Pool cleaning robot

Abstract

A pool cleaning robot, comprising a shell (200) and a buoyancy adjusting mechanism (100). The buoyancy adjusting mechanism (100) comprises a cavity (110) and a driving assembly, and the cavity (110) is located at the front end of the shell (200). By means of the driving assembly, liquid is injected into the cavity (110), or liquid in the cavity (110) is discharged, so that the buoyancy adjusting mechanism (100) adjusts the gravity and buoyancy relationship of the pool cleaning robot by controlling the amount of liquid in the cavity (110).

Description

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims priority to Chinese Patent Application No. 202320244919X and No. 2023101305631, both of which are filed with the China National Intellectual Property Administration on February 17, 2023 and entitled "BUOYANCY FORCE ADJUSTMENT MECHANISM AND POOL CLEANING ROBOT".TECHNICAL FIELD

[0002] The present application relates to the technical field of pool cleaning robots, and in particular to, a pool cleaning robot.BACKGROUND

[0003] A pool cleaning robot can automatically clean a bottom surface or a side wall of a pool to provide convenience for a user.

[0004] Currently, when floating on a liquid surface of the pool, some floating objects easily adhere to a waterline position of a wall surface of the pool corresponding to the liquid surface. As a result, there is a lot of garbage within a specific range from above the waterline to below the waterline. However, when a pool cleaning robot in a related technology cleans the wall surface, if the pool cleaning robot climbs to a position at which the pool cleaning device is partially exposed above the liquid surface, a buoyancy force decreases while gravity of the pool cleaning robot remains unchanged, causing the pool cleaning robot to easily rush out of the liquid surface and then fall back into water. Therefore, when the pool cleaning robot in the related technology cleans the wall surface, the pool cleaning device stops climbing after a front end of the pool cleaning device reaches the liquid surface. Consequently, the waterline position cannot be effectively cleaned.SUMMARY

[0005] The present application provides a pool cleaning robot. The pool cleaning robot includes a housing and a buoyancy force adjustment mechanism. In a forward direction of the pool cleaning robot, the housing has a front end and a rear end opposite to each other. The buoyancy force adjustment mechanism includes a cavity located at the front end of the housing, and a driving assembly. Under an action of the driving assembly, liquid is input into the cavity, or liquid in the cavity is discharged, so that the buoyancy force adjustment mechanism controls an amount of the liquid in the cavity to adjust a relationship between gravity of the pool cleaning robot and a buoyancy force applied to the pool cleaning robot.

[0006] Optionally, when the pool cleaning robot climbs to a position at which the cavity is partially exposed above a liquid surface of a pool, the amount of the liquid in the cavity is controlled, enabling the pool cleaning robot to remain stable at a preset height.

[0007] Optionally, when the pool cleaning robot performs liquid surface cleaning or waterline cleaning, at least a part of the liquid in the cavity is discharged under the action of the driving assembly.

[0008] Optionally, the pool cleaning robot further includes a liquid flow channel. The liquid flow channel is configured to allow liquid to flow through and filter the liquid flowing through, and the cavity is disposed close to the front end of the housing relative to a liquid inlet of the liquid flow channel.

[0009] Optionally, the liquid inlet is located at the bottom of the pool cleaning robot.

[0010] Optionally, the pool cleaning robot further includes a roller brush. The roller brush is rotatably disposed at the front end of the housing, and the roller brush is located in front of the liquid inlet in an arrangement direction of the front end and the rear end of the housing, so that when the pool cleaning robot moves forward, the roller brush brushes garbage off a bottom surface or a wall surface of a pool, enabling the garbage to enter the liquid flow channel through the liquid inlet.

[0011] Optionally, the pool cleaning robot further includes a roller brush. The roller brush is rotatably disposed at the front end of the housing, and the cavity is located behind an axis of the roller brush.

[0012] Optionally, the roller brush extends in a left-right direction. The left-right direction is perpendicular to an arrangement direction of the front end and the rear end of the housing, and the left-right direction is perpendicular to a height direction of the housing.

[0013] Optionally, when the gravity of the pool cleaning robot and the buoyancy force applied to the pool cleaning robot are balanced, a part of the roller brush is exposed above a liquid surface of a pool, so that the roller brush cleans a region above the liquid surface of the pool.

[0014] Optionally, when the gravity of the pool cleaning robot and the buoyancy force applied to the pool cleaning robot are balanced, more than half of the roller brush is exposed above a liquid surface of a pool, so that the roller brush cleans a region above the liquid surface of the pool.

