Cleaning device

Abstract

The present disclosure provides a cleaning device. The cleaning device comprises a cleaning device body, an adjusting mechanism, a moving mechanism, a main cleaning mechanism, and an auxiliary cleaning mechanism, the cleaning device body has an outer side portion, an accommodating opening is formed in the outer side portion, an accommodating slot is formed in the cleaning device body, and the accommodating opening is communicated with the accommodating slot; at least one floating cavity of the adjusting mechanism is provided on the cleaning device body; the moving mechanism is provided on the cleaning device body; the main cleaning mechanism at least comprises a dust box, a dirt suction opening is formed in the dust box, at least part of the dust box is accommodated in the accommodating slot, and the dust box can be mounted in the accommodating slot in a pull-out mode by means of the accommodating opening; the auxiliary cleaning mechanism is provided on the cleaning device body, and the auxiliary cleaning mechanism is at least configured to expand a cleaning range of the dirt suction opening; and a solar mechanism comprises a solar panel, and the solar panel is provided on the surface of the top of the cleaning device body. In the water surface cleaning device of the present disclosure, the dust box is convenient to take, thereby improving user performance; and there is no need for frequent flipping to open an upper cover, thereby prolonging the service life of the solar mechanism.

Description

A cleaning device

[0001] This application claims priority to Chinese patent application number 202311639354.6, filed with the Patent Office of China on December 1, 2023, entitled “POOL ROBOT,” the entire contents of which are incorporated herein by reference.

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on January 17, 2024, with application number 202410070430.4 and invention name “A pool robot, its control method, and storage medium”, the entire contents of which are incorporated by reference into this application.

[0003] This application claims priority to the Chinese patent application filed with the China Patent Office on March 27, 2024, with application number 202410362217.0 and invention name “A Pool Cleaning Robot”, the entire contents of which are incorporated by reference into this application.

Technical field

[0004] The present disclosure relates to the technical field of liquid working equipment, and in particular to a cleaning equipment. [Background Technology]

[0005] Pool robots can clean floating objects and stains in the pool. Some existing pool robots include at least a dust box and a solar panel. The dust box is located inside the pool robot. It filters and collects floating objects and stains. The solar panel is mounted on top of the pool robot. To empty the dust box, the user opens the top cover, removes the dust box from the pool robot, and then dumps the waste. However, repeated opening of the top cover of the pool robot can damage the solar panel, shortening its service life.

[0006] [Summary of the invention]

[0007] The present disclosure provides a cleaning device, including a cleaning device main body, the cleaning device main body having an outer side, and the cleaning device further comprising: at least one accommodating port and an accommodating slot, the accommodating port being arranged on the outer side, the accommodating slot being arranged on the cleaning device main body, the accommodating port being communicated with the accommodating slot; an adjusting mechanism including at least one float chamber, the float chamber being arranged on the cleaning device main body, and being used to adjust the cleaning device main body to be at least partially located on the water surface; a moving mechanism being arranged on the cleaning device main body, and being used to drive the cleaning device main body to move; a main cleaning mechanism including at least one dust box, the dust box being formed with a sewage suction port, the dust box being at least partially accommodated in the accommodating slot, and being able to be pulled out and assembled to the accommodating slot through the accommodating port; an auxiliary cleaning mechanism being arranged on the cleaning device main body, and the auxiliary cleaning mechanism being used to at least expand the cleaning range of the sewage suction port; a solar mechanism including a solar panel, and the solar panel being arranged on the top surface of the cleaning device main body.

Brief Description of the Drawings

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts. Among them:

[0009] FIG1 is a first partial schematic diagram of a first embodiment of a cleaning device disclosed herein;

[0010] FIG2 is a first cross-sectional schematic diagram of a first embodiment of the cleaning device disclosed herein;

[0011] FIG3 is a partial side view of the first embodiment of the cleaning device of the present application;

[0012] FIG4 is a first structural schematic diagram of a second embodiment of the cleaning device disclosed herein;

[0013] FIG5 is a second structural schematic diagram of the second embodiment of the cleaning device disclosed herein;

[0014] FIG6 is an enlarged schematic diagram shown in FIG5B;

[0015] FIG7 is a third structural schematic diagram of the second embodiment of the cleaning device disclosed herein;

[0016] FIG8 is a fourth structural schematic diagram of the second embodiment of the cleaning device disclosed herein;

[0017] FIG9 is a fifth structural diagram of the second embodiment of the cleaning device disclosed herein;

[0018] FIG10 is a sixth structural schematic diagram of the second embodiment of the cleaning device disclosed herein;

[0019] FIG11 is a second partial schematic diagram of the first embodiment of the cleaning device disclosed herein;

[0020] FIG12 is a second partial exploded view of the first embodiment of the cleaning device of the present disclosure;

[0021] FIG13 is a second cross-sectional schematic diagram of the first embodiment of the cleaning device disclosed herein;

[0022] FIG14 is a schematic structural diagram of C shown in FIG13;

[0023] FIG15 is a schematic structural diagram of a third embodiment of the cleaning device disclosed herein;

[0024] FIG16 is a first partial schematic diagram of a third embodiment of the cleaning device disclosed herein;

[0025] FIG17 is a second partial schematic diagram of the third embodiment of the cleaning device disclosed herein;

[0026] FIG18 is a schematic structural diagram of an embodiment of a first transmission mechanism of the present disclosure;

[0027] FIG19 is a schematic structural diagram of a fourth embodiment of the cleaning device disclosed herein;

[0028] FIG20 is a schematic diagram of the three-dimensional structure of the fifth embodiment of the cleaning device disclosed herein;

[0029] FIG21 is a schematic perspective view of the sixth embodiment of the cleaning device disclosed herein;

[0030] FIG22 is a schematic diagram of the bottom structure of a sixth embodiment of the cleaning device disclosed herein;

[0031] FIG23 is a schematic structural diagram of the nozzle of the fifth embodiment of the cleaning device of the present disclosure at the second position;

[0032] FIG24 is a schematic structural diagram of the nozzle of the fifth embodiment of the cleaning device of the present disclosure at the first position;

[0033] FIG25 is a schematic diagram of a first structure of a dust box in the cleaning device of the present disclosure;

[0034] FIG26 is a schematic structural diagram of A shown in FIG2 ;

[0035] FIG27 is a first structural diagram of the stop lock mechanism of the cleaning device disclosed herein;

[0036] FIG28 is a first partial cross-sectional view of the locking mechanism of the cleaning device of the present disclosure;

[0037] FIG29 is a schematic structural diagram of D shown in FIG25;

[0038] FIG30 is a second structural schematic diagram of the dust box in the cleaning device of the present disclosure;

[0039] FIG31 is a schematic structural diagram of E shown in FIG30;

[0040] FIG32 is a simplified structural diagram of an embodiment of an anti-vomiting assembly disclosed herein;

[0041] FIG33 is a simplified structural diagram of another embodiment of the anti-vomiting assembly disclosed herein;

[0042] FIG34 is a simplified structural diagram of another embodiment of the anti-vomiting assembly disclosed herein;

[0043] FIG35 is a schematic structural diagram of a side brush drive motor according to the present invention;

[0044] FIG36 is a side view of the first embodiment of the cleaning device of the present disclosure;

[0045] FIG37 is a schematic structural diagram of a first embodiment of the cleaning device disclosed herein;

[0046] FIG38 is a schematic structural diagram of a seventh embodiment of the cleaning device disclosed herein;

[0047] FIG39 is a schematic structural diagram of F shown in FIG38;

[0048] FIG40 is a schematic structural diagram of G shown in FIG38;

[0049] FIG41 is a schematic structural diagram of the anti-grounding assembly in the first embodiment of the cleaning device disclosed herein.

[0050] Reference numerals: 1000, cleaning device; 100, cleaning device body; 1011, first side portion; 1012, second side portion; 1013, third side portion; 1014, fourth side portion; 102, receiving opening; 104, water retaining structure; 107, upper cover; 108, receiving slot; 109, auxiliary mounting slot; 110, auxiliary mounting portion; 111, anti-collision member; 120, wireless charging port; 130, drive box; 140, anti-grounding assembly; 141, grounding housing; 142, grounding member; 1421, manual portion; 143, pressing elastic portion;

[0051] 200, adjustment mechanism; 210, float chamber; 211, first float chamber; 212, second float chamber; 213, anti-collision groove; 214, propulsion groove; 220, float chamber pump;

[0052] 300, moving mechanism; 310, propeller;

[0053] 400, main cleaning mechanism; 410, dust box; 411, dust box unit; 412, rotating unit; 413, sewage suction port; 4131, first edge; 4132, second edge; 414, gripping unit; 415, rotating shaft; 420, locking mechanism; 421, locking assembly; 4211, locking member; 42111, locking unit; 4212, elastic member; 4213, pressing member; 42131, pressing slope 42132, press guide post; 42133, press buckle; 422, locking groove; 430, sliding structure; 431, slide rail; 440, positioning structure; 441, positioning hole; 450, roller brush; 460, clamping structure; 461, clamping groove; 462, clamping block; 470, anti-vomiting assembly; 471, anti-vomiting door; 472, first anti-vomiting part; 473, anti-vomiting plate; 474, second anti-vomiting part;

[0054] 500, auxiliary cleaning mechanism; 510, first auxiliary cleaning assembly; 511, side brush; 5111, cleaning portion; 51111, cleaning surface; 5112, side brush body; 512, rotating shaft; 513, hub; 5131, first hub; 5132, second hub; 5133, sleeve; 514, retaining wall structure; 5141, first retaining wall portion; 520, second auxiliary cleaning assembly; 521, water spray assembly; 5211, nozzle; 5212, water spray member; 530, Connecting portion; 531, fixing portion; 532, telescopic portion; 541, swing gear; 542, worm gear; 543, worm; 544, transmission gear; 550, auxiliary drive assembly; 551, drive housing; 5511, first drive housing; 5512, second drive housing; 55121, sealing portion; 552, side brush drive motor; 553, first sealing member; 554, second sealing member; 555, motor fixing member; 561, grating disk; 562, grating sensor;

[0055] 600, solar energy mechanism; 810, water treatment component; 811, test kit; 1, reference plane; 2, first direction axis; 3, second direction axis; 2000, wireless charging connector; 2001, adapter. [Specific implementation method]

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0057] The present disclosure provides at least one cleaning device, including a surface cleaning device capable of performing water surface cleaning, an underwater cleaning device capable of performing underwater cleaning, and a multifunctional cleaning device capable of performing both underwater and surface cleaning. The following description does not limit the type of water cleaning device, but rather describes the device in terms of its structure, construction, function, and control. As shown in Figure 1, the present disclosure provides a surface cleaning device capable of performing surface cleaning alone. As shown in Figures 4 and 5, the present disclosure provides a multifunctional cleaning device capable of performing both surface cleaning and underwater cleaning.

[0058] Please refer to Figures 1, 2, and 3. Figure 1 is a first partial schematic diagram of the first embodiment of the cleaning device of the present disclosure; Figure 2 is a first cross-sectional schematic diagram of the first embodiment of the cleaning device of the present disclosure; and Figure 3 is a partial side view of the first embodiment of the cleaning device of the present disclosure. The present disclosure provides a water surface cleaning device. The water surface cleaning device can clean floating objects and other garbage on the surface of a pool. The water surface cleaning device includes a cleaning device body 100, an adjustment mechanism 200, a movement mechanism 300, a main cleaning mechanism 400, an auxiliary cleaning mechanism 500, a solar mechanism 600, and a water treatment component 810. The cleaning device body 100 has an outer portion (not shown in the figure). The outer portion is the circumferential area around the cleaning device body 100 and can be understood as the outer contour of the cleaning device 100. There can be multiple outer portions. At least one outer portion is formed with a receiving opening 102. A receiving groove 108 is provided on the cleaning device body 100, and the receiving groove 108 is used to accommodate at least part of the main cleaning mechanism 400. The receiving opening 102 is connected to the receiving groove 108, and the adjustment mechanism 200 is provided on the cleaning device body 100. The adjustment mechanism 200 enables the water surface cleaning device to operate on the water surface. For example, the adjustment mechanism 200 includes at least one float chamber 210. The float chamber 210 is provided on the cleaning device body 100 and is used to adjust the cleaning device body 100 to be at least partially located above the water surface.

[0059] The moving mechanism 300 is provided on the cleaning device body 100. The moving mechanism 300 is used to drive the cleaning device body 100 to move. The moving mechanism 300 can be a propeller 310 or the like.

[0060] The main cleaning mechanism 400 at least plays a filtering role. The main cleaning mechanism 400 includes at least a dust box 410. The dust box 410 is at least partially accommodated in the receiving groove 108. The dust box 410 is a frame structure and is at least partially hollowed out. A filter layer (not shown in the figure) is provided in the hollowed-out part. The filter layer plays a filtering role and is used to filter garbage in the sewage flowing through the dust box 410 and retain the garbage in the dust box 410. Of course, the dust box 410 can also be a dust bag. The dust box 410 is formed with a sewage suction port 413. The position of the receiving port 102 can be the same as the position of the sewage suction port 413, in which case the receiving port 102 is connected to the sewage suction port 413. Alternatively, the position of the receiving port 102 is different from the position of the sewage suction port 413, in which case the cleaning device body 100 is provided with a liquid inlet, which is connected to the sewage suction port 413. During the cleaning process, the dust-carrying water flow can flow through the receiving port 102, the sewage suction port 413, the inside of the dust box 410, and the outside of the dust box 410 in sequence to form a clean water flow channel (not shown in the figure). Alternatively, during the cleaning process, the dust-carrying water flow can flow through the liquid inlet, the sewage suction port 413, the inside of the dust box 410, and the outside of the dust box 410 in sequence to form a clean water flow channel. The liquid inlet and the receiving port 102 are located at different positions. The water flow channel can separate the water flow and garbage, etc., and the garbage is retained in the dust box 410. The main cleaning mechanism 400 can be detached and installed in the receiving slot 108 through the receiving port 102, which facilitates the installation and removal of the dust box 410 for garbage dumping.

[0061] The auxiliary cleaning mechanism 500 is disposed within the cleaning device body 100. The auxiliary cleaning mechanism 500 is at least configured to expand the cleaning range of the sewage suction port 413. The auxiliary cleaning mechanism 500 assists in cleaning and improves cleaning efficiency. On the one hand, the auxiliary cleaning mechanism 500 can be used to expand the cleaning range of the sewage suction port 413 by directing waste outside the cleaning path of the sewage suction port 413 into the cleaning range of the sewage suction port 413. On the other hand, it can be used to assist in cleaning, for example, by cleaning the pool wall when the water surface cleaning device is moving close to it.

[0062] The solar mechanism 600 includes a solar panel. The solar panel is arranged on the top surface of the cleaning device body 100 and is used to recharge the water surface cleaning device. The cleaning device body 100 includes an upper cover 107. The upper cover 107 can be the top of the cleaning device body 100. The upper cover 107 is connected to the outer wall. Compared with the prior art, which requires flipping the upper cover 107 to install and remove the dust box 410, in this embodiment, the dust box 410 in the main cleaning mechanism 400 is installed in the receiving groove 108 from the receiving opening 102 on the outer side. During the installation and removal of the dust box 410, the user does not need to frequently flip open the upper cover 107. The solar mechanism 600 can be directly fixed to the cleaning device body 100, which not only improves the stability of the solar panels and various wires in the solar mechanism 600, thereby increasing the service life of the solar mechanism 600, but also can design the area of ​​the solar panel to be larger, thereby improving the energy replenishment efficiency.

[0063] Please refer to Figures 4 to 6. Figure 4 is a schematic diagram of the first structure of the second embodiment of the cleaning device of the present disclosure; Figure 5 is a schematic diagram of the second structure of the second embodiment of the cleaning device of the present disclosure; and Figure 6 is an enlarged schematic diagram of the portion B in Figure 5. In some embodiments, the present disclosure provides a multifunctional cleaning device. The multifunctional cleaning device includes a cleaning device body 100, an adjustment mechanism 200, a movement mechanism 300, a main cleaning mechanism 400, and an auxiliary cleaning mechanism 500. The multifunctional cleaning device can perform comprehensive cleaning in a water environment, including cleaning the pool bottom, pool walls, water body, waterline, and water surface. The adjustment mechanism 200 is used to adjust the operating position and posture of the multifunctional cleaning device in the water to achieve cleaning of various target locations within the water. During underwater cleaning, the main cleaning mechanism 400 includes at least a dust box and a main water pump. The operation of the main water pump generates a clean water flow that flows sequentially through the multifunctional cleaning device's liquid inlet, dust box, main water pump, and out the drain. When cleaning a water surface, the multifunctional cleaning device follows a similar operating process to that of a water surface cleaning device.

[0064] The adjustment mechanism 200 may include a float chamber 210 and a float chamber adjustment assembly. The float chamber 210 is generally symmetrically disposed on the cleaning device body 100. The float chamber adjustment assembly is in fluid communication with the float chamber 210 to adjust the volume of liquid or gas in the float chamber 210 when the multifunctional cleaning device performs different cleaning modes, thereby enabling the multifunctional cleaning device to switch between different positions in the water, at the waterline, and on the water surface.

[0065] Figures 1 to 3 are schematic diagrams of the structure of the water surface cleaning device disclosed herein, Figures 4 and 5 are schematic diagrams of the multifunctional cleaning device disclosed herein, and Figure 6 is an enlarged schematic diagram of section B in Figure 5 . The water surface cleaning device and multifunctional cleaning device in this section are both represented by cleaning device 1000. Cleaning device 1000 includes a cleaning device body 100 and an auxiliary cleaning mechanism 500. The auxiliary cleaning mechanism 500 includes a first auxiliary cleaning assembly 510. The cleaning device body 100 is movable along a reference plane. The reference plane can be the bottom wall of a pool, a side wall of a pool, or the water surface of a pool, for example. The reference plane can be defined as a reference plane parallel to the direction of travel of the cleaning device 1000 and approximately parallel to the surface to be cleaned, such as reference plane 1 in Figure 4 . The cleaning device body 100 includes a first side portion 1011, a second side portion 1012, and a third side portion 1013. The outer portion includes at least the first side portion 1011, the second side portion 1012, and the third side portion 1013.

[0066] Among them, the first side portion 1011 is the side facing the forward direction X of the cleaning device main body 100. A sewage suction port 413 is provided on the first side portion 1011. The sewage suction port 413 provides an opening for water flow and stains to enter the cleaning device main body 100. The stains can be garbage floating in the pool, scale or black stains accumulated in the pool, etc. The second side portion 1012 and the third side portion 1013 are both connected to the first side portion 1011 and are located on both sides of the first side portion 1011. Looking from the rear to the front of the cleaning device 1000, the second side portion 1012 is located on the left side of the cleaning device main body 100, and the third side portion 1013 is located on the right side of the cleaning device main body 100.

[0067] The first auxiliary cleaning assembly 510 can clean the pool. The first auxiliary cleaning assembly 510 is used to expand the cleaning range of the sewage suction port 413 or to perform physical contact cleaning on the pool wall located on the side of the cleaning device 1000.

[0068] Specifically, the cleaning range of the sewage suction port 413 refers to the range within which the sewage suction port 413 can affect the water flow and stains when the sewage suction port 413 is in the state of sucking in water flow and stains. Generally, it can refer to the coverage area or working area of ​​the sewage suction port 413 while the cleaning device 1000 is in motion. The first auxiliary cleaning assembly 510 can be located in the outer surface area where the second side portion 1012 or the third side portion 1013 transitions with the first side portion 1011. That is, when in operation, the first auxiliary cleaning assembly 510 can act on both the side and the front of the cleaning device 1000. Alternatively, the first auxiliary cleaning assembly 510 can be located within the cleaning device body 100. Alternatively, the first auxiliary cleaning assembly 510 can be located at the front of the cleaning device body 100, namely the first side portion 1012; or at the side of the cleaning device body 100, namely the second side portion 1012 and / or the third side portion 1013.

