Cleaning device

Abstract

Provided in the present disclosure is a cleaning device for operation in a target area in water, which is provided with a first side located at the front of the cleaning device, a fourth side located at the right side of the cleaning device and a third side located at the left side of the cleaning device. The cleaning device comprises a cleaning device body, at least one suction port, at least one filter cartridge, at least one group of identification components and a control system; the at least one suction port is formed in the cleaning device body, so that dust-carrying water flow enters the cleaning device body through the suction port; the at least one filter cartridge is detachably mounted to the cleaning device body, each filter cartridge being provided with a water inlet that is fluidly connected to the at least one suction port; the at least one group of identification components is arranged on a side face of the cleaning device body, the identification components at least comprising a first sub-identification component and a second sub-identification component, and the first sub-identification component and the second sub-identification component being different and being arranged close to each other; the identification components are used for identifying conditions of obstacles in a target area; and the control system is electrically connected to the at least one group of identification components, so as to adjust the operational posture of the cleaning device on the basis of information of the identification components.

Description

cleaning equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 1, 2023, with application number 202311639354.6, and invention name “Pool Robot”, the entire contents of which are incorporated by reference into this disclosure.

[0002] 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 disclosure.

[0003] 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 entitled “A Pool Robot, Its Control Method, and Storage Medium,” the entire contents of which are incorporated herein by reference.

[0004] This application claims priority to an international patent application filed with the International Patent Office on May 17, 2024, with application number PCT / CN2024 / 094025 and invention name “A Cleaning Device,” the entire contents of which are incorporated herein by reference. Technical Field

[0005] The present disclosure relates to the technical field of water body working equipment, and in particular to a cleaning device. Background Art

[0006] With the improvement of people's living standards, more and more people choose swimming as a sport that can both increase the fun of life and strengthen the body. At the same time, the water quality of swimming pools has also attracted much attention.

[0007] In the related art, cleaning equipment specifically designed to work in water bodies is usually used to clean swimming pools to improve the water quality of the swimming pools. However, the regional morphology of swimming pools is complex and diverse, and existing cleaning equipment is often unable to recognize special regional morphology due to its own structure, resulting in limited movement of the cleaning equipment.

[0008] Summary of the Invention

[0009] The present disclosure provides a cleaning device for operating in a target area in a water body, comprising a first side located at the front of the cleaning device, a fourth side located at the right side of the cleaning device, and a third side located at the left side of the cleaning device, wherein the cleaning device comprises a cleaning device body, which further comprises: at least one sewage suction port, arranged on the cleaning device body, for allowing dust-laden water to enter the cleaning device body through the sewage suction port; at least one filter box, detachably arranged on the cleaning device body, the filter box having a water flow inlet and fluidically connected to the at least one sewage suction port; at least one group of identification components arranged on the side of the cleaning device body, the identification components comprising at least a first sub-identification component and a second sub-identification component, wherein the first sub-identification component and the second sub-identification component are different and are arranged adjacent to each other; the identification component is used to identify the obstacle status in the target area; a control system, electrically connected to the at least one group of identification components, to adjust the operating posture of the cleaning device based on information from the identification components. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the optional embodiments below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0011] FIG1 is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0012] FIG2 is a schematic diagram of a cleaning device provided by the present disclosure positioned on a target bottom wall of a target area;

[0013] FIG3 is a schematic diagram of a cleaning device provided by the present disclosure positioned on a target sidewall of a target area;

[0014] FIG4 a is a side view of another embodiment of a cleaning device provided by the present disclosure;

[0015] FIG4b is a schematic diagram of the structure of FIG4a after partially hiding the structure;

[0016] FIG5 is a front view of another embodiment of the cleaning device provided by the present disclosure;

[0017] FIG6 is a schematic structural diagram of the cooperation between the camera body, the fill light component and the mounting plate in the visual sensing assembly of the cleaning equipment provided by the present disclosure;

[0018] 7 is a schematic diagram of the structure of the control system and some structures in the electric control box of the cleaning equipment provided by the present disclosure;

[0019] FIG8 is a schematic structural diagram of the liquid inlet detection assembly and the electronic control box of the cleaning equipment provided by the present disclosure;

[0020] FIG9 is an enlarged view of portion A in FIG8 ;

[0021] FIG10 is a schematic diagram of the exploded structure of an embodiment of a visual sensing assembly of a cleaning device provided by the present disclosure;

[0022] FIG11 is a cross-sectional view of an embodiment of a light-transmitting member of a visual sensing assembly of a cleaning device provided by the present disclosure;

[0023] FIG12 is a schematic diagram of the exploded structure of another embodiment of the visual sensing assembly of the cleaning device provided by the present disclosure;

[0024] FIG13 is a schematic diagram of the exploded structure of a third embodiment of a visual sensing assembly of a cleaning device provided by the present disclosure;

[0025] FIG14 is a schematic structural diagram and a cross-sectional view of the matching harness and sleeve of the visual sensing assembly of the cleaning device provided by the present disclosure;

[0026] FIG15 is a schematic structural diagram of an embodiment of a heat sink of a visual sensing assembly of a cleaning device provided by the present disclosure;

[0027] FIG16 is a front view of an embodiment of a cleaning device provided by the present disclosure;

[0028] FIG17 is a partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure;

[0029] FIG18 is another partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure;

[0030] FIG19 is a bottom view of another embodiment of a cleaning device provided by the present disclosure;

[0031] FIG20 is a side view of an embodiment of a cleaning device provided by the present disclosure;

[0032] FIG21 is a cross-sectional view of another embodiment of a cleaning device provided by the present disclosure;

[0033] FIG22 is an enlarged view of portion B in FIG21;

[0034] FIG23 is a schematic structural diagram of an embodiment of a filter cartridge of a cleaning device provided by the present disclosure;

[0035] FIG24 is another side view of an embodiment of a cleaning device provided by the present disclosure;

[0036] FIG25 is a schematic structural diagram of another embodiment of a cleaning device provided by the present disclosure;

[0037] FIG26 is a cross-sectional view of another embodiment of a cleaning device provided by the present disclosure;

[0038] FIG27 is a schematic structural diagram of a cleaning device provided by the present disclosure in a motion state;

[0039] FIG28 is a schematic structural diagram of another motion state of the cleaning device provided by the present disclosure;

[0040] FIG29 is a schematic structural diagram of a third motion state of the cleaning device provided by the present disclosure;

[0041] FIG30 is a cross-sectional view of the filter cartridge and the second handle of the cleaning device provided by the present disclosure;

[0042] FIG31 is a schematic structural diagram of a second handle of the cleaning device provided by the present disclosure;

[0043] FIG32 is a schematic structural diagram of an embodiment of an electric control box of a cleaning device provided by the present disclosure;

[0044] FIG33 is a schematic diagram of the structure of the electric control box and the prompt assembly of the cleaning device provided by the present disclosure;

[0045] FIG34 is a partial structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0046] FIG35 is a schematic structural diagram of a data transmission assembly of a cleaning device provided by the present disclosure;

[0047] FIG36 is a schematic structural diagram of the cooperation between the Hall magnet and the carrier plate of the in-situ sensing assembly of the cleaning device provided by the present disclosure;

[0048] FIG37 is a schematic structural diagram of the cooperation between the Hall element and the Hall magnet in one embodiment of the in-situ sensing component of the cleaning equipment provided by the present disclosure.

[0049] Figures and symbols: Cleaning device 1000; target area 100, walking surface 101, target side wall 1011, target bottom wall 1012; cleaning device body 110, first accommodating chamber 111, sewage suction port 1111, first sewage suction port 1111a, first edge 1111a1, second edge 1111a2, second sewage suction port 1111b, first liquid discharge port 1112, second accommodating chamber 112, first opening 112a, first side 113, second side 114, third side 115, fourth side 116, fifth side 117, sixth side 118, second opening 118a, sealing door 119; filter box 120, notch 121, box opening 122, filter wall 123, inner filter screen 123a, outer filter screen 123b, through hole 123 c, first filter wall 1231, second filter wall 1232, third filter wall 1233, fourth filter wall 1234, fifth filter wall 1235, filter box cover 124; identification component 130, first sub-identification element 131, second sub-identification element 132; visual sensor component 140, camera body 140a, fill light component 140b, receiving chamber 141, hatch 141a, first mounting hole 141b, first groove 141c, mounting plate 142, light shielding component 1421, first inclined surface 1422, second inclined surface 1423, third inclined surface 1424, light transmitting component 143, anti-reflection film 1431, protective film 1432, first sealing ring 1441, second sealing ring 1442, pressing ring 145, second mounting hole 141b, first groove 141c, mounting plate 142, light shielding component 1421, first inclined surface 1422, second inclined surface 1423, third inclined surface 1424, light transmitting component 143, anti-reflection film 1431, protective film 1432, first sealing ring 1441, second sealing ring 1442, pressing ring 145, second mounting hole 141b, first groove 141c, mounting plate 142 Mounting hole 145a, first fixing member 1461, second fixing member 1462, harness 1463, back plate 147, opening 147a, fourth mounting hole 147b, sleeve 148, inner sleeve 1481, outer sleeve 1482, heat sink 1491, thermal conductive material 1492, drying chamber 1493; first auxiliary cleaning assembly 150, side brush 151, side brush body 1511, rotating shaft 1512, side brush cover 1513, auxiliary drive assembly 152, connecting portion 153, fixing portion 1531, telescopic portion 1532, guide member 154; second auxiliary cleaning assembly 160, water spraying member 161, nozzle 1611, second drive member 162, first impeller 1621, first drive motor 1622; third auxiliary cleaning assembly Component 170, roller brush assembly 171; propulsion assembly 180, first liquid outlet 181, third drive member 182, second impeller 1821, second drive motor 1822, second liquid outlet 183, connection assembly 184, speed reducer 185; walking mechanism 190, first guide wheel 191, second guide wheel 192, crawler 193, fourth drive member 194, cover plate 195; terrain detection assembly 196; anti-collision member 200, roller 201, bracket 202; main drive pump 210, liquid inlet 211, second liquid discharge port 212, grid member 213, diverter plate 214, first sub-drainage pipe 215, first sub-drainage port 2151, second sub-drainage pipe 216, second sub-drainage port 2161, drainage baffle 217;Electric control box 220, electric control box body 221, electric control box terminal 222, slot 222a, outlet 2221, electric control box end cover 2222, control system 231, liquid inlet detection component 232, liquid level detection component 233, mapping module 234, adjustment component 235, determination component 236, prompt component 237; data transmission component 240, main component 241, protective housing 242; first handle 251, avoidance opening 251a, second handle 252; first float chamber 261, first buoyancy adjustment control 2611, second float chamber 262, second buoyancy adjustment control 2621; water quality treatment component 270, reagent box 271; in-position sensing component 280, Hall element 281, carrier board 282, Hall magnet 283; button 290. DETAILED DESCRIPTION

[0050] 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.

[0051] Please refer to Figures 1 to 3. Figure 1 is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure; Figure 2 is a schematic diagram of the cleaning device provided by the present disclosure located on a target bottom wall of a target area; and Figure 3 is a schematic diagram of the cleaning device provided by the present disclosure located on a target side wall of a target area. The present disclosure provides a cleaning device 1000. The cleaning device 1000 may be a pool cleaning robot capable of cleaning a target area 100. The target area 100 may be an area where the cleaning device 1000 performs cleaning work. For example, the target area 100 may be a swimming pool, a pipeline, a ship's hull, an oil well, or other facilities, but is not limited thereto. The target area 100 includes a walking surface 101. The walking surface 101 includes a target side wall 1011 and a target bottom wall 1012. The embodiment of the present disclosure is described using the example of the cleaning device 1000 being used to clean a swimming pool. The target side wall 1011 may be the side wall of the swimming pool, and the target bottom wall 1012 may be the bottom wall of the swimming pool.

[0052] The cleaning device 1000 has a first side 113 and a second side 114 that are oppositely disposed, a third side 115 and a fourth side 116 that are oppositely disposed, and a fifth side 117 and a sixth side 118 that are oppositely disposed. The first side 113 is located at the front of the cleaning device 1000, the second side 114 is located at the rear of the cleaning device 1000, the third side 115 is located at the left side of the cleaning device 1000, the fourth side 116 is located at the right side of the cleaning device 1000, the fifth side 117 is located at the bottom of the cleaning device 1000, and the sixth side 118 is located at the top of the cleaning device 1000.

[0053] Please refer to Figures 4a to 5. Figure 4a is a side view of another embodiment of the cleaning device provided by the present disclosure; Figure 4b is a structural diagram after the partial structure of Figure 4a is hidden; Figure 5 is a front view of another embodiment of the cleaning device provided by the present disclosure. The cleaning device 1000 includes a cleaning device body 110. The cleaning device body 110 serves as a carrier for carrying other components in the cleaning device 1000. The cleaning device body 110 can be a frame in the cleaning device 1000. The cleaning device 1000 also includes at least one sewage suction port 1111, at least one filter box 120, at least one set of identification components 130 and a control system 231.

[0054] At least one suction port 1111 is provided on the cleaning device body 110, allowing dust-laden water to enter the cleaning device body 110 through the suction port 1111. At least one filter cartridge 120 is detachably mounted on the cleaning device body 110. The filter cartridge 120 has a water inlet. The water inlet is in fluid communication with the at least one suction port 1111. Dust-laden water in the target area 100 can sequentially enter the filter cartridge 120 through the suction port 1111 and the water inlet.

[0055] Referring to Figure 21, the cleaning device body 110 has a first accommodating chamber 111. The first accommodating chamber 111 is connected to the external environment via a sewage suction port 1111. When the cleaning device 1000 enters the target area 100, the target area 100 is connected to the first accommodating chamber 111 via the sewage suction port 1111. A filter cartridge 120 is detachably disposed within the first accommodating chamber 111. The sewage suction port 1111 is formed as an opening for dust-laden water flow from outside the cleaning device body 110 to enter the filter cartridge 120. The dust-laden water flow is filtered by the filter cartridge 120 and then discharged from the cleaning device body 110, thereby cleaning the target area 100. The sewage suction port 1111 has a working area, which is the area covered by the sewage suction port 1111 during the movement of the cleaning device 1000, or the radiation area extending to the sewage suction port 1111 due to the suction force generated by the suction component within the cleaning device 1000, where the sewage suction port 1111 can produce a cleaning effect; the dust-carrying water flow contains garbage, and the garbage in the dust-carrying water flow includes, but is not limited to, plant branches and leaves, plastic, metal, insects, hair, dander, algae, silt, dirt, etc. The filter box 120 is at least partially accommodated in the first accommodating chamber 111 in a detachable manner, so that the filter box 120 can be removed to facilitate cleaning of the garbage in the filter box 120.

[0056] At least one set of identification components 130 is arranged on the side of the cleaning device body 110, such as one or more sides from the first side 113 to the sixth side 118. The identification component 130 is used to identify the obstacle status within the target area 100. The control system 231 is electrically connected to at least one set of identification components 130 to adjust the operating posture of the cleaning device 1000 based on the information of the identification component 130. Referring to Figure 22, the control system 231 can be arranged in the electric control box 220 of the cleaning device 1000, and the interior of the electric control box 220 is a closed area. By arranging the control system 231 in the closed electric control box 220, it is possible to avoid water ingress into the control system 231, circuit short circuit, damage to the electronic components of the control system 231 and other problems.

[0057] The target area 100 has a variety of regional morphologies, including at least the wall morphology of the target area 100. The wall morphology may include the boundary of the target sidewall 1011 being a straight line, an arc, a right angle, an obtuse angle, or an acute angle, and the connection angle between the target sidewall 1011 and the adjacent target sidewall 1011 being a right angle, an arc angle, etc. During the operation of the cleaning device 1000, the recognition component 130 can detect the wall morphology of the target area 100 in the direction corresponding to the recognition component 130 in real time. The control system 231 can adjust the operating posture of the cleaning device 1000 based on the wall morphology recognized by the recognition component 130. In one embodiment, the identification component 130 is disposed on the third side 115 or the fourth side 116 of the cleaning device 1000. When the cleaning device 1000 moves along the target sidewall 1011 and the identification component 130 recognizes that the cleaning device 1000 is moving at the curved target sidewall 1011, the control system 231 can adjust the motion trajectory of the cleaning device 1000 to a trajectory corresponding to the curved sidewall and adjust the operating posture of the cleaning device 1000 based on the motion trajectory to prevent the cleaning device 1000 from slipping on the edge of the target sidewall 1011, climbing along the height direction of the target sidewall 1011, or directly colliding with the target sidewall 1011, thereby preventing the cleaning device 1000 from tipping over or being damaged due to slipping, climbing, or colliding with the target sidewall 1011. The provision of the identification component 130 enables the cleaning device 1000 to move and clean safely along the edge. The identification component 130 can also identify the distance between it and the opposite target side wall 1011 , so that the cleaning device 1000 can be kept a certain distance from the target side wall 1011 when moving along the edge and cleaning, thereby avoiding scratching between the cleaning device 1000 and the target side wall 1011 .

[0058] The regional topography of the target area 100 may also include the topography of objects within the target area 100, wherein the objects within the target area 100 may be facilities located within the target area 100, such as escalators, or obstacles within the target area 100, such as rocks. The control system 231 can adjust the operating posture of the cleaning device 1000 based on the distance from the facilities and obstacles within the target area 100 identified by the recognition component 130. For example, if the recognition component 130 recognizes that an obstacle is within a preset range in front of the cleaning device 1000 while it is moving, the control system 231 will adjust the operating posture of the cleaning device 1000 to avoid the obstacle.

[0059] The identification component 130 includes at least a first sub-identifier 131 and a second sub-identifier 132. The first sub-identifier 131 and the second sub-identifier 132 are different and are arranged adjacent to each other. The first sub-identifier 131 and the second sub-identifier 132 can be arranged side by side, side by side, or staggered on one side. The arrangement of the first sub-identifier 131 and the second sub-identifier 132 expands the recognition range, making it easier to identify special regional topography. The control system 231 can adjust the operating posture of the cleaning device 1000 based on the regional topography identified by the identification component 130, so that the movement of the cleaning device 1000 is not restricted by the diverse regional topography in the target area 100.

[0060] The cleaning device 1000 in the related art cannot recognize the curved target side wall 1011, resulting in the cleaning device 1000 slipping on the edge of the target side wall 1011, climbing along the height direction of the target side wall 1011, or directly colliding with the target side wall 1011 when it runs to the curved target side wall 1011, thereby restricting the movement of the cleaning device 1000.

[0061] In some embodiments, the cleaning device 1000 includes two sets of identification components 130. One set of identification components 130 is disposed on the first side 113 of the cleaning device body 110. The other set of identification components 130 is disposed on the fourth side 116 adjacent to the first side 113. The one set of identification components 130 disposed on the first side 113 of the cleaning device body 110 is used to identify the regional topography of the target area 100 located in front of the cleaning device body 110, such as identifying the wall topography of the target sidewall 1011 opposite the first side 113 and / or the distance between the first side 113 and the corresponding target sidewall 1011; the other set of identification components 130 disposed on the fourth side 116 of the cleaning device body 110 is used to identify the regional topography of the target area 100 located to the side of the cleaning device body 110, such as identifying the wall topography of the target sidewall 1011 opposite the fourth side 116 and / or the distance between the fourth side 116 and the corresponding target sidewall 1011. By setting up two groups of recognition components 130, not only the recognition sensitivity is improved and the probability of misjudgment is reduced, but also the recognition efficiency is improved, preventing the cleaning equipment 1000 from slipping on the edge of the target side wall 1011, climbing along the height direction of the target side wall 1011, or directly colliding with the target side wall 1011 due to the inability to adjust the operating posture.

[0062] In some embodiments, the cleaning device 1000 includes two sets of identification components 130. One set of identification components 130 is disposed on the first side 113 of the cleaning device body 110. The other set of identification components 130 is disposed on the third side 115 adjacent to the first side 113. In other embodiments, the cleaning device 1000 includes three sets of identification components 130, which are disposed on the first side 113, the third side 115, and the fourth side 116 of the cleaning device body 110, respectively.