[0015] Optionally, the cavity is provided with an air inlet hole in communication with ambient air, so that the ambient air enters the cavity when the liquid in the cavity is discharged.

[0016] Optionally, an end of the air inlet hole is in communication with the ambient air, and the end is located on an upper surface of the housing.

[0017] Optionally, in a front-rear direction, the air inlet hole is located in front of an axis of the roller brush, and the front-rear direction is the forward direction and a backward direction of the pool cleaning robot.

[0018] Optionally, when the cavity of the pool cleaning robot is at least partially exposed above a liquid surface of a pool, the air inlet hole is located above the liquid surface of the pool.

[0019] Optionally, a dimension of the cavity in a front-rear direction is smaller than a dimension of the cavity in an up-down direction, and a dimension of the cavity in the front-rear direction is smaller than a dimension of the cavity in a left-right direction. The up-down direction is a height direction of the housing, and the left-right direction is a direction perpendicular to both the front-rear direction and the up-down direction.

[0020] Optionally, when the cavity is filled with the liquid, a difference between a sum of gravity of the cavity and gravity of the liquid in the cavity and a buoyancy force applied to the cavity ranges from -5 N to 5 N.

[0021] Optionally, when the pool cleaning robot climbs a wall surface of a pool while submerged below a liquid surface of the pool, the cavity is filled with the liquid, and the gravity of the pool cleaning robot is smaller than an upward resultant force applied to the pool cleaning robot.

[0022] Optionally, when the cavity of the pool cleaning robot is at least partially exposed above a liquid surface of a pool, and the cavity is filled with the liquid, the gravity of the pool cleaning robot is equal to the buoyancy force applied to the pool cleaning robot.BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To describe the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used for describing embodiments of the present application. It is clear that the accompanying drawings in the following descriptions are merely some embodiments of the present application, and a person of ordinary skill in the art may still derive other drawings from the content of embodiments of the present application and these accompanying drawings without creative efforts. FIG. 1 is a first schematic structural view of a pool cleaning robot according to an embodiment of the present application; FIG. 2 is a second schematic structural view of a pool cleaning robot according to an embodiment of the present application; and FIG. 3 is a schematic view of a cross-sectional structure of a pool cleaning robot according to an embodiment of the present application.

[0024] Reference numerals: 100: buoyancy force adjustment mechanism; 110: cavity; 120: air inlet hole; 200: housing; 300: liquid flow channel; 310: liquid inlet; 400: roller brush.DETAILED DESCRIPTION

[0025] The present application is further described in detail below with reference to the drawings and the embodiments. It should be understood that the specific embodiments described herein are merely used for explaining the present application and are not intended to limit the present application. In addition, it should be noted that for convenience of description, only a part but not all of a structure related to the present application is shown in the accompanying drawings.

[0026] In the description of the present application, unless otherwise clearly specified and defined, the terms "interconnect", "connect", "fix", and the like should be interpreted in a broad sense. For example, such terms may indicate a fixed connection, a detachable connection, or an integral connection; may indicate a mechanical connection or an electrical connection; or may indicate a direct interconnection, an indirect interconnection through an intermediate medium, or an internal communication between two elements or interaction between two elements. A person of ordinary skill in the art may understand specific meanings of the foregoing terms in the present application based on a specific situation.

[0027] In the present application, unless otherwise clearly specified and defined, that a first feature is "above" or "below" a second feature may be that the first feature may be in direct contact with the second feature, or the first feature may be in contact with the second feature through another feature between the first feature and the second feature instead of being in direct contact with the second feature. In addition, that the first feature is "above", "on", or "over" the second feature may be that the first feature is right above or obliquely above the second feature, or merely mean that a horizontal height of the first feature is greater than that of the second feature. That the first feature is "below", "underneath", or "under" the second feature may be that the first feature is right below or obliquely below the second feature, or merely mean that a horizontal height of the first feature is less than that of the second feature.

[0028] In descriptions of embodiments, an orientation or position relationship indicated by terms "above", "below", "left", "right", and the like is an orientation or position relationship based on the accompanying drawings, and is only intended to facilitate descriptions and simplify operations, but is not intended to indicate or imply that an apparatus or an element needs to have a specific orientation and be constructed and operated in a specific orientation. Therefore, such terms cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are merely used to distinguish in description and have no special meaning.