[0069] With the above arrangement, when the cleaning device body 100 moves forward in the direction of travel, the sewage suction port 413 is located at the front and sucks in dirt as the cleaning device body 100 moves forward. Under the action of the first auxiliary cleaning assembly 510, garbage originally located outside the coverage area of ​​the sewage suction port 413 can be guided into the working area of ​​the sewage suction port 413, thereby effectively expanding the cleaning range of the sewage suction port 413 and improving the garbage cleaning efficiency.

[0070] The first auxiliary cleaning assembly 510 can expand the cleaning range of the sewage suction port 413 by causing the first auxiliary cleaning assembly 510 to agitate the water flow toward the sewage suction port 413 or by increasing the suction force of the sewage suction port 413, etc., which are not limited herein. For example, in one embodiment, the first auxiliary cleaning assembly 510 is rotatably mounted on the cleaning device body 100 to agitate the water flow near the sewage suction port 413, causing water outside the working area of ​​the sewage suction port 413 to flow into the working area of ​​the sewage suction port 413, thereby causing garbage outside the working area to flow into the working area of ​​the sewage suction port 413 along with the water flow, and then flow into the cleaning device body 100.

[0071] The rotation direction of the first auxiliary cleaning component 510 can be set according to actual conditions, as long as it can stir the water flow toward the sewage suction port 413. For example, as shown in Figure 4, along the forward direction X, viewed from the top to the bottom of the cleaning device 100, when the first auxiliary cleaning component 510 is closer to the left side of the cleaning device body 100 relative to the sewage suction port 413, the first auxiliary cleaning component 510 rotates in a clockwise direction; when the first auxiliary cleaning component 510 is closer to the right side of the cleaning device body 100 relative to the sewage suction port 413, the first auxiliary cleaning component 510 rotates in a counterclockwise direction. Through the above settings, when the first auxiliary cleaning component 510 is working, the water flow away from the sewage suction port 413, especially the water flow located in the left front or right front of the cleaning device 1000, will be disturbed and guided toward the sewage suction port 413, and the direction of the water flow is generally opposite to the moving direction of the cleaning device 1000, that is, as the cleaning device 1000 moves, the sewage suction port 413 will then suck the water flow guided by the first auxiliary cleaning component 510 into the cleaning device body 100.

[0072] In one embodiment, as shown in Figures 3 and 4 , the vertical direction is defined as the height direction of the cleaning device 1000, that is, the direction of the line connecting the bottom center and the top center. This direction is also the direction of gravity when the cleaning device 1000 is horizontally positioned. As shown in Figures 3 and 4 , the cleaning device 1000 is horizontally positioned. Along the height direction, i.e., along the height of the cleaning device 1000, the projection of the first auxiliary cleaning assembly 510 at least partially overlaps with the projection of the sewage suction port 413. As shown in Figure 5 , the sewage suction port 413 includes at least a first edge 4131 near the top of the cleaning device 1000 and a second edge 4132 near the bottom of the cleaning device 1000. This projection relationship can be further expressed as follows: along the height direction of the cleaning device 1000, the projection of the first auxiliary cleaning assembly 510 is at least partially located between the projections of the first edge 4131 and the second edge 4132; or, along the height direction of the cleaning device 1000, the first auxiliary cleaning assembly 510 is at least partially located between the first edge 4131 and the second edge 4132.

[0073] As shown in Figure 3, the height of the first auxiliary cleaning assembly 510 projected in the height direction is h1. The height of the sewage suction port 413 projected in the height direction can be h2 or h3. Among them, h1 at least partially overlaps with h2 or h3.

[0074] When the cleaning device 1000 performs a cleaning task on the water surface, the sewage suction port 413 is at least partially located below the water surface, that is, the second edge 4132 is located below the water surface, and the first edge 4131 can be located above or below the water surface. The first auxiliary cleaning component 510 can also be configured to be at least partially below the water surface. Taking the example where the first edge 4131 of the sewage suction port 413 is located above the water surface, and the first auxiliary cleaning component 510 is partially located above the water surface and partially located below the water surface, the sewage suction port 413 is partially located above the water surface and partially located below the water surface. When the first auxiliary cleaning component 510 is working, garbage near the cleaning device 1000 can be guided between the first edge 4131 and the second edge 4132 and directly sucked into the sewage suction port 413.

[0075] In one embodiment, as shown in Figures 1 and 7, along the X direction, the first auxiliary cleaning component 510 is at least partially located in front of the sewage suction port 413. As the cleaning device body 100 moves forward, the garbage cleaned and driven by the first auxiliary cleaning component 510 can naturally reach the working area of ​​the sewage suction port 413.

[0076] In one embodiment, as shown in Figure 6, the first auxiliary cleaning component 510 includes a side brush 511 and a rotating shaft 512. The side brush 511 is arranged around the rotating shaft 512. The rotating shaft 512 is rotatably connected to the cleaning device body 100. The side brush 511 includes a side brush strip (not shown in the figure). The side brush strip includes a side brush body 5112 and a plurality of cleaning parts 5111 spaced apart from the side brush body 5112. The cleaning part 5111 includes at least one cleaning surface 51111. The cleaning surface 51111 is inclined relative to the reference plane 1. The cleaning surface 51111 is used to stir the water flow or contact the pool wall and clean. Specifically, when the rotating shaft 512 rotates, the rotating shaft 512 drives the side brush 511 to rotate. When the side brush 511 rotates, the cleaning surface 51111 stirs the water flow or contacts the pool wall.

[0077] The cleaning surface 51111, tilted relative to the reference surface 1, can tilt and agitate the water flow. As a result, when the side brush 511 rotates, it is less likely that a water flow parallel to the forward direction X will form along the edge of the side brush 511. Dirt near the edge of the side brush 511 will not be continuously pushed forward by this water flow, preventing it from reaching the vicinity of the sewage suction port 413.

[0078] In one embodiment, the rotating shaft 512 is tilted relative to the cleaning device body 100, that is, the rotating shaft 512 is set at an angle Y with the reference plane 1. The angle can be set between 0 and 90 degrees, for example, 30 degrees, 40 degrees, 60 degrees, 70 degrees, 75 degrees, 80 degrees, etc., and is not specifically limited here. The tilted setting of the rotating shaft 512 allows the first auxiliary cleaning component 510, that is, the side brush 511, to rotate tilted in the water body. The portion of the side brush 511 close to the sewage suction port 413 contacts the water body, while the portion away from the sewage suction port 413 is located above the water surface or is mostly located above the water surface. The linear velocity generated by the movement of the side brush 511 disturbing the water body is always directed towards the sewage suction port 413, which can effectively ensure that the movement of the side brush 511 can guide garbage to the working area of ​​the sewage suction port 413 instead of pushing it away, thereby improving its water surface cleaning efficiency.

[0079] The number of the cleaning surfaces 51111 can be one, two, three, or more, and is not limited thereto. The rotating shaft 512 can be connected to a driving member on the cleaning device body 100. The driving member drives the rotating shaft 512 to rotate. The driving member can be a stepping motor, etc.

[0080] The inclination direction of the axis of the rotating shaft 512 relative to the reference plane 1 can be set according to actual conditions. In one embodiment, as shown in Figures 8 to 10, the cleaning device 1000 includes a first reference plane α, which is perpendicular to the reference plane 1 and the direction of travel X, that is, the first reference plane α is a plane extending in the left and right directions of the cleaning device body 100. In another embodiment, a reference center line γ is provided between the second side wall 12 and the third side wall 13. The reference center line γ is the line where the center of the projection of the top and bottom of the cleaning device 1000 on the reference plane 1 is located, that is, when the cleaning device 1000 is placed horizontally, it is a virtual straight line parallel to the gravity line of the cleaning device 1000. In another embodiment, the cleaning device 1000 includes a second reference plane β, as shown in Figure 8, the second reference plane β is perpendicular to the reference plane 1 and parallel to or coincides with the direction of travel X. In another embodiment, the cleaning device 1000 also includes a third reference plane, which is a plane different from the above first reference plane and second reference plane. The axis of the rotating shaft 512 may be located within the first reference plane α, the second reference plane β, or the third reference plane. Regardless of which reference plane the axis of the rotating shaft 512 is located within, generally speaking, the distance from the axis of the rotating shaft 512 near the top portion of the cleaning device 1000 to the reference centerline γ is smaller than the distance from the axis of the rotating shaft 512 near the bottom portion of the cleaning device 1000 to the reference centerline γ. In other words, the distance from the center of the upper surface of the side brush 511 to the reference centerline γ is smaller than the distance from the center of the lower surface to the reference centerline γ, i.e., the position of the side brush 511 near the outer contour of the cleaning device body 100 is higher than the position of the side brush 511 near the reference centerline γ of the cleaning device body 100; intuitively, this can be understood as the rotating shaft 512 being tilted inwardly toward the cleaning device body 100.

[0081] In other embodiments, the center of the upper surface of the side brush 511 (which can be understood as the intersection of the axis of the rotating shaft 512 and the upper surface of the side brush 511) is farther away from the reference center line γ than the center of the lower surface is from the reference center line γ. At this time, the position of the side brush 511 close to the outer contour of the cleaning device body 100 is lower than the position of the side brush 511 close to the reference center line γ of the cleaning device body 100. Intuitively, it can be understood that the rotating shaft 512 is tilted toward the outside of the cleaning device body 100. As the side brush 511 rotates, it tends to guide the water of a greater depth at the outer edge of the cleaning device 100 to the sewage suction port 413.

[0082] In another embodiment, the axis of the rotating shaft 512 of the side brush 511 is roughly parallel to the reference center line γ. In this case, the side brush 511 can be regarded as being basically horizontally arranged on the cleaning device body 100. During the operation of the cleaning device 1000, the side brush 511 can be partially arranged above the water surface and partially arranged below the water surface, and can also have a tendency to guide the garbage on the outer edge of the cleaning device body 100 to the working area of ​​the sewage suction port 413. Of course, in this way, it is also possible to set the cleaning part 5111 inclined to the rotating shaft 512 to guide the water flow to the sewage suction port 413.

[0083] In one embodiment, the side brush 511 includes a plurality of cleaning portions 5111. The cleaning portions 5111 are arranged around the outer periphery of the rotating shaft 512. The cleaning portions 5111 are arranged to extend axially along the rotating shaft 512 as a whole. A cleaning surface 51111 is formed on one side of the cleaning portion 5111. The cleaning surface 51111 is a side of the cleaning portion 5111 facing the rotation direction of the rotating shaft 512. The extension direction of the cleaning surface 51111 can be parallel to the rotating shaft 512 or can be angled to the rotating shaft 512 (i.e., the cleaning portions 5111 are arranged around the outer periphery of the rotating shaft 512 in a spiral rotation manner). Thus, by arranging the cleaning portions 5111 along the axial direction of the rotating shaft 512, the side brush 5111 has a simple structure and is easy to manufacture. When the tilted rotating shaft 512 rotates, the cleaning portion 5111 can tilt relative to the reference plane 1 to stir the water flow.

[0084] The cleaning portion 5111 is at least partially configured to be made of a flexible material, and / or the cleaning portion 5111 is at least partially configured to be made of a rigid material. In one embodiment, the cleaning portion 5111 is entirely configured to be made of a flexible material. In another embodiment, the cleaning portion 5111 is entirely configured to be made of a rigid material. In yet another embodiment, the cleaning portion 5111 is partially configured to be made of a flexible material and another portion to be made of a rigid material. A flexible material refers to a material that can undergo elastic deformation. A rigid material refers to a material that cannot easily undergo elastic deformation.

[0085] When the cleaning portion 5111 is made of a flexible material, it may be bristles, rubber, etc. When the cleaning portion 5111 is made of a rigid material, it may be a plastic blade, a metal blade, etc. The number of cleaning portions 5111 may be one, two, three, or more, etc., and is not limited here.

[0086] Specifically, in one embodiment, the cleaning surface 51111 is arranged at an angle relative to the reference plane 1, and the axis of the rotating shaft 512 is perpendicular to the reference plane 1. The side brush 511 includes a plurality of cleaning portions 5111. The cleaning portions 5111 are arranged around the outer periphery of the rotating shaft 512. The cleaning portions 5111 are inclined or curved toward the direction of rotation of the rotating shaft 512. A cleaning surface 51111 is formed on one side of the cleaning portion 5111. The cleaning surface 51111 is the side of the cleaning portion 5111 facing the direction of rotation of the rotating shaft 512. When the rotating shaft 512 rotates, the inclined and curved cleaning portions 5111 can tilt and agitate the water flow.

[0087] The number and location of the first auxiliary cleaning assembly 510 can be determined based on actual circumstances. In one embodiment, only one first auxiliary cleaning assembly 510 can be provided on the second side 1012 or the third side 1013 of the cleaning device 1000; alternatively, one first auxiliary cleaning assembly 510 can be provided on each of the second side 1012 and / or the third side 1013. In this embodiment, the first auxiliary cleaning assembly 510 can be provided at any location on the second side 1012 and / or the third side 1013, such as near the front of the cleaning device body 100, in the middle of the side, or at the rear of the cleaning device body 100. In another embodiment, the first auxiliary cleaning assembly 510 can be provided at the junction of the first side 1011 and the second side 1012 and / or the third side 1013 of the cleaning device 1000, with a portion of the first auxiliary cleaning assembly 510 protruding from the first side 1011 and a portion of the first auxiliary cleaning assembly 510 protruding from the second side 1012 and / or the third side 1013.

[0088] In one embodiment, the cleaning device body 100 has a connecting portion 530 extending in the forward direction X, and the first auxiliary cleaning assembly 510 is disposed on the connecting portion 530. The connecting portion 530 may be an extension from the second side portion 1012 or the third side portion 1013 in the forward direction X, or may be separately disposed from the first side portion 1011 in the forward direction X.

[0089] In one embodiment, the cleaning device 1000 further includes a roller brush member 450. The roller brush member 450 is rotatably disposed on the cleaning device body 100 or the water surface cleaning inlet of the dust box 410. As the roller brush member 450 rotates, the water flow outside the dust box 410 is guided to flow through the water surface cleaning inlet of the dust box 410 and into the interior of the dust box 410. When the cleaning device 1000 is in the water surface cleaning state, the roller brush member 450 is at least partially located below the water surface, so as to form an effective water flow disturbance at the water surface cleaning inlet of the dust box 410, thereby improving the efficiency of external garbage entering the dust box 410. In a specific embodiment, during water surface cleaning, the roller brush member 450 is partially located below the water surface and partially located above the water surface, corresponding to the aforementioned sewage suction port 413 being partially located above the water surface and partially located below the water surface, thereby achieving a better water surface cleaning effect.

[0090] Thus, in one embodiment, when the cleaning device 1000 is performing surface cleaning, the sewage suction port 413 is partially located above and partially below the water surface, allowing floating debris, such as leaves and garbage bags, to naturally flow into the dust box 410 along with the surface current. The roller brush 450 is partially located below and partially above the water surface, and can at least guide the surface current toward the sewage suction port 413 within the working area of ​​the sewage suction port 413. The rotating shaft 512 of the first auxiliary cleaning assembly 510 is tilted, and during operation, it can guide surface debris outside the working area of ​​the sewage suction port 413 from the side or front of the cleaning device body 100 into the working area of ​​the sewage suction port 413. Then, as the cleaning device 1000 moves and the roller brush 450 acts, it is guided through the sewage suction port 413 and ultimately into the dust box 410.

[0091] As shown in Figures 11 to 13, it is disclosed that the first auxiliary cleaning component 510 of the cleaning device 1000 is a structural composition of a side brush 511. The side brush 511 includes a side brush strip. The side brush strip at least includes a side brush body 5112 and a plurality of cleaning parts 5111 spaced apart from each other on the side brush body 5112, and a cleaning surface 51111 is formed on one side of the cleaning part 5111. The cleaning part 5111 can be detachably or fixedly arranged on the side brush body 5112. As in the present embodiment, a plurality of cleaning parts 5111 are integrally formed on the side brush body 5112 to form a side brush strip, and then the side brush strip is arranged around the outer periphery of the rotating shaft 512. Since the side brush strip is a consumable part, the side brush strip is easy to disassemble, replace and maintain.

[0092] In one embodiment, the cleaning portions 5111 can be arranged on the side brush body 5112 at equal or unequal intervals. The arrangement of adjacent cleaning portions 5111 can be determined according to actual needs, for example, by being arranged in a straight line along the width direction of the side brush body 5112, by being arranged in a straight line at an angle to the width direction of the side brush body 5112, or by being arranged in an arc along the width direction of the side brush body 5112. When the side brush body 5112 surrounds the outer circumference of the rotating shaft 512, at least a portion of the cleaning portion 5111 extends along the axial direction of the rotating shaft 512 and is perpendicular to the side brush body 5112; alternatively, at least a portion of the cleaning portion 5111 extends along the axial direction of the rotating shaft 512 and is arranged at an angle to the side brush body 5112. Thus, the cleaning portion 5111 can be arranged on the side brush body 5112 in a variety of ways, as long as the cleaning surface 51111 contacts and stirs the water flow.

[0093] In some embodiments, the first auxiliary cleaning assembly 510 further includes a hub 513. The hub 513 is sleeved onto the rotating shaft 512. A plurality of cleaning units 5111 are disposed around the outer circumference of the hub 513, or the plurality of cleaning units 5111 are disposed around the hub 513 via a side brush body 5112. The provision of the hub 513 increases the diameter of the side brush 511, thereby increasing the number of cleaning units 5111 or the overall length of the side brush strip, thereby extending the cleaning range of the cleaning device 1000. The plurality of cleaning units 5111 are detachably connected to the outer circumference of the hub 513; or the plurality of cleaning units 5111 are detachably connected to the outer circumference of the hub 513 via the side brush body 5112, facilitating installation and replacement of the plurality of cleaning units 5111 or the side brush strip. Specifically, the plurality of cleaning units 5111 or the side brush strip can be secured to the hub 513 via fasteners. The fasteners may include, but are not limited to, screws, snaps, and the like.

[0094] When the side brush strip is detachable from the rotating shaft 512 or the hub 513, the number of side brush strips can be one, two, or more. When there is only one side brush strip, the leading end and the trailing end of the side brush strip overlap, and a fixing member passes through the leading and trailing ends of the side brush strip and is fixed to the rotating shaft 512 or the hub 513. Alternatively, the side brush strip is formed into an annular shape and is integrally sleeved on the outer circumference of the rotating shaft 512 or the hub 513. When there are multiple side brush strips, the multiple side brush strips are sequentially wrapped around the rotating shaft 512 or the hub 513 end to end, and each side brush strip is fixed by a corresponding fixing member.

[0095] In some embodiments, the hub 513 is detachably connected to the shaft 512. The hub 513 can be mounted on and removed from the outer periphery of the shaft 512. If the hub 513 becomes damaged due to prolonged or frequent use, it can be simply replaced, improving user convenience.

[0096] In one specific embodiment, the hub 513 includes a first hub 5131, a second hub 5132, and a sleeve 5133. The first hub 5131 and the second hub 5132 are detachably connected. The sleeve 5133 is embedded between the first hub 5131 and the second hub 5132. When the first hub 5131 and the second hub 5132 are connected, the sleeve 5133 is confined between the first hub 5131 and the second hub 5132, thereby locking the sleeve 5133. The sleeve 5133 is detachably connected to the end of the drive shaft of the side brush drive motor 552. The hub 513 is mounted to the end of the drive shaft via the sleeve 5133 and rotates with the drive shaft without locking the first hub 5131 and the second hub 5132 to the drive shaft. This facilitates subsequent removal and replacement of the first hub 5131 and the second hub 5132, reducing the number of disassembly steps.

[0097] The first hub 5131 and the second hub 5132 can be joined to form a ring for sleeved around the outer circumference of the drive shaft. The first hub 5131 and the second hub 5132 can be symmetrically arranged, i.e., the shape of the first hub 5131 and the shape of the second hub 5132 are identical and symmetrical. Alternatively, the first hub 5131 and the second hub 5132 can be asymmetrically arranged. The first hub 5131 and the second hub 5132 can be secured at their joint by a fastener. For example, when the first hub 5131 and the second hub 5132 are symmetrically arranged, the end faces of the first hub 5131 and the second hub 5132 are positioned relative to each other and in contact with each other, wherein at least one fastener can simultaneously secure one end of the first hub 5131 and one end of the second hub 5132; and at least another fastener can simultaneously secure the other end of the first hub 5131 and the other end of the second hub 5132. When hair or other easily entangled materials are present between the side brush strip and the hub 513 or within the hub 513, the side brush strip, the first hub 5131, and the second hub 5132 are disassembled to clean the hair or other easily entangled materials within the hub 513, thereby improving the cleaning efficiency of hair or other easily entangled materials and also improving the user's convenience. The above-mentioned fixing member can be, but is not limited to, a fixing screw.