[0063] In some embodiments, the first sub-identification element 131 is an infrared sensor, and the second sub-identification element 132 is an ultrasonic sensor. Ultrasonic sensors have a larger range and can detect obstacles farther away from the cleaning device 1000. Infrared sensors have a relatively smaller range and can only detect obstacles closer to the cleaning device 1000. In actual use, ultrasonic sensors are used as the primary detection method and infrared sensors as auxiliary detection methods. However, when the cleaning device 1000 is close to an obstacle and the obstacle has a special configuration, the infrared sensor has a better detection effect than the ultrasonic sensor. For example, when the boundary of the target side wall 1011 is an arc, if the wall has a large slope, the ultrasonic sensor may not receive a return signal after sending a detection signal to the wall, and thus cannot detect distance data. Therefore, the boundary may be mistakenly identified as a walkable area, causing the cleaning device 1000 to climb along the height direction of the target side wall 1011 or directly crash into the target side wall 1011. Providing an infrared sensor can more accurately detect the target side wall 1011 that is relatively close to the cleaning device 1000, so that the regional morphology 100 of the target area can be detected jointly by the infrared sensor and the ultrasonic sensor. For example, when the cleaning device 1000 needs to identify the boundary of the target side wall 1011, if both the ultrasonic sensor and the infrared sensor can detect distance data, the regional morphology 100 of the target area is a straight-line boundary of the target side wall 1011; when the ultrasonic sensor cannot detect the distance data but the infrared sensor can detect the distance data, the regional morphology 100 of the target area is an arc-shaped boundary of the target side wall 1011, etc. By providing both the infrared sensor and the ultrasonic sensor, the problem of difficulty in identifying the morphology of some special areas when only the ultrasonic sensor is used to detect the regional morphology of the target area is solved. This not only improves the recognition sensitivity and reduces the probability of misjudgment, but also improves the recognition efficiency.

[0064] In one embodiment, the first sub-identification element 131 and the second sub-identification element 132 may be two ultrasonic sensors or two infrared sensors.

[0065] The first sub-identifier 131 and the second sub-identifier 132 have approximately the same angle of emitted light. In some embodiments, the recognition angles of the first sub-identifier 131 and the second sub-identifier 132 can be parallel to the plane on which the cleaning device 1000 is located. For example, when the cleaning device 1000 is located on the bottom wall 1012 of the target, the recognition angles of the first sub-identifier 131 and the second sub-identifier 132 are parallel to the bottom wall 1012 of the target; when the cleaning device 1000 is located on the side wall 1011 of the target, the recognition angles of the first sub-identifier 131 and the second sub-identifier 132 are parallel to the side wall 1011 of the target. In other embodiments, the recognition angle of the first sub-identifier 131 is tilted downward, while the recognition angle of the second sub-identifier 132 is parallel to the plane where the cleaning device 1000 is located. For example, when the cleaning device 1000 is located on the target bottom wall 1012, the recognition angle of the first sub-identifier 131 is tilted toward the target bottom wall 1012, while the recognition angle of the second sub-identifier 132 is parallel to the target bottom wall 1012. When the cleaning device 1000 is located on the target side wall 1011, the recognition angle of the first sub-identifier 131 is tilted toward the target side wall 1011, while the recognition angle of the second sub-identifier 132 is parallel to the target side wall 1011. By tilting the recognition angle of the first sub-identifier 131 downward and the recognition angle of the second identification component 130 parallel to the plane where the cleaning device 1000 is located, the first sub-identifier 131 is oriented toward the boundary of the target side wall 1011, thereby improving the recognition effect and efficiency of the identification component 130 in recognizing the boundary topography of the target side wall 1011. In other embodiments, the recognition angles of the first sub-identifier 131 and the second sub-identifier 132 are both tilted downward. In another embodiment, the recognition component 130 may further include a third sub-identifier (not shown), which is an ultrasonic sensor with a recognition angle parallel to the plane of the movement direction of the cleaning device 1000. This is used for conventional obstacle distance sensing, while the first sub-identifier 131 and the second sub-identifier 132 are used for special obstacle recognition.

[0066] In some embodiments, the inclination amplitude of the recognition angle of the first sub-identification element 131 in the identification component 130 arranged on the first side 113 of the cleaning device body 110 is less than or equal to the inclination amplitude of the recognition angle of the first sub-identification element 131 in the identification component 130 arranged on the third side 115 or the fourth side 116 of the cleaning device body 110. For example, the inclination amplitude of the recognition angle of the first sub-identification element 131 in the identification component 130 arranged on the first side 113 of the cleaning device body 110 is a first downward angle, for example, 5 degrees, and the inclination amplitude of the recognition angle of the first sub-identification element 131 in the identification component 130 arranged on the third side 115 or the fourth side 116 of the cleaning device body 110 is a second downward angle, for example, 10 degrees, etc., and the above first angle is less than or equal to the second angle. This prevents the recognition component 130 disposed on the first side 113 of the cleaning device body 110 from mistakenly identifying part of the walkable area, such as the uphill slope of the transition area between the deep and shallow pools in the pool, as the boundary of the target side wall 1011, thereby improving the recognition accuracy of the recognition component 130.

[0067] In some embodiments, the recognition component 130 identifies the boundary of the target sidewall 1011, allowing the cleaning device 1000 to move along the target sidewall 1011. When the cleaning device 1000 moves along the edge, the recognition component 130 can record the movement trajectory of the cleaning device 1000 around the target sidewall 1011, the distance moved, and the changes in the wall surface morphology of the target sidewall 1011. Based on the movement trajectory, distance moved, and the changes in the wall surface morphology of the cleaning device 1000 around the target sidewall 1011, a map of the target area 100 is generated. By setting up the recognition component 130, the cleaning device 1000 can complete the mapping by moving one circle around the target sidewall 1011. The mapping is time-saving and efficient, effectively improving the efficiency of mapping.

[0068] In some embodiments, after the recognition component 130 recognizes the regional topography, the operating posture of the cleaning device 1000 can also be adjusted according to the inertial measurement unit (IMU). The inertial measurement unit can be used to sense the real-time posture information of the cleaning device 1000. For example, the recognition component 130 can recognize the pitch angle of the cleaning device 1000 in the direction from the first side 113 to the second side 114, the overturning angle of the cleaning device 1000 on the third side 115 to the fourth side 116, and the steering angle when the cleaning device 1000 turns, and calculate the tilt angle based on the pitch angle of the cleaning device 1000 in the direction from the first side 113 to the second side 114, the overturning angle of the cleaning device 1000 on the third side 115 to the fourth side 116, and the steering angle when the cleaning device 1000 turns. When the cleaning device 1000 moves along the target sidewall 1011, if the inertial measurement unit calculates that the inclination angle is less than a preset value, the cleaning device 1000 moves according to the original operating posture. If the inertial measurement unit calculates that the inclination angle is greater than the preset value, the cleaning device 1000 will readjust the operating posture and move with the adjusted operating posture to prevent the cleaning device 1000 from slipping on the edge of the target sidewall 1011 or climbing along the height direction of the target sidewall 1011. The inertial measurement unit may include, for example, an accelerometer, a gyroscope, etc.

[0069] In one embodiment, the cleaning device 1000 further includes a visual sensing component 140, which is used to capture images of the target area 100 and process the captured images through the control component to control the movement of the cleaning device 1000. For example, the visual sensing component 140 is used to capture the environment of the target area 100 and identify image features in order to perform positioning, target recognition, mapping, obstacle avoidance and other functions based on the image features. For example, by comparing the captured front and back frame images, the positioning error caused by the slipping, tipping, and accumulated error of the inertial measurement unit in the cleaning device 1000 of the cleaning device 1000 can be corrected; it is also possible to continuously capture pictures during the operation of the cleaning device 1000. If the cleaning device 1000 determines that the mapping is complete and matches the same picture in the historical pictures, it can reposition the cleaning device 1000 when its position is lost; it is also possible to identify specific targets and determine whether the specific target is garbage that needs to be sucked up or an obstacle that needs to be avoided. The visual sensing component 140 and / or the recognition component 130 can be used to plan the movement path of the cleaning device 1000, so that the cleaning device 1000 can regularly clean and map the target area 100, thereby improving the cleaning efficiency and cleaning effect of the cleaning device 1000.

[0070] The recognition component 130 and / or the visual sensing component 140 are used to plan the cleaning path of the cleaning device 1000 and prevent the cleaning device 1000 from climbing, slipping, falling or colliding with obstacles, so that the cleaning device 1000 can clean the target area 100 regularly and safely, effectively improving the cleaning speed of the cleaning device 1000.

[0071] Please also refer to Figure 6, which illustrates the coordinated structure of the camera body, fill lights, and mounting plate in the visual sensing assembly of the cleaning device provided herein. The visual sensing assembly 140 includes a camera body 140a and several fill lights 140b. The camera body 140a is used to capture an image of the target area 100. The fill lights 140b are used to adjust the brightness of the area captured by the camera body 140a.

[0072] The camera body 140a and the fill light 140b can be located on any side of the cleaning device body 110. For example, the visual sensor assembly can be oriented in the direction of travel of the cleaning device 1000, i.e., on the first side 113. The camera body 140a and the fill light 140b can be located on the side of the cleaning device body 110 having the sewage suction port 1111. When the camera body 140a detects the presence of garbage within its field of view through target recognition, the cleaning device 1000 can be directed to the garbage area and perform targeted cleaning of that area, thereby improving the cleaning effect of the cleaning device 1000. In some embodiments, when the camera body 140a detects the presence of garbage within its field of view, the visual sensing component 140 can locate the garbage and plan a moving path based on the location of the garbage. The cleaning device 1000 moves along the planned path to bring the first sewage suction port 1111a close to the garbage. When the first sewage suction port 1111a approaches the garbage, the sealing door 119 at the first sewage suction port 1111a opens to suck the garbage into the filter box 120. At this time, there is no need to start the cleaning component, thereby achieving maximum energy saving. At the same time, by moving the cleaning device 1000 along the planned path, garbage can be prevented from entering the blind spot of the field of view of the camera body 140a.

[0073] Continuing to refer to Figures 1 to 5, the cleaning device 1000 further includes a first auxiliary cleaning assembly 150 and a second auxiliary cleaning assembly 160. The first auxiliary cleaning assembly 150 is disposed at the edge of the sewage suction port 1111 and is configured to guide at least some of the garbage in the target area 100 to the working area of ​​the sewage suction port 1111, or to scrub the target sidewalls 1011 of the target area 100; the second auxiliary cleaning assembly 160 is configured to spray water toward the area to be cleaned in the target area 100, thereby guiding at least some of the garbage to the working area of ​​the sewage suction port 1111, or to rinse and clean the target sidewalls 1011 or the target bottom wall 1012 of the target area 100.

[0074] The cleaning device 1000 further includes a propulsion assembly 180 and a travel mechanism 190 . The propulsion assembly 180 is used to drive the cleaning device 1000 to move on the liquid surface or in the liquid of the target area 100 ; the travel mechanism 190 is used to drive the cleaning device 1000 to move on the travel surface 101 of the target area 100 .

[0075] In some embodiments, please refer to Figures 7 to 9. Figure 7 is a schematic diagram of the structure of the control system and some structures in the electrical control box of the cleaning device provided by the present disclosure; Figure 8 is a schematic diagram of the structure of the liquid inlet detection component of the cleaning device provided by the present disclosure and the electrical control box; Figure 9 is an enlarged view of part A in Figure 8. The cleaning device 1000 also includes a liquid inlet detection component 232, a liquid level detection component 233 and a mapping module 234. The mapping module 234 can be set in the electrical control box 220, or the mapping module 234 is set in the visual sensing component 140, and the control system 231 is set in the electrical control box 220. The control system 231 can be a control system, such as a microcontroller, an embedded control system or an application-specific integrated circuit (ASIC). The control system 231 can obtain various data information of the cleaning device 1000 and analyze and process the obtained data information to control various components in the cleaning device 1000. The camera body 140a, the mapping module 234 and the liquid level detection component 233 can all be connected to the control system 231. The liquid entry detection component 232 can be disposed in the electrical control box 220 or on the cleaning device body 110. The liquid entry detection component 232 is used to detect whether the cleaning device 1000 has entered the liquid in the target area 100. The liquid level detection component 233 is used to detect the liquid level at the current location of the cleaning device 1000 when the liquid entry detection component 232 detects that the cleaning device 1000 has currently entered the liquid in the target area 100. The control system 231 determines the current location of the cleaning device 1000 based on the liquid level detected by the liquid level detection component 233. It can also determine the current location of the cleaning device 1000 in combination with the scene image currently captured by the camera body 140a, and selects to activate one of the walking mechanism 190 and the propulsion component 180 to drive the cleaning device 1000 to move according to the current location of the cleaning device 1000, and / or selects to activate at least one of the first auxiliary cleaning component 150 and the second auxiliary cleaning component 160 to clean the target area 100. The map drawing module 234 is used to draw a map of the target area 100. For example, when the target area 100 is a swimming pool, the map can be a pool surface map, a pool bottom map, or a pool overall map. The map can be a three-dimensional map, or of course, a two-dimensional map.

[0076] In some embodiments, the liquid inflow detection component 232 can be a capacitive liquid inflow detector. The capacitive liquid inflow detector can be arranged inside or outside the electric control box 220. Specifically, the capacitive liquid inflow detector can be arranged on the inner bottom wall or the outer bottom wall of the electric control box 220. The capacitive liquid inflow detector can be fixed to the electric control box 220 by rivet fixing, welding fixing, adhesive fixing, bolt fixing, pin fixing, snap fixing, magnetic adsorption fixing and other fixing methods, but is not limited to these. The capacitive liquid inflow detector is a non-contact liquid level detector. The capacitive liquid inflow detector does not need to come into contact with the liquid in the target area 100, that is, it can detect whether the cleaning equipment 1000 has liquid in it. The capacitive liquid inflow detector will not be affected by factors such as air pressure and hydraulic pressure. Therefore, the accuracy of the capacitive liquid inflow detector is relatively high.

[0077] In some embodiments, the liquid level detection component 233 can be a pressure-type liquid level detector. The control system 231 determines the liquid level of the current position of the cleaning device 1000 based on the hydraulic pressure applied to the pressure-type liquid level detection component 233. The pressure-type liquid level detector can be set in a non-negative pressure area of ​​the cleaning device body 110, for example, it can be set in a water flow channel away from the cleaning device 1000. The water flow channel is usually formed in a clean water flow channel that is connected in sequence to the sewage suction port 1111, the filter box 120, the main drive pump 210, and the discharge port of the main drive pump 210. It can be understood that there are two types of hydraulic pressure: static pressure and dynamic pressure. The depth of the cleaning device 1000 is usually calculated based on the static pressure, and the dynamic pressure will affect the accuracy of the depth detection. Therefore, the pressure-type liquid level detector is set in the non-negative pressure area. The only hydraulic pressure that the pressure-type liquid level detector can detect is static pressure, which reduces the impact of dynamic pressure on the accuracy of calculated depth. It is beneficial for the liquid level detection component 233 to accurately identify its depth in the water, and then can assist the control system 231 to accurately determine the position of the cleaning equipment 1000, which has the effect of improving recognition accuracy.

[0078] In some embodiments, the liquid level detection component 233 may also be an ultrasonic detector, an optical detector, a distance measuring detector, an infrared detector, a distance code disk, etc., but is not limited thereto.

[0079] In some embodiments, the cleaning device 1000 may include only one of the liquid ingress detection component 232 and the liquid level detection component 233 .

[0080] In some embodiments, the cleaning device 1000 further includes an adjustment component 235. The adjustment component 235 is connected to the control system 231. The control system 231 can determine the brightness of the environment in which the camera subject 140a is currently located based on the brightness of the image captured by the camera subject 140a, and control the adjustment component 235 to adjust the brightness of the fill light 140b based on the brightness of the environment in which the cleaning device 1000 is currently located. The adjustment component 235 can adjust the brightness of the fill light 140b by turning the fill light 140b on, turning the fill light 140b off, dimming the brightness of the fill light 140b, and brightening the brightness of the fill light 140b. For example, when the camera subject 140a is in a dark or backlit environment, the adjustment component 235 increases the brightness of the fill light 140b according to the brightness or backlight level to improve the clarity of the image captured by the camera subject 140a. When the camera subject 140a is in a bright environment, the adjustment component 235 turns off the fill light 140b or reduces the brightness of the fill light 140b to reduce the power consumption of the cleaning device 1000 without affecting the clarity of the image captured by the camera subject 140a. In some embodiments, the control system 231 can control the adjustment component 235 to adjust the exposure parameters of the camera subject 140a according to the exposure level of the image captured by the camera subject 140a to improve the image quality of the camera subject 140a.

[0081] In some embodiments, the cleaning device 1000 also includes a discrimination component 236. The discrimination component 236 has the functions of recognition and judgment. The discrimination component 236 is connected to the camera body 140a. The discrimination component 236 can identify a specific target in the target area 100 based on the captured image to avoid obstacles or go to clean. For example, if it identifies a fixed facility such as an escalator or an obstacle such as a stone, it will avoid the obstacle; if it identifies garbage such as fallen leaves or a cleanable area such as a platform, it will go to clean. The discrimination component 236 can also identify the structure of the target based on the captured image, so that the cleaning device 1000 can clean one area before cleaning other areas, avoiding the situation where the current area is not cleaned and then goes to other areas.

[0082] In some embodiments, the identification component 236 can also track garbage. By tracking garbage through the identification component 236, it is possible to prevent garbage from entering the blind spot of the field of view of the camera body 140a and causing the garbage to be missed.

[0083] Please continue to refer to Figure 1 and also refer to Figure 10, which is a schematic diagram of the exploded structure of an embodiment of a visual sensing assembly of a cleaning device provided by the present disclosure. The cleaning device body 110 has a second accommodating chamber 112, and the visual sensing assembly 140 is disposed in the second accommodating chamber 112. The second accommodating chamber 112 has a first opening 112a, which can be disposed on any side of the cleaning device body 110. For example, the first opening 112a can be disposed on the first side 113 of the cleaning device body 110. The visual sensing assembly 140 also includes a receiving chamber 141, a mounting plate 142 disposed in the receiving chamber 141, and a light-transmitting member 143. The storage chamber 141 is the basic carrier of the visual sensor assembly 140. It not only provides storage space and fixing positions for the mounting plate 142, the light-transmitting member 143, the camera body 140a, the fill light 140b, and other components of the visual sensor assembly 140, but also provides waterproof and shockproof protection for the mounting plate 142, the light-transmitting member 143, the camera body 140a, the fill light 140b, and other components of the visual sensor assembly 140. The storage chamber 141 can adopt a variety of shapes and sizes, such as a cube, a rectangular parallelepiped, a cylinder, a prism, etc. The specific shape and size of the storage chamber 141 are not limited, and the shape of the storage chamber 141 can be determined according to the number and size of the components of the visual sensor assembly 140. Since the receiving cabin 141 is used to accommodate the camera body 140a and the fill light 140b, it should be made of a material that is water-resistant, corrosion-resistant, heat-resistant, shock-resistant and has a certain mechanical strength, such as copper, iron, stainless steel, aluminum alloy, plastic, rubber, etc. The embodiments of the present disclosure do not impose any special restrictions on this.

[0084] The receiving chamber 141 is fixed in the second receiving cavity 112 by screw fixation, rivet fixation, bolt fixation, pin fixation, welding fixation, adhesive fixation, snap fixation, magnetic adsorption fixation, etc., but is not limited thereto.

[0085] Mounting plate 142 is disposed at one end of receiving chamber 141 having hatch 141a and is located within receiving chamber 141. Camera body 140a and fill light 140b are mounted on mounting plate 142. Mounting plate 142 can be integrally formed with receiving chamber 141 to ensure structural strength of mounting plate 142 and a seal between mounting plate 142 and receiving chamber 141. Alternatively, mounting plate 142 can be fixedly connected to receiving chamber 141. Methods for fixing mounting plate 142 to receiving chamber 141 include, but are not limited to, riveting, welding, bonding, bolting, pin-key connection, snap-fit ​​connection, magnetic attraction, and the like.

