Cleaning device

Abstract

Provided in the present disclosure is a cleaning device, comprising: a cleaning device body, which has a first side at the front, a second side at the rear, a third side on the left side, and a fourth side on the right side; traveling mechanisms, which are substantially symmetrically arranged on two sides of the cleaning device, and each of which comprises at least a first guide wheel and a second guide wheel of substantially the same size, and a crawler belt sleeved outside the first guide wheel and the second guide wheel; a cover plate, which covers the outside surfaces of the first guide wheel and the second guide wheel so as to make the first guide wheel and the second guide wheel not visible from the outside of the cleaning device, wherein the area of the annular region formed after the crawler belt is sleeved on the first guide wheel and the second guide wheel is substantially equal to the area of the cover plate; the projection of the outer contour of the cover plate on a traveling surface is located within the projection of the outer contour of the crawler belt on the traveling surface; the projection of the third side or the fourth side on the traveling surface is located within the projection of the outer contour of the crawler belt on the traveling surface; and the traveling surface is a flat surface in a surface to be cleaned that comes into contact with the traveling mechanism.

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.

[0005] This application claims priority to international patent application number PCT / CN2024 / 100765, filed with the International Patent Office on June 21, 2024, and entitled “Cleaning Equipment,” the entire contents of which are incorporated herein by reference. Technical Field

[0006] The present disclosure relates to the technical field of water body working equipment, and in particular to a cleaning device. Background Art

[0007] With the improvement of people's living standards, more and more people choose swimming, 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.

[0008] 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. Summary of the Invention

[0009] The present disclosure provides a cleaning device, comprising a cleaning device main body, having a first side located at the front and a second side located at the rear, a third side located at the left and a fourth side located at the right; a walking mechanism basically symmetrically arranged on both sides of the cleaning device, the walking mechanism at least comprising a first guide wheel and a second guide wheel of basically the same size, and a crawler track mounted outside the first and second guide wheels; a cover plate, covering the outer side surfaces of the first and second guide wheels so that the first and second guide wheels are not visible from the outer side surface of the cleaning device; wherein the area of ​​the annular region formed after the crawler track is mounted on the first and second guide wheels is approximately equal to the area of ​​the cover plate; and, the projection of the outer contour of the cover plate on the walking surface is located within the projection of the outer contour of the crawler track on the walking surface; and, the projection of the third side or the fourth side on the walking surface is located within the projection of the outer contour of the crawler track on the walking surface; the walking surface is a plane in the surface to be cleaned that contacts the walking mechanism. 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 a is a side view of an embodiment of a cleaning device provided by the present disclosure;

[0032] FIG20 b is a third partial schematic diagram of an embodiment of a cleaning device provided by the present disclosure;

[0033] FIG20c is a side view of a third embodiment of a cleaning device provided by the present disclosure;

[0034] FIG20 d is a side view of a fourth embodiment of a cleaning device provided by the present disclosure;

[0035] FIG20e is a side view of a fifth embodiment of a cleaning device provided by the present disclosure;

[0036] FIG20f is a side view of a sixth embodiment of a cleaning device provided by the present disclosure;

[0037] FIG21 is a cross-sectional view of another embodiment of a cleaning device provided by the present disclosure;

[0038] FIG22 is an enlarged view of portion B in FIG21;

[0039] FIG23 is a schematic structural diagram of an embodiment of a dust box of a cleaning device provided by the present disclosure;

[0040] FIG24 is another side view of an embodiment of a cleaning device provided by the present disclosure;

[0041] FIG25 is a schematic structural diagram of another embodiment of the cleaning device provided by the present disclosure;

[0042] FIG26 is a cross-sectional view of another embodiment of a cleaning device provided by the present disclosure;

[0043] FIG27 is a schematic structural diagram of a cleaning device provided by the present disclosure in a motion state;

[0044] FIG28 is a schematic structural diagram of another motion state of the cleaning device provided by the present disclosure;

[0045] FIG29 is a schematic structural diagram of a third motion state of the cleaning device provided by the present disclosure;

[0046] FIG30 is a cross-sectional view of the dust box and the second handle of the cleaning device provided by the present disclosure;