[0098] In another embodiment, the hub 513 can be integrally formed. When the hub 513 includes the first hub 5131, the second hub 5132 and the shaft sleeve 5133, the first hub 5131, the second hub 5132 and the shaft sleeve 5133 are integrally formed, that is, the hub 513 is a whole.

[0099] In another embodiment, the first auxiliary cleaning assembly 510 can perform contact cleaning. When the cleaning device body 100 moves near the pool wall, the first auxiliary cleaning assembly 510 contacts and cleans the pool wall. Dirt adhered to the pool wall is removed by the first auxiliary cleaning assembly 510 and discharged into the water, at least partially drawn into the cleaning device body 100 via the sewage suction port 413.

[0100] In one embodiment, a first auxiliary cleaning assembly 510 may be provided on at least one of the second side portion 1012 and the third side portion 1013 of the cleaning device 1000. When the first auxiliary cleaning assembly 510 is in operation, at least a portion thereof extends beyond the outline of the cleaning device 1000. That is, along the height direction of the cleaning device 1000, at least a portion of the first auxiliary cleaning assembly 510 protrudes from the cleaning device 1000 in the area where the first auxiliary cleaning assembly 510 is located. When the cleaning device 1000 is moving along or cleaning an edge, the portion of the first auxiliary cleaning assembly 510 that protrudes from the cleaning device 1000 can contact the pool wall, thereby completing the cleaning of the pool wall.

[0101] In one specific embodiment, the first hub 5131, the second hub 5132, and the shaft sleeve 5133 are made of the same or different materials. Specifically, the first hub 5131, the second hub 5132, and the shaft sleeve 5133 are all made of a rigid material. Rigid materials include, but are not limited to, wear-resistant plastic and alloy materials. For example, the first hub 5131 and the second hub 5132 are both made of a wear-resistant plastic material, such as, but not limited to, polyoxymethylene resin. The shaft sleeve 5133 can be made of an alloy, such as, but not limited to, aluminum alloy. Alternatively, the first hub 5131, the second hub 5132, and the hub 513 are all made of a wear-resistant plastic material. By making the first hub 5131, the second hub 5132, and the shaft sleeve 5133 all of rigid materials, the overall strength of the hub 513 can be increased, thereby extending the service life of the first auxiliary cleaning assembly 510.

[0102] When the hub 513 is made of a rigid material, the outer contour of the hub 513 and / or the side brush body 5112 are located within the outer contour of the cleaning device body 100 and do not protrude beyond the outer contour of the cleaning device body 100. By limiting the outer diameter of the hub 513 and / or the side brush body 5112, it is possible to reduce damage to the pool wall or the hub caused by the hub 513 in the first auxiliary cleaning assembly 510 colliding with the pool wall during operation. The multiple cleaning portions 5111 on the side brush strip at least partially protrude beyond the outer contour of the cleaning device body 100, thereby enabling the first auxiliary cleaning assembly 510 to clean the pool wall and assist in guiding the user out of trouble. For example, when the first auxiliary cleaning assembly 510 is disposed on the second side portion 1012, the outer contour of the hub 513 or the side brush body 5112 do not protrude beyond the second side portion 1012, and the multiple cleaning portions 5111 at least partially protrude beyond the second side portion 1012. When the first auxiliary cleaning component 510 is disposed at other locations of the cleaning device body 100 , it can also be configured to meet the above conditions, which will not be described in detail here.

[0103] The material of the first hub 5131 and the second hub 5132 can be the same as that of the side brush strip. When the side brush strip is at least partially rigid, the material of the first hub 5131 and the material of the second hub 5132 can both be rigid. When the side brush strip is made of a flexible material, the material of the first hub 5131 and the material of the second hub 5132 can both be flexible. When the first hub 5131 and the second hub 5132 are both made of flexible materials, the outer contour of the hub 513 and / or the side brush body 5112 can be located inside the cleaning device body 100 or at least partially outside the cleaning device body 100. In this case, the hub 513 has less impact on the pool wall. In actual use, the material of the side brush body 5112 and the cleaning portion 5111 can be the same or different. For example, the side brush body 5112 and the cleaning portion 5111 can both be made of flexible materials. Alternatively, the side brush body 5112 is made of a rigid material, and the cleaning parts 5111 are all made of a flexible material, or a part of the cleaning parts 5111 is made of a flexible material, and another part of the cleaning parts 5111 is made of a hard material, etc., which is not limited here.

[0104] Please refer to Figure 14, which is a schematic diagram of the structure of C shown in Figure 13. In conjunction with Figures 1, 2, and 11 to 13, in some embodiments, the first auxiliary cleaning assembly 510 further includes an auxiliary drive assembly 550. The auxiliary drive assembly 550 is in driving connection with the first auxiliary cleaning assembly 510 and is used to drive the first auxiliary cleaning assembly 510 to rotate. The first auxiliary cleaning assembly 510 further includes a retaining wall structure 514. The retaining wall structure 514 may be a labyrinth structure. The retaining wall structure 514 may include a first retaining wall portion 5141. The first retaining wall portion 5141 is disposed on an end surface of the hub 513 facing the auxiliary drive assembly 550. By providing the first retaining wall portion 5141 on the hub 513, a winding path is increased, thereby preventing at least some easily entangled materials such as hair from directly wrapping around the rotating shaft 512, reducing the frequency with which users remove the hub 513.

[0105] At the same time, the retaining wall structure 514 may also include a second retaining wall portion (not shown in the figure). The side brush drive motor 552 includes a drive housing 551. The drive housing 551 includes a first drive housing 5511 and a second drive housing 5512. A sealing portion 55121 is protruded from one end of the second drive housing 5512 away from the first drive housing 5511. The rotating shaft 512 extends from the sealing portion 55121. The second retaining wall portion can be the above-mentioned sealing portion 55121. The first retaining wall portion 5141 is surrounded by the sealing portion 55121 or the second retaining wall portion. Hair and other easily entangled materials must at least pass through the path between the hub 513 and the first retaining wall portion 5141, the path between the first retaining wall portion 5141 and the second retaining wall portion, and then pass through the second retaining wall portion before they can be wound around the rotating shaft 512. Therefore, the first retaining wall portion 5141 and the second retaining wall portion cooperate to reduce the amount of easily entangled materials such as hair that are entangled on the rotating shaft 512 , thereby reducing the frequency of the user disassembling the hub 513 to clean the hair entangled on the rotating shaft 512 .

[0106] In some embodiments, the cleaning device body 100 is provided with an auxiliary mounting slot 109. The auxiliary drive assembly 550 is at least partially installed in the cleaning device body 100 and at least partially extends into the auxiliary mounting slot 109. The auxiliary mounting slot 109 provides a mounting position for the first auxiliary cleaning assembly 510. The cleaning device body 100 includes an auxiliary mounting portion 110. The auxiliary mounting portion 110 is detachably connected to the auxiliary mounting slot 109 and connects the drive housing 551 and the cleaning device body 100. The auxiliary mounting portion 110 provides an installation position for the first auxiliary cleaning assembly 510. The side brush 511 is at least partially installed in the auxiliary mounting portion 110. By providing the auxiliary mounting slot 109 and the auxiliary mounting portion 110, not only can a mounting position be provided for the side brush 511 and the like, but it can also prevent at least some easily entangled materials such as hair from directly entering the cleaning device body 100, making cleaning easier and thereby improving the user experience.

[0107] In some embodiments, as shown in Figures 12 to 13, the first auxiliary cleaning assembly 510 also includes an auxiliary drive assembly 550. The auxiliary drive assembly 550 is transmission-connected to the first auxiliary cleaning assembly 510 and is used to drive the first auxiliary cleaning assembly 510 to rotate. The auxiliary drive assembly 550 includes a drive housing 551 and a side brush drive motor 552. The side brush drive motor 552 is disposed in the drive housing 551. The drive shaft of the side brush drive motor 552 extends out of the drive housing 551 and is transmission-connected to the first auxiliary cleaning assembly 510. Here, the drive shaft of the side brush drive motor 552 can be the rotating shaft 512 mentioned above. Alternatively, the drive shaft and the rotating shaft 512 are fixedly connected or detachably connected.

[0108] In one embodiment, the drive housing 551 includes a first drive housing 5511 and a second drive housing 5512. The first drive housing 5511 and the second drive housing 5512 are detachably connected. The auxiliary drive assembly 550 includes a first seal 553. The first seal 553 is provided between the first drive housing 5511 and the second drive housing 5512. The first seal 553 improves the sealing performance between the first drive housing 5511 and the second drive housing 5512. The first seal 553 can be embedded in either the first drive housing 5511 and / or the second drive housing 5512. The first seal 553 can be, but is not limited to, a sealing ring (not shown in the figure).

[0109] The above-mentioned drive shaft at least partially extends from the second drive housing 5512. A sealing portion 55121 is protruded from one end of the second drive housing 5512 facing away from the first drive housing 5511. The auxiliary drive assembly 550 includes a second sealing member 554. The side brush drive motor 552 is at least partially in contact with the sealing member 55121, and the above-mentioned second sealing member 554 is provided in the sealing member 55121. The second sealing member 554 is sleeved on the drive shaft. By providing the second sealing member 554 at the sealing member 55121 of the second drive housing 5512, the water in the pool is reduced from entering the drive housing 551 and the side brush drive motor 552, thereby improving the sealing performance of the auxiliary drive assembly 550. Among them, the second sealing member 554 can be, but is not limited to, an oil seal (not shown in the figure).

[0110] Because the cleaning device 1000 needs to meet a battery life of at least twenty-four hours, that is, the lower the power consumption of the first auxiliary cleaning component 510 in the cleaning device 1000, the more it can improve the battery life of the cleaning device 1000. By improving the installation accuracy of the first auxiliary cleaning component 510, the power consumption of the first auxiliary cleaning component 510 can be reduced. In a specific embodiment, the auxiliary drive component 550 includes at least one motor fixing part 555. The motor fixing part 555 passes through the second drive housing 5512 and is connected to the side brush drive motor 552 for positioning the side brush drive motor 552. The side brush drive motor 552 is positioned by the above-mentioned motor fixing part 555, the installation accuracy of the auxiliary drive component 550 is improved, the friction problem between the first auxiliary cleaning component 510 and the pool wall is reduced, the power consumption of the first auxiliary cleaning component 510 is reduced, and the cruising ability of the cleaning device 1000 is improved. The number of the above-mentioned motor fixing parts 555 can be one, two or more. In this embodiment, there are four motor fixing members 555, which are respectively fixed to the four corners of the side brush drive motor 552 to improve the installation accuracy of the auxiliary drive assembly 550. The motor fixing members 555 can be, but are not limited to, fixing screws.

[0111] When the motor fixing part 555 passes through the second drive housing 5512 and is connected to the side brush drive motor 552, the motor fixing part 555 is connected to the second drive housing 5512 by a fixing glue (not shown in the figure), which reduces the water in the pool from entering the drive housing 551 through the gap between the motor fixing part 555 and the second drive housing 5512, thereby affecting the internal sealing performance of the drive housing 551 and further affecting the side brush drive motor 552. The fixing glue can be connected between the motor fixing part 555 and the second drive housing 5512 by glue pouring. Among them, the fixing glue can be but is not limited to a two-liquid mixed hardening glue and a photosensitive glue. It should be noted that the above-mentioned related structure of the auxiliary drive component 550 is also applicable to other drive components in the cleaning device 1000.

[0112] Figure 15 is a structural diagram of the third embodiment of the cleaning device of the present disclosure. The cleaning device 1000 includes a cleaning device body 100 and a motion drive assembly (not shown in the figure). The motion drive assembly (not shown in the figure) is arranged on the cleaning device body 100. The motion drive assembly is connected to the first auxiliary cleaning assembly 510, and is used to actively drive the first auxiliary cleaning assembly 510 to perform telescopic movement relative to the cleaning device body 100, that is, under the action of the motion drive assembly, the first auxiliary cleaning assembly 510 can move between a first position and a second position. For convenience of description, the first position can be defined as the position where the first auxiliary cleaning assembly 510 retracts and moves to its limit in the direction close to the cleaning device body 100, and the second position is the position where the first auxiliary cleaning assembly 510 extends and moves to its limit in the direction away from the cleaning device body 100. It is understandable that the movement of the first auxiliary cleaning assembly 510 can also include a third position between the first position and the second position.

[0113] In one embodiment, the movement of the first auxiliary cleaning assembly 510 between the first position and the second position can be passive. For example, the initial position of the first auxiliary cleaning assembly 510 is the second position. When the cleaning device 1000 contacts an obstacle, such as a wall, during movement, the obstacle can squeeze the first auxiliary cleaning assembly 510 away from the second position and toward the first position. When the cleaning device 1000 separates from the obstacle, the first auxiliary cleaning assembly 510 returns to the second position under the action of the reset assembly. The reset component can be, for example, an elastic mechanism, an infinite rebound mechanism, etc. When the cleaning device 1000 is moving normally, the first auxiliary cleaning component 510 is located in the second position under the action of the reset component; when the cleaning device 1000 contacts an obstacle, especially when the first auxiliary cleaning component 510 contacts an obstacle, the force of the obstacle on the first auxiliary cleaning component 510 overcomes the force of the reset component, causing the first auxiliary cleaning component 510 to retract toward the cleaning device body 100, that is, move from the second position to the third position or the first position; and when the cleaning device 1000 moves away from the obstacle again, the force of the reset component again causes the first auxiliary cleaning component 510 to return to the second position, that is, move from the first position or the third position to the second position.

[0114] In some embodiments, the movement of the first auxiliary cleaning component 510 between the first position and the second position may be a joint action of the motion drive component and the reset component, and the specific scenario and method are not limited herein.

[0115] In the present disclosure, the first auxiliary cleaning assembly 510 is movably connected to the cleaning device body 100. The motion drive assembly in the cleaning device 1000 can be used to drive the first auxiliary cleaning assembly 510 to perform telescopic movement, making the first auxiliary cleaning assembly 510 more flexible and capable of comprehensively cleaning the pool surface or water in the pool in different directions and at different distances. This can reduce the movement of the cleaning device 1000 and improve cleaning efficiency. The motion trajectory of the first auxiliary cleaning assembly 510 driven by the motion drive assembly between the first position and the second position can be a straight line trajectory, a continuous arc trajectory, a discontinuous broken line trajectory, etc., which is not limited here.

[0116] In some embodiments, in the first position, that is, when the first auxiliary cleaning component 510 is retracted to its limit, the first auxiliary cleaning component 510 is entirely within the outline of the cleaning device body 100, or the first auxiliary cleaning component 510 is at least partially within the outline of the cleaning device body 100. The first position can be a state formed by the motion drive component driving the first auxiliary cleaning component 510 to perform a retracting motion, or it can be a state in which the motion drive component does not drive the first auxiliary cleaning component 510 to perform an extending motion. For example, the first position is the position reached when the motion drive component drives the first auxiliary cleaning component 510 to perform a retracting motion toward the cleaning device body 100. For another example, the first position is the position in which the motion drive component does not drive the first auxiliary cleaning component 510 to perform an extending motion. In this case, the first position is also the initial position of the first auxiliary cleaning component 510.

[0117] In the second position, that is, when the first auxiliary cleaning component 510 is extended to its limit, at least a portion of the first auxiliary cleaning component 510 is located outside the outline of the cleaning device body 100. The second position can be a state formed by the motion drive component driving the first auxiliary cleaning component 510 to perform an extension movement, or it can be a state in which the motion drive component does not drive the first auxiliary cleaning component 510 to perform a retraction movement. For example, the second position is a state in which the motion drive component drives the first auxiliary cleaning component 510 to perform an extension movement in a direction away from the cleaning device body 100. For another example, the second position is a position in which the motion drive component does not drive the first auxiliary cleaning component 510 to perform a retraction movement. In this case, the second position is the initial position of the first auxiliary cleaning component 510.

[0118] Among them, the first auxiliary cleaning component 510 moves from the first position to the second position, that is, the first auxiliary cleaning component 510 moves in the direction away from the cleaning device body 100, which can be defined as an extended state; moves from the second position to the first position, that is, the first auxiliary cleaning component 510 moves in the direction close to the cleaning device body 100, which can be defined as a contracted state.

[0119] In some embodiments, as shown in FIG16 , the motion drive assembly may include a connecting portion 530 and a first drive assembly (not shown). The first auxiliary cleaning assembly 510 is connected to the cleaning device body 100 via the connecting portion 530. The first drive assembly is connected to the connecting portion 530 and is used to drive the first auxiliary cleaning assembly 510 to perform telescopic motion relative to the cleaning device body 100.

[0120] In some embodiments, as shown in Figure 17, the connecting portion 530 includes a fixed portion 531 and a telescopic portion 532. The fixed portion 531 is fixedly connected to the cleaning device main body 100. One end of the telescopic portion 532 is connected to the fixed portion 531, and the other end is connected to the first auxiliary cleaning component 510. The telescopic portion 532 can perform telescopic movement relative to the fixed portion 531. The first driving assembly includes a first power source (not shown in the figure). The first power source is arranged at the connection between the fixed portion 531 and the telescopic portion 532. The first power source is used to drive the connecting portion 530 to perform telescopic movement, so as to drive the first auxiliary cleaning component 510 to perform telescopic movement. It will be understood that the first power source can be a power source such as a motor, a cylinder, etc., which is not specifically limited here.

[0121] In other embodiments, the first auxiliary cleaning assembly 510 is movably connected to the motion drive assembly. The first drive assembly includes a first transmission mechanism (not shown) and a first power source. The input end of the first transmission mechanism is connected to the first power source. The output end of the first transmission mechanism is connected to the first auxiliary cleaning assembly 510. The first power source is used to provide power to the first transmission mechanism, so that the first transmission mechanism drives the first auxiliary cleaning assembly 510 to perform telescopic movement relative to the cleaning device body 100 and the connecting portion 530.

[0122] For example, a first transmission mechanism and a first power source may be provided at one end of the connection portion 530 connected to the first auxiliary cleaning assembly 510, for controlling the telescopic movement of the first auxiliary cleaning assembly 510. The first transmission mechanism may include a turbine transmission mechanism and a gear transmission mechanism. For example, as shown in FIG18 , the first transmission mechanism includes a swing gear 541, a worm wheel 542, a worm 543, and a transmission gear 544. The worm 543 is fixedly connected to the output end of the first power source. The worm 543 meshes with the worm wheel 542. The worm wheel 542 is fixedly connected to the transmission gear 544 via a coaxial shaft. The transmission gear 544 meshes with the swing gear 541. The swing gear 541 serves as the output end of the first transmission mechanism, for driving the components connected to the output end of the first transmission mechanism to perform telescopic movement. It is understood that the first transmission mechanism may include a turbine transmission mechanism and a gear transmission mechanism, or other transmission mechanisms, which are not specifically limited herein.

[0123] Furthermore, the component connected to the output end of the first transmission mechanism may be a first auxiliary cleaning assembly 510. The first auxiliary cleaning assembly 510 is eccentrically connected to the swing gear 541 via a rotating shaft. The swing gear 541 swings eccentrically with the rotating shaft to extend the first auxiliary cleaning assembly 510 away from the cleaning device body 100, so that at least a portion of the first auxiliary cleaning assembly 510 extends out of the cleaning device body 100; or the first auxiliary cleaning assembly 510 is retracted toward the cleaning device body 100, so that at least a portion of the first auxiliary cleaning assembly 510 is retracted into the cleaning device body 100.