[0086] The visual sensing component 140 may include a plurality of fill lights 140b, and the plurality of fill lights 140b are arranged around the imaging subject 140a. The embodiment of the present disclosure is described as if the visual sensing component 140 includes two fill lights 140b. Among the two fill lights 140b, one fill light 140b is arranged on one side of the imaging subject 140a, and the other fill light 140b is arranged on the other side of the imaging subject 140a. In some embodiments, the optical axis of the imaging subject 140a is lower than the center of the fill light 140b. For example, the imaging subject 140a is closer to the fifth side 117 of the cleaning device 1000 relative to the fill light 140b, thereby preventing the light from the fill light 140b from diverging to the imaging subject 140a, causing the image of the imaging subject 140a to be overexposed.

[0087] In some embodiments, a line connecting the centers of the two fill light elements 140 b and the center of the camera body 140 a may be parallel to the arrangement direction of the third side 115 and the fourth side 116 of the cleaning device 1000 .

[0088] In some embodiments, the side of the mounting plate 142 facing the hatch 141a includes a first slope 1422, a second slope 1423, and a third slope 1424, which are connected in sequence. The first slope 1422 and the second slope 1423 form an obtuse angle on the side facing away from the hatch 141a. The second slope 1423 and the third slope 1424 also form an obtuse angle on the side facing away from the hatch 141a. The camera body 140a is positioned on the second slope 1423, one fill light 140b is positioned on the first slope 1422, and the other fill light 140b is positioned on the third slope 1424. The illumination areas of the fill light 140b on both sides of the camera body 140a are deviated toward the field of view of the camera body 140a, and the field of view of the camera body 140a is tilted downward, thereby avoiding excessive light within the field of view of the camera body 140a, resulting in overexposure of the image of the camera body 140a.

[0089] In some embodiments, the visual sensing assembly 140 further includes a light shielding member 1421. The light shielding member 1421 is mounted on the mounting plate 142. The light shielding member 1421 is disposed on the periphery of the camera body 140a, or on the edge of the camera body 140a on the side close to the fill light member 140b. The provision of the light shielding member 1421 not only prevents the light from the fill light member 140b from being directly emitted to the camera body 140a, thereby preventing the photosensitive element of the camera body 140a from being damaged, but also reduces the possibility of overexposure of the image of the camera body 140a due to the light from the fill light member 140b being directly emitted to the camera body 140a, thereby ensuring the service life of the camera body 140a and improving the image quality of the camera body 140a. The light shielding member 1421 is fixed to or integrally formed on the mounting plate 142.

[0090] The light-transmitting member 143 covers the hatch 141a of the storage chamber 141. The light-transmitting member 143 is located on the side of the mounting plate 142 near the hatch 141a of the storage chamber 141. The camera body 140a can capture the target area 100 through the light-transmitting member 143, and the light from the fill light 140b can pass through the light-transmitting member 143. The material of the light-transmitting member 143 can be selected from glass, styrene-acrylonitrile copolymer (SAN), polymethyl methacrylate (PMMA), non-asbestos seal material (NAS), etc., but is not limited thereto.

[0091] In some embodiments, please also refer to Figure 11, which is a cross-sectional view of an embodiment of a light-transmitting member of a visual sensor assembly of a cleaning device provided herein. The visual sensor assembly 140 further includes an anti-reflection film 1431 and / or a protective film 1432. The anti-reflection film 1431 is disposed on the side of the light-transmitting member 143 facing the mounting plate 142, while the protective film 1432 is disposed on the side of the light-transmitting member 143 facing away from the mounting plate 142.

[0092] The antireflection film 1431 and the protective film 1432 can be deposited on the surface of the light-transmitting element 143 by vacuum evaporation or magnetron sputtering. The antireflection film 1431 can reduce or eliminate reflected light from the surface of the light-transmitting element 143, thereby increasing light transmission. The protective film 1432 can be an anti-fingerprint film (AF). By placing the protective film 1432 on the side of the light-transmitting element 143 facing away from the mounting plate 142, the surface of the light-transmitting element 143 facing away from the mounting plate 142 becomes more hydrophobic, resistant to oil stains, fingerprints, and abrasion.

[0093] In order to ensure the imaging quality of the camera body 140a and the service life of the imaging body and the fill light component 140b, a certain degree of sealing needs to be ensured between the light-transmitting component 143 and the receiving chamber 141 to prevent liquid from entering between the light-transmitting mirror and the mounting plate 142 or water vapor from adhering to the side of the light-transmitting component 143 facing the mounting plate 142.

[0094] In some embodiments, the receiving chamber 141 and the light-transmitting member 143 are sealed by a sealant. The sealant prevents liquid in the target area 100 from seeping from between the receiving chamber 141 and the light-transmitting member 143 to between the light-transmitting member 143 and the mounting plate 142.

[0095] In some embodiments, please also refer to Figure 12, which is a schematic diagram of the exploded structure of another embodiment of the visual sensor assembly of the cleaning device provided by the present disclosure. A first sealing ring 1441 is disposed between the receiving chamber 141 and the light-transmitting member 143. A pressing ring 145 is disposed on the side of the light-transmitting member 143 facing away from the receiving chamber 141. A first fixing member 1461 passes through the pressing ring 145 and is fixed to the receiving chamber 141, thereby pressing the light-transmitting member 143 and the first sealing ring 1441 between the pressing ring 145 and the receiving chamber 141. A first groove 141c is formed on the end surface of the receiving chamber 141 having the hatch 141a, and the first groove 141c is arranged toward the light-transmitting member 143. The first sealing ring 1441 is at least partially arranged in the first groove 141c, and the light-transmitting member 143 covers the first sealing ring 1441. A first mounting hole 141b is provided on the periphery of the end surface of the receiving chamber 141 having the hatch 141a, and the pressing ring 145 has a second mounting hole 145a that matches the first mounting hole 141b. The pressing ring 145 is arranged on a side of the light-transmitting member 143 away from the receiving chamber 141, and the second mounting hole 145a corresponds to the first mounting hole 141b. The first fixing member 1461 is sequentially penetrated through the second mounting hole 145a and the first mounting hole 141b to fix the pressing ring 145 to the receiving chamber 141, and press the light-transmitting member 143 and the first sealing ring 1441 between the pressing ring 145 and the receiving chamber 141. By disposing the first sealing ring 1441 between the receiving chamber 141 and the light-transmitting member 143, the first sealing ring 1441 can seal the receiving chamber 141 and the light-transmitting member 143, preventing liquid from seeping from between the receiving chamber 141 and the light-transmitting member 143 and between the light-transmitting member 143 and the mounting plate 142. The first fixing member 1461 includes, but is not limited to, screws, bolts, rivets, etc. In some embodiments, the pressing ring 145 can also be fixed to the receiving chamber 141 by adhesive bonding, snap-fit ​​connection, magnetic adsorption connection, etc., which can also press the light-transmitting member 143 and the first sealing ring 1441 between the pressing ring 145 and the receiving chamber 141.

[0096] In order to ensure the service life of other components in the receiving chamber 141 , the other end of the receiving chamber 141 facing away from the mounting plate 142 also needs to ensure a certain degree of sealing to prevent liquid from entering the receiving chamber 141 and corroding other components in the receiving chamber 141 .

[0097] In some embodiments, please also refer to Figure 13, which is a schematic diagram of the exploded structure of the third embodiment of the visual sensor component of the cleaning equipment provided by the present disclosure. The receiving cabin 141 also includes a back plate 147. The back plate 147 is arranged at one end of the receiving cabin 141 facing away from the mounting plate 142. The back plate 147 and the receiving cabin 141 can be sealed by a sealant, or a second sealing ring 1442 is provided between the back plate 147 and the receiving cabin 141, and a second fixing member 1462 passes through the back plate 147 and is fixed to the receiving cabin 141 to press the second sealing ring 1442 between the receiving cabin 141 and the back plate 147.

[0098] In some embodiments, a second groove (not shown) is formed at one end of the receiving chamber 141 facing away from the mounting plate 142. The second groove is provided on the side facing away from the mounting plate 142. At least a portion of the second sealing ring 1442 is disposed within the second groove, and the back plate 147 is disposed over the second sealing ring 1442. A third mounting hole is provided on the periphery of the end surface of the receiving chamber 141 facing away from the mounting plate 142. The back plate 147 has a fourth mounting hole 147b that matches the third mounting hole. When the back plate 147 is disposed over the second sealing ring 1442, the fourth mounting hole 147b corresponds to the third mounting hole. The second fixing member 1462 is sequentially penetrated through the fourth mounting hole 147b and the third mounting hole to secure the back plate 147 to the receiving chamber 141 and to press the second sealing ring 1442 between the receiving chamber 141 and the back plate 147. By disposing the second sealing ring 1442 between the back plate 147 and the receiving chamber 141 , the second sealing ring 1442 can seal the back plate 147 and the receiving chamber 141 , thereby preventing liquid from seeping into the receiving chamber 141 from between the back plate 147 and the receiving chamber 141 .

[0099] The second fixing member 1462 includes, but is not limited to, screws, bolts, rivets, etc. In some embodiments, the back plate 147 can also be fixed to the receiving chamber 141 by adhesive bonding, snap connection, magnetic adsorption connection, etc., so that the second sealing ring 1442 can be pressed between the back plate 147 and the receiving chamber 141.

[0100] The materials of the first and second sealing rings 1441, 1442 can be selected from, but are not limited to, rubber, silicone, sponge, or wool felt. Rubber, silicone, sponge, and wool felt all have good elasticity and a long service life. The elasticity of the first and second sealing rings 1442 ensures a better seal between the back plate 147 and the receiving chamber 141, and between the receiving chamber 141 and the light-transmitting member 143, thereby enhancing the sealing effect of the receiving chamber 141.

[0101] The back panel 147 is formed with an opening 147a that communicates with the interior of the storage chamber 141. Opening 147a is used to connect a cable harness 1463. A socket 148 is provided at the edge of opening 147a to seal opening 147a and cable harness 1463. Cable harness 1463 extends through opening 147a into the storage chamber 141 to power and communicate with components such as the camera body 140a and the fill light 140b. The socket 148 provided at the edge of opening 147a seals opening 147a and cable harness 1463, preventing liquid from entering the storage chamber 141 along cable harness 1463.

[0102] In some embodiments, please refer to Figure 14, which is a structural schematic diagram and cross-sectional view of the coordination of the harness and the sleeve of the visual sensing assembly of the cleaning equipment provided by the present disclosure. The sleeve 148 includes an inner sleeve 1481 and an outer sleeve 1482. The inner sleeve 1481 is arranged on the edge of the opening 147a facing away from the interior of the receiving chamber 141, and is arranged around the opening 147a. The inner sleeve 1481 and the back plate 147 can be an integrally formed structure, and the inner sleeve 1481 is integrally formed on the edge of the opening 147a, so that there is no gap between the inner sleeve 1481 and the edge of the opening 147a; of course, the inner sleeve 1481 and the back plate 147 can also be two different structures, and the inner sleeve 1481 is sealed to the back plate 147. The outer sleeve 1482 is sleeved on the inner sleeve 1481 and the harness 1463 to seal the opening 147a and the harness 1463. In some embodiments, the outer surface of the inner sleeve 1481 is provided with an external thread, and the inner surface of the outer sleeve 1482 is provided with an internal thread that matches the external thread of the inner sleeve 1481. The inner sleeve 1481 and the outer sleeve 1482 are threadedly connected by the internal thread and the external thread. In some embodiments, the outer surface of the inner sleeve 1481 and the inner surface of the outer sleeve 1482 may not be provided with threads, and the outer sleeve 1482 and the inner sleeve 1481 may be connected by an interference fit. After the outer sleeve 1482 is connected to the inner sleeve 1481 and the cable harness 1463, a sealant can be poured between the inner sleeve 1481 and the cable harness 1463 through the side of the outer sleeve 1482 facing away from the back plate 147 to seal the opening 147a. The materials of the inner sleeve 1481 and the outer sleeve 1482 can be selected from rubber, silicone, plastic, metal, etc., but are not limited thereto.

[0103] In some embodiments, please refer to Figure 15, which is a structural diagram of an embodiment of a radiator of a visual sensing assembly of a cleaning device provided by the present disclosure. The visual sensing assembly 140 also includes a heat sink 1491. The visual sensing assembly 140 also includes a heat sink 1491, which is arranged on the inner wall of the containment cabin 141, the side of the back plate 147 facing the mounting plate 142 and / or the side of the mounting plate 142 facing the back plate 147. The heat sink 1491 is thermally connected to the inner wall of the containment cabin 141, the back plate 147 and / or the mounting plate 142. The heat sink 1491 can absorb the heat generated by the heat dissipation components inside the containment cabin 141, and transfer the heat to the inner wall of the containment cabin 141 so as to release it to the external environment through the inner wall of the containment cabin 141.

[0104] In some embodiments, the visual sensor assembly 140 further includes a thermally conductive material 1492, which is disposed between the inner wall of the receiving chamber 141 and the heat sink 1491, between the back plate 147 and the heat sink 1491, and / or between the mounting plate 142 and the heat sink 1491. The thermally conductive material 1492 can be a high thermal conductivity product such as thermally conductive silicone, thermally conductive silicone grease, or a soft silicone thermal pad.

[0105] In some embodiments, referring to FIG. 13 , the visual sensor assembly 140 further includes a drying chamber 1493. Drying chamber 1493 is disposed within the receiving chamber 141. Specifically, drying chamber 1493 may be disposed on the inner wall of the receiving chamber 141, on the side of the mounting plate 142 facing away from the light-transmitting member 143, on the side of the back plate 147 facing the interior of the receiving chamber 141, and / or on other components of the receiving chamber 141. Drying chamber 1493 is used to store a desiccant to absorb moisture within the receiving chamber 141, thereby protecting components disposed within the receiving chamber 141 from moisture and aging.

[0106] In some embodiments, with continued reference to FIG1 , the sewage suction port 1111 may include one or more, and may be disposed at the bottom of the cleaning device 1000, or may also be disposed at the front side, top, etc. of the cleaning device 1000. For example, the sewage suction port 1111 includes a first sewage suction port 1111a disposed at the first side 113 of the cleaning device 1000, and / or a second sewage suction port 1111b disposed at the fifth side 117 of the cleaning device 1000. The first sewage suction port 1111a may be specifically disposed at a position near the sixth side 118 of the first side 113 of the cleaning device body 110, and the second sewage suction port 1111b may be specifically disposed at a position near the first side 113 of the cleaning device body 110, but is not limited thereto.

[0107] In some embodiments, the first auxiliary cleaning assembly 150 is positioned adjacent to the first sewage suction port 1111a and / or the second sewage suction port 1111b, for example, at the edge of the first sewage suction port 1111a. The first auxiliary cleaning assembly 150 is at least partially positioned in front of the sewage suction port 1111 to guide at least some of the waste outside the working area of ​​the sewage suction port 1111 into the working area of ​​the sewage suction port 1111. The cleaning device 1000 may include two first auxiliary cleaning assemblies 150, which are positioned opposite each other on either side of the sewage suction port 1111, for example, on either side of the first sewage suction port 1111a or on either side of the second sewage suction port 1111b. The first auxiliary cleaning assembly 150 can rotate toward the sewage suction port 1111 to guide waste into the working area of ​​the sewage suction port 1111. Of course, the first auxiliary cleaning assembly 150 can also be positioned elsewhere, as long as it ensures that the first auxiliary cleaning assembly 150 can guide waste into the working area of ​​the sewage suction port 1111.

[0108] In some embodiments, the first auxiliary cleaning assembly 150 is used to guide garbage into the working area of ​​the first sewage suction port 1111a when the propulsion assembly 180 drives the cleaning device 1000 to move at the liquid surface of the target area 100 or suspended in the liquid in the target area 100. Of course, the first auxiliary cleaning assembly 150 can also be used to guide garbage into the working area of ​​the first sewage suction port 1111a and / or the second sewage suction port 1111b when the cleaning device 1000 moves on the target bottom wall 1012 or target side wall 1011 of the target area 100. The provision of the first auxiliary cleaning assembly 150 can guide garbage originally located outside the working area of ​​the sewage suction port 1111 into the working area of ​​the sewage suction port 1111, thereby expanding the suction range of the sewage suction port 1111 and improving the cleaning efficiency of the cleaning device 1000. The present disclosed embodiment uses the first auxiliary cleaning assembly 150 disposed adjacent to the first sewage suction port 1111a as an example.

[0109] In some embodiments, along the moving direction of the cleaning device 1000, the first auxiliary cleaning assembly 150 is at least partially located in front of the first sewage suction port 1111a to guide the water flow outside the working area of ​​the first sewage suction port 1111a to the working area of ​​the first sewage suction port 1111a.

[0110] Please also refer to Figure 16, which is a front view of an embodiment of the cleaning device provided by the present disclosure. The cleaning device 1000 also includes a sealing door 119. The sealing door 119 is used to block the first sewage suction port 1111a. The sealing door 119 is used to open the first sewage suction port 1111a when the first auxiliary cleaning component 150 cleans the target area 100, so that the first sewage suction port 1111a can suck the garbage in the target area 100 into the first accommodating chamber 111. The sealing door 119 is also used to close the first sewage suction port 1111a when the cleaning device 1000 is not using the first sewage suction port 1111a, for example, when the second sewage suction port 1111b is used or the cleaning mode is changed, to prevent the garbage in the first accommodating chamber 111 from flowing back into the target area 100 from the first sewage suction port 1111a. The embodiment of the present disclosure uses the example of the first auxiliary cleaning assembly 150 guiding garbage floating on the liquid surface of the target area 100 into the working area of ​​the first sewage suction port 1111a when the cleaning device 1000 moves on the liquid surface of the target area 100. When the cleaning device 1000 moves on the liquid surface of the target area 100, at least a portion of the first auxiliary cleaning assembly 150 is exposed to the liquid surface, that is, the first auxiliary cleaning assembly 150 is completely exposed to the liquid surface and separated from the horizontal plane by a predetermined distance, or the first auxiliary cleaning assembly 150 is completely exposed to the liquid surface and the surface of the first auxiliary cleaning assembly 150 facing the liquid surface is in contact with the liquid surface, or a portion of the first auxiliary cleaning assembly 150 is immersed in the liquid, while the other portion of the first auxiliary cleaning assembly 150 is exposed to the liquid surface. When the cleaning equipment 1000 cleans the liquid surface of the target area 100 through the first auxiliary cleaning component 150, the sealing door 119 opens to expose the first sewage suction port 1111a, and the first auxiliary cleaning component 150 rotates to push the garbage floating on the liquid surface of the target area 100 to the working area of ​​the first sewage suction port 1111a, so that the first sewage suction port 1111a can suck in the garbage.

[0111] Please continue to refer to Figures 1, 5 and 16. The first auxiliary cleaning component 150 can be arranged at the edge of the first sewage suction port 1111a close to the sixth side 118, the edge of the first sewage suction port 1111a close to the fifth side 117, the edge of the first sewage suction port 1111a close to the third side 115, the edge of the first sewage suction port 1111a close to the fourth side 116, the connection between the first side 113 and the third side 115 and / or the connection between the first side 113 and the fourth side 116. The cleaning device 1000 may include one or more first auxiliary cleaning components 150. In some embodiments, the cleaning device 1000 may include two first auxiliary cleaning components 150, one of which is arranged at the junction of the first side 113 and the third side 115, and the other is arranged at the junction of the first side 113 and the fourth side 116, so that the first auxiliary cleaning component 150 can push the garbage on the first side 113, the third side 115 and the fourth side 116 of the cleaning device 1000 to the working area of ​​the sewage suction port 1111, thereby expanding the cleaning range of the first auxiliary cleaning component 150. On the other hand, the first auxiliary cleaning component 150 can also be used for auxiliary cleaning, for example, when the cleaning device 1000 moves close to the target side wall 1011, it cleans the target side wall 1011, thereby improving the cleaning efficiency and cleaning effect of the cleaning device 1000.

[0112] By positioning the first auxiliary cleaning assembly 150 at the edge of the first sewage suction port 1111a and positioning it at least partially in front of the first sewage suction port 1111a along the direction of movement of the cleaning device 1000, the first auxiliary cleaning assembly 150, when the cleaning device body 110 moves forward in the direction of movement, sucks in waste due to the front location of the first sewage suction port 1111a as the cleaning device 1000 moves forward. The first auxiliary cleaning assembly 150 allows waste that was originally outside the coverage area of ​​the first sewage suction port 1111a to be directed into the working area of ​​the first sewage suction port 1111a, thereby expanding the cleaning range of the first sewage suction port 1111a and improving waste cleaning efficiency.