[0047] FIG31 is a schematic structural diagram of a second handle of the cleaning device provided by the present disclosure;

[0048] FIG32 is a schematic structural diagram of an embodiment of an electric control box of a cleaning device provided by the present disclosure;

[0049] 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;

[0050] FIG34 is a partial structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0051] FIG35 is a schematic structural diagram of a data transmission assembly of a cleaning device provided by the present disclosure;

[0052] 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;

[0053] FIG37 is a schematic diagram of the structure of the Hall element and the Hall magnet in cooperation with each other in one embodiment of the in-position sensing assembly of the cleaning device provided by the present disclosure;

[0054] FIG38 a is a schematic structural diagram of an embodiment of a dust box provided by the present disclosure;

[0055] FIG38b is a schematic diagram of the structure in which the dust box and the second handle are separated in FIG38a;

[0056] FIG38c is a schematic longitudinal cross-sectional view of the dust box in FIG38a;

[0057] FIG38d is a schematic structural diagram of an embodiment of a cleaning device provided by the present disclosure;

[0058] FIG38e is a schematic diagram of the structure of the cleaning device in FIG38d with the dust box cover removed;

[0059] FIG38f is a schematic structural diagram of an embodiment of the present disclosure after the dust box is placed in the dust bin;

[0060] FIG38g is a schematic structural diagram of an embodiment of the present disclosure after the dust box is placed in the dust bin;

[0061] FIG38h is a schematic structural diagram of an embodiment of a dust bin provided by the present disclosure;

[0062] FIG38i is a schematic structural diagram of an embodiment of a dust bin provided by the present disclosure;

[0063] FIG38j is a longitudinal cross-sectional view of the dust box provided by the present disclosure after being placed in the dust bin;

[0064] FIG38k is a partial schematic diagram of a longitudinal cross-section of a dust bin and a dust box provided by the present disclosure;

[0065] FIG39a is a schematic structural diagram of another embodiment of a dust box provided by the present disclosure;

[0066] FIG39 b is a schematic structural diagram of another embodiment of a dust box provided by the present disclosure;

[0067] FIG39c is a schematic structural diagram of another embodiment of the present disclosure after the dust box is placed in the dust bin;

[0068] FIG39d is a schematic structural diagram of another embodiment of a dust bin provided by the present disclosure;

[0069] FIG39e is a schematic structural diagram of an embodiment of an inner dust box provided by the present disclosure;

[0070] FIG39f is a schematic structural diagram of an embodiment of an inner dust box provided by the present disclosure;

[0071] FIG39g is a schematic structural diagram of an embodiment of an external dust box provided by the present disclosure;

[0072] FIG39h is a schematic structural diagram of an embodiment of an outer dust box provided by the present disclosure;

[0073] FIG39i is a longitudinal cross-sectional view of an embodiment of the present disclosure after the dual dust boxes are placed in the dust bin;

[0074] FIG39j is a longitudinal cross-sectional view of an embodiment of a dual dust box provided by the present disclosure;

[0075] FIG39k is a schematic structural diagram of another embodiment of a cleaning device provided by the present disclosure;

[0076] FIG391 is a schematic structural diagram of another embodiment of a cleaning device provided by the present disclosure;

[0077] FIG40 a is a schematic structural diagram of another embodiment of the dual dust box (without the filter) provided by the present disclosure;

[0078] FIG40 b is a schematic structural diagram of another embodiment of the outer dust box provided by the present disclosure;

[0079] FIG40c is a schematic structural diagram of another embodiment of the inner dust box provided by the present disclosure;

[0080] FIG40 d is a schematic structural diagram of another embodiment of an inner dust box provided by the present disclosure;

[0081] FIG41 is a schematic longitudinal cross-sectional view of an embodiment of a cleaning device provided by the present disclosure;

[0082] FIG42 is a schematic cross-sectional view of another embodiment of the dust box provided in the present disclosure.