[0124] In other embodiments, the first end of the connecting portion 530 is connected to the first auxiliary cleaning assembly 510. The first drive assembly includes a first transmission mechanism and a first power source. The input end of the first transmission mechanism is connected to the first power source. The output end of the first transmission mechanism is connected to the second end of the connecting portion 530 or a component located between the second end and the cleaning device body 100. The first power source is used to provide power to the first transmission mechanism so that the first transmission mechanism drives the connecting portion 530 and the first auxiliary cleaning assembly 510 to perform telescopic movement relative to the cleaning device body 100. The first transmission mechanism can control the components connected thereto to rotate or translate so that the first auxiliary cleaning assembly 510 performs telescopic movement relative to the cleaning device body 100.

[0125] In some embodiments, the motion drive assembly includes at least one set of second drive assemblies for driving the first auxiliary cleaning assembly 510 to rotate relative to the cleaning device body 100 to switch between the first position and the second position.

[0126] The second drive assembly may include a second transmission mechanism and a second power source. The second power source is connected to the input end of the second transmission mechanism and is used to provide power to the second transmission mechanism so that the second transmission mechanism directly or indirectly drives the first auxiliary cleaning assembly 510 to rotate. The second power source can be a motor, a cylinder, or other power source, which is not specifically limited here.

[0127] In one specific embodiment, the first end of the connecting portion 530 is connected to the first auxiliary cleaning assembly 510. The at least one set of second drive assemblies includes a first set of second drive assemblies. The first end of the connecting portion 530 is connected to the first auxiliary cleaning assembly 510. The first set of second drive assemblies is respectively connected to the cleaning device body 100 and the second end of the connecting portion 530, and is used to drive the connecting portion 530 to rotate about the first directional axis 2, thereby indirectly driving the first auxiliary cleaning assembly 510 to rotate about the first directional axis 2. The first directional axis 2 can be a linear rotating shaft 512, which can be arranged vertically to allow the connecting portion 530 to rotate horizontally, as shown in Figure 15. Alternatively, the linear rotating shaft 512 can be arranged horizontally to allow the connecting portion 530 to rotate vertically. The first directional axis 2 can also be a spherical rotating shaft 512, allowing the connecting portion 530 to rotate at any angle.

[0128] In another embodiment, the at least one set of second drive assemblies includes a second set of second drive assemblies. Referring to FIG. 16 , the first end of the connecting portion 530 is connected to the first auxiliary cleaning assembly 510 via the second set of second drive assemblies. The second set of second drive assemblies is configured to drive the connecting portion 530 to rotate about the second directional axis 3, thereby directly driving the first auxiliary cleaning assembly 510 to rotate about the second directional axis 3. The second directional axis 3 can be a linear rotating axis 512, a spherical rotating axis 512, or the like, and is not specifically limited herein.

[0129] In another specific embodiment, the first auxiliary cleaning component 510 is movably connected to the cleaning device body 100. At least one group of second drive components includes a first group of second drive components and a second group of second drive components. Referring to Figures 15 and 16, the first end of the connecting portion 530 is connected to the first auxiliary cleaning component 510. The first group of second drive components is respectively connected to the cleaning device body 100 and the second end of the connecting portion 530, and is used to drive the connecting portion 530 to rotate around the first direction axis 2. One end of the second group of second drive components is connected to the first auxiliary cleaning component 510, and the other end is connected to the connecting portion 530, and is used to drive the connecting portion 530 to rotate around the second direction axis 3, so as to perform multi-stage rotation control on the first auxiliary cleaning component 510, thereby increasing the range that the first auxiliary cleaning component 510 can clean.

[0130] For example, the first direction axis 2 is a linear rotation axis 512 and is arranged vertically. The second direction axis 3 is a linear rotation axis 512 and is arranged horizontally. Therefore, when using the first auxiliary cleaning component 510 for cleaning, the first group of second drive components can be used to drive the connecting part 530 to rotate horizontally around the first direction axis 2. After the first auxiliary cleaning component 510 reaches the preset position, the second group of second drive components can be used to drive the first auxiliary cleaning component 510 to rotate vertically around the second direction axis 3 to clean the object to be cleaned up and down. In addition, if the cleaning device 1000 is trapped while cleaning, the first auxiliary cleaning component 510 and the connecting part 530 can be flexibly rotated and swung, making it easier for the cleaning device 1000 to get out of trouble. In addition, the second drive component and the first drive component can be the same component.

[0131] It can be understood that, by simultaneously utilizing a group of second drive components and a second group of second drive components to control the rotational motion of the first auxiliary cleaning component 510, the connection part 530 can be controlled to rotate in the vertical direction first, and then the first auxiliary cleaning component 510 can be controlled to rotate in the horizontal direction; or the connection part 530 can be controlled to rotate in the horizontal direction first, and then the first auxiliary cleaning component 510 can be controlled to rotate in the vertical direction, etc. No specific limitation is made herein regarding the multi-stage rotation control scheme of the first auxiliary cleaning component 510.

[0132] In some embodiments, to enhance the flexibility of the first auxiliary cleaning assembly 510 and expand the cleaning range of the cleaning device 1000, the first and second drive assemblies can simultaneously control the rotational and telescopic movement of the connecting portion 530. In this case, the component connected to the output end of the first transmission mechanism and located between the second end and the cleaning device body 100 is the second drive assembly.

[0133] In addition, to facilitate the first auxiliary cleaning assembly 510 to clean the pool surface, objects to be cleaned, or water in the pool, a third drive assembly (not shown) can be provided in the motion drive assembly. The third drive assembly is connected to the first auxiliary cleaning assembly 510 and is used to drive the first auxiliary cleaning assembly 510 to rotate when the first auxiliary cleaning assembly 510 is required to operate, so as to scrub and clean the pool surface, objects to be cleaned, or water in the pool.

[0134] In some embodiments, there are multiple first auxiliary cleaning assemblies 510. At least one first auxiliary cleaning assembly 510 can also be used for escape. For example, if the cleaning device 1000 is stuck in weeds in a pool, the first auxiliary cleaning assembly 510 can be rotated and retracted to free it from the weeds. Alternatively, the first auxiliary cleaning assembly 510 can be retracted into the confines of the cleaning device 1000, reducing its width and making it easier to navigate.

[0135] In some embodiments, when the sewage suction port 413 is disposed on the first side portion 1011 of the cleaning device body 100, the first auxiliary cleaning assembly 510 may also be disposed at the bottom of the cleaning device body 100. Referring to FIG. 19 , the first auxiliary cleaning assembly 510 is disposed at the bottom of the cleaning device body 100 and is capable of extending beyond the bottom of the cleaning device body 100. Furthermore, the first auxiliary cleaning assembly 510 may be tilted toward the center of the sewage suction port 413 or positioned parallel to the sewage suction port 413 to direct water and debris below the sewage suction port 413 toward the sewage suction port 413. Furthermore, when the first auxiliary cleaning assembly 510 extends beyond the contour of the cleaning device body 100, it can scrub any objects it comes into contact with.

[0136] In other embodiments, for a multifunctional cleaning device, the sewage suction port 413 is located at the bottom of the cleaning device body 100. To expand the cleaning range of the sewage suction port 413, at least one first auxiliary cleaning assembly 510 may also be disposed at the bottom of the cleaning device body 100, on either side of the sewage suction port 413, thereby expanding the cleaning range of the sewage suction port 413. In this case, the first auxiliary cleaning assembly 510 may also be tilted toward the sewage suction port 413 to agitate water and dirt outside the cleaning range of the sewage suction port 413 and direct the water and dirt toward the sewage suction port 413.

[0137] Furthermore, when the sewage suction port 413 is located at the bottom of the cleaning device body 100, at least one first auxiliary cleaning assembly 510 is disposed on the second side portion 1012 and / or the third side portion 1013 of the cleaning device body 100. The end of the connecting portion 530 that is away from the cleaning device body 100 extends toward the bottom of the cleaning device body 100, so that the first auxiliary cleaning assembly 510 located at the end of the connecting portion 530 that is away from the cleaning device body 100 is close to the bottom of the cleaning device body 100. Furthermore, the first auxiliary cleaning assembly 510 is inclined toward the sewage suction port 413 located at the bottom of the cleaning device body 100, so as to direct water and dirt outside the bottom of the cleaning device body 100 to the sewage suction port 413.

[0138] In one embodiment, the first auxiliary cleaning assembly 510 is a member capable of generating suction, and the first auxiliary cleaning assembly 510 absorbs water and dirt outside the cleaning range of the dirt suction port 413 and directs the water and dirt to the dirt suction port 413 .

[0139] In another embodiment, as shown in Figures 21, 22, 23, and 24, the auxiliary cleaning mechanism 500 may include a second auxiliary cleaning assembly 520. The second auxiliary cleaning assembly 520 includes a water spray assembly 521, which is disposed on the cleaning device body 100 and is used to spray water toward the area to be cleaned, so as to at least flush the area to be cleaned or guide at least part of the garbage in the area to be cleaned to the working area of ​​the sewage suction port 413.

[0140] For a multifunctional cleaning device, the sewage suction port 413 can be located at the bottom, first side 1011, second side 1012, third side 1013, or top of the cleaning device body 100. The water spray assembly 521 is provided with one or more nozzles 5211 for spraying water through the nozzles 5211. Specifically, the nozzles 5211 of the water spray assembly 521 can be located at the edge of the cleaning device body 100. The nozzles 5211 spray water toward the side or front of the cleaning device body 100.

[0141] The water flow ejected from the nozzle 5211 can bring the garbage to the working area of ​​the sewage suction port 413 of the cleaning equipment 1000 by at least one of forming disturbance, pool wall reflection, water flow guidance, etc., thereby the sewage suction port 413 can suck the garbage into the cleaning equipment body 100.

[0142] In one specific embodiment, when the cleaning device 1000 approaches the edge of the pool, for example, when the cleaning device 1000 is moved along the edge of the pool via the moving mechanism 300, at least one nozzle 5211 sprays water toward the pool wall (for example, by spraying water toward the side or front of the cleaning device body 100 so that the water is sprayed toward the pool wall). Thus, the nozzle 5211 sprays water toward the pool wall to flush the pool wall, and the reflection of the water by the pool wall pushes garbage on the pool wall and garbage between the pool wall and the cleaning device body 100 toward the cleaning device 1000, allowing the cleaning device 1000 to suck the garbage into the sewage suction port 413. Furthermore, when the nozzle 5211 sprays water toward the pool wall, the disturbance created by the water sprayed by the nozzle 5211 can also have a certain gathering effect on the garbage, further facilitating the suction of the garbage by the sewage suction port 413.

[0143] In another specific embodiment, when the cleaning device 1000 is cleaning on the water surface, at least one nozzle 5211 can spray water to the side and / or front of the cleaning device body 100. At this time, the nozzle 5211 sprays water to form a disturbance, thereby being able to guide at least part of the garbage outside the working area of ​​the sewage suction port 413 to the working area of ​​the sewage suction port 413, thereby expanding the cleaning range of the cleaning device 1000 and improving the overall cleaning efficiency.

[0144] In one embodiment, the cleaning device 1000 also includes a water retaining structure 104 arranged on the jet water flow path of the nozzle 5211. On the one hand, the water retaining structure 104 can block the part of the jet water flow with a faster flow rate to prevent the garbage from being pushed away from the cleaning device 1000 by this part of the water flow, thereby causing some garbage to be unable to be sucked into the sewage suction port 413; on the other hand, the water retaining structure 104 can change the flow direction of the jet water flow to form a water flow disturbance suitable for gathering floating garbage outside the cleaning range of the sewage suction port 413 into the cleaning range.

[0145] In one embodiment, the nozzle 5211 of the water spray assembly 521 can spray water toward the sewage suction port 413, guiding the water flow to move garbage to the working area of ​​the sewage suction port 413. For example, the nozzle 5211 of the water spray assembly 521 can be located on the exterior of the cleaning device body 100, with the sewage suction port 413 located at the front of the cleaning device body 100. When the nozzle 5211 is in operation, the nozzle 5211 is directed toward the sewage suction port 413 to spray water toward the sewage suction port 413. In this manner, the water flow sprayed from the nozzle 5211 can gather garbage, thereby concentrating the garbage in the working area of ​​the sewage suction port 413.

[0146] In one embodiment, the position of the nozzle 5211 may include a first motion position and a second motion position. The nozzle 5211 can move between the first motion position and the second motion position. For example, the nozzle 5211 can rotate between the first motion position and the second motion position around an axis in a specific direction, such as a horizontal direction or a vertical direction. The first motion position is where the nozzle 5211 sprays water toward the sewage suction port 413. That is, when the nozzle 5211 needs to spray water toward the sewage suction port 413, it moves to the first motion position to spray water. The second motion position is a position different from the first motion position. For example, if the nozzle 5211 can rotate vertically, if the first motion position is above the cleaning device body 100, the second motion position can be below the cleaning device body 100. For example, referring to Figures 23 and 24, the nozzle 5211 can rotate horizontally around the cleaning device body 100, with the first motion position being away from the cleaning device body 100 and the second motion position being closer to the cleaning device body 100. When the nozzle 5211 does not need to spray water toward the sewage suction port 413, the nozzle 5211 is located at the second movement position. When the nozzle 5211 needs to spray water toward the sewage suction port 413, the nozzle 5211 is turned to the first movement position so that the nozzle 5211 is directed toward the sewage suction port 413 and sprays water toward the sewage suction port 413. At this time, the water sprayed by the nozzle 5211 can have a certain gathering effect on the garbage, thereby gathering the garbage to the working area of ​​the sewage suction port 413 to facilitate the sewage suction port 413 to suck the garbage. In addition, the nozzle 5211 can be movably arranged. For example, the nozzle 5211 can be recovered to the cleaning equipment body 100 when the nozzle 5211 is not working, so as to avoid the nozzle 5211 interfering with the operation of the cleaning equipment 1000 when it is not needed to work; when the nozzle 5211 needs to spray water in other directions of the suction port 413, the nozzle 5211 can be moved to the second movement position and spray water, without the need to set up multiple nozzles 5211.

[0147] In a specific embodiment, the water spray assembly 521 may include a water spray part 5212 and a power unit (not shown in the figure). Among them, the nozzle 5211 is provided on the water spray part 5212. The power unit is used to drive the nozzle 5211 of the water spray part 5212 to spray water. It can be a device originally provided on the cleaning equipment 1000, such as a main water pump, etc., or it can be a newly added device, such as a newly added water pump, plunger pump, diaphragm pump, etc. The power unit is used to provide power for the nozzle 5211 to spray water. A single nozzle 5211 can correspond to a single power unit, or multiple nozzles 5211 can correspond to the same power unit. The water spray part 5212 can be a water spray rod, or it can be other forms. The form of the water spray part 5212 is not limited here.

[0148] There may be one or more water spraying members 5212. Each water spraying member 5212 is provided with one or more nozzles 5211. Different water spraying members 5212 may work simultaneously or individually, and different nozzles 5211 on the same water spraying member 5212 may also work simultaneously or individually.

[0149] In one example, the nozzle 5211 on the water spraying member 5212 is rotatable, and the cleaning device 1000 further includes a rotating assembly (not shown in the figure), which rotates the nozzle 5211 of the water spraying member 5212 so that the direction of the nozzle 5211 is the target direction.

[0150] In one embodiment, there are multiple water spraying members 5212, each disposed on the left and right sides of the cleaning device body 100. Each side is provided with at least one water spraying member 5212, and the nozzles 5211 of the water spraying members 5212 on each side face different directions. For another example, the multiple water spraying members 5212 may be disposed on the same side of the cleaning device body 100, such as the front or right side, and the nozzles 5211 on the multiple water spraying members 5212 may face different directions. Thus, the water spraying member 5212 with the nozzle 5211 facing in the correct direction can be selected based on the posture of the cleaning device 1000 to spray water.

[0151] In a specific application scenario, two water spray parts 5212 are provided on both sides of the cleaning device 1000. The two water spray parts 5212 on each side are an upper water spray part and a lower water spray part. Correspondingly, the nozzle 5211 of the upper water spray part is an upper nozzle, and the nozzle 5211 of the lower water spray part is a lower nozzle. The upper nozzle and the lower nozzle are facing straight ahead or have a certain outward expansion angle with the straight ahead. Exemplarily, when the cleaning device 1000 is performing water surface cleaning, the upper nozzles 5211 on both sides are selected to work to clean the pool wall at the waterline. When the cleaning device 1000 is performing underwater cleaning, the lower nozzles 5211 on both sides are selected to work to clean the bottom wall or pool wall of the pool.

[0152] In a specific embodiment, when the cleaning device 1000 cleans the water surface, at least the currently working nozzle 5211 is required to be set at a position close to the water surface of the cleaning device body 100. At this time, water is sprayed through the nozzle 5211 to clean the water surface and the pool wall at the waterline. At the same time, the cleaning device 1000 can also move forward on the water surface under the action of the moving mechanism 300, so that the cleaning device 1000 can achieve movable cleaning of the water surface.

[0153] Furthermore, when the cleaning device 1000 is performing underwater cleaning, it is required that at least one nozzle 5211 currently in operation is disposed on the cleaning device body 100 and tilted toward the pool bottom. In this case, the water jetted through the nozzle 5211 can clean fine impurities at a specific height in the water, as well as at a specific height on the sidewall of the pool, the bottom wall of the pool, and the corners between the bottom wall and the sidewall of the pool.

[0154] Please refer to Figure 25, which is a schematic diagram of the first structure of the dust box in the cleaning device of the present disclosure. In combination with Figures 1 and 2, in some embodiments, the first side portion 1011 of the cleaning device body 100 is formed with a receiving opening 102, and a dust box receiving groove 108 is formed in the cleaning device body 100. The first side portion 1011 is the side facing the forward direction of the cleaning device body 100, and the fourth side portion 1014 is arranged opposite to the first side portion 1011, that is, the fourth side portion 1014 is the rear portion of the cleaning device body 100. The second side portion 1012 and the third side portion 1013 are arranged opposite to each other. The receiving opening 102 can be set on at least one of the first side portion 1011, the second side portion 1012, the third side portion 1013 and the fourth side portion 1014, that is, the setting position of the receiving opening 102 can be determined according to actual needs. For the water surface cleaning device, the main cleaning mechanism 400 includes at least a dust box 410 that is at least partially accommodated in the receiving groove 108, and the main cleaning mechanism 400 can be disassembled and assembled through the receiving opening 102, that is, the main cleaning mechanism 400 can be disassembled and assembled through the receiving opening 102 provided on the side of the cleaning device 1000. Compared with the existing water surface robot, the dust box 410 removal requires opening the upper cover 107 to achieve the installation and removal of the dust box 410. In this embodiment, the dust box 410 can be conveniently installed and removed from the outer side of the cleaning device body 100 through the grip portion 414 provided on the main cleaning mechanism 400, thereby improving the user experience. In addition, there is no need to frequently flip open the upper cover 107, and the stability of the solar panel (not shown in the figure) and various electrical wires in the solar mechanism 600 installed in conjunction with the upper cover 107 is improved, thereby improving the service life and reliability of the solar mechanism 600. For a multifunctional cleaning device, the main cleaning mechanism 400 also includes at least a dust box 410 that is at least partially housed in the accommodating groove 108. The accommodating port 102 can be set at the top of the cleaning device 1000. The main cleaning mechanism 400 can be disassembled and assembled through the accommodating port 102. At this time, an upper cover 107 can be set at the accommodating port 102, and the dust box 410 can be installed and removed by lifting the upper cover 107.

[0155] The position of the receiving opening 102 of the water surface cleaning device can be the same as the position of the sewage suction opening 413. For example, the receiving opening 102 can be provided on the first side portion 1011, and the receiving opening 102 and the sewage suction opening 413 can at least partially overlap, with the sewage suction opening 413 at least partially within the range of the receiving opening 102. That is, the receiving opening 102 and the sewage suction opening 413 are both located on the first side portion 1011. The user can install the main cleaning mechanism 400 and the like along the receiving opening 102 of the first side portion 1011 toward the receiving groove 108. With this positional definition, when removing the dust box 410, the garbage is located at the bottom of the dust box 410 due to gravity, which can reduce the risk of garbage spitting back. At the same time, it is convenient to install other related adjustment mechanisms 200 and moving mechanisms 300 on the cleaning device 1000. Of course, the position of the aforementioned receiving opening 102 may be different from the position of the aforementioned sewage suction opening 413. The first side portion 1011 is provided with a liquid inlet, which is connected to the sewage suction opening 413. The receiving opening 102 may be located on one of the second side portion 1012, the third side portion 1013, and the fourth side portion 1014. That is, the user can take the main cleaning mechanism 400 and the like from the receiving groove 108 along the receiving opening 102. When the receiving opening 102 is located on the fourth side portion 1014, the dust box 410 is taken out of the sewage suction opening 413 to reduce the amount of garbage and the like flowing out. Therefore, a related anti-spitting component 470 and the like may be added to the sewage suction opening 413.