[0113] The first auxiliary cleaning assembly 150 can expand the cleaning range of the first sewage suction port 1111a by causing the first auxiliary cleaning assembly 150 to stir the water flow toward the first sewage suction port 1111a or by increasing the suction force of the first sewage suction port 1111a, which is not limited here. For example, in one embodiment, the first auxiliary cleaning assembly 150 is rotatably disposed on the cleaning device body 110 to stir the water flow near the first sewage suction port 1111a, causing water outside the working area of ​​the first sewage suction port 1111a to flow into the working area of ​​the first sewage suction port 1111a, thereby causing garbage outside the working area to flow along with the water flow into the working area of ​​the first sewage suction port 1111a and then flow into the cleaning device body 110.

[0114] The rotation direction of the first auxiliary cleaning component 150 can be set according to actual conditions, as long as it can stir the water flow toward the first sewage suction port 1111a. For example, along the moving direction of the cleaning device 1000, when viewed from the top to the bottom of the cleaning device 1000, when the first auxiliary cleaning component 150 is closer to the left side of the cleaning device body 110 relative to the first sewage suction port 1111a, the first auxiliary cleaning component 150 rotates in a clockwise direction; when the first auxiliary cleaning component 150 is closer to the right side of the cleaning device body 110 relative to the first sewage suction port 1111a, the first auxiliary cleaning component 150 rotates in a counterclockwise direction. Through the above arrangement, when the first auxiliary cleaning component 150 is working, the water flow away from the first sewage suction port 1111a, especially the water flow located in the left front or right front of the cleaning device 1000, will be disturbed and guided toward the first sewage suction port 1111a, 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 first sewage suction port 1111a then sucks the water flow guided by the first auxiliary cleaning component 150 into the cleaning device body 110.

[0115] In some embodiments, referring to FIG16 , the first auxiliary cleaning assembly 150 includes at least a side brush 151. The side brush 151 is rotatably mounted on the cleaning device body 110, for example, at the connection between two adjacent sides of the cleaning device body 110, to guide at least part of the garbage in the target area 100 to the working area of ​​the sewage suction port 1111.

[0116] The side brush 151 at least partially extends beyond the outline of the cleaning device 1000. It is understandable that when the cleaning device 1000 is located on the walking surface 101, the orthographic projection of the side brush 151 on the walking surface 101 is at least partially located outside the boundary outline of the orthographic projection of the cleaning device 1000 on the walking surface 101, thereby expanding the cleaning range of the side brush 151, enabling the side brush 151 to guide garbage at a farther location outside the coverage area of ​​the first sewage suction port 1111a to the working area of ​​the first sewage suction port 1111a, thereby improving the garbage cleaning efficiency.

[0117] The side brush 151 is located at the junction of the first side 113 and the third side 115, as well as at the junction of the first side 113 and the fourth side 116. The side brush 151 includes a side brush body 1511, a rotating shaft 1512, and a side brush cover 1513. The side brush cover 1513 is located on the cleaning device body 110. The rotating shaft 1512 is rotatably mounted on the side brush cover 1513, and the side brush body 1511 is disposed around the rotating shaft 1512. The side brush body 1511 is used to agitate the water flow or contact and clean surfaces such as the target sidewall 1011 and the target bottom wall 1012. Specifically, when the rotating shaft 1512 rotates, it drives the side brush body 1511 to rotate. The rotation of the side brush body 1511 agitates the water flow or cleans the target sidewall 1011 and the target bottom wall 1012. The side brush cover 1513 may be attached to the cleaning device body 110 using methods including, but not limited to, screws, rivets, welding, adhesive bonding, bolts, pins and keys, snaps, and magnetic attachment. The rotating shaft 1512 is rotatably disposed within the side brush cover 1513, with at least a portion of the side brush body 1511 exposed outside the side brush cover 1513. Optionally, the side brush cover 1513 is secured to the cleaning device body 110 using screws.

[0118] Please continue to refer to Figure 17, which is a partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure, and refer also to Figures 2 and 3. Cleaning device 1000 has a central plane α. The height of the projection of side brush 151 on central plane α of cleaning device 1000 at least partially overlaps with the height of the projection of first sewage suction port 1111a on central plane α of cleaning device 1000.

[0119] Continuing with Figure 2 , the traveling mechanism 190 includes at least a first guide wheel 191 and a second guide wheel 192. The first guide wheel 191 and the second guide wheel 192 are used to drive the cleaning device 1000 to move along the target bottom wall 1012 and the target side wall 1011. For ease of description, this disclosure defines the plane where the traveling mechanism 190 of the cleaning device 1000 contacts the surface to be cleaned as the traveling plane of the cleaning device; the plane where the rotation axes of the first guide wheel 191 and the second guide wheel 192 in the traveling mechanism 190 of the cleaning device 1000 are located as the longitudinal plane of the cleaning device 1000, which is parallel to the traveling plane; and a plane perpendicular to the longitudinal plane and parallel to the extension direction of the rotation axes of the first guide wheel 191 and the second guide wheel 192, with equal distances from the rotation axes of the first guide wheel 191 and the second guide wheel 192, as the center plane of the cleaning device 1000. The center plane α is disposed opposite the first side 113 and the second side 114 of the cleaning device 1000.

[0120] When the cleaning device 1000 is horizontal, along the height direction (i.e., along the height direction of the cleaning device 1000), the projection of the side brush 151 on the central plane α of the cleaning device 1000 at least partially overlaps with the projection of the first sewage suction port 1111a on the central plane α of the cleaning device 1000. The first sewage suction port 1111a includes at least a first edge 1111a1 proximate to the sixth side 118 of the cleaning device 1000 and a second edge 1111a2 proximate to the fifth side 117 of the cleaning device 1000. The above projection relationship can be further expressed as follows: along the height direction of the cleaning device 1000, the projection of the side brush 151 on the central plane α of the cleaning device 1000 is at least partially located between the projections of the first edge 1111a1 and the second edge 1111a2 on the central plane α of the cleaning device 1000; or, along the height direction of the cleaning device 1000, the side brush 151 is at least partially located between the first edge 1111a1 and the second edge 1111a2.

[0121] The projected height of the side brush 151 on the central plane α of the cleaning device 1000 is h1. The projected height of the first suction port 1111a on the central plane α of the cleaning device 1000 can be h2 or h3. Here, h1 at least partially overlaps with h2 or h3. The projected height is the height of the projection surface.

[0122] When the cleaning device 1000 is performing a cleaning task at the liquid surface, the first sewage suction port 1111a is at least partially located below the liquid surface, that is, the second edge 1111a2 is located below the liquid surface, and the first edge 1111a1 can be located above or below the liquid surface. The side brush 151 can also be configured to be at least partially located below the liquid surface. Taking the example of the first edge 1111a1 of the first sewage suction port 1111a being located above the liquid surface, and the side brush 151 being partially located above the liquid surface and partially located below the liquid surface, in this case, the first sewage suction port 1111a is partially located above the liquid surface and partially located below the liquid surface. When the side brush 151 is working, garbage near the cleaning device 1000 can be guided between the first edge 1111a1 and the second edge 1111a2 and directly sucked into the first sewage suction port 1111a.

[0123] Along the moving direction of the cleaning device 1000, the side brush 151 is at least partially located in front of the first sewage suction port 1111a. As the cleaning device body 110 moves forward, the garbage cleaned and driven by the side brush 151 can naturally reach the working area of ​​the first sewage suction port 1111a.

[0124] In some embodiments, please continue to refer to Figure 16. The cleaning device 1000 includes an auxiliary drive component 152 and a real-time speed detection component. The auxiliary drive component 152 includes a stepper motor. The stepper motor drives the side brush 151 to move, and the real-time speed detection component is arranged on the cleaning device body 110 to detect the speed of the stepper motor in real time. Specifically, the stepper motor is connected to the rotating shaft 1512 to drive the side brush body 1511 to rotate through the rotating shaft 1512. 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). The control system increases the current of the stepper motor step by step to increase the output torque of the stepper motor, thereby meeting the normal operation requirements of the stepper motor of the cleaning device 1000 under heavy load.

[0125] In another embodiment, when the cleaning device 1000 moves in the water and cleans close to the pool wall, the side brush body 1511 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.

[0126] The cleaning device 1000 includes a motion drive assembly (not shown). The motion drive assembly (not shown) is arranged on the cleaning device body 110. The motion drive assembly is connected to the first auxiliary cleaning assembly 150, and is used to actively drive the first auxiliary cleaning assembly 150 to perform telescopic movement relative to the cleaning device body 110, that is, under the action of the motion drive assembly, the first auxiliary cleaning assembly 150 can move between an initial position and a compressed position. For the convenience of description, the compressed position can be defined as the position where the first auxiliary cleaning assembly 150 retracts and moves to its limit in the direction close to the cleaning device body 110, and the initial position is the position where the first auxiliary cleaning assembly 150 extends and moves to its limit in the direction away from the cleaning device body 110. It is understandable that the movement of the first auxiliary cleaning assembly 150 can also include an intermediate position between the initial position and the compressed position.

[0127] In one embodiment, the movement of the first auxiliary cleaning assembly 150 between the initial position and the compressed position can be passive. For example, the first auxiliary cleaning assembly 150 is initially located at the initial position. When the cleaning device 1000 contacts an obstacle, such as a wall, during movement, the obstacle can squeeze the first auxiliary cleaning assembly 150 away from the initial position and toward the compressed position. When the cleaning device 1000 separates from the obstacle, the first reset assembly returns the first auxiliary cleaning assembly 150 to the initial position. The first 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 150 is located in the initial position under the action of the first reset component; when the cleaning device 1000 contacts an obstacle, especially when the first auxiliary cleaning component 150 contacts an obstacle, the force of the obstacle on the first auxiliary cleaning component 150 overcomes the force of the first reset component, causing the first auxiliary cleaning component 150 to retract toward the cleaning device body 110, that is, move from the initial position to the middle position or the compressed position; and when the cleaning device 1000 moves away from the obstacle again, the force of the first reset component again causes the first auxiliary cleaning component 150 to return to the initial position, that is, move from the compressed position or the middle position to the initial position.

[0128] In some embodiments, the movement of the first auxiliary cleaning component 150 between the initial position and the compressed position may be a joint action of the motion drive component and the first reset component, and the specific scenario and method are not limited herein.

[0129] In the present disclosure, the first auxiliary cleaning assembly 150 is movably connected to the cleaning device body 110. The motion drive assembly in the cleaning device 1000 can be used to drive the first auxiliary cleaning assembly 150 to perform telescopic movement, making the first auxiliary cleaning assembly 150 more flexible. The motion trajectory of the first auxiliary cleaning assembly 150 driven by the motion drive assembly between the initial position and the compressed position can be a straight line trajectory, a continuous arc trajectory, a discontinuous broken line trajectory, etc., which are not limited here.

[0130] In some embodiments, please also refer to FIG. 18 , which is another partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure. The motion drive assembly may include a connecting portion 153 and a first drive member (not shown). The first auxiliary cleaning assembly 150 is connected to the cleaning device body 110 via the connecting portion 153. The first drive member is connected to the connecting portion 153 and is used to drive the first auxiliary cleaning assembly 150 to perform telescopic movement relative to the cleaning device body 110.

[0131] In some embodiments, the connecting portion 153 includes a fixed portion 1531 and a telescopic portion 1532. The fixed portion 1531 is fixedly connected to the cleaning device body 110. The telescopic portion 1532 is connected to the fixed portion 1531 at one end and to the first auxiliary cleaning assembly 150 at the other end. The telescopic portion 1532 is capable of telescoping relative to the fixed portion 1531.

[0132] In other embodiments, the first auxiliary cleaning assembly 150 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 150. 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 150 to perform telescopic movement relative to the cleaning device body 110 and the connecting portion 153.

[0133] In one embodiment, please continue to refer to Figure 17, the cleaning device 1000 also includes a guide member 154. The guide member 154 is rotatably disposed at the notch 121 of the cleaning device body 110 or the filter box 120. As the guide member 154 rotates, the water flow outside the filter box 120 is guided to flow through the notch 121 of the filter box 120 and enter the interior of the filter box 120. When the cleaning device 1000 is in a water surface cleaning state, the guide member 154 is at least partially located below the water surface, so as to form an effective water flow disturbance at the notch 121 of the filter box 120, thereby improving the efficiency of external garbage entering the filter box 120. In a specific embodiment, when the water surface is cleaned, the guide member 154 is partially located below the water surface and partially located above the water surface, corresponding to the aforementioned first sewage suction port 1111a being partially located above the water surface and partially located below the water surface, thereby achieving a better water surface cleaning effect.

[0134] Thus, in one embodiment, when the cleaning device 1000 is performing surface cleaning, the first sewage suction port 1111a is located partially above and partially below the water surface, allowing floating debris, such as leaves and garbage bags, to naturally flow into the filter cartridge 120 along with the surface current. The guide member 154 is located partially below and partially above the water surface, and can at least direct the surface current toward the first sewage suction port 1111a within the working area of ​​the first sewage suction port 1111a. During operation, the first auxiliary cleaning assembly 150 can guide surface debris outside the working area of ​​the first sewage suction port 1111a from the sides or front of the cleaning device body 110 into the working area of ​​the first sewage suction port 1111a. Then, as the cleaning device 1000 moves and the guide member 154 acts, the debris is guided through the first sewage suction port 1111a and ultimately into the filter cartridge 120.

[0135] In some embodiments, referring to Figures 1 to 4b , both ends of the second auxiliary cleaning assembly 160 can be connected to the target area 100. The second auxiliary cleaning assembly 160 is configured to spray water into the area to be cleaned of the target area 100, thereby at least flushing the area to be cleaned or directing at least some of the garbage in the area to be cleaned to the working area of ​​the sewage suction port 1111. The area to be cleaned can be any area within the pool. Specifically, the area to be cleaned can include at least one of the water area between the cleaning device 1000 and the walking surface 101 and the walking surface 101, or the area to be cleaned can also include the working area of ​​the sewage suction port 1111. It will be appreciated that when the area to be cleaned of the cleaning device 1000 is located at the target bottom wall 1012, the second auxiliary cleaning assembly 160 is used to spray water toward the target bottom wall 1012; when the area to be cleaned of the cleaning device 1000 is located at the target side wall 1011, the second auxiliary cleaning assembly 160 is used to spray water toward the target side wall 1011; and when the area to be cleaned of the cleaning device 1000 is located in the water body of the target area 100, the second auxiliary cleaning assembly 160 is used to spray water toward the water body. The water flow sprayed by the second auxiliary cleaning assembly 160 can guide the waste to the working area of ​​the sewage suction port 1111 through at least one of disturbance, reflection from the pool wall, and water flow guidance, so that the waste can be sucked into the sewage suction port 1111 by the sewage suction port 1111.

[0136] In some embodiments, referring to Figures 2 and 3 , the second auxiliary cleaning assembly 160 includes at least a water spraying member 161 and a second driving member 162. A nozzle 1611 of the water spraying member 161 faces the side of the cleaning device body 110 where the sewage suction port 1111 is located. The second driving member 162 is configured to drive water to be sprayed from the nozzle 1611 of the water spraying member 161. The water spraying member 161 may be a water spraying pipe, but is not limited thereto. The nozzle 1611 of the water spraying member 161 is tilted toward the area to be cleaned. It can be understood that when the area to be cleaned of the cleaning device 1000 is located at the target bottom wall 1012, the nozzle 1611 is tilted toward the target bottom wall 1012 to spray water toward the target bottom wall 1012; when the area to be cleaned of the cleaning device 1000 is located at the target side wall 1011, the nozzle 1611 is tilted toward the target side wall 1011 to spray water toward the target side wall 1011; when the area to be cleaned of the cleaning device 1000 is located at the water body of the target area 100, the nozzle 1611 is tilted toward the water body to spray water toward the water body.

[0137] In some embodiments, the second driving member 162 is disposed in the water spraying member 161. The second driving member 162 is used to drive the liquid in the target area 100 to flow from the other end of the water spraying member 161 and be sprayed from the nozzle 1611. The second driving member 162 can be disposed in the water spraying member 161, but is not limited thereto. The nozzle 1611 is set toward the area to be cleaned of the cleaning device 1000, for example, it is set at an angle, so that the nozzle 1611 can spray water toward the area to be cleaned to flush the garbage in the area to be cleaned, so as to improve the pertinence of the water spraying. In the process of the nozzle 1611 spraying water toward the area to be cleaned, due to the large flow rate of the water sprayed by the nozzle 1611, part of the area to be cleaned has a reaction force on the water sprayed by the nozzle 1611 toward the sewage suction port 1111, and the reaction force can drive the water flow toward the sewage suction port 1111 to move, so as to drive the garbage on the walking surface 101 to move toward the direction close to the sewage suction port 1111, so that the garbage enters the negative pressure area near the sewage suction port 1111, making it easier for the sewage suction port 1111 to suck the garbage into the filter box 120. In addition, the disturbance formed by the liquid sprayed by the nozzle 1611 can also have a certain gathering effect on the garbage, further facilitating the sewage suction port 1111 to suck the garbage, thereby improving the cleaning effect of the cleaning device 1000.

[0138] In some embodiments, as shown in FIG2 , second drive member 162 may include a first impeller 1621 and a first drive motor 1622. First drive motor 1622 is connected to first impeller 1621. First drive motor 1622 is configured to drive first impeller 1621 to rotate, thereby causing liquid within target area 100 to flow from the other end of water spray member 161 and be sprayed from spray head 1611. The power of first drive motor 1622 is positively correlated with the pressure of the water sprayed from spray head 1611.

[0139] There may be one or more water spraying members 161. Each water spraying member 161 is provided with one or more nozzles 1611. Different water spraying members 161 may work simultaneously or individually, and different nozzles 1611 on the same water spraying member 161 may also work simultaneously or individually.

[0140] In one example, the nozzle 1611 on the water spraying member 161 is rotatable, and the cleaning device 1000 further includes a rotating assembly (not shown) for rotating the nozzle 1611 of the water spraying member 161 so that the nozzle 1611 is oriented in the target direction.

[0141] In one embodiment, multiple water spraying members 161 are provided, one on each side of the cleaning device body 110, with at least one water spraying member 161 provided on each side. The nozzles 1611 of the water spraying members 161 on each side face different directions. For another example, the multiple water spraying members 161 may be provided on the same side of the cleaning device body 110, such as the front or right side, and the nozzles 1611 on the multiple water spraying members 161 may face different directions. Thus, the water spraying member 161 with the nozzle 1611 facing the same direction can be selected based on the posture of the cleaning device 1000.

[0142] In a specific application scenario, two water spraying parts 161 are provided on both sides of the cleaning device 1000. The two water spraying parts 161 on each side are an upper water spraying part and a lower water spraying part. Correspondingly, the nozzle 1611 of the upper water spraying part is an upper nozzle, and the nozzle 1611 of the lower water spraying part is a lower nozzle. The upper nozzle and the lower nozzle are directed straight ahead or at a certain outward angle to the straight ahead. Exemplarily, when the cleaning device 1000 cleans the water surface, the upper nozzle on at least one side of the cleaning device 1000 is selected to work to clean the pool wall at the waterline. When the cleaning device 1000 cleans the walking surface 101 of the target area 100, the lower nozzle on at least one side of the cleaning device 1000 is selected to work to clean the target bottom wall 1012 or the target side wall 1011.

[0143] In a specific embodiment, when the cleaning device 1000 cleans the water surface, at least the currently working nozzle 1611 is required to be set at a position close to the water surface of the cleaning device body 110. At this time, the water flow is sprayed through the nozzle 1611 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 second driving member 162, so that the cleaning device 1000 can achieve movable cleaning of the water surface.