[0083] Figure 1: Cleaning device 1000; target area 100, walking surface 101, target side wall 1011, target bottom wall 1012, dust bin 1010, second water inlet 10131, water baffle 1012, second extension 1013, second cavity 1014, second rib 1015 first drain outlet 1016, third outer edge 1017; cleaning device body 110, third accommodating cavity 1101, third cavity 11011, fourth cavity 11012, first partition 11013; guide port 11014, cover 11015, counterweight 11016, third partition 11017, first accommodating cavity 111, sewage suction port 1111, first sewage suction port 1111a, first edge 1111a1, second edge 1111a2, second sewage suction port 1111b, first Drain port 1112, second accommodating chamber 112, second drain port 1113, 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; dust box 120, inner dust box 1201, first inner filter surface 12011, second inner filter surface 12012, third inner filter surface 12013, first inner entrance 12015, first inner box opening 12016, fourth inner filter surface 12014, buckle 12018, second clearance area 12019, sealing cover 120120, Fifth inner filter surface 120121; first outer edge 120122, outer dust box 1202, first outer filter surface 12021, second outer filter surface 12022, fifth outer filter surface 120229, third outer filter surface 12023, protrusion 120230, fourth outer filter surface 12024, first outer entrance 12025, first outer box opening 12026, matching hole 12027, third yielding area 12028, notch 121, first extension portion 1210, first outer edge 12101, limiting cap 12131, second inner entrance 1212a, second outer entrance 1212b, first shielding Component 1213, first outer wall 12102, guide portion 12103, first cavity 1214, sensor 1215, mounting cavity 1216, box opening 122, filter surface 123, inner filter 123a, outer filter 123b, through hole 123c, first filter surface 1231, second filter surface 1232, third filter surface 1233, fourth filter surface 1234, fifth filter surface 1235, connecting shaft 12382, first step surface 12381, second step surface 12383, dust box cover 124; identification component 130, first sub-identification component 131, second sub-identification component 132;Visual sensor assembly 140, camera body 140a, fill light 140b, receiving chamber 141, hatch 141a, first mounting hole 141b, first groove 141c, mounting plate 142, light shielding member 1421, first inclined surface 1422, second inclined surface 1423, third inclined surface 1424, light transmitting member 143, antireflection film 1431, protective film 1432, first sealing ring 1441, second sealing ring 1442, pressing ring 145, second mounting hole 145a, first fixing member 1461, second fixing member 1462, cable 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 component 150, side brush 151, side brush body 1511, rotating shaft 1512, side brush cover 1513, auxiliary driving component 152, connecting part 153, fixing part 1531, telescopic part 1532, guide member 154; second auxiliary cleaning component 160, water spraying part 161, nozzle 1611, second driving member 162, first impeller 1621, first driving motor 1622; third auxiliary cleaning component 170, roller brush assembly 171; propulsion component 180, first liquid outlet 181, third driving member 182, second impeller 1821, second driving motor 1822, second liquid outlet 183, connecting component 184, speed reducer 1 85; walking mechanism 190, base 1901, flow channel baffle 1902, first guide wheel 191, fourth gear set 1911, third sub-gear 19111, fourth sub-gear 19112, fifth gear 1912, second internal gear 1913, second gear cover plate 1914, second guide wheel 192, first gear 1921, second gear set 1922, first sub-gear 19221, second sub-gear 19222, third gear 1923, first internal gear 1924, first gear cover plate 1925, crawler 193, fourth driving member 194, cover plate 195, additional baffle 1951, second anti-collision member 19511, anti-collision strip 19512; terrain detection component 196; first anti-collision member 200, roller 201, bracket 202; main drive pump 210, liquid inlet 211, second liquid outlet 212, grid 213, diverter plate 214, first sub-liquid discharge pipe 215, first sub-liquid discharge port 2151, second sub-liquid discharge pipe 216, second sub-liquid discharge port 2161, liquid discharge baffle 217; electric control box 220, electric control box body 221, electric control box terminal 222, groove 222a, outlet portion 2221, electric control box end cover 2222, control system 231, liquid inlet detection component 232, liquid level detection component 233, map creation module 234, adjustment component 235, determination component 236, prompt component 237; data transmission component 240, main component 241, protective shell 242;First handle 251, escape opening 251a, second handle 252, first connecting section 2521, second connecting section 2522, lifting section 2523; first float chamber 261, first buoyancy adjustment control 2611, second float chamber 262, second buoyancy adjustment control 2621; water treatment component 270, reagent kit 271; in-position sensor component 280, Hall element 281, carrier board 282, Hall magnet 283; button 290. DETAILED DESCRIPTION

[0084] 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.