[0156] For the multifunctional cleaning device, the accommodating port 102 is located at the top, and the sewage suction port 413 of the main cleaning mechanism 400 includes at least a sewage suction port 413 for water surface cleaning and a sewage suction port 413 for underwater cleaning, wherein the sewage suction port 413 for water surface cleaning can be set on the side of the cleaning device 1000, such as the first side 1011; the sewage suction port 413 for underwater cleaning can be set at the bottom of the cleaning device 1000, facing the surface to be cleaned, so as to cooperate with the surface to be cleaned to form a negative pressure area.

[0157] In some embodiments, the dust box 410 can be set in the receiving groove 108 by pulling out. For example: for the water surface cleaning device 1000, it can be pulled in a direction parallel to the reference plane 1, that is, pulled in a direction roughly parallel to the solar panel in the solar mechanism 600; for the multi-functional cleaning device, it can be pulled in a direction at an angle to the reference plane 1, etc. When the dust box 410 is installed in the receiving groove 108, the dust box 410 can be locked in the cleaning device body 100, which can reduce the risk of the dust box 410 loosening and falling. When the dust box 410 needs to be taken, the dust box 410 is unlocked from the cleaning device body 100, allowing the dust box 410 to be taken out. The above-mentioned locking method can be, but is not limited to, snap-on, plug-in, etc. The pulling method can be, but is not limited to, sliding, etc.

[0158] Referring to Figures 26 to 28, in one embodiment, a locking mechanism 420 is provided between the dust box 410 and the cleaning device body 100. When the dust box 410 is installed in the receiving slot 108 through the receiving opening 102, the locking mechanism 420 is in a locked state. At this time, the dust box 410 is locked in the cleaning device body 100, which can reduce the risk of the dust box 410 becoming loose or falling when the cleaning device 100 is in operation. When the dust box 410 needs to be removed from the receiving slot 108, the locking mechanism 420 is in an unlocked state. At this time, the dust box 410 and the cleaning device body 100 are unlocked, and the dust box 410 can be removed from the receiving slot 108. The locking mechanism 420 can be, but is not limited to, elastic locking, magnetic locking, plug-in locking, etc., and can achieve a releasable locking of the dust box 410 to the cleaning device body 100.

[0159] In one embodiment, the locking mechanism 420 includes a locking assembly 421 and a locking groove 422. One of the dust box 410 and the cleaning device body 100 is provided with the locking assembly 421, and the other is provided with the locking groove 422. The locking assembly 421 is releasably locked in the locking groove 422. For example, the locking assembly 421 is provided on the cleaning device body 100, and the locking groove 422 is provided on the dust box 410, or the locking assembly 421 is provided on the dust box 410, and the locking groove 422 is provided on the cleaning device body 100.

[0160] In a specific embodiment, the locking assembly 421 includes at least a locking member 4211, an elastic member 4212, and a pressing member 4213. The elastic member 4212 is arranged between the top of the locking member 4211 and the cleaning device body 100. The locking member 4211 includes a locking portion 42111. The locking portion 42111 is releasably locked to the locking groove 422. When an external force acts on the pressing member 4213, the pressing member 4213 acts on the locking member 4211, the locking member 4211 is lifted and acts on the elastic member 4212, and the locking portion 42111 of the locking member 4211 is released from the locking groove 422, so that the dust box 410 can be taken out of the receiving groove 108. When the external force is released, the pressing member 4213 returns to its original shape under the restoring force of the elastic member 4212. At the same time, the locking member 4211 falls under the restoring force of the elastic member 4212, and the locking portion 42111 of the locking member 4211 is locked in the locking groove 422, so that the dust box 410 can be locked to the cleaning device body 100 and located in the receiving groove 108. The elastic member 4212 can be, but is not limited to, a compression spring.

[0161] In one embodiment, a pressing bevel 42131 is provided on one end of the pressing member 4213 facing the locking member 4211. The pressing bevel 42131 is arranged at an angle. Providing the pressing bevel 42131 on the pressing member 4213 facilitates the pressing member 4213 from engaging the locking member 4211, reducing friction and improving the smoothness of the pressing member 4213 engaging the locking member 4211, thereby enhancing the user experience.

[0162] In another embodiment, a pressing guide post 42132 and a pressing buckle 42133 are provided at one end of the pressing member 4213 facing the locking member 4211. The pressing guide post 42132 is movably inserted into the cleaning device body 100 to guide the pressing member 4213 and reduce the pressing deviation of the pressing member 4213. The number of pressing guide posts 42132 can be one, two, or more. The pressing buckle 42133 is located at the outer periphery of the pressing member 4213 and plays a clamping role. When the pressing member 4213 returns to its original shape under the restoring force of the elastic member 4212, the pressing buckle 42133 is clamped to the cleaning device body 100, reducing the risk of the pressing buckle 42133 falling out of the cleaning device body 100. The number of pressing buckles 42133 can be one, two, or more.

[0163] In one embodiment, a sliding structure 430 is provided between the outer periphery of the dust box 410 and the inner side wall of the receiving groove 108. The above-mentioned sliding structure 430 can achieve smooth installation and removal of the dust box 410, thereby improving the user experience. The sliding structure 430 may include a slide rail 431 and a slide groove (not shown in the figure), wherein the slide rail 431 and the slide groove are slidably connected. One of the outer periphery of the dust box 410 and the inner side wall of the receiving groove 108 is provided with a slide rail 431, and the other is provided with a slide groove. The position and number of the slide rail 431 and the slide groove can be set according to needs and are not limited here.

[0164] Specifically, a sliding groove is provided on the outer periphery of the dust box 410. A sliding rail 431 is provided on the inner sidewall of the receiving slot 108. Alternatively, as in the present embodiment, the sliding rail 431 is provided on the outer periphery of the dust box 410, and the sliding groove is provided on the inner sidewall of the receiving slot 108. The sliding rail 431 and the sliding groove are slidably connected, thereby improving the smoothness of installing and removing the dust box 410. At the same time, the installation of the sliding rail 431 on the outer periphery of the dust box 410 also improves the inherent strength of the dust box 410. The sliding rail 431 is provided on the outer sidewall of the dust box 410 facing the second side portion 1012 and / or the outer sidewall of the dust box 410 facing the third side portion 1013.

[0165] In some embodiments, the main cleaning mechanism 400 further includes a grip 414. The grip 414 is disposed on the outer periphery of the dust box 410. The grip 414 facilitates the user's installation and removal of the dust box 410. The grip 414 is positioned corresponding to the location of the receiving opening 102. In this embodiment, the receiving opening 102 is located on the first side portion 1011, and the grip 414 is also located on the first side portion 1011. At least a portion of the space in the receiving opening 102 is capable of accommodating the grip 414.

[0166] Specifically, the locking mechanism 420 is disposed between the grip 414 and the cleaning device body 100 , so as to facilitate locking and unlocking of the locking mechanism 420 . For example, a locking assembly 421 is disposed on the cleaning device body 100 , and a locking groove 422 is disposed on the grip 414 .

[0167] Please refer to Figure 29, which is a schematic diagram of the structure of D shown in Figure 25. In some embodiments, a positioning structure 440 is provided between the dust box 410 and the inner wall of the receiving groove 108. The above-mentioned positioning structure 440 can play a positioning role, making it convenient for the locking mechanism 420 to quickly lock the dust box 410 in the correct position inside the cleaning device body 100, thereby improving the installation and removal efficiency of the dust box 410. The positioning structure 440 includes a positioning member (not shown in the figure) and a positioning hole 441. The positioning member and the positioning hole 441 are positioned and connected. One of the outer periphery of the dust box 410 and the inner wall of the receiving groove 108 is provided with a positioning member, and the other is provided with a positioning hole 441. The setting position and quantity of the positioning hole 441 and the positioning member can be set according to requirements.

[0168] In this embodiment, the dust box 410 is provided with positioning holes 441 on its outer periphery, and the inner sidewall of the receiving groove 108 is provided with positioning members. By providing positioning holes 441 on the dust box 410, machining of positioning holes 441 is facilitated. Specifically, positioning holes 441 are provided on the side of the dust box 410 that is adjacent to the upper cover 107. Furthermore, positioning holes 441 are provided near the locking mechanism 420, making it easier for the locking mechanism 420 to lock. There are two positioning holes 441, one on each side of the side of the dust box 410 that faces the upper cover 107. The positioning members may be, but are not limited to, ball plungers, etc.

[0169] In some embodiments, the cleaning device 1000 further includes a dust box presence detection mechanism. The dust box presence detection mechanism is used to detect whether the dust box 410 is properly installed on the cleaning device body 100, thereby ensuring that the cleaning device 1000 can only operate normally after the dust box 410 is properly installed, eliminating user misoperation, reducing the problem of ineffective cleaning or reduced cleaning effect, and further improving the intelligence of the cleaning device 1000.

[0170] The above-mentioned dust box in-place detection mechanism may include, but is not limited to, at least one of a sensing component (not shown in the figure), an inductive component (not shown in the figure), and a switch component (not shown in the figure), which can increase the detection method and can be selected according to actual conditions. Among them, the sensing component can be realized by the cooperation of a Hall element and a Hall magnet. The inductive component can detect whether the dust box 410 is in place by inductive means. The switch component detects whether the dust box 410 is in place by means of a switch component. It should be noted that the sensing component, the inductive component and the switch component can be provided with a waterproof structure as needed, which can reduce the occurrence of problems such as short circuits, and is conducive to ensuring the performance of the dust box in-place detection mechanism and improving the stability of the dust box in-place detection mechanism.

[0171] In some embodiments, the dust box in-place detection mechanism includes a sensing assembly. The sensing assembly includes a sensing member (not shown) and a sensing mating member (not shown). When the dust box 410 is installed in place, the sensing member and the sensing mating member cooperate with each other to detect whether the dust box 410 is properly installed on the cleaning device body 100.

[0172] One of the aforementioned sensing element and sensing mating element is located on the dust box 410, while the other is located on the cleaning device body 100. The specific location can be selected based on practical needs. Alternatively, both the sensing element and the sensing mating element may be located elsewhere rather than on the dust box 410. The movement of the dust box 410 drives the sensing element and the sensing mating element to cooperate, thereby detecting whether the dust box 410 is properly installed.

[0173] In one specific embodiment, the sensing element is disposed on the cleaning device body 100, and the sensing mating element is disposed on the dust box 410. The sensing mating element can be detachably connected to the dust box 410 or fixedly connected to the dust box 410. For example, the dust box 410 is provided with a dust box mounting groove, and the sensing mating element is sealed in the dust box mounting groove. Alternatively, the sensing mating element and the dust box 410 can be integrally formed, with the sensing mating element located within the side wall of the dust box 410, which facilitates simplified assembly. In this embodiment, the sensing element can be a Hall effect sensor, and the sensing mating element can be a Hall effect magnet.

[0174] The above-mentioned sensing component uses the Hall magnet to influence the internal magnetic field to conduct the circuit, thereby completing the on-off detection. When the dust box 410 is installed on the cleaning device body 100, the Hall magnet gradually approaches the Hall sensor, and the magnetic field strength at the position of the Hall sensor increases, causing the Hall sensor to be in a triggered state. When the dust box 410 is removed from the cleaning device body 100, the Hall magnet gradually moves away from the Hall sensor, and the magnetic field strength at the position of the Hall sensor decreases, and the Hall sensor has no triggering conditions. The above-mentioned magnetic field can penetrate the dust box 410 and the cleaning device body 100 for mutual induction.

[0175] In another specific embodiment, the sensing element and the sensing mating element are not located on the dust box 410, but are located elsewhere. Specifically, the cleaning device 1000 includes a sealed chamber. The sealed chamber can be the drive box 130. The dust box 410 is removable within the receiving slot 108. The dust box in-position detection mechanism is used to detect whether the dust box 410 is properly installed in the receiving slot 108.

[0176] The above-mentioned dust box in-place detection mechanism includes an inductive drive assembly. The inductive drive assembly is connected to the receiving slot 108. The sensing part is arranged in one of the inductive drive assembly and the sealed chamber. The sensing matching part is arranged in the other of the inductive drive assembly and the sealed chamber body. The dust box 410 acts on the inductive drive assembly to make the sensing part and the sensing matching part match. When the dust box 410 is installed in the receiving slot 108, the dust box 410 acts on the inductive drive assembly, the inductive drive assembly moves and enables the sensing part and the sensing matching part to achieve detection. When the dust box 410 is taken out of the receiving slot 108, the inductive drive assembly returns to its original state and makes the distance between the sensing part and the sensing matching part exceed the detection position. Among them, the inductive drive assembly is arranged between the receiving slot 108 and the sealed chamber, and is used to detect whether the dust box 410 is installed in place on the receiving slot 108.

[0177] Referring to Figures 30 and 31 , in some embodiments, the dust box 410 includes a dust box portion 411 and a rotating portion 412. The dust box portion 411 and / or the rotating portion 412 are provided with a dust box outlet (not shown). The dust box outlet can be the filter layer portion of the dust box 410. Water entering the dust box 410 through the sewage suction port 413 passes through the filter layer and is directly discharged from the dust box 410. The rotating portion 412 is rotatably mounted on the dust box portion 411. Relative to the dust box portion 411, the rotating portion 412 has an open position and a closed position. When the rotating portion 412 is in the open position, waste inside the dust box 410 can be discharged through the waste dumping opening formed by the rotating portion 412. When the rotating portion 412 is in the closed position, the dust box portion 411 and the rotating portion 412 together enclose the dust box 410. The rotating portion 412 and the dust box portion 411 can be closed and opened, i.e., locked and unlocked, by a snap-fit ​​mechanism. The trash dump port can be positioned opposite the waste suction port 413. After the dust box 410 is removed from the receiving slot 108, the rotating portion 412 unlocks relative to the dust box portion 411. The user then lifts the grip portion 414, and the rotating portion 412 rotates under its own gravity to open, forming a trash dump port. The trash in the dust box 410 is then discharged from the trash dump port. Compared to existing pool robots, the dust box 410 is enclosed on all sides, making it difficult to flush with a water gun. Furthermore, the dust box 410 must be flipped over to dump the trash, which can easily stain hands and clothing.

[0178] In a specific embodiment, the dust box 410 includes at least a first sub-side wall (not shown in the figure), a second sub-side wall (not shown in the figure), a third sub-side wall (not shown in the figure), and a fourth sub-side wall (not shown in the figure). The first sub-side wall and the fourth sub-side wall are arranged opposite each other. The second sub-side wall and the third sub-side wall are arranged opposite each other. The first sub-side wall is close to the first side portion 1011. The second sub-side wall is close to the second side portion 1012. The third sub-side wall is close to the third side portion 1013. The fourth sub-side wall is close to the fourth side portion 1014. When the sewage suction port 413 is located on the first sub-side wall, the garbage dump port can be located on the second sub-side wall, the third sub-side wall, or the fourth sub-side wall.

[0179] The position of the above-mentioned rotating part 412, that is, the garbage dumping port, may be related to the position of the receiving port 102. For example, when the receiving port 102 and the sewage suction port 413 are both close to the first side portion 1011, the rotating part 412 may include at least a fourth sub-side wall, and the garbage dumping port is arranged opposite to the above-mentioned receiving port 102. When the receiving port 102 is located at the second side portion 1012, the rotating part 412 may include at least a third sub-side wall. In other embodiments, the position of the garbage dumping port may not be related to the position of the receiving port 102. For example, when the receiving port 102 and the sewage suction port 413 are both close to the first side portion 1011, the rotating part 412 may also include at least part of the second sub-side wall or the third sub-side wall. When the dust box 410 needs to be cleaned, it is necessary to manually open the rotating part 412 and directly turn the garbage dumping port downwards.

[0180] In a specific embodiment, the rotating portion 412 and the dust box portion 411 are rotatably connected via a rotating structure (not shown in the figure), which facilitates the rotation of the rotating portion 412 relative to the dust box portion 411. The above-mentioned rotating structure may include a rotating shaft 415 and a rotating groove (not shown in the figure). The rotating shaft 415 rotates in the rotating groove, improving the smoothness of the rotation of the rotating portion 412 relative to the dust box portion 411. The rotating shaft 415 is provided on one of the rotating portion 412 and the dust box portion 411, and the rotating groove is provided on the other of the rotating portion 412 and the dust box portion 411. The rotating portion 412 is provided with a plurality of rotating shafts 415, and the dust box portion 411 is provided with a plurality of rotating grooves, as in the present embodiment. Alternatively, the rotating portion 412 is provided with a plurality of rotating grooves, and the dust box portion 411 is provided with a plurality of rotating shafts 415.

[0181] In one specific embodiment, a snap-fit ​​structure 460 is provided between the rotating portion 412 and the dust box portion 411, so that the rotating portion 412 can be releasably snap-fitted to the dust box portion 411. The snap-fit ​​structure 460 can snap-fit ​​the rotating portion 412 to the dust box portion 411. When the dust box 410 is removed from the receiving slot 108 and the garbage in the dust box 410 needs to be dumped, the snap-fit ​​structure 460 is unlocked, the snap-fit ​​between the rotating portion 412 and the dust box portion 411 is released, and the garbage is dumped out along the direction of the garbage dumping opening. Before the dust box 410 is installed in the receiving slot 108, the rotating portion 412 is snap-fitted to the dust box portion 411 via the snap-fit ​​structure 460, forming an integral dust box 410, thereby facilitating the installation of the dust box 410 in the receiving slot 108.

[0182] The above-mentioned snap-in structure 460 may include a snap-in groove 461 and a snap-in block 462, and the snap-in groove 461 and the snap-in block 462 are snap-in. One of the rotating part 412 and the dust box part 411 is provided with a snap-in groove 461, and the other of the rotating part 412 and the dust box part 411 is provided with a snap-in block 462. As in this embodiment, the rotating part 412 is provided with a rotating block (not shown in the figure). The rotating block (not shown in the figure) is provided with a snap-in groove 461. The outer side of the dust box part 411 is provided with a snap-in block 462. When the rotating part 412 is covered on the dust box outlet, the rotating block at least partially covers the outside of the dust box part 411, and the snap-in groove 461 is snap-in with the snap-in block 462. Alternatively, the rotating part 412 is provided with a snap-in block 462. The dust box 410 is provided with a snap-in groove 461.

[0183] In one embodiment, the engaging structure 460 can be released by an operating mechanism provided on the grip portion 414, such as a press-release mechanism (not shown). After the user removes the dust box 410 from the cleaning device body 100 via the grip portion 414, the user presses the release mechanism to open the rotating portion 412 to form a garbage dump port, making operation more convenient for the user.

[0184] Returning to Figure 25, in some embodiments, the main cleaning mechanism 400 or the cleaning device body 100 includes an anti-vomiting assembly 470. Taking the anti-vomiting assembly 470 being arranged on the main cleaning mechanism 400 as an example, the anti-vomiting assembly 470 is arranged near the sewage suction port 413 of the dust box 410. When the cleaning device 1000 is moving backward, turning, or stopping, the anti-vomiting assembly 470 is used to prevent at least part of the garbage from being vomited back into the area to be cleaned from the sewage suction port 413, thereby solving the problem of garbage vomiting in the cleaning device 1000. In some embodiments, the anti-vomiting assembly 470 includes an anti-vomiting door 471 and an anti-vomiting drive assembly (not shown in the figure). The anti-vomiting door 471 is rotatably arranged on the dust box 410 near the sewage suction port 413. The anti-vomiting drive assembly drives the anti-vomiting door 471 to rotate relative to the sewage suction port 413. When the cleaning device 1000 is moving backward, turning, or stopping, the anti-vomiting drive assembly drives the anti-vomiting door 471 to rotate, at least partially blocking the suction port 413, thereby reducing the occurrence of garbage vomiting back into the dust box 410. The anti-vomiting door 471 and the anti-vomiting drive assembly work together to actively prevent at least some garbage from being vomited back into the area to be cleaned.