[0144] Furthermore, when the cleaning device 1000 cleans the walking surface 101 of the target area 100, it is required that at least one nozzle 1611 currently in operation is set on the cleaning device body 110 and is tilted toward the target bottom wall 1012 or the target side wall 1011. For example, when the cleaning device 1000 cleans the target bottom wall 1012, at least one nozzle 1611 is tilted toward the target bottom wall 1012. At this time, the water flow ejected by the nozzle 1611 can clean fine impurities at a specific height position in the water, and can clean a specific height position of the target side wall 1011, the target bottom wall 1012, and the corners between the target bottom wall 1012 and the target side wall 1011.

[0145] In some embodiments, as shown in FIG1 , the cleaning device 1000 further includes a third auxiliary cleaning assembly 170. The third auxiliary cleaning assembly 170 may be a roller brush assembly 171. The cleaning device 1000 may include one or more roller brush assemblies 171. The roller brush assembly 171 may be disposed at the bottom of the cleaning device body 110. The roller brush assembly 171 is used to clean the target bottom wall 1012 and the target side walls 1011. When the cleaning device 1000 moves on the target bottom wall 1012 and the target side walls 1011, the roller brush assembly 171 can scrape the target bottom wall 1012 and the target side walls 1011 to scrape off the garbage stuck on the target bottom wall 1012 and the target side walls 1011, so that the garbage can be sucked into the second sewage suction port 1111b disposed on the fifth side 117 of the cleaning device 1000, thereby improving the cleaning effect.

[0146] In some embodiments, as shown in FIG2 , the cleaning device 1000 further includes at least two sets of running mechanisms 190 to drive the cleaning device 1000 to move on the target bottom wall 1012 and the target side wall 1011. One set of running mechanisms 190 is disposed on one side of the cleaning device body 110, for example, on the third side 115 of the cleaning device body 110, and the other set of running mechanisms 190 is disposed on the other side opposite to the one side of the cleaning device body 110, for example, on the fourth side 116 of the cleaning device body 110. The running mechanisms 190 are used to drive the cleaning device 1000 to move. The second auxiliary cleaning assembly 160 can be disposed on the side of the running mechanisms 190 facing away from the cleaning device body 110, so that the flow path of the liquid sprayed by the spray head 1611 is not blocked by the cleaning device body 110.

[0147] In some embodiments, the traveling mechanism 190 includes a first guide wheel 191, a second guide wheel 192, and a track 193. The first guide wheel 191 and the second guide wheel 192 are spaced apart. The track 193 is mounted on the first guide wheel 191 and the second guide wheel 192. In some embodiments, the traveling mechanism 190 also includes a fourth drive member 194. The fourth drive member 194 can be, but is not limited to, a motor, an electric pump, or the like. The fourth drive member 194 can be connected to the first guide wheel 191 and / or the second guide wheel 192. It can be understood that the fourth drive member 194 can be connected to the first guide wheel 191. At this time, the first guide wheel 191 is the driving wheel and the second guide wheel 192 is the driven wheel. The fourth drive member 194 is used to drive the first guide wheel 191 to rotate, so as to drive the second guide wheel 192 and the crawler track 193 to move; or, the fourth drive member 194 can be connected to the second guide wheel 192. At this time, the second guide wheel 192 is the driving wheel and the first guide wheel 191 is the driven wheel. The fourth drive member 194 is used to drive the second guide wheel 192 to rotate, so as to drive the first guide wheel 191 and the crawler track 193 to move; or, the fourth drive member 194 can also be connected to the first guide wheel 191 and the second guide wheel 192. The fourth drive member 194 is used to drive the first guide wheel 191 and the second guide wheel 192 to rotate, so as to drive the crawler track 193 to move.

[0148] In some embodiments, the track 193 can be connected to the first guide wheel 191 and the second guide wheel 192 by a meshing connection. For example, the surface of the track 193 facing the first guide wheel 191 and the second guide wheel 192 can be formed with alternating protrusions and tooth grooves, and the surfaces of the first guide wheel 191 and the second guide wheel 192 facing the track 193 can also be formed with alternating protrusions and tooth grooves. In other embodiments, the track 193 can be a rack, and the first guide wheel 191 and the second guide wheel 192 can be gears. The track 193, the first guide wheel 191, and the second guide wheel 192 can form a rack-and-pinion mechanism. In other embodiments, the track 193 can be connected to the first guide wheel 191 and the second guide wheel 192 by a friction connection. The surfaces of the track 193 facing the first guide wheel 191 and the second guide wheel 192 are tightly attached to the first guide wheel 191 and the second guide wheel 192. When the fourth driving member 194 drives at least one of the first guide wheel 191 and the second guide wheel 192 to rotate, the friction between the first guide wheel 191 and the track 193 and the friction between the second guide wheel 192 and the track 193 can be used to drive the track 193 to move.

[0149] In some embodiments, the cleaning device 1000 includes two roller brush assemblies 171, wherein one end of one roller brush assembly 171 is rotatably connected to the first guide wheel 191 of one set of the traveling mechanisms 190, and the other end is rotatably connected to the first guide wheel 191 of the other set of the traveling mechanisms 190; wherein the other roller brush assembly 171 has one end rotatably connected to the second guide wheel 192 of one set of the traveling mechanisms 190, and the other end is rotatably connected to the second guide wheel 192 of the other set of the traveling mechanisms 190. During the movement of the traveling mechanisms 190, the two roller brush assemblies 171 can rotate along with the movement of the traveling mechanisms 190, that is, during the movement of the traveling mechanisms 190, the first guide wheel 191 of one set of the traveling mechanisms 190 and the first guide wheel 191 of the other set of the traveling mechanisms 190 can drive one roller brush assembly 171 to rotate, and the second guide wheel 192 of one set of the traveling mechanisms 190 and the second guide wheel 192 of the other set of the traveling mechanisms 190 can drive the other roller brush assembly 171 to rotate. Of course, the two roller brush assemblies 171 can also be controlled by two separate motors or shared by a single motor instead of being controlled by the transmission of the walking mechanism 190. In this way, the speed and rotation direction of the two roller brush assemblies 171 can be independently controlled.

[0150] In some embodiments, please also refer to FIG. 19 , which is a bottom view of another embodiment of a cleaning device provided by the present disclosure. The cleaning device 1000 further includes at least one topography detection assembly 196 . The at least one topography detection assembly 196 is disposed at the front bottom portion of the cleaning device 1000 and is disposed adjacent to the travel mechanism 190 of the cleaning device 1000 . The topography detection assembly 196 is used to detect the topography of the surface to be cleaned at the bottom of the cleaning device 1000 in order to adjust the operating posture of the cleaning device 1000 . For example, the terrain detection component 196 can detect whether the terrain in the moving direction of the cleaning device 1000 is a depression lower than the current walking surface 101, such as a suspended area. The cleaning device 1000 can turn or turn around when the terrain detection component 196 detects that it is about to enter the suspended area to prevent the cleaning device 1000 from stepping on air, causing tipping or damage, thereby protecting the cleaning device 1000; or when the terrain detection component 196 detects that it is about to enter the suspended area, the cleaning device 1000 flips over to reach another walking surface 101, thereby completing the walking needs in some scenarios and improving the flexibility of the movement of the cleaning device 1000.

[0151] The cleaning device 1000 may include one or more terrain detection components 196, which may be disposed at the bottom of the cleaning device body 110. For example, the terrain detection component 196 may be disposed at an area of ​​the bottom of the cleaning device body 110 near the second side 114, and also at an area of ​​the bottom of the cleaning device body 110 near the first side 113. The terrain detection component 196 may also be disposed at the first side 113. Optionally, the cleaning device 1000 includes two terrain detection components 196, both of which are disposed at an area of ​​the bottom of the cleaning device body 110 near the first side 113, and one of the terrain detection components 196 is near one of the sets of walking mechanisms 190, and the other terrain detection component 196 is near the other set of walking mechanisms 190.

[0152] In some embodiments, the terrain detection component 196 is only turned on when it is recognized that the cleaning device 1000 is located in a specific type of area and / or performing a specific task. For example, the terrain detection component 196 is turned on when the cleaning device 1000 is located on a platform with steps and / or performing a cleaning task on the platform. This avoids the terrain detection component 196 being turned on for a long time, which may cause the cleaning device 1000 to misidentify the terrain when moving in a conventional area, perform turning or U-turn operations, and affect the cleaning effect of the cleaning device 1000. The specific type of area can be identified by the visual sensing component 140, the liquid level detection component 233, etc., but is not limited to this.

[0153] Please continue to refer to Figures 2 and 4a, and also refer to Figure 20, which is a side view of an embodiment of the cleaning device provided by the present disclosure. The cleaning device 1000 also includes a cover plate 195. The cover plate 195 covers the side of the running mechanism 190 facing away from the cleaning device body 110. The cover plate 195 can be removably provided on the side of the running mechanism 190 facing away from the cleaning device body 110, so that the cover plate 195 can be removed to facilitate cleaning and maintenance of the first guide wheel 191 and the second guide wheel 192. At the same time, by providing the cover plate 195, on the one hand, the first guide wheel 191 and the second guide wheel 192 can be prevented from being eroded by the impact of the water flow, thereby ensuring the service life of the first guide wheel 191 and the second guide wheel 192. On the other hand, it can, to a certain extent, prevent fixed impurities from entering between the first guide wheel 191 and the track 193 and between the second guide wheel 192 and the track 193 and affecting the movement of the walking mechanism 190, thereby reducing problems such as obstruction of the movement of the walking mechanism 190, the inability of the walking mechanism 190 to balance the movement, and increased noise during the movement of the walking mechanism 190. The second auxiliary cleaning assembly 160 is provided on the side of the cover plate 195 facing away from the walking mechanism 190. By providing the second auxiliary cleaning assembly 160 on the cover plate 195, the movement of the walking mechanism 190 will not affect the flow path and flow form of the liquid sprayed by the second auxiliary cleaning assembly 160.

[0154] In some embodiments, the cleaning device 1000 further includes an anti-collision member 200. The anti-collision member 200 may be single or multiple, and the anti-collision member 200 at least protrudes beyond the main contour of the cleaning device body 110. For example, the anti-collision member 200 may be provided on the first side 113 of the cleaning device 1000 and protrude from the front main contour of the cleaning device body 110. The anti-collision member 200 may also be provided on the side of the cover plate 195 facing away from the walking mechanism 190 and / or the side of the second auxiliary cleaning assembly 160 facing away from the cover plate 195 to protrude from the side main contour of the cleaning device body 110. A single or multiple anti-collision members may be provided on a single side, for example, one is provided on each side of the cover plate 195 and / or the second auxiliary cleaning assembly 160. The anti-collision member 200 may prevent the cleaning device body 110 from being scratched, and may also correct the walking posture of the cleaning device 1000 when the cleaning device 1000 moves along the edge within the target area 100, for example, preventing the walking mechanism 190 from directly contacting the target side wall 1011, which may cause climbing and other behaviors.

[0155] In some embodiments, when the anti-collision member 200 is arranged on the second auxiliary cleaning component 160, or is arranged on the cover plate 195 and the anti-collision member 200 and the second auxiliary cleaning component 160 are arranged on the same side, along the forward direction of the cleaning equipment 1000, the anti-collision member 200 is located in front of the second auxiliary cleaning component 160, which can reduce the possibility of the second auxiliary cleaning component 160 being scratched, thereby alleviating the wear of the second auxiliary cleaning component 160 and ensuring the service life of the second auxiliary cleaning component 160.

[0156] In some embodiments, the anti-collision member 200 includes a roller 201 and a bracket 202. For example, two brackets 202 are provided, each mounted on the cover 195 and / or the second auxiliary cleaning assembly 160. The two brackets 202 can be spaced apart in the direction of alignment between the first side 113 and the second side 114 of the cleaning device body 110, or spaced apart in the direction of alignment between the fifth side 117 and the sixth side 118 of the cleaning device body 110. The roller 201 is rotatably disposed between the two brackets 202, so that when the anti-collision member 200 contacts an object, the roller 201 generates rolling friction with the contact surface.

[0157] In some embodiments, cleaning device 1000 further includes a propulsion assembly 180. Propulsion assembly 180 can be in communication with water spraying member 161. Propulsion assembly 180 includes a first liquid outlet 181 and a third driving member 182. Propulsion assembly 180 is located on the side of cleaning device body 110. First liquid outlet 181 faces the rear of cleaning device body 110. Third driving member 182 is used to drive water out of first liquid outlet 181, thereby driving cleaning device 1000 to move.

[0158] When the cleaning device 1000 moves in the target area 100, the force received by the cleaning device 1000 may include the driving force received by the cleaning device 1000. The propulsion assembly 180 of the cleaning device 1000 can be arranged on a side of the running mechanism 190 close to the sixth side 118, or can be arranged on the side of the running mechanism 190. The propulsion assembly 180 can be arranged at intervals with the running mechanism 190, or can be arranged overlapping with the running mechanism 190. The propulsion assembly 180 is used to drive the cleaning device 1000 to move in the target area 100. When the cleaning device 1000 is located at the liquid surface of the target area 100 or suspended at a certain depth of the liquid, the third driving member 182 can drive the water flow into the propulsion assembly 180 and spray it from the first liquid outlet 181 to push the cleaning device 1000 to move. The propulsion assembly 180 can be used to adjust the size and direction of the driving force received by the cleaning device 1000. The propulsion assembly 180 can be various structures that can provide driving force. For example, the propulsion assembly 180 can be a propeller. By rotating the propeller, the cleaning device 1000 can obtain driving force. Under the action of the driving force, the cleaning device 1000 can move on the liquid surface of the target area 100, or move while suspended at a certain depth of the liquid.

[0159] In some embodiments, the cleaning device 1000 may include two sets of propulsion assemblies 180, wherein one set of propulsion assemblies 180 is disposed on one side of the cleaning device body 110, and wherein the other set of walking mechanisms 190 is disposed on the other side of the cleaning device body 110. When turning or turning around is required, it can be achieved by adjusting the power or direction of the two sets of propulsion assemblies 180. When the cleaning device 1000 is moving in the liquid, the cleaning device 1000 can adjust the power of the propulsion assemblies 180 on both sides of the cleaning device body 110 respectively to adjust the speed at which the propulsion assemblies 180 on both sides of the cleaning device body 110 push the liquid to move in a preset direction, thereby achieving a turn of the cleaning device 1000.

[0160] Similar to the second auxiliary cleaning assembly 160, the third driving member 182 may also include a second impeller 1821 and a second driving motor 1822. For more information about the second impeller 1821 and the second driving motor 1822, please refer to the first impeller 1621 and the first driving motor 1622 described above.

[0161] In some embodiments, the cleaning device 1000 further includes a coupling assembly 184. The propulsion assembly 180 further includes a second liquid outlet 183. The second liquid outlet 183 is connected to the water spraying member 161 of the second auxiliary cleaning assembly 160 via the coupling assembly 184, thereby connecting the propulsion assembly 180 with the water spraying member 161. The first liquid outlet 181 is located at the end of the propulsion assembly 180 away from the nozzle 1611. The third driving member 182 is further configured to drive water to flow from the first liquid outlet 181, sequentially passing through the propulsion assembly 180, the coupling assembly 184, and the water spraying member 161, and then being sprayed out of the nozzle 1611.

[0162] The connecting assembly 184 is connected between the second liquid outlet 183 of the propulsion assembly 180 and the water spraying member 161, so that the propulsion assembly 180, the connecting assembly 184 and the second auxiliary cleaning assembly 160 are connected in sequence. In some embodiments, the second driving member 162 of the second auxiliary cleaning assembly 160 and the third driving member 182 of the propulsion assembly 180 can be the same driving member. Of course, the second driving member 162 of the second auxiliary cleaning assembly 160 and the third driving member 182 of the propulsion assembly 180 can also be two different driving members. When the second driving member 162 and the third driving member 182 are the same driving member, the driving member can be arranged inside the propulsion assembly 180, inside the connecting assembly 184, inside the second auxiliary cleaning assembly 160, at the connection between the propulsion assembly 180 and the connecting assembly 184, at the connection between the connecting assembly 184 and the second auxiliary cleaning assembly 160, at the end of the second auxiliary cleaning assembly 160 away from the connecting assembly 184, or at the end of the propulsion assembly 180 away from the connecting assembly 184. The driving member rotates in a first direction to drive water to flow in from the first liquid outlet 181, flow through the propulsion assembly 180, the connecting assembly 184 and the water spraying member 161 in sequence and be sprayed out from the nozzle 1611 to flush the garbage on the target bottom wall 1012 and the target side wall 1011, and drive the garbage to move in the direction close to the sewage suction port 1111; the driving member can also rotate in a second direction to drive water to flow in from the nozzle 1611, flow through the water spraying member 161, the connecting assembly 184 and the propulsion assembly 180 in sequence, and be sprayed out from the first liquid outlet 181 to drive the cleaning device 1000 to move on the liquid surface of the target area 100 or to move suspended in a certain depth of the liquid, wherein the first direction and the second direction are opposite directions. When the second driving member 162 and the third driving member 182 are two different driving members, the third driving member 182 can drive the water flow from the first liquid outlet 181 into the propulsion assembly 180 and flow along the inner connecting assembly 184, and the second driving member 162 can drive the water flow flowing into the propulsion assembly 180 to flow to the water spraying member 161 and spray out from the nozzle 1611. By setting two different driving members, not only the flow rate of the water flow flowing into the first liquid outlet 181 can be increased, but also the water flow sprayed from the nozzle 1611 can be increased. Speed ​​and pressure, thereby improving the flushing effect of the nozzle 1611 on the area to be cleaned and driving the garbage to move toward the direction close to the sewage suction port 1111, thereby improving the cleaning effect of the cleaning equipment 1000; the second driving member 162 can also drive the water flow from the nozzle 1611 into the water spray member 161, and flow along the water spray member 161 to the connecting component 184, and the third driving member 182 can also drive the water flow entering the water spray member 161 to flow to the propulsion component 180 and be sprayed out from the first liquid outlet 181.It should be noted that when the cleaning device 1000 is located at the liquid level in the target area 100, the nozzle 1611 of the water spray member 161 is located below the liquid level, so that water can flow into the water spray member 161 through the nozzle 1611 and be sprayed out from the first liquid outlet 181 to drive the cleaning device 1000 to move.

[0163] In some embodiments, please continue to refer to Figures 4a to 4b. The second auxiliary cleaning component 160 extends along the front-to-back direction of the cleaning device body 110, and is arranged on the same side of the cleaning device 1000 as the propulsion component 180. The propulsion component 180 and the second auxiliary cleaning component 160 have a common flow channel, and the connecting component 184 between the second auxiliary cleaning component 160 and the propulsion component 180 can be omitted, thereby reducing the structural complexity of the cleaning device 1000 while improving the cleaning effect.

[0164] In some embodiments, please continue to refer to Figure 20, the cleaning device 1000 also includes a speed reducer 185. The speed reducer 185 is provided on the propulsion assembly 180 and is used to reduce the movement speed of the cleaning device 1000. In some embodiments, the speed reducer 185 can be connected to the second drive motor 1822 of the third drive member 182 of the propulsion assembly 180. The speed reducer 185 is used to reduce the power of the third drive member 182 when the cleaning device 1000 cleans the liquid surface of the target area 100, thereby reducing the driving force of the third drive member 182, thereby reducing the flow rate of the water flowing into the propulsion assembly 180 and reducing the flow rate and thrust of the water ejected from the first liquid outlet 181, thereby reducing the movement speed of the cleaning device 1000. On the one hand, it can prevent the liquid surface from splashing toward the shore of the target area 100 due to excessive splashing. On the other hand, it can also prevent the garbage from being pushed away from the working area of ​​the sewage suction port 1111 due to the cleaning device 1000 moving too fast on the liquid surface, thereby improving the cleaning effect of the cleaning device 1000.

[0165] In some embodiments, the deceleration member 185 may be a deceleration baffle. The deceleration baffle may be disposed at the first liquid outlet 181. The deceleration baffle is used to adjust the flow area of ​​the first liquid outlet 181 to adjust the flow rate and thrust of the water ejected from the first liquid outlet 181, thereby adjusting the movement speed of the cleaning device 1000.

[0166] In some embodiments, the speed reducer 185 includes a gear reducer, a worm reducer, a cycloid reducer, a harmonic drive reducer, etc., but is not limited thereto.