[0029] As shown in FIG. 1 to FIG. 3, this embodiment provides a pool cleaning robot. The pool cleaning robot includes a housing 200 and a liquid flow channel 300 disposed in the housing 200. The liquid flow channel 300 is configured to allow liquid to flow through and filter the liquid flowing through, and a liquid inlet 310 of the liquid flow channel 300 is disposed at a bottom of the pool cleaning robot, so that during operation of the pool cleaning robot, garbage can enter the liquid flow channel 300 through the liquid inlet 310 for filtering, thereby implementing a cleaning effect.

[0030] Specifically, during operation of the pool cleaning robot, garbage-containing liquid can enter the liquid flow channel 300 through the liquid inlet 310, flow away from the liquid inlet 310, and then be discharged upward from the housing 200 into a pool after being filtered.

[0031] For convenience of explanation, in this embodiment, a moving direction of the pool cleaning robot is defined as a forward direction, the housing has a front end and a rear end opposite to each other, a height direction of the housing 200 is an up-down direction, and a left-right direction is a direction perpendicular to both a front-rear direction and the up-down direction. The terms "front", "rear", "left", "right", "up", and "down" herein are only used to represent names of positions, and may also be other names in other embodiments.

[0032] In addition, to clean garbage adhering to a bottom surface or a wall surface of the pool, the pool cleaning robot further includes a roller brush 400. The roller brush 400 extends in the left-right direction, and the roller brush 400 is rotatably disposed at the front end of the housing 200. The roller brush 400 is located in front of the liquid inlet 310 in an arrangement direction of the front end and the rear end of the housing 200. When the pool cleaning robot moves forward, the roller brush 400 located at the front end brushes the garbage off the bottom surface or the wall surface of the pool, so that the garbage brushed off by the roller brush can enter the liquid flow channel 300 through the liquid inlet 310.

[0033] When the pool cleaning robot cleans the bottom surface of the pool, gravity of the pool cleaning robot is greater than a buoyancy force applied to the pool cleaning device, enabling the pool cleaning device to move stably on the bottom surface to perform cleaning.

[0034] When the pool cleaning robot cleans the wall surface of the pool, the pool cleaning device may move back and forth vertically in a serpentine manner along the wall surface. In a related technology, when a pool cleaning robot climbs upward, if the pool cleaning robot climbs to a position at which the pool cleaning robot is partially exposed above the liquid surface, a buoyancy force decreases while gravity of the pool cleaning robot remains unchanged, leading to insufficient upward power. Consequently, the pool cleaning robot easily falls back into water. Therefore, when the pool cleaning robot in the related technology cleans the wall surface, the pool cleaning robot stops climbing after a front end of the pool cleaning robot reaches the liquid surface. As a result, a waterline position cannot be cleaned and needs to be manually cleaned by a user independently.

[0035] Refer to FIG. 2 and FIG. 3. To resolve the above problem, the pool cleaning robot of this embodiment further includes a buoyancy force adjustment mechanism 100. The buoyancy force adjustment mechanism 100 includes a cavity 110 and a driving assembly (not shown in the figure). The cavity 110 is located at the front end of the housing 200. The driving assembly operates, so that liquid is input into the cavity 110, or liquid in the cavity 110 is discharged, to adjust the gravity of the pool cleaning robot. In this way, the buoyancy force adjustment mechanism 100 can control an amount of the liquid in the cavity 110 to adjust a relationship between the gravity of the pool cleaning robot and the buoyancy force applied to the pool cleaning robot, thereby affecting a relationship between an upward resultant force such as the buoyancy force applied to the entire pool cleaning robot and the gravity when the pool cleaning robot is partially exposed above the liquid surface. Specifically, during operation, when the pool cleaning robot cleans the wall surface and the bottom surface of the pool, the cavity 110 may be filled with the liquid in the pool. When the pool cleaning robot climbs to a position at which the front end is partially exposed above the liquid surface of the pool, the gravity remains unchanged. However, because the pool cleaning robot is partially exposed above the liquid surface, the buoyancy force applied to the pool cleaning robot decreases. Therefore, the upward resultant force applied to the pool cleaning robot is greater than the gravity in a process in which the pool cleaning robot continues to move upward. Because the cavity 110 may be filled with the liquid in the pool when the pool cleaning robot cleans the wall surface and the bottom surface, when the pool cleaning robot climbs toward the liquid surface to a specific height, the cavity 110 disposed close to the front end of the housing starts to be exposed above the liquid surface, and a part, of the cavity 110, exposed above the liquid surface no longer provides a buoyancy force but still provides gravity because the cavity 110 is filled with the liquid. As the pool cleaning robot continues to climb, the buoyancy force applied to the pool cleaning robot continues to decrease, and the upward resultant force applied to the pool cleaning robot decreases accordingly, causing the pool cleaning robot to climb upward with difficulty. When the pool cleaning robot performs liquid surface cleaning or waterline cleaning, the driving assembly drives at least a part of the liquid in the cavity 110 to be discharged, so that the pool cleaning robot is stably located at a position at which the cavity 110 is partially exposed above the liquid surface and partially below the liquid surface, so that the pool cleaning robot can float at a preset height relative to the liquid surface. Therefore, a problem that the pool cleaning robot rushes out of the liquid surface and falls can be avoided. This helps improve stability of the pool cleaning robot at the waterline position. In addition, the pool cleaning robot can remain stable at a preset height relative to the liquid surface. Specifically, the preset height is a height at which the pool cleaning robot is located when the cavity 110 is partially exposed above the liquid surface.