[0185] The anti-vomiting drive assembly includes an anti-vomiting drive motor. Specifically, the drive shaft of the anti-vomiting drive motor is connected to the anti-vomiting hatch 471, directly driving the anti-vomiting hatch 471 to rotate relative to the sewage suction port 413. Alternatively, the anti-vomiting drive assembly includes an anti-vomiting drive motor and an anti-vomiting gear assembly (not shown). The anti-vomiting gear assembly is transmission-disposed between the anti-vomiting drive motor and the anti-vomiting hatch 471. The anti-vomiting drive motor drives the anti-vomiting gear assembly to rotate, which in turn drives the anti-vomiting hatch 471 to rotate relative to the sewage suction port 413. Alternatively, the anti-vomiting drive assembly includes an anti-vomiting drive motor and an anti-vomiting magnetic assembly (not shown). The anti-vomiting magnetic assembly is disposed between the anti-vomiting drive motor and the anti-vomiting hatch 471. The anti-vomiting drive motor drives the anti-vomiting magnetic assembly to move, which in turn drives the anti-vomiting hatch 471 through magnetic transmission.

[0186] Figure 32 is a simplified structural diagram of one embodiment of the anti-spitting assembly disclosed herein. The anti-spitting assembly 470 includes a first anti-spitting portion 472. The first anti-spitting portion 472 is positioned near the sewage suction port 413. It is trumpet-shaped and has a smaller cross-sectional area farther from the sewage suction port 413. Specifically, the cross-sectional area of ​​the first anti-spitting portion 472 decreases perpendicularly from the first sub-sidewall (not shown) toward the fourth sub-sidewall (not shown), or in other words, from the sewage suction port 413 toward the interior of the dust box 410. The cross-sectional area of ​​the first anti-spitting portion 472 is larger near the sewage suction port 413 and smaller farther from the port. This makes it easier for waste to enter the dust box 410 and less likely to escape from the dust box 410 through the sewage suction port 413. When the cleaning device 1000 is moving backward, turning, or stopping, the first anti-spitting portion 472 prevents at least some waste from being regurgitated back into the area to be cleaned.

[0187] FIG33 is a simplified structural diagram of another embodiment of the anti-vomiting assembly disclosed herein. The anti-vomiting assembly 470 includes an anti-vomiting plate 473. Both ends of the anti-vomiting plate 473 are pivotally connected to the dust box 410 and positioned at the sewage suction port 413. When the cleaning device 1000 advances, the disturbed water flow causes the anti-vomiting plate 473 to rotate toward the interior of the dust box 410, opening the sewage suction port 413 and allowing garbage to more easily enter the dust box 410. When the cleaning device 1000 moves backward, turns, or stops, the disturbed water flow disappears or weakens, and the anti-vomiting plate 473, due to its own structure and force, closes the sewage suction port 413, thereby preventing at least some garbage from being vomited back into the area to be cleaned. A buoyancy structure (not shown) can be provided within the anti-vomiting plate 473. When there is no water flow disturbance, the buoyancy structure causes the anti-vomiting plate 473 to at least block the sewage suction port 413. Alternatively, the anti-spitting plate 473 can be positioned so as to close the dirt suction port 413 under its own gravity.

[0188] Figure 34 is a simplified structural diagram of another embodiment of the anti-spitting component disclosed herein. The dirt suction port 413 of the dust box 410 is provided with a plurality of second anti-spitting portions 474 extending into the dust box 410. The plurality of second anti-spitting portions 474 are staggered on the inner side wall near the dirt suction port 413 to form a serrated anti-spitting structure; at the same time, the plurality of second anti-spitting portions 474 are extended toward the interior of the dust box 410. The staggered second anti-spitting portions 474 can be provided at least on the inner side of the upper and lower walls of the transition channel extending from the dirt suction port 413 into the dust box 410, or on the inner sides of two opposite side walls, or on the inner sides of four inner walls, etc. The second anti-spitting portions 474 extend along the first sub-side wall toward the fourth sub-side wall and are provided at an acute angle to the inner side wall of the dust box 410, which can prevent at least part of the garbage from being spitted back into the area to be cleaned.

[0189] In some embodiments, the cleaning device 1000 includes a roller brush 450. The roller brush 450 is rotatably disposed on the cleaning device body 100 or at the suction port of the dust box 410. The cleaning device 1000 includes a roller brush drive assembly. The roller brush 450 is driven by the roller brush drive assembly. The roller brush 450 and at least one, two, or more of the above-mentioned anti-vomiting components 470 exist simultaneously. For example, the roller brush 450 and the above-mentioned anti-vomiting hatch 471, or the roller brush 450 and the first anti-vomiting portion 472, or the roller brush 450 and the anti-vomiting plate 473, or the roller brush 450 and the first anti-vomiting portion 472 and the anti-vomiting plate 473 exist simultaneously, etc. When the roller brush 450 and the above-mentioned anti-vomiting component 470 exist at the same time, there is no interference between the roller brush 450 and the anti-vomiting component 470, that is, the movement trajectories between the two do not interfere; or, there is interference between the roller brush 450 and the anti-vomiting component 470. At this time, the anti-vomiting component 470 can be made of flexible material to reduce hard contact with the roller brush 450 and avoid damage to the components.

[0190] In some embodiments, the roller brush drive assembly may be a roller brush drive motor. That is, the drive shaft of the roller brush drive motor is connected to the roller brush member 450, directly driving the roller brush member 450 to rotate. Alternatively, the roller brush drive assembly includes a roller brush drive motor and a roller brush transmission assembly (not shown in the figure). The roller brush transmission assembly is arranged between the roller brush drive motor and the roller brush member 450. The roller brush drive motor drives the roller brush transmission assembly to rotate, and the roller brush transmission assembly drives the roller brush member 450 to rotate. The above-mentioned roller brush transmission assembly may be, but is not limited to, a roller brush gear assembly or a roller brush belt assembly. Alternatively, the roller brush drive assembly includes a roller brush drive motor and a roller brush magnetic assembly (not shown in the figure). The roller brush magnetic assembly is arranged between the roller brush drive motor and the roller brush member 450, the roller brush drive motor drives the roller brush magnetic assembly to move, and the roller brush magnetic assembly drives the roller brush member 450 to transmit magnetic force. Compared to the aforementioned roller brush drive motor directly driving the roller brush member 450, or the roller brush drive motor and roller brush transmission assembly jointly driving the roller brush member 450, this embodiment utilizes the roller brush magnetic assembly and roller brush member 450 to cooperate with each other, making it easy to install without having to worry about whether the gears are properly engaged. If the roller brush member 450 encounters a hard object such as a branch, causing it to become stuck, or if the dust box 410 is full and causing it to become stuck, the roller brush magnetic assembly can still rotate relative to it, allowing the roller brush drive motor to continue to rotate without generating any abnormal noise. The aforementioned roller brush drive motor can be, but is not limited to, a stepper motor.

[0191] As in one specific embodiment, the roller brush drive motor may be a stepper motor. The roller brush magnetic assembly includes a first roller brush magnetic part (not shown in the figure) and a second roller brush magnetic part (not shown in the figure). The first roller brush magnetic part is connected to the drive shaft of the stepper motor. The second roller brush magnetic part is arranged in the dust box 410 and is connected to the roller brush part 450. When the roller brush drive motor is working, the first roller brush magnetic part and the second roller brush magnetic part rotate relative to each other, and the roller brush part 450 rotates with the second roller brush magnetic part. When the roller brush part 450 encounters a hard object such as a branch, causing the roller brush part 450 to get stuck, or when the dust box 410 is full of garbage, causing the roller brush part 450 to get stuck, the first roller brush magnetic part and the second roller brush magnetic part can still rotate relative to each other, so that the roller brush drive motor can still rotate without generating abnormal noise. It should be noted that the above-mentioned roller brush magnetic assembly is arranged in the same manner and principle as the anti-spitting magnetic assembly mentioned above, and will not be repeated here. The structure of the roller brush drive assembly can be the same as that of the auxiliary drive assembly 550.

[0192] In some embodiments, the cleaning device 1000 includes a side brush 511 and an auxiliary drive assembly 550. The auxiliary drive assembly 550 is connected to the side brush 511, and the side brush 511 can be driven by the auxiliary drive assembly 550. When there are multiple side brushes 511, there are multiple auxiliary drive assemblies 550, each of which is connected to a corresponding auxiliary drive assembly 550. Alternatively, when there are multiple side brushes 511, there is only one auxiliary drive assembly 550, which drives multiple side brushes 511 simultaneously. The auxiliary drive assembly 550 may be a side brush drive motor. Alternatively, the auxiliary drive assembly 550 includes a side brush drive motor and a side brush transmission assembly. The side brush transmission assembly may be, but is not limited to, a side brush gear drive or a side brush belt drive. Alternatively, the auxiliary drive assembly 550 includes a side brush drive motor and a side brush magnetic assembly. It should be noted that the auxiliary drive assembly 550 may be the same as or similar to the roller brush drive assembly described above, and will not be described in detail here. The auxiliary drive assembly 550 may be the third drive assembly mentioned above.

[0193] In some embodiments, the cleaning device 1000 includes both a roller brush 450 and a plurality of side brushes 511. The roller brush 450 is driven by a roller brush drive assembly, and the plurality of side brushes 511 are driven by one or more auxiliary drive assemblies 550. Alternatively, the roller brush 450 and the plurality of side brushes 511 are driven simultaneously by a single drive assembly. In this case, the roller brush 450 and the plurality of side brushes 511 are driven by corresponding roller brush drive assemblies or corresponding side brush transmission assemblies to achieve simultaneous driving.

[0194] Figure 35 is a schematic diagram of the structure of the side brush drive motor of the present invention. In some embodiments, the roller brush drive motor and the side brush drive motor can both be stepper motors. The cleaning device 1000 includes a real-time speed detection component (not shown in the figure). The real-time speed detection component can be arranged on the stepper motor. The real-time speed detection component can detect the speed of the stepper motor in real time to determine whether the stepper motor is out of step based on the speed. When the real-time speed detection component detects that the stepper motor is out of step, the real-time speed detection component feeds back the signal to the control system (not shown in the figure), and the control system increases the current of the stepper motor step by step, so that the output torque of the stepper motor increases, thereby meeting the normal operation requirements of the stepper motor of the cleaning device 1000 under heavy load.

[0195] In one embodiment, when the cleaning device 1000 is working on the water surface cleaning, its load is relatively small, and the control system provides a relatively small current to meet the normal operation of the stepper motor. When the external load increases, such as when the side brush 511 is cleaning the wall, leaves, branches or other debris are stuck in the side brush 511 or the roller brush 450, the above-mentioned smaller current cannot meet the normal operation of the stepper motor at the rated speed. The real-time speed detection component detects that the stepper motor has lost step, and the real-time speed detection component feeds back to the control system. The control system appropriately and gradually increases the current to meet the normal operation of the stepper motor under the current load. Currently, the current gear can be set to a maximum of 4096 gears, and the specific gear setting is adjusted according to actual needs. Through the joint action of the above-mentioned stepper motor, the real-time speed detection component and the control system, it can be ensured that the side brush 511 and / or the roller brush 450 can achieve long-term and efficient operation.

[0196] In another embodiment, when the multifunctional cleaning device moves in water and cleans close to the pool wall, the side brush 511 cleans the pool wall, and the load is relatively high. The real-time speed detection component detects the state of the stepper motor in real time and feeds back to the control system. The control system adjusts the input current of the stepper motor to meet normal operation under the current load.

[0197] The above-mentioned stepper motor has the advantages of high reliability, long life and precise control, and meets the requirements for driving the side brush 511 and / or the roller brush 450. Specifically, the stepper motor has the characteristics of reliability. For example, when the cleaning device 1000 is cleaning the water surface, the output speed of the stepper motor is less than or equal to 100 rpm. The stepper motor can directly output 100 rpm and run without the need for an additional reduction gearbox. Compared with the existing drive motor with a speed of thousands or tens of thousands of rpm, which requires the addition of a reduction gearbox to meet the low speed requirement, the structure is simpler and the risk of system failure is reduced. In this embodiment, when the cleaning device 1000 is cleaning the water surface, the output speed of the stepper motor can be greater than or equal to 40 rpm and less than or equal to 100 rpm. The output speed of the stepper motor can be, but is not limited to, 40 rpm, 50 rpm, 60 rpm, 70 rpm, 85 rpm, 94 rpm, and 100 rpm. Furthermore, the output speed of the stepper motor can be greater than or equal to 60 rpm and less than or equal to 80 rpm, etc.

[0198] Stepper motors are characterized by their long lifespan. Because they lack carbon brushes and commutators, mechanical wear is reduced, extending their lifespan. This also reduces maintenance costs and the frequency of part replacement. Stepper motors also offer precise control. They convert electrical pulse signals into angular or linear displacement. Under normal load conditions, the motor's speed and stopping position depend solely on the frequency and number of pulses in the pulse signal and are unaffected by load fluctuations.

[0199] In one specific embodiment, the real-time speed detection assembly includes a grating disk 561 and a grating sensor 562. The grating disk 561 is mounted on the drive shaft of the stepper motor. The photoelectric emitting portion of the grating sensor 562 is mounted on the drive housing 551, with at least a portion of the photoelectric emitting portion adjacent to the grating side surfaces of the grating disk 561. The receiving portion of the grating sensor 562 is connected to the control system. When the stepper motor rotates, the grating disk 561 rotates synchronously. The detection principles of the grating disk 561 and the grating sensor 562 are conventional techniques known to those skilled in the art. The grating disk 561 and the grating sensor 562 work together to detect whether the stepper motor has lost steps. The upper surface of the grating disk 561 is planar and annular. The middle of the grating disk 561 is connected to the drive shaft. Sidewalls perpendicular to the upper surface are provided around the periphery of the lower surface of the grating disk 561. These sidewalls are provided with equidistant gratings. The grating sensor 562 is at least partially mounted on the two side surfaces of the grating.

[0200] In other embodiments, the real-time speed detection component includes a Hall code disk (not shown in the figure) and a Hall element (not shown in the figure). The Hall code disk is passed through and connected to the drive shaft of the stepper motor. The Hall code disk is provided with a plurality of Hall magnetic components (not shown in the figure). The Hall element is provided on a driving circuit board (not shown in the figure). The driving circuit board is connected to the outside of the stepper motor. The driving circuit board does not rotate with the driving shaft of the stepper motor. When the Hall code disk rotates with the driving shaft, each Hall magnetic component approaches the Hall element in turn, and the Hall element is used to sense the magnetic field strength of the Hall magnetic component. The Hall element feeds back the above-mentioned magnetic field strength signal to the driving circuit board in real time, and then detects in real time whether the stepper motor is out of step.

[0201] Returning to Figures 1 and 2, in some embodiments, the cleaning device 1000 includes a solar energy mechanism 600. The solar energy mechanism 600 includes a solar panel (not shown). The solar panel is disposed on the side of the upper cover 107 facing away from the receiving slot 108. The solar panel can be electrically connected to a battery pack (not shown) to power the electrical components of the cleaning device 1000. Alternatively, the solar panel can directly power the electrical components of the cleaning device 1000.

[0202] The length of the dust box 410 of the main cleaning mechanism 400 extends along the forward direction of the cleaning device body 100, and the width of the dust box 410 extends perpendicular to the forward direction of the cleaning device body 100. The length of the dust box 410 is greater than or equal to its width; at the same time, the width of the dust box 410 is greater than or equal to its height. That is, the dust box 410 is entirely flat within the accommodating slot 108. By limiting the size of the dust box 410, the deployment area of ​​the cleaning device 1000 in the pool can be increased, while the height of the cleaning device 1000 can be reduced, thereby increasing the cleaning efficiency of the main cleaning mechanism 400. Furthermore, by limiting the size of the dust box 410, the surface area of ​​the upper cover 107 is correspondingly larger, thereby increasing the area of ​​the solar panel and improving the energy replenishment efficiency of the cleaning device 1000.

[0203] In some embodiments, the maximum length of the outline of the cleaning device body 100 along the direction of travel is defined as L, and the maximum width of the outline of the cleaning device body 100 perpendicular to the direction of travel is defined as W. At the same time, the maximum length of the solar panel along the direction of travel is defined as l, and the maximum width of the solar panel perpendicular to the direction of travel is defined as w. Among them, 1>l / L≥0.7, and less than 1. 1>w / W≥0.5. Under the above-mentioned dust box 410 setting method, the user does not need to frequently flip open the upper cover 107, and the area of ​​the solar panel can be designed to be larger, thereby improving the energy replenishment efficiency. The above-mentioned l / L ratio can be, but is not limited to, 0.7, 0.73, 0.78, 0.8, 0.84, 0.85, 0.91 and 0.98. The w / W ratio can be, but is not limited to, 0.5, 0.54, 0.62, 0.69, 0.72, 0.78, 0.9, 0.94 and 0.98.

[0204] In one embodiment, 1 > l / L ≥ 0.75. 1 > w / W ≥ 0.6. For example, if L is 532 mm and W is 486 mm; l is 425 mm and w is 328 mm, then l / L = 0.79 and w / W = 0.67. The size of the solar panel is related to the overall profile of the cleaning device body 100 and can be determined based on actual needs.

[0205] In other embodiments, the maximum length of the solar panel along the direction of travel is defined as l, and the maximum width of the solar panel perpendicular to the direction of travel is defined as w. Wherein, l ≥ 400mm. w ≥ 320mm. Wherein, l ≥ w. Under the above-mentioned dust box 410 setting method, the solar panel can be directly fixed on the cleaning device body 100 or the float chamber 210, which can increase the size and area of ​​the solar panel, thereby improving the energy replenishment efficiency of the cleaning device 1000. The above-mentioned l can be, but is not limited to, 400mm, 420mm, 431mm, 445mm, 465mm, 470mm, 500mm, 530mm, 590mm, 600mm, 700mm, etc. w can be, but is not limited to, 320mm, 370mm, 431mm, 470mm, 500mm, 530mm, 590mm, 600mm, etc.

[0206] Figure 36 is a side view of the first embodiment of the cleaning device disclosed herein; Figure 37 is a schematic structural diagram of the first embodiment of the cleaning device disclosed herein. In some embodiments, the cleaning device body 100 is provided with a wireless charging interface 120. The cleaning device 1000 can be charged and replenished through the wireless charging interface 120, thereby meeting the need to clean the pool on rainy days. Among them, the wireless charging interface 120 can be provided on the upper cover 107 or the outer side of the cleaning device body 100, for example, it can be provided on one of the first side 1011, the second side 1012, the third side 1013 and the fourth side 1014. The wireless charging interface 120 can be one, two or more, etc. As in this embodiment, there is one wireless charging interface 120, and the wireless charging interface 120 is provided on the fourth side 1014.

[0207] A wireless charging connector 2000 and an adapter 2001 are installed on the pool wall or bank. One end of the adapter 2001 is connected to a power source via a cable. The other end of the adapter 2001 is also connected to the wireless charging connector 2000 via a cable. The wireless charging connector 2000 is electrically connected to the wireless charging interface 120 to enable wireless charging.

[0208] In some embodiments, an automatic alignment component (not shown) is provided between the wireless charging interface 120 and the wireless charging connector 2000. This automatic alignment component can improve the accuracy of automatic charging alignment between the wireless charging interface 120 and the wireless charging connector 2000. The automatic alignment component can be a magnetic structure, a plug-in structure, a snap-on structure, or the like.