[0167] In some embodiments, please refer to Figures 21 to 23 together. Figure 21 is a cross-sectional view of another embodiment of the cleaning device provided by the present disclosure; Figure 22 is an enlarged view of part B in Figure 21; and Figure 23 is a structural schematic diagram of an embodiment of the filter box of the cleaning device provided by the present disclosure. The cleaning device 1000 also includes a main drive pump 210. The filter box 120 is formed with a notch 121. The notch 121 can be connected to the sewage suction port 1111, for example, connected to the first sewage suction port 1111a. The filter box 120 has a filtering wall 123. The first accommodating chamber 111 is provided with a first liquid discharge port 1112, and the sewage suction port 1111, the filter box 120 and the first liquid discharge port 1112 are fluidically connected. The main drive pump 210 is used to drive water to flow from the sewage suction port 1111 into the filter box 120 and flow through the filter wall 123 of the filter box 120 to flow out of the first accommodating chamber 111 from the first drain port 1112. The water flow entering the filter box 120 from the sewage suction port 1111 contains garbage, which remains in the filter box 120 under the filtering action of the filter box 120. The liquid flows through the filter wall 123 of the filter box 120 to the first drain port 1112 to be discharged from the first accommodating chamber 111.

[0168] The main drive pump 210 can provide a certain suction force, creating a negative pressure area near the first sewage suction port 1111a and the gap 121, thereby sucking the liquid and garbage in the working area of ​​the first sewage suction port 1111a into the filter box 120. Because the filter box 120 has a filter wall 123, the liquid can flow through the filter wall 123 to the first drain port 1112 to be discharged from the first accommodating chamber 111, while the garbage remains in the filter box 120, thereby achieving the separation of garbage and liquid. The first auxiliary cleaning component 150 guides the liquid surface of the target area 100 and / or the garbage suspended in the liquid in the target area 100 to the working area of ​​the sewage suction port 1111. The working principle of the main drive pump 210 driving water flow into the filter box 120 and discharging the liquid can be referred to the above embodiment and will not be repeated here.

[0169] Filter wall 123 includes a first filter wall 1231, a second filter wall 1232, a third filter wall 1233, a fourth filter wall 1234, and optionally a fifth filter wall 1235. The first filter wall 1231, the second filter wall 1232, the fourth filter wall 1234, and the third filter wall 1233 are connected end to end to form the side filter portion of the filter box 120. The fifth filter wall 1235 forms the bottom filter portion of the filter box 120. The first filter wall 1231 is located on the side of the filter wall 123 close to the first side 113 of the cleaning device body 110, the second filter wall 1232 is located on the side of the filter wall 123 close to the third side 115 of the cleaning device body 110, the third filter wall 1233 is located on the side of the filter wall 123 close to the fourth side 116 of the cleaning device body 110, and the fourth filter wall 1234 is located on the side of the filter wall 123 close to the second side 114 of the cleaning device body 110. The notch 121 is formed in the first filter wall 1231. The fourth filter wall 1234 faces the main drive pump 210.

[0170] The filter box 120 also has a box opening 122, which is located at the top of the filter box 120. The box opening 122 can be connected to the notch 121. Of course, the box opening 122 can also be set at a distance from the notch 121. The sixth side 118 of the cleaning device body 110 is provided with a second opening 118a, which corresponds to the box opening 122. The cleaning device 1000 also includes a filter box cover 124. The filter box cover 124 is provided on the cleaning device body 110 and is used to open and close the second opening 118a and the box opening 122. When the cleaning device 1000 is finished cleaning, the filter box cover 124 can be opened to take out the filter box 120 to clean the filter box 120. By setting the fifth filter wall 1235 at the bottom of the filter box 120, when the filter box 120 is cleaned using a flushing tool such as a water gun that outputs fluid, the flushing tool such as a water gun that outputs fluid can more smoothly flush out the garbage at the bottom of the filter box 120, thereby improving the cleaning efficiency and cleaning effect of the filter box 120.

[0171] The notch 121 of the filter box 120 is located on the side of the first filter wall 1231 near the first sewage suction port 1111a. Optionally, the first filter wall 1231 has two notches 121, one of which is used to connect to the first sewage suction port 1111a, and the other notch 121 is used to connect to the second sewage suction port 1111b through another connecting portion. Optionally, the first filter wall 1231 has a notch 121 for connecting to the first sewage suction port 1111a; the fifth filter wall 1235 also has a notch 121, and the notch 121 is located on the side of the fifth filter wall 1235 near the first filter wall 1231, for connecting to the second sewage suction port 1111b. The fourth filter wall 1234 faces the main drive pump 210, and the liquid inlet 211 of the main drive pump 210 is fluidically connected to the first liquid discharge port 1112. By making the fourth filter wall 1234 opposite to the first filter wall 1231 face the main drive pump 210, the gap 121 can face the main drive pump 210, and the negative pressure gradually increases in the direction from the gap 121 to the fourth filter wall 1234, so that the liquid flowing into the filter box 120 can flow more toward the fourth filter wall 1234 under the drive of the negative pressure, so as to flow out from the first drain port 1112 faster, thereby improving the filtration efficiency of the filter box 120.

[0172] A gap exists between the filter box 120 and the inner wall of the first accommodating chamber 111. When the main drive pump 210 is operating, negative pressure is generated throughout the filter box 120. However, since the fourth filter wall 1234 faces the main drive pump 210, most of the liquid flowing into the filter box 120 flows directly through the fourth filter wall 1234 to the first drain port 1112 and is discharged. The remaining liquid flows through the first filter wall 1231, the second filter wall 1232, and the third filter wall 1233 to the gap between the filter wall 123 and the inner wall of the first accommodating chamber 111, and then flows through the gap between the filter wall 123 and the inner wall of the first accommodating chamber 111 to the gap between the fourth filter wall 1234 and the inner wall of the first accommodating chamber 111, and is discharged through the first drain port 1112.

[0173] Because the fourth filter wall 1234 faces the main drive pump 210, most of the liquid flowing into the filter cartridge 120 passes through the fourth filter wall 1234. This makes the fourth filter wall 1234 more susceptible to being clogged by garbage. When the fourth filter wall 1234 is clogged, the liquid flowing into the filter cartridge 120 can still flow through the first filter wall 1231, the second filter wall 1232, and the third filter wall 1233 to the first drain port 1112. By providing the first filter wall 1231, the second filter wall 1232, and the third filter wall 1233, when the fourth filter wall 1234 is clogged, the liquid flowing into the filter cartridge 120 can also be smoothly discharged through the first filter wall 1231, the second filter wall 1232, and the third filter wall 1233, thereby preventing liquid accumulation in the filter cartridge 120 due to clogs.

[0174] To improve the filtering effect of the filter cartridge 120 and ensure that the liquid flowing into the filter cartridge 120 can be discharged smoothly through the first filter wall 1231, the second filter wall 1232, and the third filter wall 1233 when the fourth filter wall 1234 is blocked, the mesh size of the filter on the first filter wall 1231, the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234 can be optimized. It is understood that the mesh size refers to the number of holes on the filter within a length of one inch (25.4 mm). The larger the mesh size, the higher the filtration level, the smaller the garbage particles that can be filtered, and the better the filtration effect.

[0175] In some embodiments, the number of filter screens on the first filter wall 1231 may be 25-35 mesh, and the number of filter screens on the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234 may be 50-120 mesh. For example, the number of filter screens on the first filter wall 1231 may be 30 mesh, but is not limited thereto; the number of filter screens on the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234 may be 60 mesh, 100 mesh, etc., but is not limited thereto. By making the number of filter meshes on the first filter wall 1231 within the range of 25-35 meshes, and the number of filter meshes on the second filter wall 1232, the third filter wall 1233 and the fourth filter wall 1234 within the range of 50-120 meshes, that is, the mesh number of the filter mesh on the first filter wall 1231 is smaller than the mesh number of the filter meshes on other filter walls 123, not only can the filtering effect and filtering efficiency be guaranteed, but also when the second filter wall 1232, the third filter wall 1233 and the fourth filter wall 1234 are blocked, the liquid flowing into the filter box 120 can also be discharged smoothly through the first filter wall 1231. Of course, as described above, most of the dust-laden liquid will flow to the first drain port 1112 through the fourth filter wall 1234. The mesh sizes of the first filter wall 1231, the second filter wall 1232, and the third filter wall 1233 can also be set to be smaller than the mesh size of the fourth filter wall 1234, so that when the fourth filter wall 1234 is blocked, the smooth flow of the entire working water can be ensured.

[0176] In one embodiment, each filter wall 123 includes an inner filter 123a and an outer filter 123b. The first filter wall 1231, the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234 all include an inner filter 123a and an outer filter 123b. The filter box 120 may include only one filter box 120, with the inner filter 123a and the outer filter 123b stacked on the same filter box 120. Of course, the filter box 120 may also include two filter boxes 120, that is, the filter box 120 includes an inner filter box 120 and an outer filter box 120, the inner filter box 120 is mounted inside the outer filter box 120, the inner filter 123a is disposed on the inner filter box 120, and the outer filter 123b is disposed on the outer filter box 120. In some embodiments, each filter wall 123 may include only one layer of filter mesh. Of course, each filter wall 123 may also include more than two layers of filter mesh. For example, each filter wall 123 may include three layers of filter mesh, four layers of filter mesh, five layers of filter mesh, six layers of filter mesh, eight layers of filter mesh, etc., but is not limited to this.

[0177] In the embodiment of the present disclosure, each filter wall 123 includes an inner filter 123a and an outer filter 123b. By providing the inner filter 123a and the outer filter 123b, the filter box 120 can filter the waste twice. That is, after the inner filter 123a performs a first filtration, the outer filter 123b performs a second filtration, thereby improving the filtration effect.

[0178] The filter wall 123 may be made of a conventional filter mesh, such as woven fabric or textile, but is not limited thereto.

[0179] The filter wall 123 has a through hole 123c, which is used to drain the liquid in the filter box 120. The through hole 123c can be a gap between fibers on the filter wall 123, or the through hole 123c can be formed on the filter wall 123 by stamping, cutting, hot melting, or laser etching a flexible or rigid plate such as plastic or metal.

[0180] To improve the filtration efficiency of the filter cartridge 120 and ensure that the filter wall 123 is not completely clogged, the present disclosure optimizes the filtration levels of the first filter wall 1231, the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234. It should be noted that the higher the filtration level of the filter wall 123, the smaller the waste particles that can be filtered, and the better the filtration efficiency. For example, if the flow area of ​​the through-holes 123c on the filter wall 123 is smaller, the filtration level of the filter wall 123 is higher, the smaller the waste particles that can be filtered, and the better the filtration efficiency. If the flow area of ​​the through-holes 123c on the filter wall 123 is larger, the filtration level of the filter wall 123 is lower, the larger the waste particles that can be filtered, and the worse the filtration efficiency. Of course, the method of measuring the filtration level of the filter wall 123 is not limited to this, and other methods are also possible. It is sufficient to ensure that the higher the filtration level of the filter wall 123, the smaller the waste particles that can be filtered, and the better the filtration efficiency.

[0181] In some embodiments, the filtration levels of the second filter wall 1232 , the third filter wall 1233 and the fourth filter wall 1234 are all greater than the filtration level of the first filter wall 1231 , and the filtration levels of the first filter wall 1231 , the second filter wall 1232 , the third filter wall 1233 and the fourth filter wall 1234 are all different. The filtration levels of the inner filter meshes 123a of the first filter wall 1231, the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234 can be respectively equal to the filtration levels of the outer filter meshes 123b of the first filter wall 1231, the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234, or the filtration levels of the outer filter meshes 123b of the first filter wall 1231, the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234 can be respectively greater than the filtration levels of the inner filter meshes 123a of the first filter wall 1231, the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234, so that when the second filter wall 1232, the third filter wall 1233, and the fourth filter wall 1234 are blocked, the liquid flowing into the filter box 120 can also be discharged smoothly through the first filter wall 1231. In some embodiments, the filtration levels of the second filter wall 1232, the third filter wall 1233 and the fourth filter wall 1234 are all greater than the filtration level of the first filter wall 1231, and the filtration level of the inner filter mesh 123a of the first filter wall 1231 is equal to the filtration level of the corresponding outer filter mesh 123b, and the filtration level of the inner filter mesh 123a of the second filter wall 1232, the third filter wall 1233 and the fourth filter wall 1234 are all less than the filtration level of the corresponding outer filter mesh 123b. That is, the filtration levels of the second filter wall 1232, the third filter wall 1233 and the fourth filter wall 1234 are all greater than the filtration level of the first filter wall 1231, and the filtration level of the inner filter mesh 123a of the first filter wall 1231 is equal to the filtration level of the outer filter mesh 123b of the first filter wall 1231, and the filtration level of the inner filter mesh 123a of the second filter wall 1232, the third filter wall 1233 and the fourth filter wall 1234 are respectively lower than the filtration level of the outer filter mesh 123b of the second filter wall 1232, the third filter wall 1233 and the fourth filter wall 1234.

[0182] In some embodiments, the filtration level of the outer filter 123b of the first filter wall 1231 is lower than the filtration level of the inner filter 123a of the first filter wall 1231, and the filtration levels of the outer filter 123b of the remaining filter walls are greater than or equal to the filtration level of the corresponding inner filter 123a.

[0183] In some embodiments, the filtration levels of the second filter wall 1232, the third filter wall 1233 and the fourth filter wall 1234 are all greater than the filtration level of the first filter wall 1231, and the filtration levels of the outer filter mesh 123b of the first filter wall 1231, the second filter wall 1232 and the third filter wall 1233 are respectively equal to the filtration levels of the inner filter mesh 123a of the first filter wall 1231, the second filter wall 1232 and the third filter wall 1233, and the filtration level of the outer filter mesh 123b of the fourth filter wall 1234 is greater than the filtration level of the inner filter mesh 123a of the fourth filter wall 1234.

[0184] In some embodiments, please refer to Figure 24, which is another side view of an embodiment of a cleaning device provided by the present disclosure. The cleaning device 1000 includes a second drain port 212 that is fluidically connected to the first drain port 1112. The second drain port 212 is located at the top of the cleaning device 1000, that is, at the sixth side 118 of the cleaning device body 110. The main drive pump 210 can also further drive the liquid flowing into the main drive pump 210 via the first drain port 1112 and the liquid inlet 211 to flow along the main drive pump 210 and be discharged through the second drain port 212. The second drain port 212 of the main drive pump 210 is provided with a grid member 213, which can guide the liquid flowing through it. In one embodiment, the grid of the grid member 213 can be rotated and can be used to adjust the liquid discharge direction of the second drain port 212.

[0185] The main driving pump 210 can be fixed to the outer wall of the electric control box 220 and / or inside the cleaning device body 110. The grid member 213 is provided and locked to the second liquid discharge port 212 of the main driving pump 210.

[0186] In some embodiments, the second drain port 212 is inclined to drain away from the center plane α of the cleaning device 1000. The cleaning device 1000 further includes a diverter plate 214. The diverter plate 214 is disposed behind the second drain port 212. The discharge direction of the second drain port 212 is tilted backward relative to the normal travel direction of the cleaning device 1000, thereby generating a reaction force in both the downward and forward directions on the cleaning device 1000. By disposing the diverter plate 214 behind the second drain port 212, the backward fluid component can be blocked, thereby reducing the forward reaction force on the cleaning device 1000 and reducing the travel speed.

[0187] 24 , the diverter plate 214 can be provided on the sixth side 118 of the cleaning device body 110 and located on the side of the second drain port 212 close to the second side 114 of the cleaning device body 110. The center of the diverter plate 214 and the center of the second drain port 212 can be located on the same straight line. The diverter plate 214 extends from the center of the second drain port 212 to both sides and bends toward the direction of the second drain port 212. The diverter plate 214 is used to divert the liquid discharged from the second drain port 212, that is, to divert the liquid discharged from the second drain port 212 into two streams of liquid, so as to reduce the flow rate of the liquid discharged from the second drain port 212, thereby reducing the moving speed of the cleaning device 1000, and preventing the cleaning device 1000 from moving too fast and pushing the garbage away from the working area of ​​the sewage suction port 1111, thereby improving the cleaning effect of the cleaning device 1000.

[0188] In some embodiments, please refer to Figures 25 and 26 together. Figure 25 is a structural schematic diagram of another embodiment of the cleaning device provided by the present disclosure; Figure 26 is a cross-sectional view of another embodiment of the cleaning device provided by the present disclosure. The second drain port 212 also includes a first sub-drain port 2151 and a second sub-drain port 2161. The drainage direction of the first sub-drain port 2151 is generally upward, for example, perpendicular to the longitudinal plane of the cleaning device 1000, or has a certain degree of inclination angle with the center plane of the cleaning device 1000, such as within 10°; the drainage direction of the second sub-drain port 2161 is inclined in the direction opposite to the normal travel direction of the cleaning device 1000, for example, it is tilted backward with the center plane α of the cleaning device 1000, and the inclination angle is between 25-50°. For the definition of the longitudinal plane and the center plane α of the cleaning device 1000, please refer to the embodiment corresponding to the above-mentioned side brush 151.

[0189] In some embodiments, the first sub-drain port 2151 is positioned closer to the first side 113 of the cleaning device 1000 than the second sub-drain port 2161 , and the second sub-drain port 2161 is positioned closer to the second side 114 of the cleaning device 1000 than the first sub-drain port 2151 , but is not limited thereto.

[0190] In some embodiments, the first sub-drain port 2151 can be arranged in parallel with the second sub-drain port 2161, or the position of the second sub-drain port 2161 can be closer to the first side 113 of the cleaning device 1000 relative to the first sub-drain port 2151, etc., which can be adjusted accordingly according to the structure of the cleaning device 1000 itself.

[0191] In one embodiment, the first sub-drain port 2151 is located between the central plane α and the first side 113, that is, the first sub-drain port 2151 is roughly located in the front of the center of the cleaning device 1000; the second sub-drain port 2161 is located between the central plane α and the second side 114, that is, the second sub-drain port 2161 is roughly located in the rear of the center of the cleaning device 1000.

[0192] Under different operating conditions of the cleaning device 1000, the first sub-drain port 2151 and / or the second sub-drain port 2161 are opened based on the angle of the cleaning device 1000 and / or the current state of the cleaning device 1000. The angle of the cleaning device 1000 can be the inclination angle of the cleaning device 1000 relative to the horizontal plane, which can be obtained by a single or multiple angle detection components provided in the cleaning device 1000. The current state of the cleaning device 1000 can be a water surface state or a water state, etc. The current state of the cleaning device 1000 can be determined by the liquid inlet detection component 232, the liquid level detection component 233, the terrain detection component 196, etc., based on the current environment of the cleaning device 1000.

[0193] When the cleaning device 1000 is operating on the water surface, the second sub-drainage port 2161 is opened to form a clean water flow channel and provide partial forward propulsion force, while the first sub-drainage port 2151 is closed to prevent it from generating downward pressure to press the front part of the cleaning device 1000 into the water, affecting the normal operation of the first sewage suction port 1111a.

[0194] When the cleaning device 1000 is operating in water, the first sub-drain port 2151 can be opened and the second sub-drain port 2161 can be closed according to the current movement of the cleaning device 1000. For example, when the cleaning device 1000 is operating on the bottom of a pool, the material of the pool bottom can be cement, ceramic tile, PVC, etc. The topography of the pool bottom can include inclined uphill or downhill slopes, transitions from a horizontal surface to an inclined surface and vice versa, raised or recessed obstacles, etc. When the cleaning device 1000 is performing a bow-shaped or U-shaped patrol cleaning on the bottom of the pool, or moving along the inclined pool bottom, as shown in FIG. 26 , since the first sub-drain port 2151 is located at the front of the cleaning device 1000, it can provide sufficient downward force for various operations of the cleaning device 1000, preventing the cleaning device 1000 from tilting and affecting the normal operation and cleaning effect of the cleaning device 1000.