[0036] When the pool cleaning robot performs liquid surface cleaning or waterline cleaning, the driving assembly drives at least a part of the liquid in the cavity to be discharged, so that the pool cleaning robot can float at a preset height relative to the liquid surface. In this case, one part of the pool cleaning robot is above the liquid surface, and the other part of the pool cleaning robot is below the liquid surface, so that the pool cleaning robot can clean the waterline position, and a user does not need to manually clean the waterline position. This expands a cleaning range of the pool cleaning robot.

[0037] It should be noted that, that the cavity 110 is located at the front end of the housing 200 indicates that the cavity 110 is disposed close to the front end of the housing 200 in the front-rear direction.

[0038] Specifically, when the pool cleaning robot climbs to a position at which the cavity 110 is partially exposed above the liquid surface of the pool, the amount of the liquid in the cavity 110 is controlled, so that the pool cleaning robot remains stable at a preset height.

[0039] Specifically, the buoyancy force adjustment mechanism 100 can adjust the relationship between the gravity of the pool cleaning robot and the buoyancy force applied to the pool cleaning robot through a liquid discharge volume of the cavity 110.

[0040] For example, the driving assembly may be a motor, a water pump, or the like. As a driving assembly, the motor, the water pump, and the like have advantages of a simple structure, easy assembly and maintenance, and low costs.

[0041] Optionally, to enable the water surface pool cleaning robot to operate stably on the wall surface, when the pool cleaning robot climbs the wall surface of the pool while submerged below the liquid surface, the cavity 110 is filled with the liquid, and the gravity of the pool cleaning robot is smaller than the upward resultant force applied to the pool cleaning robot. For example, the upward resultant force herein includes the buoyancy force, a driving force for the pool robot to move upward, a reaction force applied by liquid discharged from the liquid flow channel 300 to a robot body, and the like. In addition, when the pool cleaning robot continues to climb to a position at which the cavity 110 is partially exposed above the liquid surface, the buoyancy force decreases, so that the gravity of the pool cleaning robot is equal to the buoyancy force applied to the pool cleaning robot. In this case, the pool cleaning robot can be stably located at this position and can move stably, so that the pool cleaning robot can conveniently clean the waterline.

[0042] Specifically, when the pool cleaning robot performs liquid surface cleaning or waterline cleaning, the driving assembly operates, so that at least a part of the liquid in the cavity 110 is discharged.

[0043] The cavity 110 is provided with an air inlet hole 120 in communication with ambient air, so that when the cavity 110 is subjected to liquid discharge, that is, when the liquid in the cavity 110 is discharged, the ambient air can enter the cavity 110 to balance a volumetric difference.

[0044] Optionally, an end of the air inlet hole 120 is in communication with the ambient air, and the end is located on an upper surface of the housing 200.

[0045] Optionally, the cavity 110 is disposed close to the front end of the housing 200 relative to the liquid inlet 310 of the liquid flow channel 300. This helps ensure that the pool cleaning robot can clean the waterline position. Specifically, when the pool cleaning robot climbs to the liquid surface, the cavity 110 can play a role in adjusting the relationship between the gravity and the buoyancy force only when the cavity 110 is partially exposed above the liquid surface. Therefore, when the pool cleaning robot remains stable at the liquid surface, the cavity 110 is partially exposed above the liquid surface, and the cavity 110 is located on a side of the liquid inlet 310, where the side is close to the front end of the housing 200. In this case, the roller brush 400 of the pool cleaning robot rotates, so that garbage can continue to be sucked in through the liquid inlet 310. In this way, a side wall surface of the pool close to the liquid surface is cleaned.