[0209] In a specific embodiment, the automatic alignment component includes a magnetic automatic alignment component (not shown in the figure). The magnetic automatic alignment component includes a first charging magnetic component and a second charging magnetic component. The first charging magnetic component is arranged on the wireless charging interface 120, and the second charging magnetic component is arranged on the wireless charging connector 2000. Through the magnetic connection of the above-mentioned first charging magnetic component and the second charging magnetic component, the wireless charging interface 120 and the wireless charging connector 2000 are automatically aligned and charged without the user having to manually plug them in accurately, thereby improving the accuracy of automatic charging of the wireless charging interface 120 and the wireless charging connector 2000, thereby improving the user experience; at the same time, it can also improve the charging stability. Among them, the first charging magnetic component can be but is not limited to the first charging magnet. The second charging magnetic component can be but is not limited to the second charging magnet.

[0210] In some embodiments, the cleaning device 1000 includes a water quality detection component. The water quality detection component is disposed on the cleaning device body 100. When the cleaning device 1000 enters the pool, the probe portion of the water quality detection component is at least located in the pool and can be used to detect and obtain water quality data of the area to be cleaned. The water quality detection component can detect, but is not limited to, at least one water quality parameter including pH value, ORP value, EC value, TDS value, and water temperature. The water quality detection component is detachably connected to the cleaning device body 100, facilitating installation and replacement of the water quality detection component.

[0211] In some embodiments, cleaning device 1000 includes a processor 3002. A water quality detection component is connected to processor 3002. The water quality detection component transmits water quality data to processor 3002. Processor 3002 transmits this data to a mobile app via wireless communication. Users can view real-time pool water quality parameters such as pH, ORP, EC, TDS, and water temperature on the app. The app can also provide users with water treatment recommendations based on the pool water quality parameters, such as the type and amount of reagents.

[0212] In some embodiments, the cleaning device 1000 further includes a water quality detection component in-place detection mechanism (not shown in the figure). The water quality detection component in-place detection mechanism can be used to detect whether the water quality detection component is in place on the cleaning device body 100, thereby ensuring that the cleaning device 1000 can only operate normally after the water quality detection component is in place, reducing problems such as invalid detection of the water quality detection component or reduced detection effect, and better improving the intelligence of the cleaning device 1000. The specific method of the water quality detection component in-place detection mechanism can be referred to the dust box in-place detection mechanism, and will not be repeated here.

[0213] In some embodiments, the cleaning device 1000 includes a water treatment component 810 and a drive box 130. The water treatment component 810 is detachably arranged on the cleaning device body 100. For example, the water treatment component 810 is arranged at the rear of the cleaning device body 100. The water treatment component 810 treats the water quality of the pool by spreading reagents into the pool. The water treatment component 810 includes a reagent kit 811 and a reagent drive part (not shown in the figure). The reagent kit 811 is used to store one or more reagents. The reagent can be, but is not limited to, a disinfectant, an algaecide, a coagulant, a pH adjuster, etc. The drive box 130 is arranged in the cleaning device body 100, or the reagent kit 811 includes a reagent drive part. The reagent drive part is used to provide driving force for the reagent spreading. Among them, the reagent drive part can be a reagent drive pump.

[0214] Water treatment assembly 810 also comprises the first reagent line (not shown) and the second reagent line (not shown).The first reagent line and the second reagent line can be located in the drive box 130.One end of the first reagent line is communicated with the outlet seal of test kit 811, and the other end of the first reagent line is communicated with the inlet of the reagent drive member.One end of the second reagent line is communicated with the outlet of the reagent drive member, and the other end of the second reagent line extends out from the drive box 130 seals.Through above-mentioned first reagent line, the second reagent line and the reagent drive member cooperate with each other, the reagent drive member can spread the reagent in the test kit 811 in the pool.

[0215] The water quality detection component detects the pool water quality data and transmits the water quality data to the processor 3002 in the cleaning equipment 1000. The processor 3002 can determine that one or more water quality parameters are abnormal based on the data, and then, based on the abnormal situation of the water quality parameters, determine the reagent type, reagent amount and reagent discharge mode for water treatment. If the abnormal water quality needs to be processed, the cleaning equipment 1000 can control the reagent drive to open. The reagent in the test kit 811 is released into the pool water through the reagent drive, and the pool is treated with water quality. Wherein, the reagent discharge mode may include continuous drive discharge or intermittent drive discharge.

[0216] In some embodiments, the reagent cartridge 811 can be detachably connected to the cleaning device body 100, enabling installation and replacement of the reagent cartridge 811 and facilitating storage of different reagents. The drive cartridge 130 can be a sealed chamber fixed to the cleaning device body 100. The drive cartridge 130 can house, but is not limited to, a battery pack, a reagent drive pump, and a circuit board, thereby reducing costs.

[0217] In some embodiments, the cleaning device 1000 further includes a reagent cartridge presence detection mechanism (not shown). This mechanism includes at least one of a sensing component, an inductor component, and a switch component. For example, this mechanism may be a Hall effect sensor and a Hall effect magnet, respectively, disposed on the reagent cartridge and the cleaning device body 100. The specific mechanism for detecting the reagent cartridge presence can be found in the dust box presence detection mechanism and will not be further described here.

[0218] In some embodiments, the adjustment mechanism 200 of the cleaning device 1000 includes a first float chamber 211 and a second float chamber 212, which are at least partially symmetrically arranged on the cleaning device body 100. The two at least partially symmetrical float chambers 210 can improve the stability of the buoyancy of the cleaning device 1000 and reduce the possibility of the cleaning device 1000 tipping over due to uneven buoyancy. The upper cover 107 is fixedly connected to the first float chamber 211 and the second float chamber 212, meaning that the upper cover 107 does not need to be opened. By directly securing the upper cover 107 to the first float chamber 211 and the second float chamber 212, the stability of the solar energy mechanism 600 is improved, thereby extending the service life of the solar energy mechanism 600.

[0219] The structure of the first float chamber 211 and the structure of the second float chamber 212 are at least partially identical. As in this embodiment, the structure of the first float chamber 211 and the structure of the second float chamber 212 are identical. The first float chamber 211 can be used to hold liquid and / or gas. The float chamber 210 may also include, but is not limited to, an inflatable float chamber, a liquid container float chamber, and a partitioned float chamber. The volume of the float chamber 210 can be pre-set. The float chamber 210 can be made of a rigid material. Rigid materials may include, but are not limited to, glass, ceramic, phenolic plastic, polyurethane plastic, epoxy plastic, unsaturated polyester plastic, etc. For example, the float chamber 210 may be a double-layer structure comprising an inner layer and an outer layer. The inner layer may be made of a flexible material for holding gas and / or liquid, while the outer layer is a rigid protective shell that provides protection and stability for the inner layer.

[0220] In some embodiments, the adjustment mechanism 200 of the cleaning device 1000 may include a buoyancy adjustment member (not shown in the figure). The buoyancy adjustment member may be the above-mentioned float chamber pump 220. The buoyancy adjustment member may be used to adjust the volume of the gas in the float chamber 210. The cleaning device 1000 may adjust the volume of the gas / liquid in the float chamber 210 through the buoyancy adjustment member to change the magnitude of the buoyancy applied to the cleaning device 1000 in the vertical direction. For example, for a multifunctional cleaning device, the position switching of the cleaning device 1000 underwater and on the surface of the water may be achieved by adjusting the volume of the gas or liquid in the float chamber 210. The buoyancy adjustment member may be a variety of structures that can accommodate gas and / or liquid in the float chamber 210. The float chamber pump 220 may include but is not limited to a pneumatic pump, a hydraulic pump, an electric pump, etc., or may be a piston assembly disposed in the float chamber 210.

[0221] In some embodiments, the front end of the first float chamber 211 is provided with an auxiliary mounting groove 109. An auxiliary mounting portion 110 is disposed within the auxiliary mounting groove 109. Anti-collision grooves 213 are disposed at the front and / or rear ends of the first float chamber 211. Anti-collision grooves 213 are provided with anti-collision members 111. The positions of the auxiliary mounting grooves 109 and anti-collision grooves 213 can be determined as needed. Furthermore, a propulsion groove 214 is disposed at the rear end of the first float chamber 211. Propulsion grooves 214 are used to mount the propeller 310.

[0222] Figure 38 is a structural schematic diagram of the seventh embodiment of the cleaning device of the present disclosure; Figure 39 is a structural schematic diagram of F shown in Figure 38; and Figure 40 is a structural schematic diagram of G shown in Figure 38. In some embodiments, the cleaning device 1000 includes an anti-collision member 111. The anti-collision member 111 is provided on the cleaning device body 100. At the same time, the anti-collision member 111 at least partially protrudes outside the outline of the cleaning device body 100. When the cleaning device 1000 collides with the side wall of the pool, the anti-collision member 111 can reduce the posture change of the cleaning device 1000 and improve the operating stability of the cleaning device 1000; at the same time, the anti-collision member 111 plays a buffering role, reducing the damage of the cleaning device 1000 to the pool and reducing the damage to the cleaning device 1000 itself caused by colliding with the side, thereby improving the service life.

[0223] The number of the above-mentioned anti-collision parts 111 can be one, two, three or more than four. For example, in the present embodiment, the number of anti-collision parts 111 is four, and the four anti-collision parts 111 are respectively arranged at the four corners of the cleaning device body 100. Among them, the anti-collision parts 111 can be arranged at the front end and / or rear end of the first float chamber 211 and the second float chamber 212. The size of the anti-collision part 111 can be determined according to needs. For example, in the present embodiment, the size of the anti-collision part 111 at the front end of the cleaning device 1000 is larger than the size of the anti-collision part 111 at the rear end of the cleaning device 1000.

[0224] In some embodiments, the anti-collision member 111 can be rotatably arranged on the cleaning device body 100 and play a guiding role at the same time. The anti-collision member 111 includes at least a guide wheel (not shown in the figure) and a guide shaft (not shown in the figure). The guide shaft passes through and is connected to the guide wheel. The guide wheel is rotatably connected to the cleaning device body 100 through the guide shaft. When the anti-collision member 111 is arranged in the first float chamber 211, the first float chamber 211 is recessed with an anti-collision groove 213, the guide shaft is rotatably connected to the anti-collision groove 213, and the guide wheel at least partially protrudes outside the first float chamber 211. Similarly, the second float chamber 212 can be provided with the above structure.

[0225] The guide wheel includes a guide hub and a guide strip. The guide hub is threaded through and connected to a guide shaft. The guide strip is disposed around the outer periphery of the guide hub. The guide hub is located within the cleaning device body 100. The guide strip at least partially protrudes from the cleaning device body 100. The guide strip is a flexible strip. The flexible strip may be, but is not limited to, a rubber strip, an elastic fabric strip, or the like.

[0226] In some embodiments, the cleaning device 1000 includes a first auxiliary cleaning assembly 510 and an anti-collision member 111. When both the first auxiliary cleaning assembly 510 and the anti-collision member 111 are disposed on the front of the cleaning device body 100, the first auxiliary cleaning assembly 510 can be positioned above the anti-collision member 111. Alternatively, the first auxiliary cleaning assembly 510 can be positioned below the anti-collision member 111. The upper and lower positions of the first auxiliary cleaning assembly 510 and the anti-collision member 111 can be determined as needed.

[0227] Specifically, at least a portion of the side brush 511 and at least a portion of the anti-collision member 111 both protrude from the outer contour of the cleaning device body 100. On a projection plane parallel to the reference plane 1, the area of ​​the side brush 511 protruding from the outer contour of the cleaning device body 100 is greater than the area of ​​the anti-collision member 111 protruding from the outer contour of the cleaning device body 100, or in other words, the side brush 511 protrudes from the outer contour of the cleaning device body 100 by a greater distance than the guide wheel.

[0228] In one embodiment, on a projection plane parallel to reference plane 1, the projected boundary of the guide wheel is at least partially located between the projected boundary of the hub 513 of the side brush 511 and the projected boundary of the cleaning portion 5111. Alternatively, the projected boundary of the guide wheel is at least partially located within the projected boundary of the side brush 511. This means that when the cleaning device 1000 contacts an obstacle, the side brush 511 first deforms upon contact with the obstacle, and only then does the guide wheel contact the obstacle. This arrangement allows the cleaning portion 5111 of the side brush 511 to effectively clean the pool wall, while also providing collision protection when the cleaning device 1000 is too close to the pool wall.

[0229] Furthermore, in the same radial direction, the difference between the tangent length of the side brush 511 protruding at least partially from the outer contour of the cleaning device body 100 and the tangent length of the anti-collision member 111 protruding at least partially from the outer contour of the cleaning device body 100 is the tangent difference. The tangent difference is greater than 0 and less than or equal to 3 mm. By limiting the tangent difference range, not only can the side brush 511 function properly and clean areas such as the side walls or corners of the pool, but it also allows the anti-collision member 111 to act as a buffer, reducing the posture changes of the cleaning device. The tangent difference can be, but is not limited to, 0.5 mm, 0.9 mm, 1 mm, 1.5 mm, 1.9 mm, 2.5 mm, and 3 mm. In practice, if the tangent difference is too large and the side brush drive motor is a stepper motor, the side brush 511 may be pressed against the pool side wall before the anti-collision member 111 contacts the pool side wall, which may cause abnormal stepper motor noise. Therefore, the tangent difference should not be too large. That is, the above tangent difference can be determined according to actual needs. In different radial directions, the tangent difference can be the same or different.

[0230] In some embodiments, a vibrator (not shown in the figure) is provided in the drive box 130. Since the drive box 130 is a sealed chamber, the vibrator can transmit sound in the sealed chamber to the outside of the cleaning device 1000, which can remind the user to perform relevant operations.

[0231] Figure 41 is a schematic structural diagram of the anti-grounding component in the first embodiment of the cleaning equipment disclosed herein. In some embodiments, the cleaning equipment 1000 includes an anti-grounding component 140. The anti-grounding component 140 is arranged at the bottom of the cleaning equipment body 100. The anti-grounding component 140 has a first state and a second state. When the anti-grounding component 140 is in the first state, the anti-grounding component 140 is in an open state relative to the cleaning equipment body 100, and the anti-grounding component 140 interferes with structures such as steps in the pool, thereby preventing the cleaning equipment 1000 from rushing into shallow water or going ashore, thereby playing a role in preventing grounding. When the anti-grounding is in the second state, the anti-grounding component 140 is in a closed state relative to the cleaning equipment body 100, and is used to store the anti-grounding component 140.

[0232] The anti-grounding assembly 140 is retractably connected to the bottom of the cleaning device body 100. When the anti-grounding assembly 140 is in a first position, it extends outside the bottom of the cleaning device body 100. When the anti-grounding assembly 140 is in a second position, it retracts within the bottom of the cleaning device body 100. This prevents the cleaning device 1000 from grounding. The anti-grounding assembly 140 is located at one end of the bottom of the cleaning device body 100, near the forward direction.

[0233] In a specific embodiment, the anti-grounding assembly 140 may include a grounding shell 141, a grounding member 142, and a pressing elastic portion 143. The grounding shell 141 is arranged inside the front end of the cleaning device body 100 near the bottom. The grounding member 142 can be pulled out of the grounding shell 141 and can extend or retract into the grounding shell 141. The pressing elastic portion 143 can be elastically arranged on the outer side of the grounding member 142. When the anti-grounding assembly 140 is needed, an external force acts on the grounding member 142, and the grounding member 142 and the pressing elastic portion 143 both extend out of the cleaning device body 100. At this time, the pressing elastic portion 143 is clamped at the bottom of the front end of the cleaning device body 100 to lock the grounding member 142. When the anti-grounding assembly 140 is no longer needed, the pressing elastic portion 143 is compressed and the grounding member 142 is extended into the grounding shell 141. At this time, the grounding member 142 is retracted into the cleaning device body 100.

[0234] Furthermore, a manual handle 1421 is provided at the end of grounding member 142. When anti-grounding assembly 140 is in use, the manual handle allows grounding member 142 to extend outside cleaning device body 100. When anti-grounding assembly 140 is not in use, grounding member 142 retracts into grounding housing 141, and the manual handle prevents grounding member 142 from fully retracting into cleaning device body 100, enhancing the user experience.

[0235] In practice, the anti-grounding assembly 140 may include a grounding housing 141, a grounding member 142, and a grounding drive assembly. The grounding drive assembly is connected to the grounding member 142 and is configured to automatically drive the grounding member 142 to extend or retract into the cleaning device body 100. The grounding drive assembly may include, but is not limited to, a drive motor.

[0236] The present disclosure also provides a control method for a cleaning device according to a third embodiment, wherein the control method is used to control the aforementioned cleaning device 1000. Specifically, the following steps may be referred to: Step S900: Detecting that the cleaning device currently meets a retraction trigger condition.

[0237] In some embodiments, the telescopic triggering conditions include at least one of the following. A first telescopic triggering condition is that the distance between the cleaning device 1000 and a target object is within a preset distance range, where the target object includes at least one of a wall and an obstacle. A second telescopic triggering condition is that the cleaning device 1000 is in a trapped state. Detection of the cleaning device 1000 in a trapped state may include, but is not limited to, the following situations. First, the second triggering sensor of the cleaning device 1000 collects second sensor data and determines that there is a preset deviation between the actual rotation angle of the cleaning device 1000 and the preset rotation angle. Second, it is detected that the cleaning device 1000 has not traveled the target distance after a first period of movement. Third, it is detected that the relative position difference between the cleaning device 1000 and a reference point before and after the second period of movement is within a preset difference range, where the reference point is determined by a third triggering sensor. Finally, the current of the driving motor of the cleaning device 1000 increases, and the current increase matches the trapped current variation condition. A third telescopic triggering condition is that the cleaning device 1000 receives a preset command. A fourth telescopic triggering condition is that the cleaning device 1000 is in a preset operating mode. The preset operating modes include at least one of energy-saving mode, return mode, and charging mode. The return mode is when the cleaning operation is complete and the robot is in the process of returning. It is understood that in addition to the aforementioned modes, the preset operating modes may also include an escape mode, etc., which are not specifically limited here.

[0238] Step S901 : controlling the first auxiliary cleaning component of the cleaning device to perform telescopic movement. The telescopic movement includes at least one of the following: extending movement away from the cleaning device body 100 of the cleaning device 1000 , and contracting movement toward the cleaning device body 100 .

[0239] The first auxiliary cleaning assembly 510 of the cleaning device 1000 of the present disclosure can rotate, telescope, and swivel, allowing for flexible movement. During the cleaning process, the cleaning device 1000 can increase the range of cleaning in a single pass, reducing the cleaning path of the cleaning device 1000, thereby improving cleaning efficiency. Furthermore, if the cleaning device 1000 becomes stuck while cleaning a pool, the flexible movement of the first auxiliary cleaning assembly 510 can help the cleaning device 1000 escape, reducing its range and facilitating its escape.

[0240] In some embodiments, the cleaning device 1000 includes a main circuit board (not shown in the figure). The main circuit board is provided with an inertial measurement mounting portion (not shown in the figure). The inertial measurement mounting portion is used to mount an inertial measurement unit (not shown in the figure). The inertial measurement unit is used to measure motion information of the cleaning device 1000. The motion information includes but is not limited to acceleration and angular displacement. During the printed circuit board design and layout process, that is, during the PCB layout design, the inertial measurement mounting portion is hollowed out, and the inertial measurement unit is installed at the hollow edge of the inertial measurement mounting portion, thereby solving the problem of zero drift of the inertial measurement unit caused by deformation of the main circuit board.

[0241] In some embodiments, the cleaning device 1000 can be, but is not limited to, recalled with one click through electronic devices such as mobile phones or remote controls. In a specific embodiment, the cleaning device 1000 includes a WIFI communication component (not shown in the figure) and a Bluetooth component (not shown in the figure). The WIFI communication component has a hotspot function, and logging in to the hotspot function can be summoned. Electronic devices are connected to the above-mentioned WIFI communication component and Bluetooth component respectively. The electronic device is connected to the WIFI communication component, and the cleaning device 1000 is configured to connect to the WIFI router after connecting the WIFI communication component using the electronic device APP. When the cleaning device 1000 needs to be recalled, the recall button can be directly used through the electronic device APP. When the cleaning device 1000 receives the above-mentioned instruction, the cleaning device 1000 automatically docks. In other embodiments, the cleaning device 1000 can also be controlled by remote control.

