherein the camera unit (140a) is located below the first dirt inlet (1111a). [15] Cleaning device according to one of claims 12 to 14, further comprising a side brush (151), wherein the side brush (151) is rotatably arranged at a connection point between two adjacent sides of the device body (110) and is configured to direct at least a part of a waste in a target area (100) to a working area of ​​the first dirt inlet (1111a); wherein preferably a projection of the side brush (151) on a central plane α of the cleaning device (1000) lies at least partially between projections of a first edge (1111a1) and a second edge (1111a2) of the first dirt inlet (1111a) on the central plane α of the cleaning device (1000);or the height of the projection of the side brush (151) on the central plane α of the cleaning device (1000) is h1 and the height of the projection of the first dirt inlet (1111a) on the central plane α of the cleaning device (1000) is h2 or h3, wherein h1 overlaps at least partially with h2 or h3.; [16] Cleaning device according to claim 12, further comprising: a buoyancy chamber, wherein the buoyancy chamber is configured to accommodate liquid and / or gas; and a buoyancy force adjustment and control element, wherein the buoyancy force adjustment and control element is configured to adjust a volume of liquid and / or gas in the buoyancy chamber. [17] Cleaning device according to claim 12, further comprising at least two drive assemblies, wherein the at least two drive assemblies are arranged on both sides of the device body. [18] Cleaning device according to claim 12, wherein the at least one transmission channel has the shape of a truncated cone or a cylinder. [19] Cleaning device according to claim 12, further comprising at least one light accessory element, wherein the at least one light accessory element is arranged near the camera unit. [20] Cleaning device according to claim 12, further comprising at least one detection assembly, wherein the at least one detection assembly is configured to detect a distance between the at least one detection assembly and an obstacle.

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