[0046] In addition, in the front-rear direction, the cavity 110 is located behind an axis of the roller brush 400, so that when the gravity of the pool cleaning robot and the buoyancy force applied to the pool cleaning robot are balanced, a part of the roller brush 400 is exposed above the liquid surface, so that the roller brush 400 can clean a region above the liquid surface of the pool.

[0047] Optionally, when the gravity of the pool cleaning robot and the buoyancy force applied to the pool cleaning robot are balanced, more than half of the roller brush 400 is exposed above the liquid surface, so that the roller brush 400 can clean a region above the liquid surface of the pool.

[0048] Optionally, in the front-rear direction, the air inlet hole 120 is located in front of an axis of the roller brush 400, to ensure that the air inlet hole 120 is located above the liquid surface when the liquid in the cavity 110 is discharged, so that the ambient air can enter the cavity 110. The front-rear direction is a forward direction and a backward direction of the pool cleaning robot.

[0049] In a specific application process, when the cavity 110 of the pool cleaning robot is partially exposed above the liquid surface of the pool, at least a part of the liquid in the cavity 110 needs to be discharged. In this case, the air inlet hole 120 is located above the liquid surface of the pool.

[0050] As an optional solution, to enable the cavity 110 to quickly adjust the relationship between the gravity and the buoyancy force when the pool cleaning robot climbs to the liquid surface, a dimension of the cavity 110 in the front-rear direction is smaller than a dimension of the cavity 110 in the up-down direction, and the dimension of the cavity 110 in the front-rear direction is smaller than a dimension of the cavity 110 in the left-right direction, so that the cavity 110 has a relatively large volume per unit length in the front-rear direction. In this way, the buoyancy force quickly decreases when the pool cleaning robot climbs.

[0051] When the cavity 110 is filled with the liquid, a difference between a sum of gravity of the cavity 110 and gravity of the liquid in the cavity and the buoyancy force applied to the cavity 110 is between -5 N and 5 N, that is, the difference between the sum of the gravity of the cavity 110 and the gravity of the liquid in the cavity and the buoyancy force applied to the cavity 110 ranges from -5 N to 5 N. In other words, the gravity and the buoyancy force are made as close as possible, so that when the pool cleaning robot operates underwater, an impact of the cavity 110 on a load of the pool cleaning robot is reduced. Optionally, the sum of the gravity of the cavity 110 and the gravity of the liquid in the cavity is equal to the buoyancy force applied to the cavity 110, so that the cavity 110 does not affect the load of the pool cleaning robot after the pool cleaning robot is submerged in the water.

[0052] From the above description, it can be seen that the pool cleaning robot of the present application has the following technical effects: The gravity of the pool cleaning robot can be adjusted by the buoyancy force adjustment mechanism 100 to improve stability of the pool cleaning robot at a position near the waterline, that is, the pool cleaning robot can remain stable at a position at which the pool cleaning robot is partially exposed above the liquid surface. This helps expand the cleaning range of the pool cleaning robot and improve user experience.

[0053] It should be noted that the basic principles and main features of the present application and the advantages of the present application are shown and described above. A person skilled in the art should understand that the present application is not limited to the foregoing embodiments, the foregoing embodiments and this specification only describe principles of the present application, and various changes and modifications may be made to the present application without departing from the spirit and scope of the present application. These changes and modifications fall within the protection scope claimed in the present application. The protection scope claimed in the present application is defined by the appended claims and equivalents thereof.

Claims

1. A pool cleaning robot, comprising a housing (200) and a buoyancy force adjustment mechanism, wherein in a forward direction of the pool cleaning robot, the housing (200) has a front end and a rear end opposite to each other, and the buoyancy force adjustment mechanism comprises: a cavity (110) located at the front end of the housing (200); and a driving assembly, wherein under an action of the driving assembly, liquid is input into the cavity (110), or liquid in the cavity (110) is discharged, so that the buoyancy force adjustment mechanism controls an amount of the liquid in the cavity (110) to adjust a relationship between gravity of the pool cleaning robot and a buoyancy force applied to the pool cleaning robot.

2. The pool cleaning robot according to claim 1, wherein when the pool cleaning robot climbs to a position at which the cavity (110) is partially exposed above the liquid surface of the pool, the amount of the liquid in the cavity (110) is controlled, enabling the pool cleaning robot to remain stable at a preset height.