[0242] The present disclosure provides a control method for a cleaning device. The cleaning device 1000 also includes a current acquisition module and an energy storage mechanism. The energy storage mechanism can be the battery pack and / or electrical components mentioned above. A control method for a cleaning device includes the following steps. Step S910: Control the moving mechanism to move along a zigzag path and obtain the current charging current of the solar mechanism. The moving mechanism 300 is used to drive the cleaning device body 100 to move. The moving mechanism 300 moves along a zigzag path in the pool, and the solar mechanism 600 in the cleaning device 1000 is at least partially located on the water surface. The zigzag path can improve the speed of finding the optimal energy replenishment point and has a flexible and reliable working mode. The current acquisition module obtains the current charging current of the solar mechanism 600 in real time. Step S911: In response to the current charging current being greater than or equal to the first target charging current, the moving mechanism is controlled to stop moving, and the solar mechanism is controlled to charge the energy storage mechanism. The first target charging current is a set value that can be set according to actual needs. For example, when the first target charging current is 1A, the current charging current is greater than or equal to 1A. The first target charging current can be a first target charging current threshold. The current charging current meets the requirements if it is within the first target charging current threshold or greater than the first target charging current threshold. When the current charging current is greater than or equal to the first target charging current, the current charging current meets the charging requirements, the mobile mechanism stops moving, and controls the solar mechanism to charge the energy storage mechanism, thereby enabling the cleaning equipment to be recharged at a position where the current charging current meets the requirements. By controlling the mobile mechanism to move along a Z-shaped route, when the current charging current of the solar mechanism is greater than or equal to the first target charging current, the cleaning equipment stops moving and controls the solar mechanism to charge the energy storage mechanism, thereby improving the speed of the cleaning equipment in finding the best recharge point, thereby enabling the cleaning equipment to be charged.

[0243] The control method of the cleaning equipment also includes the following step S912. Step S912: In response to the current charging current being less than the first target charging current, the following sub-steps are executed in a loop until the mobile mechanism completes the target detection area or performs charging. The target detection area may be a partial area of ​​the pool or the entire area of ​​the pool, etc. When the current charging current is less than the first target charging current, the current charging current cannot meet the charging requirements. That is, the following sub-steps are executed in a loop, such as step S9120, step S9121, step S9122 and step S9123, until the optimal energy replenishment point is found to realize charging of the cleaning equipment. Or, until the mobile mechanism completes the target detection area, the optimal energy replenishment point is still not found.

[0244] Step S912 includes the following sub-steps. Step S9120: Control the mobile mechanism to continue moving and calculate the duration of this continued movement. The duration is the time it takes for the mobile mechanism to move the cleaning device. When the current charging current is less than the first target charging current, calculate the duration of the cleaning device's movement. Step S9121: In response to the duration of this movement reaching a duration threshold, obtain the current charging current of the solar mechanism. The duration threshold is a set value that can be set according to actual needs. For example, the duration threshold can be 5 minutes, meaning the cleaning device moves for 5 minutes. Within this duration threshold, obtain the current charging current of the solar mechanism in real time. Step S9122: In response to the current charging current after the movement duration being greater than or equal to a second target charging current, control the mobile mechanism to stop moving and control the solar mechanism to charge the energy storage mechanism. The second target charging current is a set value that can be set according to actual needs. The second target charging current is less than the first target charging current. When the current charging current within the duration threshold is greater than or equal to the second target charging current, the current charging current meets the charging requirement. The mobile mechanism stops moving and controls the solar energy mechanism to charge the energy storage mechanism, thereby recharging the cleaning device at a location where the current charging current meets the requirement. Step S9123: In response to the current charging current after the movement duration being less than the second target charging current, the mobile mechanism is controlled to continue moving. If the current charging current within the duration threshold is less than the second target charging current, the current charging current does not meet the charging requirement, and the mobile mechanism continues moving to find the optimal recharging point. The first target charging current corresponding to the previous movement is greater than the second target charging current corresponding to the current movement. For example, during the first movement of the mobile mechanism, when the first target charging current is 2A, the cleaning device is charged and recharged when the current charging current of the solar energy mechanism is greater than or equal to 2A. If the current charging current is less than 2A, the mobile mechanism continues the current movement for a duration threshold of 5 minutes. At this time, the second target charging current is 1.5A. When the current solar energy charging current is greater than or equal to 1.5A, the cleaning device is charged and recharged. If the current charging current is less than 1.5A, the mobile mechanism proceeds to the next movement, at which point the third target charging current is determined to be 1A. This cycle continues until the mobile mechanism has completed the target detection area or has found a charging point to begin charging. Thus, by executing these sub-steps in a loop and sequentially reducing the target charging current, the optimal charging point is found, thereby improving the charging efficiency of the cleaning equipment.

[0245] The present disclosure also provides a control method for a cleaning device. The cleaning device 1000 also includes a current acquisition module and an energy storage mechanism. The energy storage mechanism can be the battery pack and / or electrical components mentioned above. The control method for the cleaning device also includes the following steps: Step S920: Controlling the mobile mechanism to move along a zigzag path and acquiring multiple charging currents of the solar energy mechanism at multiple locations along the movement path. The mobile mechanism 300 is used to drive the cleaning device body 100. The mobile mechanism 300 moves along a zigzag path within the pool, with the solar energy mechanism 600 of the cleaning device 1000 at least partially located above the water surface. The zigzag path can improve the speed of finding the optimal charging point and provide flexible and reliable operation. The current acquisition module acquires multiple charging currents of the solar energy mechanism at multiple locations along the movement path. Step S921: Counting the number of charging currents exceeding the first target charging current. The first target charging current is a set value that can be set according to actual needs. For example, when the first target charging current is 1A, the number of locations where the charging current is greater than or equal to 1A is counted. Step S922: In response to the number being greater than or equal to a threshold, the mobile mechanism is controlled to stop moving, and the solar energy mechanism is controlled to charge the energy storage mechanism. The threshold represents a percentage of the total number. The threshold is a set value that can be determined based on actual needs. For example, the threshold is 20% of the total number. The total number is the statistical sum of multiple charging current data at multiple locations along the mobile mechanism's movement path. When the number is greater than or equal to the threshold, the charging current meets the charging requirement, the mobile mechanism stops moving, and the solar energy mechanism is controlled to charge the energy storage mechanism, thereby recharging the cleaning device at the location where the charging current meets the requirement. Step S923: In response to the number being less than the threshold, the mobile mechanism is controlled to remain in a standby position for a preset period of time, and then the steps of controlling the mobile mechanism to move along a zigzag path and measuring the multiple charging currents of the solar energy mechanism at multiple locations along the movement path are performed. When the number is less than the threshold, it is determined that insufficient sunlight exists and the charging current cannot meet the charging requirement. The mobile mechanism stops moving, and the cleaning device is placed in a standby position. The preset standby period is the cleaning device's standby time. After the preset time length meets the requirement, the mobile mechanism continues to move along the Z-shaped route path and executes the above steps. It should be noted that the above number can also be the area in the target detection area. Among them, the number threshold can also be the area ratio of the target detection area. By counting the number of charging currents of the solar mechanism at multiple positions in the moving path that are greater than the first target charging circuit, and comparing whether the number is greater than the number threshold, the optimal charging point is found, which can improve the efficiency of the cleaning equipment in finding the optimal charging point for charging.

[0246] The present disclosure also provides a method for preventing cleaning equipment from becoming stuck. The method includes the following steps: Step S930: Obtaining the current angle of the cleaning equipment. The current angle of the cleaning equipment can be measured by an inertial measurement unit. Step S931: Comparing the angle difference between the current angle of the cleaning equipment and the target angle of the cleaning equipment. The target angle of the cleaning equipment is a set value that can be determined based on different operating conditions of the cleaning equipment. Step S932: When the angle difference is greater than a preset angle difference, the cleaning equipment is trapped. The preset angle difference is a set value. By comparing the angle difference with the preset angle difference, it is determined whether the cleaning equipment is trapped. Step S933: Controlling the cleaning equipment to retreat and turn around to escape. After the cleaning equipment becomes trapped, it automatically retreats and turns around to escape. The retreat and turn around to escape can be achieved by using propellers, etc. By comparing the current angle difference with the preset angle difference, it is possible to determine whether the cleaning equipment is trapped and cause the cleaning equipment to perform actions such as retreating and turning around to escape. Based on the above method, the ability of cleaning equipment to escape from trouble can be improved.

[0247] The present disclosure also provides a method for automatically charging a cleaning device. The method includes the following steps: Step S940: Real-time detection of the current charging current at a target pool wall in a target area. The target area may include, but is not limited to, a swimming pool, a pond, or the like. Step S941: Comparison of whether the current charging current is the target charging current. The target charging current is the charging current at the wireless charging station. Step S942: If so, charging is performed. If the current charging current is the target charging current at the wireless charging station, wireless charging is performed between the wireless charging interface in the cleaning device and the wireless charging connector on the wireless charging station. If the solar panel does not meet the charging requirements, the wireless charging interface can charge the cleaning device on rainy days, thereby meeting the need for pool cleaning on rainy days. Thus, by comparing the current charging current at the target pool wall in the target area in real time to see if it is the target charging current, wireless charging requirements are met. Step S942 further includes step S9421. Step S9421: Executing the charging action includes aligning the charging using an automatic alignment component. The wireless charging port and the wireless charging connector are aligned using an automatic alignment component, improving the accuracy of automatic charging alignment between the wireless charging port and the wireless charging connector. This automatic alignment component is a magnetic one. When the cleaning device is charging at the wireless charging station, the magnetic automatic alignment component automatically aligns the device.

[0248] The present disclosure also provides a method for preventing garbage back-spitting by a cleaning device. The method for preventing garbage back-spitting by a cleaning device includes the following steps: Step S950: Detecting the current edge distance between the cleaning device and the side wall of the target area. The cleaning device is provided with an edge sensor. When the cleaning device is moving along the edge, the edge sensor can detect the distance between the cleaning device and the side wall of the target area in real time. The edge sensor can be, but is not limited to, an ultrasonic sensor, an infrared sensor, a lidar sensor, and a time-of-flight sensor. Step S951: When the current edge distance is less than a preset edge distance, controlling the movement speed of the cleaning device. The preset edge distance is a set value. When the current edge distance is less than or equal to the preset edge distance, controlling the speed of the cleaning device to gradually decrease or directly decrease to zero to decelerate the cleaning device. Step S952: Controlling the cleaning device to rotate in a first rotational direction, controlling the cleaning device to move backward on the side closer to the first rotational direction and to move forward on the side farther from the first rotational direction and to move forward at a second rotational speed, wherein the first rotational speed is greater than the second rotational speed. The cleaning device is provided with first propellers on both sides of the forward direction. When the two first propellers move in opposite directions, the cleaning device can be driven to turn. For example, when the first rotation direction is counterclockwise, when the cleaning device moves to the target sidewall in front of it, the first propeller on the left rotates in the opposite direction, causing the cleaning device to move backward; at the same time, the first propeller on the left moves at a first rotational speed. The first propeller on the right rotates forward, causing the cleaning device to move forward, while the first propeller on the right moves at a second rotational speed. In this case, the first rotational speed of the first propeller on the left is less than the second rotational speed of the second propeller. By limiting the two first propellers to rotate in different directions and at different rotational speeds, the cleaning device rotates to the left. During the counterclockwise rotation of the cleaning device, the right front side of the cleaning device touches the sidewall of the target area, gathering garbage to ensure that it is not lost. Similarly, the cleaning device can rotate to the right, which will not be described in detail here. Step S953: Control the cleaning device to move forward on the side away from the first rotational direction and move at a third rotational speed, and control the cleaning device to move backward on the side close to the first rotational direction and move at a fourth rotational speed, where the third rotational speed is greater than the fourth rotational speed. Among them, when the cleaning equipment is not close to the target side wall, the cleaning equipment rotates to the left, the first propeller on the right continues to move forward and the speed is increased through the third rotation speed, the first propeller on the left continues to move backward and the speed is slowed down through the fourth rotation speed, and the cleaning equipment can keep rotating to the left, gathering garbage, not spitting out garbage, and realizing a U-turn in the bow-shaped operation at the same time.

[0249] The present disclosure also provides a method for cleaning a device. The method includes the following steps: Step S970: Comparing the current edge distance between the cleaning device and the sidewall of the target area to see if it is a first preset edge distance. The cleaning device is equipped with an underwater or surface edge sensor. The edge sensor may be an ultrasonic sensor or an infrared sensor, for example, and is used to detect the current edge distance between the cleaning device and the sidewall of the target area. The preset edge distance is a set value. By comparing the current edge distance with the preset edge distance, the device controls the operation of a first auxiliary cleaning component. In one embodiment, the edge sensor is located on the right side of the cleaning device body. Step S971: If the current edge distance is the first preset edge distance, controlling the first auxiliary cleaning component of the cleaning device to operate and clean the target sidewall. The first auxiliary cleaning component is capable of cleaning the target sidewall. Step S972: Identifying an obstacle and detecting the angle between the cleaning device and the obstacle. The cleaning device is equipped with an underwater or surface distance sensor, such as an ultrasonic sensor or an infrared sensor. The distance sensor can not only detect the posture of the cleaning device, but also detect whether there are obstacles in front of the cleaning device. When the cleaning device moves along the edge, the distance measuring sensor can detect whether there is an obstacle in front of the movement and whether the cleaning device is tilted against the side wall of the target area. The above-mentioned distance measuring sensors can be one, two or more. As in the present embodiment, there are two distance measuring sensors, which are arranged at the left and right positions of the front end of the cleaning device. Step S973: According to different types of obstacles, the action of the cleaning device is controlled, and the action includes at least one of retreat, rotation and forward. The method for cleaning the device also includes step S974. Step S974: Detect that the current distance along the edge between the cleaning device and the side wall of the target area is less than the second preset distance along the edge, and the cleaning device stops moving. The above steps can identify obstacles, and different actions can be performed according to different types of obstacles.

[0250] The above description is merely an embodiment of the present disclosure and does not limit the patent scope of the present disclosure. Any equivalent structure or equivalent process transformation made using the contents of the present disclosure and the drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present disclosure.

Claims

1. A cleaning device, comprising a cleaning device body, the cleaning device body having an outer portion, wherein: Cleaning equipment also includes: At least one receiving opening and receiving groove, wherein the receiving opening is arranged at the outer side, the receiving groove is arranged at the cleaning device body, and the receiving opening is communicated with the receiving groove; The adjustment mechanism comprises at least one floating chamber, wherein the floating chamber is arranged on the cleaning device body and is used to adjust the cleaning device body to be at least partially located on the water surface; A moving mechanism, disposed on the cleaning device body, and used to drive the cleaning device body to move; The main cleaning mechanism includes at least one dust box, the dust box is formed with at least one dirt suction port, the dust box is at least partially accommodated in the receiving groove, and can be pulled and assembled in the receiving groove through the receiving port; An auxiliary cleaning mechanism, arranged on the cleaning device body, the auxiliary cleaning mechanism is at least used to expand the cleaning range of the sewage suction port; The solar energy mechanism comprises a solar panel, and the solar panel is arranged on the top surface of the cleaning device body.

2. The cleaning device according to claim 1, wherein: The auxiliary cleaning mechanism comprises a first auxiliary cleaning component. Along the height direction of the cleaning device body, the projection of the first auxiliary cleaning component at least partially overlaps with the projection of the sewage suction port.

3. The cleaning device according to claim 2, wherein: Along the traveling direction of the cleaning device, the first auxiliary cleaning component is at least partially located in front of the sewage suction port to guide garbage outside the working area of ​​the sewage suction port to the working area of ​​the sewage suction port.

4. The cleaning device according to claim 2, wherein: The sewage suction port is partially located above the water surface and partially located below the water surface; the first auxiliary cleaning component is at least partially located above the water surface.

5. The cleaning device according to claim 2, wherein: The first auxiliary cleaning component includes a side brush and a rotating shaft, the side brush rotates around the rotating shaft, the rotating shaft is rotatably arranged on the cleaning device body, the side brush includes a side brush body and a cleaning portion, and the cleaning portion at least partially protrudes outside the contour of the cleaning device body.

6. The cleaning device according to claim 5, wherein: The side brush has at least one cleaning surface which is not parallel to the reference surface and is used for contacting and stirring the water flow.

7. The cleaning device according to claim 5, wherein: The rotating shaft is inclined relative to the reference plane and is arranged on the cleaning device body. The side brush includes an upper surface and a lower surface. The distance between the center of the upper surface of the side brush and the reference center line γ is smaller than the distance between the center of the lower surface and the reference center line γ. The reference center line γ is the line where the line connecting the centers of the projections of the top and bottom of the cleaning device on the reference plane is located.

8. The cleaning device according to claim 5, wherein: The side brush comprises a side brush strip and a wheel hub. The side brush strip surrounds and is detachably arranged on the wheel hub. The side brush strip has at least one cleaning surface. The wheel hub is connected to the rotating shaft.

9. The cleaning device according to claim 8, wherein: The wheel hub at least comprises a first wheel hub and a second wheel hub which cooperate with each other end to end; the side brush strip comprises a first end and a second end, and the first end and the second end are connected to form an annular side brush strip which is sleeved on the outer periphery of the wheel hub.

10. The cleaning device according to claim 5, wherein: The cleaning device includes an auxiliary drive component and a real-time rotation speed detection component. The auxiliary drive component includes a stepper motor, and the stepper motor drives the side brush to move. The real-time rotation speed detection component is arranged on the cleaning device body and is used to detect the rotation speed of the stepper motor in real time.

11. The cleaning device according to claim 2, wherein: The cleaning device includes a motion drive component, which is arranged on the cleaning device body and connected to the first auxiliary cleaning component, and is used to drive the first auxiliary cleaning component to move between a first position and a second position relative to the cleaning device body, wherein in the second position, an area of ​​the first auxiliary cleaning component protruding outside the contour of the cleaning device body is larger than an area of ​​the first auxiliary cleaning component protruding outside the contour of the cleaning device body at other positions.

12. The cleaning device according to claim 2, wherein: It also includes at least one guide wheel rotatably arranged on the cleaning device body, and at least one of the guide wheels is arranged in parallel with the first auxiliary cleaning component; the distance that the guide wheel protrudes from the outline of the cleaning device body is less than or equal to the distance that the first auxiliary cleaning component protrudes from the outline of the cleaning device body.

13. The cleaning device according to claim 1, wherein: The auxiliary cleaning mechanism includes a second auxiliary cleaning component, which is fixedly or rotatably arranged on the cleaning equipment body and is used to spray water to the area to be cleaned, so as to at least flush the area to be cleaned or guide at least part of the garbage in the area to be cleaned to the working area of ​​the sewage suction port.

14. The cleaning device according to claim 1, wherein: The main cleaning mechanism comprises a holding portion, which is arranged on the outer periphery of the dust box and is located at a side of the dust box where the dirt suction port is arranged.

15. The cleaning device according to claim 1, wherein: The dust box includes a dust box part and a rotating part. The rotating part has an open position and a closed position relative to the dust box part. When the rotating part is in the open position, the dust box forms a garbage dumping port, and the garbage dumping port is arranged opposite to the sewage suction port.

16. The cleaning device according to claim 1, wherein: The main cleaning mechanism includes an anti-spitting component, which is arranged near the sewage suction port of the dust box, and is used to prevent at least part of the garbage from being spit back from the sewage suction port to the area to be cleaned.

17. The cleaning device according to claim 1, wherein: The adjustment mechanism at least includes a first float chamber and a second float chamber which are substantially symmetrically arranged on both sides of the cleaning device body; The cleaning device further comprises an upper cover, which is fixedly disposed between the first floating chamber and the second floating chamber; the solar panel at least partially covers the upper cover.

18. The cleaning device according to claim 1, wherein: The cleaning device body is provided with a wireless charging interface, and the wireless charging interface is used for wireless charging with a wireless charging connector, wherein an automatic alignment component is provided between the wireless charging interface and the wireless charging connector.

19. The cleaning device according to claim 1, wherein: It also includes a water quality treatment component, which includes at least a test kit for treating the water quality of the area to be cleaned.

20. The cleaning device according to claim 1, wherein The cleaning device also includes an anti-grounding component disposed at the bottom of the cleaning device, wherein the anti-grounding component can be switched between a first state and a second state.

Images