[0195] As shown in FIG27 , when the cleaning device 1000 encounters a step while walking on the bottom of the pool and needs to clean the step surface, the cleaning device 1000 can also open the first sub-drain port 2151 when climbing the vertical surface of the step to provide a stronger wall climbing ability, especially when the cleaning device 1000 transitions from the vertical surface of the step to the horizontal surface, by opening the first sub-drain port 2151 located at the front of the cleaning device 1000, the cleaning device 1000 can transition from the vertical state to the horizontal state more quickly, thereby improving the operating efficiency; as shown in FIG28 , when the cleaning device 1000 switches from running on the horizontal surface to running on the downhill surface, When the cleaning device 1000 is turned from the horizontal plane to the uphill plane, opening the first sub-drainage port 2151 can prevent the cleaning device 1000 from leaving the downhill plane due to inertia at the transition point from the horizontal plane to the downhill plane, and then turning upside down; when the cleaning device 1000 is turned from the horizontal plane to the uphill plane, and when running on the uphill plane, opening the first sub-drainage port 2151 can prevent the cleaning device 1000 from turning upside down on the uphill plane; as shown in Figure 29, when the cleaning device 1000 is turned from the uphill plane to the horizontal plane, opening the first sub-drainage port 2151 can prevent the cleaning device 1000 from retaining an uphill tilted posture due to inertia and leaving the horizontal plane, etc.

[0196] In one embodiment, the first sub-drain port 2151 may be opened based on the inclination angle of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane being less than or equal to a predetermined angle threshold, wherein the predetermined angle threshold may be, for example, 60 degrees, but is not limited thereto. For example, the cleaning device 1000 is located at the target bottom wall 1012, at which time the horizontal plane is the target bottom wall 1012, and at this time the inclination angle of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is less than or equal to a predetermined angle threshold. The opening of the first sub-drain port 2151 can increase the force between the cleaning device 1000 and the target bottom wall 1012, so that the cleaning device 1000 does not drift when moving or rotating on the target bottom wall 1012 with less friction, thereby improving the coverage rate of the movement of the cleaning device 1000, thereby improving the cleaning effect and improving the cleaning efficiency; when the first sub-drain port 2151 is located close to the first side 113 of the cleaning device 1000, if the first sub-drain port 2151 is opened, the first side 113 of the cleaning device 1000 will not be tilted when the cleaning device 1000 moves on a sloped target bottom wall 1012, such as uphill or downhill, thereby preventing the cleaning device 1000 from turning over and improving the cleaning efficiency of the cleaning device 1000.

[0197] When the inclination angle of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is greater than or equal to a predetermined angle threshold, the second sub-drain port 2161 can be opened. For example, if the cleaning device 1000 is located on the target sidewall 1011, the horizontal plane is the target sidewall 1011, and the inclination angle of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is greater than or equal to the predetermined angle threshold, the opening of the second sub-drain port 2161 not only increases the interaction force between the cleaning device 1000 and the target sidewall 1011, but also provides horizontal thrust in the same direction as the running direction of the cleaning device 1000. Even if the filter cartridge 120 of the cleaning device 1000 is clogged, resulting in a reduced drainage volume from the second sub-drain port 2161, the propulsion component provided by the second sub-drain port 2161, which is consistent with the running direction of the cleaning device 1000, can still enable the cleaning device 1000 to move upward on the target sidewall 1011 and climb to near the waterline, thereby improving the success rate of the cleaning device 1000's normal operation on the target sidewall 1011.

[0198] In some embodiments, when the inclination angle of the longitudinal plane of the cleaning device 1000 relative to the horizontal plane is greater than or equal to a predetermined angle threshold, if it is detected that the cleaning device 1000 has a tendency to flip over, the first sub-drain port 2151 can be opened, for example, the second sub-drain port 2161 can be switched from opening to opening the first sub-drain port 2151, or water can be controlled to be discharged from the first sub-drain port 2151 and the second sub-drain port 2161 at the same time; whether the cleaning device 1000 has a tendency to flip over can be identified by the terrain detection component 196, or sensors such as acceleration sensors and gyroscopes provided in the cleaning device 1000.

[0199] In some embodiments, the cleaning device 1000 includes a drain baffle 217. The drain baffle 217 is configured to move between a first position and a second position. In the first position, the drain baffle 217 closes the first sub-drain port 2151 and opens the second sub-drain port 2161, allowing liquid to flow out of the cleaning device 1000 through the second sub-drain port 2161. In the second position, the drain baffle 217 closes the second sub-drain port 2161 and opens the first sub-drain port 2151, allowing liquid to flow out of the cleaning device 1000 through the first sub-drain port 2151. In one embodiment, a third position is included between the first position and the second position. When the drainage baffle 217 is in the third position, the liquid discharged from the outlet of the main drive pump 210 is partially discharged from the cleaning device 1000 from the first sub-drainage port 2151 and partially discharged from the cleaning device 1000 from the second sub-drainage port 2161. In this case, the first sub-drainage port 2151 at the front and the second sub-drainage port 2161 at the rear of the cleaning device 1000 will both generate a downward pressure that presses the cleaning device 1000 toward the surface to be cleaned. At the same time, the second sub-drainage port 2161 can generate a propulsion force along the moving direction of the cleaning device 1000, which is beneficial for the cleaning device 1000 to run smoothly on the surface to be cleaned.

[0200] In one embodiment, please continue to refer to Figure 26, the drainage baffle 217 is a rotating baffle. The cleaning device 1000 also includes a first sub-drainage pipe 215 and a second sub-drainage pipe 216 that are connected to the outlet of the main drive pump 210. The first sub-drainage pipe 215 and the second sub-drainage pipe 216 are connected to the first accommodating chamber 111 through the liquid inlet 211 of the main drive pump 210. The first sub-drainage port 2151 is formed at the end of the first sub-drainage pipe 215, and the second sub-drainage port 2161 is formed at the end of the second sub-drainage pipe 216. The rotating axis of the rotating baffle can be set at the intersection of the first sub-drainage pipe 215 and the second sub-drainage pipe 216, and the rotating baffle is driven by a baffle motor (not shown) to move between the first position, the third position and the first position. In other embodiments, the drainage baffle 217 can also be in the form of a sliding baffle or the like. The baffle motor is electrically connected to the control system of the cleaning device 1000 to control the motor according to the operating conditions of the cleaning device 1000 .

[0201] In one embodiment, the drainage baffle 217 can selectively close / open the first sub-drainage pipe 215 or the second sub-drainage pipe 216 , thereby correspondingly closing / opening the first sub-drainage port 2151 or the second sub-drainage port 2161 .

[0202] 25 , the cleaning device 1000 further includes a first handle 251. The first handle 251 is provided on the cleaning device body 110. The cleaning device 1000 can be lifted by the first handle 251. The side of the cleaning device 1000 provided with the second drain port 212 will tilt downward, and the liquid in the filter cartridge 120 will flow out from the second drain port 212 and other drainage channels under the action of gravity. When the cleaning device 1000 cleans the target area 100, liquid will enter the filter cartridge 120. Some liquid in the filter cartridge 120 may not be discharged in time. By draining the liquid, the liquid can be prevented from remaining in the filter cartridge 120 and affecting the subsequent cleaning of the filter cartridge 120. At the same time, the weight of the cleaning device 1000 can be reduced, making it easier to lift.

[0203] In some embodiments, the cleaning device body 110 is provided with an escape opening 251a, which facilitates the user to insert his hand into the escape opening 251a and grasp the first handle 251 to lift the cleaning device 1000. When the user lifts the cleaning device 1000 by the first handle 251, the fourth filter wall 1234 of the filter cartridge 120 is tilted and located at the bottom of the entire filter cartridge 120, and the side of the main drive pump 210 provided with the second drain port 212 is tilted downward, so that the liquid in the filter cartridge 120 can flow from the fourth filter wall 1234 to the main drive pump 210 under the action of gravity and be quickly discharged from the second drain port 212, thereby ensuring the drainage efficiency and improving the drainage ratio, thereby reducing the residual liquid in the filter cartridge 120.

[0204] In some embodiments, the first handle 251 is fixed to two first auxiliary cleaning assemblies 150, that is, one end of the first handle 251 is fixed to one of the first auxiliary cleaning assemblies 150, and the other first handle 251 is fixed to the other first auxiliary cleaning assembly 150. For example, the first handle 251 can be fixed to the side of the side brush cover 1513 of the two first auxiliary cleaning assemblies 150 facing the sixth side 118 of the cleaning device body 110. The first handle 251 can also be provided on the cleaning device body 110, or integrally formed with the outer shell of the cleaning device body 110.

[0205] Please refer to Figures 30 and 31. Figure 30 is a cross-sectional view of the filter cartridge and the second handle of the cleaning device provided by the present disclosure; Figure 31 is a schematic structural diagram of the second handle of the cleaning device provided by the present disclosure. The filter cartridge 120 of the present disclosure is used to store garbage sucked in from the sewage suction port 1111. The cleaning device 1000 also includes a second handle 252, which is arranged above the box opening 122 of the filter cartridge 120. By providing the second handle 252 at the box opening 122, it is convenient for the user to remove the filter cartridge 120 from the first accommodating chamber 111 through the second handle 252. In one embodiment, the second handle 252 is movable relative to the filter cartridge 120 between a closed position and an open position. In the closed position, the filter cartridge cover 124 is closed and in close contact with the cartridge opening 122 of the filter cartridge 120. In the open position, the filter cartridge cover 124 is open, and the user can remove the filter cartridge 120 from the cleaning device body 110 using the second handle 252. The second handle 252 cooperates with the filter cartridge 120 via a second reset assembly. When the filter cartridge cover 124 is closed, the second reset assembly is compressed, placing the second handle 252 in the closed position. When the filter cartridge cover 124 is opened, the second reset assembly moves the second handle 252 from the closed position to the open position. The second reset assembly may be a compression spring, a spring, or other structure.

[0206] In some embodiments, the outer surface of the second handle 252 is rounded, which not only reduces friction between the second handle 252 and the user's palm, improving the user's feel when touching the second handle 252, but also reduces the likelihood of garbage adhering to the outer surface of the second handle 252. The second handle 252 can also be positioned away from the garbage intake channel, so that the second handle 252 does not hinder garbage from entering the filter cartridge 120 and reduces the likelihood of garbage adhering to the outer surface of the second handle 252. For example, if the garbage intake channel enters from the first filter wall 1231 near the sewage suction port 1111, and liquid flowing into the filter cartridge 120 flows toward the fourth filter wall 1234 and out through the first liquid discharge port 1112, the second handle 252 can be positioned on the side of the cartridge opening 122 near the first filter wall 1231, with one end of the second handle 252 positioned on the side of the filter cartridge 120 where the second filter wall 1232 is positioned, and the other end positioned on the side of the filter cartridge 120 where the third filter wall 1233 is positioned. When the second handle 252 is installed on the filter box 120, the gap between the side of the second handle 252 and the filter box 120 is reduced to prevent garbage from being stuck between the side of the second handle 252 and the filter box 120, making it difficult to clean the filter box 120. For example, the gap between one end of the second handle 252 and the second filter wall 1232 is reduced, and the gap between the other end of the second handle 252 and the third filter wall 1233 is reduced.

[0207] In some embodiments, the distance between the second handle 252 and the filter wall 123 through which the suction passage passes is increased to prevent debris from becoming stuck between the second handle 252 and the filter wall 123, thereby making cleaning of the filter cartridge 120 difficult. For example, the area of ​​the fourth filter wall 1234 corresponding to the second handle 252 is tilted away from the second handle 252, thereby increasing the distance D1 between the second handle 252 and the fourth filter wall 1234. This prevents debris from becoming stuck between the second handle 252 and the fourth filter wall 1234, thereby making cleaning of the filter cartridge 120 difficult. In some embodiments, the distance D1 between the second handle 252 and the filter wall 123 is 5-20 mm. For example, the distance D1 between the second handle 252 and the fourth filter wall 1234 can be 7 mm, 14 mm, etc., but is not limited thereto. It is sufficient to ensure that the distance between the second handle 252 and the filter wall 123 is within the range of 5-20 mm. By controlling the distance between the second handle 252 and the filter wall 123 through which the suction channel passes within the range of 5-20 mm, the second handle 252 will not hinder garbage from entering the filter box 120 through the sewage suction port 1111, nor will it hinder liquid from being discharged through the filter wall 123. It can also prevent garbage from being stuck between the second handle 252 and the filter wall 123, making it difficult to clean the filter box 120.

[0208] In some embodiments, please refer to Figure 32, which is a structural schematic diagram of an embodiment of the electric control box of the cleaning equipment provided by the present disclosure. The electric control box 220 is used to load power supply and control components such as batteries, a control system 231, and various motors. It is necessary to waterproof the electric control box 220 and set the electric control box 220 to a sealed structure to prevent liquid from entering the electric control box 220. The electric control box 220 includes an electric control box body 221, an electric control box terminal 222 and an electric control box end cover 2222. The electric control box terminal 222 is formed with a groove portion 222a and a plurality of outlet portions 2221 connected to the groove portion 222a, and the outlet portion 2221 and the groove portion 222a are connected to the interior of the electric control box 220 in sequence. The electric control box end cover 2222 is used to cover the groove portion 222a and be fixed to the electric control box terminal 222 to seal the groove portion 222a and the electric control box 220. The electric control box terminal 222 is disposed on the electric control box body 221. Specifically, the electric control box terminal 222 can be disposed on the lower cover of the electric control box 220 or directly plugged into the electric control box 220. Modules such as the second auxiliary cleaning assembly 160, the travel mechanism 190, the propulsion assembly 180, the visual sensing assembly 140, the roller brush assembly 171, and the main drive pump 210 of the cleaning device 1000 can be electrically connected to the battery within the electric control box 220 via the electric control box terminal 222, or can be communicatively connected to the control system 231 of the electric control box 220. The disclosed embodiment is described using the example of the visual sensing assembly 140 being electrically connected to the control system 231 and / or battery within the electric control box 220 via the wiring harness 1463.

[0209] In some embodiments, in combination with Figures 14 and 32, one end of the harness 1463 away from the visual sensing assembly 140 extends into the groove 222a through the outlet portion 2221, and extends into the interior of the electrical control box 220 through the groove 222a to be electrically connected to the control system 231 and / or the battery. During the process of installing and sealing the electric control box terminal 222, the electric control box end cover 2222 and the wire harness 1463 to the electric control box body 221, first, fill the gap between the outlet portion 2221 and the wire harness 1463 with sealing glue, then set the third sealing ring (not shown) between the electric control box terminal 222 and the electric control box body 221, and fix the electric control box terminal 222 on the electric control box body 221 to press the third sealing ring between the electric control box terminal 222 and the electric control box body 221, then fill the gap between the groove 222a, and finally cover the electric control box end cover 2222 on the groove 222a and fix it to the electric control box terminal 222. By disposing a third sealing ring between the electric control box terminal 222 and the electric control box body 221, injecting sealing glue between the wire outlet 2221 and the wire harness 1463, and injecting sealing glue into the groove 222a, liquid can be prevented from seeping into the interior of the electric control box 220 from between the electric control box terminal 222 and the electric control box body 221. At the same time, it is avoided that directly injecting glue into the electric control box terminal 222 may cause poor contact of some electric control box terminals 222 and affect the operation of the electric control box 220. The fixing method for fixing the electric control box terminal 222 to the electric control box body 221 and the fixing method for fixing the electric control box end cover 2222 to the electric control box terminal 222 can be screw fixing, rivet fixing, bolt fixing, pin fixing, welding fixing, adhesive bonding fixing, snap fixing, magnetic adsorption fixing, etc., but are not limited to these.

[0210] In some embodiments, please refer to Figure 33, which is a structural diagram of the electric control box and prompt assembly of the cleaning device provided by the present disclosure. The cleaning device 1000 also includes a prompt assembly 237. The prompt assembly 237 can be set in the electric control box 220. The prompt assembly 237 is used to issue prompt information. The prompt information includes prompts for operating the operating steps of the cleaning device 1000, prompts that the cleaning device 1000 has left the target area 100, prompts that the cleaning device 1000 has been moved to the shore of the target area 100, prompts that the filter box 120 is fully loaded, prompts that the filter box 120 is blocked, prompts that the second auxiliary cleaning assembly 160 of the cleaning device 1000, the walking mechanism 190, the propulsion assembly 180, the visual sensor assembly 140, the roller brush assembly 171, the main drive pump 210 and other modules have malfunctioned, etc., but is not limited to this. In some embodiments, the prompt assembly 237 can also be used to play voice. The prompt assembly 237 can be set on the inner side wall of the electric control box 220. In some embodiments, a prompt component 237 can be disposed on the inner top wall of the electrical control box 220, so that when the cleaning device 1000 is at the liquid level in the target area 100 or is within the base station, the user can control the cleaning device 1000 through prompt information issued by the prompt component 237. The prompt component 237 can be a speaker, an LED, a vibrator, etc. The prompt information can be voice or music played by the speaker; light or flashing emitted by an LED; vibration generated by a vibrator, etc.

[0211] Please also refer to Figure 34, which is a partial structural diagram of an embodiment of the cleaning device provided by the present disclosure. The cleaning device 1000 also includes a first float chamber 261. The first float chamber 261 can be located on the outer top wall of the electrical control box 220. The first float chamber 261 can be used to accommodate liquid and / or gas. The cleaning device 1000 also includes a first buoyancy adjustment control 2611. The first buoyancy adjustment control 2611 can be used to adjust the volume of the liquid and / or gas in the first float chamber 261. The volume of the liquid and / or gas in the first float chamber 261 is adjusted by the first buoyancy adjustment control 2611 to change the magnitude of the buoyancy applied to the cleaning device 1000 in the vertical direction, so that the cleaning device 1000 can switch between floating on the liquid surface of the target area 100 and the bottom of the target area 100.

[0212] The number of the aforementioned first float chambers 261 can be one, two, or more. When there is only one first float chamber 261, it is located at the centerline of the two sets of walking mechanisms 190. When the cleaning device 1000 is located at the liquid surface in the target area 100, the shape of the first float chamber 261 must at least ensure that the buoyancy exerted on the cleaning device 1000 causes the first sewage suction port 1111a or the second sewage suction port 1111b to be at least partially exposed above the liquid surface. When there are multiple first float chambers 261, adjacent first float chambers 261 may or may not be connected. For example, when there are two first float chambers 261, one of the first float chambers 261 is located on a side of the main drive pump 210 and the electrical control box 220 close to the third side 115 of the cleaning device body 110, and is located on or fixed to the outer top wall of the electrical control box 220; the other first float chamber 261 is located on a side of the main drive pump 210 and the electrical control box 220 close to the fourth side 116 of the cleaning device body 110, and is located on or fixed to the outer top wall of the electrical control box 220; there can be two first buoyancy adjustment parts 2611, each of which is connected to a corresponding first buoyancy adjustment part 2611. By having at least two first float chambers 261, the stability of the buoyancy can be improved, and the risk of the cleaning device 1000 tipping over or tilting due to uneven buoyancy below or above the liquid surface can be reduced.

[0213] The first float chamber 261 includes, but is not limited to, an inflatable float chamber, a liquid container float chamber, a partitioned float chamber, and the like. The volume of the first float chamber 261 can be pre-set. The first float chamber 261 can be made of a flexible material and / or a rigid material. The aforementioned flexible materials may include, but are not limited to, polyvinyl alcohol resin, polyethylene terephthalate, rubber, and the like. Rigid materials may include, but are not limited to, glass, ceramics, phenolic plastic, polyurethane plastic, epoxy plastic, unsaturated polyester plastic, and the like. For example, the first float chamber 261 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 carrying gas and / or liquid; the outer layer is a rigid protective shell 242 that provides protection and stability for the inner layer.

[0214] The first buoyancy adjustment member 2611 can also be used to adjust the volume of the gas within the first buoyancy chamber 261. When the first buoyancy chamber 261, which is made of a flexible material, is deflated, the first buoyancy adjustment member 2611 can inject air into the first buoyancy chamber 261, thereby increasing the volume of the gas within the first buoyancy chamber 261 and increasing the vertical buoyancy of the cleaning device 1000.