3. The pool cleaning robot according to claim 1, wherein when the pool cleaning robot performs liquid surface cleaning or waterline cleaning, at least a part of the liquid in the cavity (110) is discharged under the action of the driving assembly.

4. The pool cleaning robot according to claim 1, further comprising: a liquid flow channel (300), wherein the liquid flow channel (300) is configured to allow liquid to flow through and filter the liquid flowing through, and the cavity (110) is disposed close to the front end of the housing (200) relative to a liquid inlet (310) of the liquid flow channel (300).

5. The pool cleaning robot according to claim 4, wherein the liquid inlet (310) is located at a bottom of the pool cleaning robot.

6. The pool cleaning robot according to claim 4, further comprising a roller brush (400), wherein the roller brush (400) is rotatably disposed at the front end of the housing (200), and the roller brush (400) is located in front of the liquid inlet (310) in an arrangement direction of the front end and the rear end of the housing (200), so that when the pool cleaning robot moves forward, the roller brush (400) brushes garbage off a bottom surface or the wall surface of the pool, enabling the garbage to enter the liquid flow channel (300) through the liquid inlet (310).

7. The pool cleaning robot according to claim 1, further comprising: a roller brush (400), wherein the roller brush (400) is rotatably disposed at the front end of the housing (200), and the cavity (110) is located behind an axis of the roller brush (400).

8. The pool cleaning robot according to claim 7, wherein the roller brush (400) extends in a left-right direction, the left-right direction is perpendicular to an arrangement direction of the front end and the rear end of the housing (200), and the left-right direction is perpendicular to a height direction of the housing (200).

9. The pool cleaning robot according to claim 7, wherein when the gravity of the pool cleaning robot and the buoyancy force applied to the pool cleaning robot are balanced, a part of the roller brush (400) is exposed above the liquid surface of the pool, so that the roller brush (400) cleans a region above the liquid surface of the pool.

10. The pool cleaning robot according to claim 7, wherein when the gravity of the pool cleaning robot and the buoyancy force applied to the pool cleaning robot are balanced, more than half of the roller brush (400) is exposed above the liquid surface of the pool, so that the roller brush (400) cleans a region above the liquid surface of the pool.

11. The pool cleaning robot according to claim 3, wherein the cavity (110) is provided with an air inlet hole (120) in communication with ambient air, so that the ambient air enters the cavity (110) when the liquid in the cavity (110) is discharged.

12. The pool cleaning robot according to claim 11, wherein an end of the air inlet hole (120) is in communication with the ambient air, and the end is located on an upper surface of the housing (200).

13. The pool cleaning robot according to claim 11, further comprising a roller brush (400), wherein the roller brush (400) is rotatably disposed at the front end of the housing (200), the cavity (110) is located behind an axis of the roller brush (400), in a front-rear direction, the air inlet hole (120) is located in front of the axis of the roller brush (400), and the front-rear direction is a forward direction and a backward direction of the pool cleaning robot.

14. The pool cleaning robot according to claim 13, wherein when the cavity (110) of the pool cleaning robot is at least partially exposed above the liquid surface of the pool, the air inlet hole (120) is located above the liquid surface of the pool.

15. The pool cleaning robot according to claim 1, wherein a dimension of the cavity (110) in a front-rear direction is smaller than a dimension of the cavity (110) in an up-down direction, and the dimension of the cavity (110) in the front-rear direction is smaller than a dimension of the cavity (110) in a left-right direction, wherein the up-down direction is a height direction of the housing (200), and the left-right direction is a direction perpendicular to both the front-rear direction and the up-down direction.

16. The pool cleaning robot according to claim 1, wherein when the cavity (110) is filled with the liquid, a difference between a sum of gravity of the cavity (110) and gravity of the liquid in the cavity (110) and a buoyancy force applied to the cavity (110) ranges from -5 N to 5 N.

17. The pool cleaning robot according to claim 1, wherein when the pool cleaning robot climbs a wall surface of a pool while submerged below a liquid surface of the pool, the cavity (110) is filled with liquid, and the gravity of the pool cleaning robot is smaller than an upward resultant force applied to the pool cleaning robot.

18. The pool cleaning robot according to claim 1, wherein when the cavity (110) of the pool cleaning robot is at least partially exposed above a liquid surface of a pool, and the cavity (110) is filled with liquid, the gravity of the pool cleaning robot is equal to the buoyancy force applied to the pool cleaning robot.

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