[0215] The first buoyancy control 2611 can also be used to adjust the volume of liquid within the first buoyancy chamber 261. The cleaning device 1000 can use the first buoyancy control 2611 to adjust the volume of liquid within the first buoyancy chamber 261, thereby adjusting the volume of gas within the first buoyancy chamber 261 and thereby changing the buoyancy experienced by the cleaning device 1000 in the liquid. For example, when the first buoyancy chamber 261, which is made of a rigid material, contains liquid, the first buoyancy control 2611 can pump the liquid out of the first buoyancy chamber 261, increasing the vertical buoyancy experienced by the cleaning device 1000. The first buoyancy control 2611 can include any structure capable of adjusting the gas and / or liquid within the first buoyancy chamber 261. The first buoyancy control 2611 can include a first buoyancy chamber 261 pump. The first buoyancy chamber 261 pump can drive the first buoyancy chamber 261 to discharge liquid. The first buoyancy chamber 261 pump can include, but is not limited to, a pneumatic pump, a hydraulic pump, an electric pump, or a peristaltic pump. When the first float chamber 261 pump is in operation, it can adjust the liquid and / or gas in the first float chamber 261. When the first float chamber 261 pump is in non-operational state, it can prevent liquid and / or liquid outside the cleaning device 1000 from entering the first float chamber 261, so that the first float chamber 261 is not affected by external liquid and / or gas. The first buoyancy adjustment unit 2611 can also be other structures. For example, the first buoyancy adjustment unit 2611 can also be a piston assembly disposed inside the first float chamber 261, and the volume of the gas and / or liquid in the first float chamber 261 is adjusted by the movement of the piston assembly inside the first float chamber 261.

[0216] Continuing to refer to Figure 34, refer also to Figure 35, which is a structural schematic diagram of the data transmission component of the cleaning device provided by the present disclosure. The cleaning device 1000 also includes a data transmission component 240. The data transmission component 240 can be arranged on the inner top wall of the cleaning device body 110 or above the first float chamber 261 of the cleaning device 1000, so that when the cleaning device 1000 is located at the liquid level of the target area 100, the data transmission component 240 is located above the liquid level, so that the data transmission component 240 can establish a communication connection with the communication device. The data transmission component 240 can be a WiFi component, a Bluetooth component, etc., and the communication device can be a mobile phone, a tablet computer, a laptop computer, a desktop computer, a base station of the cleaning device 1000, etc., but is not limited to this. The setting of the cleaning device 1000 on the inner top wall of the cleaning device body 110 or above the first float chamber 261 of the cleaning device 1000 can be a screw connection, a bolt connection, an adhesive bonding, a snap connection, a magnetic adsorption connection, etc., but is not limited to this. Of course, the data transmission assembly 240 can also be set in other locations, as long as it is ensured that when the cleaning device 1000 is located at the liquid surface in the target area 100, the data transmission assembly 240 can be located above the liquid surface. This arrangement allows the data transmission assembly 240 to be carried out in the air, reducing signal attenuation and other problems caused by the transmission of data signals in two media: air and liquid.

[0217] In some embodiments, when there are two first float cavities 261, the data transmission component 240 is arranged at the top of the first float cavity 261 close to the third side 115 of the cleaning device body 110, that is, the data transmission component 240 is arranged at the top of the first float cavity 261 close to the left side of the forward direction of the cleaning device 1000; of course, the data transmission component 240 can also be arranged at the top of the first float cavity 261 close to the side of the fourth side 116 of the cleaning device body 110, that is, the data transmission component 240 can also be arranged at the top of the first float cavity 261 close to the left side of the forward direction of the cleaning device 1000.

[0218] The data transmission component 240 includes a main component 241, a protective shell 242 and a connecting line (not shown). The main component 241 is arranged in the protective shell 242, one end of the connecting line extends into the protective shell 242 and is electrically connected to the main component 241, and the other end is connected to the electric control box 220 to connect to the control system 231 in the electric control box 220, and the main component 241 is sealed in the protective shell 242 by glue filling. The foreskin of the connecting line has good waterproof performance. The foreskin of the connecting line can be selected from polyurethane (Thermoplastic polyurethanes, TUP), high-density polyethylene (High Density Polyethylene, HDPE), polyvinyl chloride (Polyvinyl chloride, PVC), etc., but is not limited to this. The cleaning device 1000 can be networked through the data transmission component 240 and establish a communication connection with communication equipment such as mobile phones, tablet computers, laptops, desktop computers, base stations of the cleaning device 1000, so that users can control the cleaning device 1000 through communication equipment.

[0219] In some embodiments, please continue to refer to Figure 21. The cleaning device 1000 also includes a second float chamber 262. The second float chamber 262 can be arranged on the side of the first side 113 of the cleaning device body 110 facing the filter box 120. The second float chamber 262 is used to balance the buoyancy of the front and rear ends of the cleaning device 1000 in the forward direction to prevent the cleaning device 1000 from tilting forward or backward. The second float chamber 262 can be used to accommodate liquid and / or gas. The cleaning device 1000 also includes a second buoyancy adjustment control 2621. The second buoyancy adjustment control 2621 can be used to adjust the volume of liquid and / or gas in the second float chamber 262. The volume of liquid and / or gas in the second float chamber 262 is adjusted by the second buoyancy adjustment control 2621 to balance the buoyancy of the front and rear ends of the cleaning device 1000.

[0220] The number of second float cavities 262 can be one, two, or more. When there is only one second float cavity 262, it can be located on the side of the visual sensor assembly 140 facing the walking surface 101 of the cleaning device 1000 and located at the centerline of the two walking mechanisms 190. When there are two second float cavities 262, one second float cavity 262 is located on the third side 115 of the cleaning device body 110 of the visual sensor assembly 140; the other second float cavity 262 is located on the side of the visual sensor assembly 140 near the fourth side 116 of the cleaning device body 110. There can be two second buoyancy adjustment controls 2621, each of which is connected to a corresponding second buoyancy adjustment control 2621.

[0221] The second float chamber 262 includes, but is not limited to, an inflatable float chamber, a liquid container float chamber, a partitioned float chamber, and the like. The volume of the second float chamber 262 can be pre-set. The second float chamber 262 can be made of a flexible material and / or a rigid material. Flexible materials can include, but are not limited to, polyvinyl alcohol resin, polyethylene terephthalate, rubber, foam, and the like. Rigid materials can include, but are not limited to, glass, ceramics, phenolic plastic, polyurethane plastic, epoxy plastic, unsaturated polyester plastic, and the like. The second float chamber 262 can be a double-layer structure comprising an inner layer and an outer layer. The inner layer can be made of a flexible material for carrying gas and / or liquid; the outer layer is a rigid protective shell 242 that provides protection and stability for the inner layer.

[0222] The cleaning device 1000 can adjust the volume of liquid within the second float chamber 262 using the second buoyancy control 2621 to adjust the weight of the front end of the cleaning device 1000 and balance the buoyancy of the front and rear ends of the cleaning device 1000. For example, before the cleaning device 1000 begins cleaning the target area 100, the weight of the front end of the cleaning device 1000 is less than the weight of the rear end of the cleaning device 1000. The second buoyancy control 2621 can control the amount of liquid entering the second float chamber 262 to ensure that the weights of the front and rear ends of the cleaning device 1000 are equal or similar, thereby balancing the buoyancy of the front and rear ends of the cleaning device 1000. During the cleaning process, the second buoyancy control 2621 can control the discharge of liquid from the second float chamber 262 based on the buoyancy difference between the front and rear ends of the cleaning device 1000 to prevent the cleaning device 1000 from tipping forward.

[0223] In some embodiments, please continue to refer to Figures 21 to 22. The cleaning device 1000 also includes a water quality treatment component 270. The water quality treatment component 270 is detachably arranged in the cleaning device body 110. For example, the water quality treatment component 270 can be arranged on a side of the cleaning device body 110 away from the filter box 120. The water quality treatment component 270 treats the water quality of the pool by spreading reagents into the pool. The water quality treatment component 270 includes a reagent kit 271 and a reagent drive (not shown). The reagent kit 271 is used to store one or more reagents. Reagents include but are not limited to disinfectants, algaecides, coagulants, pH adjusters, etc. The reagent kit 271 includes a reagent drive. The reagent drive is used to provide driving force for the reagent spreading. Among them, the reagent drive can be a reagent drive pump.

[0224] In some embodiments, the cleaning device 1000 further includes a presence sensing assembly 280. The presence sensing assembly 280 is used to detect whether the reagent kit 271 is properly installed, thereby ensuring that the cleaning device 1000 can perform normal reagent spreading only after the reagent kit 271 is properly installed, thereby preventing the cleaning device 1000 from being unable to perform reagent spreading due to the reagent kit 271 not being properly installed or not yet installed in the cleaning device 1000.

[0225] The in-situ sensing component 280 includes at least one of a magnetic induction component, an induction component, and a switch component. During actual use, the detection method can be flexibly adjusted according to actual needs. For example, the in-situ sensing component 280 can be a magnetic induction component, an induction component, or a switch component. Alternatively, the in-situ sensing component 280 can include a magnetic induction component, an induction component, and a switch component at the same time. The magnetic induction component can sense whether the reagent kit 271 is in place by magnetic induction. The magnetic induction method can be achieved by the cooperation of the Hall element 281 and the Hall magnet 283. The induction component can sense whether the reagent kit 271 is in place by induction. The switch component senses whether the reagent kit 271 is in place by a switch component. It should be noted that the magnetic induction component, the induction 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 in-situ sensing component 280 and improving the stability of the in-situ sensing component 280.

[0226] The embodiment of the present disclosure uses the presence sensing component 280 as an example of a magnetic sensing component. Please refer to Figures 36 and 37 . Figure 36 is a schematic diagram of the structure of the Hall element and the carrier plate of the presence sensing component of the cleaning device provided by the present disclosure. Figure 37 is a schematic diagram of the structure of the Hall element and the Hall element in one embodiment of the presence sensing component of the cleaning device provided by the present disclosure. The magnetic sensing component includes a Hall element 281, a carrier plate 282, and a Hall magnet 283. The Hall magnet 283 is disposed on the side of the carrier plate 282 facing the Hall magnet 283. The Hall element 281 can be disposed on a circuit board, which is used to provide at least a stable power supply and magnetic circuit for the Hall element 281, thereby ensuring the operational stability of the presence sensing component and improving the presence sensing efficiency of the presence sensing component. One of the Hall element 281 and the carrier plate 282 is disposed in the reagent box 271, and the other of the Hall element 281 and the carrier plate 282 is disposed on the electrical control box 220 or the cleaning device body 110. The magnetic field between the Hall magnets 283 and the Hall magnets 283 can penetrate the reagent box 271 and the electric control box 220 for sensing.

[0227] In some embodiments, cleaning device 1000 further includes a button 290. The button 290 is used to control cleaning device 1000. For example, the button 290 can be used to control the opening and closing of the total power supply of cleaning device 1000, control cleaning device 1000 to enter or exit cleaning mode, control the operating power of the modules of the second auxiliary cleaning assembly 160, propulsion assembly 180, walking mechanism 190 and main drive pump 210, etc., but is not limited thereto. The button 290 can be arranged on the first side 113, the second side 114, the third side 115, the fourth side 116 or the sixth side 118 of the cleaning device main body 110. Alternatively, the button 290 can be arranged on the sixth side 118 of the cleaning device main body 110, that is, arranged on the top of the cleaning device main body 110, so that when the cleaning device 1000 cleans the liquid level of the target area 100, the button 290 can float out of the liquid level, making it convenient for the user to control the cleaning device 1000. The button 290 may be disposed between the second liquid discharge port 212 of the main driving pump 210 and the filter box 120 .

[0228] 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 for operating in a target area (100) in a body of water, comprising a first side (113) located at the front of the cleaning device (1000), a fourth side (116) located at the right side of the cleaning device (1000), and a third side (115) located at the left side of the cleaning device (1000), the cleaning device (1000) comprising a cleaning device body (110), wherein: Also includes: At least one sewage suction port (1111) is arranged on the cleaning device body (110) so that dust-carrying water flow can enter the cleaning device body (110) through the sewage suction port (1111); At least one filter box (120) is detachably disposed on the cleaning device body (110), and the filter box (120) has a water inlet that is fluidically connected to the at least one sewage suction port (1111); at least one set of identification components (130), arranged on a side of the cleaning device body (110), the identification components (130) comprising at least a first sub-identification component (131) and a second sub-identification component (132), wherein the first sub-identification component (131) and the second sub-identification component (132) are different and arranged adjacent to each other; the identification components (130) are used to identify the obstacle status in the target area (100); A control system (231) is electrically connected to the at least one set of identification components (130) to adjust the operating posture of the cleaning device (1000) based on information from the identification components (130).

2. The cleaning device according to claim 1, wherein: The cleaning device (1000) comprises two groups of identification components (130), wherein one group of identification components (130) is arranged on the first side (113) of the cleaning device body (110), and the other group of identification components (130) is arranged on the fourth side (116) adjacent to the first side (113).

3. The cleaning device according to claim 1, wherein: The first sub-identification element (131) is an infrared sensor, the second sub-identification element (132) is an ultrasonic sensor, and the first sub-identification element (131) and the second sub-identification element (132) have approximately the same light emission angle.

4. The cleaning device according to claim 1, wherein: The cleaning device (1000) further comprises a visual sensing component (140), wherein the visual sensing component (140) comprises a camera body (140a) and a fill light (140b), wherein the camera body (140a) is used to capture an image of the target area (100), and the fill light (140b) is used to adjust the brightness of the shooting area of ​​the camera body (140a).

5. The cleaning device according to claim 1, wherein: The sewage suction port (1111) comprises a first sewage suction port (1111a) arranged on the first side (113) of the cleaning device body (110); the cleaning device (1000) further comprises a first auxiliary cleaning component (150) arranged adjacent to the first sewage suction port (1111a); along the moving direction of the cleaning device (1000), the first auxiliary cleaning component (150) is at least partially located in front of the first sewage suction port (1111a) so as to guide the water flow outside the working area of ​​the sewage suction port (1111) to the working area of ​​the first sewage suction port (1111a).

6. The cleaning device according to claim 5, wherein: The first auxiliary cleaning component (150) comprises at least a side brush (151), and the side brush (151) is rotatably arranged on the cleaning device body (110), and the side brush (151) at least partially extends outside the outline of the cleaning device (1000).

7. The cleaning device according to claim 6, wherein: The projection height of the side brush (151) on the central plane (α) of the cleaning device (1000) at least partially overlaps with the projection height of the first sewage suction port (1111a) on the central plane (α) of the cleaning device (1000).

8. The cleaning device according to claim 1, wherein: The cleaning device (1000) further comprises an anti-collision member (200), wherein the anti-collision member (200) at least partially protrudes outside the main body contour of the cleaning device main body (110).

9. The cleaning device according to claim 1, wherein: The cleaning device (1000) further comprises a second auxiliary cleaning component (160), wherein the second auxiliary cleaning component (160) comprises at least a water spraying member (161) and a second driving member (162), wherein the nozzle (1611) of the water spraying member (161) is inclined toward the area to be cleaned, and the second driving member (162) is used to drive water to spray out from the nozzle (1611) of the water spraying member (161).

10. The cleaning device according to claim 9, wherein: The cleaning device (1000) further comprises a propulsion assembly (180), wherein the propulsion assembly (180) is connected to the water spraying member (161), and the propulsion assembly (180) comprises a first liquid outlet (181) and a third driving member (182), wherein the third driving member (182) is the same as or different from the second driving member (162), and the first liquid outlet (181) is located at an end of the propulsion assembly (180) away from the spraying head (1611), and the second driving member (162) and / or the third driving member (182) are used to drive water to flow into from the first liquid outlet (181) and to be sprayed out from the spraying head (1611).

11. The cleaning device according to claim 1, wherein: The cleaning device (1000) further comprises a first accommodating chamber (111) and a main driving pump (210); the filter box (120) is detachably arranged in the first accommodating chamber (111); the filter box (120) is formed with a notch (121); the notch (121) serves as the water inlet; the notch (121) is connected to the sewage suction port (1111); the filter box (120) has a filtering wall surface (123); the first accommodating chamber (111) is provided with a first liquid discharge port (1112); the sewage suction port (1111), the filter box (120) and the first liquid discharge port The main driving pump (210) is used to drive water to flow from the sewage suction port (1111) into the filter box (120) and then flow through the filter wall surface (123) of the filter box (120) and then flow out of the first accommodating cavity (111) from the first liquid discharge port (1112); wherein the filter wall surface (123) at least includes a first filter wall surface (1231) and a fourth filter wall surface (1234), the first filter wall surface (1231) is formed with the notch (121), and the fourth filter wall surface (1234) faces the main driving pump (210).

12. The cleaning device according to claim 11, wherein: The filtering wall surface (123) comprises at least a first filtering wall surface (1231), a second filtering wall surface (1232), a third filtering wall surface (1233) and a fourth filtering wall surface (1234); the filtering grades of the second filtering wall surface (1232), the third filtering wall surface (1233) and the fourth filtering wall surface (1234) are all greater than the filtering grade of the first filtering wall surface (1231).

13. The cleaning device according to claim 12, wherein: Each of the filter walls (123) comprises a corresponding inner filter screen (123a) and an outer filter screen (123b); the filtering grade of the inner filter screen (123a) of the first filter wall (1231) is equal to the filtering grade of the corresponding outer filter screen (123b); and the filtering grades of the inner filter screen (123a) of the second filter wall (1232), the third filter wall (1233) and the fourth filter wall (1234) are all lower than the filtering grade of the corresponding outer filter screen (123b).

14. The cleaning device according to claim 11, wherein: The cleaning device (1000) comprises a second liquid discharge port (212) fluidically connected to the first liquid discharge port (1112), the second liquid discharge port (212) discharges liquid in an inclined direction away from a central plane (α) of the cleaning device (1000), and a diverter plate (214) is arranged behind the second liquid discharge port (212).

15. The cleaning device according to claim 1, wherein: The cleaning device (1000) further comprises at least one topography detection component (196) disposed at the front bottom of the cleaning device (1000), and the topography detection component (196) is disposed adjacent to the walking mechanism (190) of the cleaning device (1000).

16. The cleaning device according to claim 1, wherein: The cleaning device (1000) comprises a first sub-drainage pipe (215) and a second sub-drainage pipe (216) which are connected to the outlet of the main driving pump (210); a first sub-drainage port (2151) is formed at the end of the first sub-drainage pipe (215); a second sub-drainage port (2161) is formed at the end of the second sub-drainage pipe (216); and either the first sub-drainage pipe (215) or the second sub-drainage pipe (216) can be opened selectively.

17. The cleaning device according to claim 16, wherein: The cleaning device (1000) has a central plane (α), the first sub-drainage port (2151) is located between the central plane (α) and the first side (113) of the cleaning device (1000), and the second sub-drainage port (2161) is located between the central plane (α) and the second side (114) of the cleaning device (1000).

18. The cleaning device according to claim 17, wherein: The discharge direction of the first sub-drainage port (2151) is substantially parallel to the central plane (α), and the discharge direction of the second sub-drainage port (2161) is inclined away from the central plane (α).

19. The cleaning device according to claim 16, wherein: The cleaning device (1000) further comprises a drainage baffle (217), which is movable between a first position and a second position, wherein in the first position, the drainage baffle (217) closes the first sub-drainage pipe (215), and in the second position, the drainage baffle (217) closes the second sub-drainage pipe (216).

20. The cleaning device according to claim 1, wherein The cleaning device (1000) further comprises a first sub-liquid discharge pipe (215) and a second sub-liquid discharge pipe (216) which are communicated with the outlet of the main driving pump (210), wherein the end of the first sub-liquid discharge pipe (215) forms a first sub-liquid discharge port (2151), and the end of the second sub-liquid discharge pipe (216) forms a second sub-liquid discharge port (2161); the cleaning device (1000) further comprises a liquid discharge baffle (217), wherein the movable position of the liquid discharge baffle (217) comprises a third position between the first position and the second position. In the first position, the drainage baffle (217) closes the first sub-drainage pipe (215); in the second position, the drainage baffle (217) closes the second sub-drainage pipe (216); when the drainage baffle (217) is in the third position, part of the water flow discharged from the outlet of the main driving pump (210) is discharged from the cleaning device (1000) through the first sub-drainage port (2151) and part of the water flow is discharged from the cleaning device (1000) through the second sub-drainage port (2161).

Images