[0085] Please refer to Figures 1 to 3. Figure 1 is a schematic diagram of the structure 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 positioned 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 positioned on a target side wall of a target area. The present disclosure provides a cleaning device 1000. Cleaning device 1000 may be a pool cleaning robot capable of cleaning a target area 100. Target area 100 may be, for example, a swimming pool, a pipeline, a ship's hull, an oil well, or other facility, but is not limited thereto. Target area 100 includes a walking surface 101, a flat surface of the surface to be cleaned that contacts the walking mechanism 190. Walking surface 101 includes a target side wall 1011 and a target bottom wall 1012. This embodiment of the present disclosure uses the cleaning device 1000 for cleaning a swimming pool as an example. Target side wall 1011 may be the side wall of the swimming pool, and target bottom wall 1012 may be the bottom wall of the swimming pool.

[0086] 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.

[0087] 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 schematic 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 suction port 1111, at least one dust box 120, at least one set of identification components 130 and a control system 231.

[0088] 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 dust box 120 is detachably mounted on the cleaning device body 110. The dust box 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 dust box 120 through the suction port 1111 and the water inlet.

[0089] 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 dust box 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 dust box 120. The dust-laden water is filtered by the dust box 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 in 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 dust box 120 is at least partially accommodated in the first accommodating chamber 111 in a detachable manner, so that the dust box 120 can be removed to facilitate cleaning of the garbage in the dust box 120.

[0090] 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.

[0091] 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 .

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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 140 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 the 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 make 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 dust box 120. At this time, there is no need to start the cleaning component, thereby achieving maximum energy saving. At the same time, by making the cleaning device 1000 move along the planned path, garbage can be prevented from entering the blind spot of the field of view of the camera body 140a.

[0107] Continuing with 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 positioned at the edge of the sewage suction port 1111 and is configured to direct at least some of the garbage within 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 to direct at least some of the garbage to the working area of ​​the sewage suction port 1111, or to flush the target sidewalls 1011 or the target bottom wall 1012 of the target area 100. The projection of the first auxiliary cleaning assembly 150 on the walking surface 101 at least partially extends beyond the projection of the outer contour of the track 193 on the walking surface 101.

[0108] 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 .

[0109] 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 and the electrical control box of the cleaning device provided by the present disclosure; Figure 9 is an enlarged view of part A in Figure 8. The cleaning device 1000 also includes at least one of a liquid inlet detection component 232, a liquid level detection component 233, and a map creation module 234. The map creation module 234 can be disposed in the electrical control box 220, or the map creation module 234 can be disposed in the visual sensing component 140, and the control system 231 can be disposed 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 map creation 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 set in the electronic control box 220, or set 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, and the liquid level detection component 233 is used to detect the liquid level at the current location of the cleaning device 1000. 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 start 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 start at least one of the first auxiliary cleaning component 150 and the second auxiliary cleaning component 160 to clean the target area 100. The liquid level detection component 233 can be activated when the cleaning device 1000 is turned on, or after the liquid ingress detection component 232 detects that the cleaning device 1000 has entered liquid in the target area 100. It can also be activated in any situation where liquid level detection is required, and there is no limitation here. The map creation module 234 is used to create a map of the target area 100. For example, when the target area 100 is a swimming pool, the map can be a map of the pool's liquid surface, a map of the pool's bottom surface, or a map of the entire pool. The map can be a three-dimensional map, or of course, a two-dimensional map. The created map can be displayed and can also be used to provide map data for map-related processing.

[0110] 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.

[0111] In some embodiments, the liquid level detection component 233 can be a pressure-type liquid level detector or a pressure sensor. 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 suction flow channel away from the garbage in the cleaning device 1000. The suction flow channel for garbage can be formed between the sewage suction port 1111, the dust box 120, the main drive pump 210 and the discharge port of the main drive pump 210, which are connected in sequence. 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 by static pressure, and dynamic pressure will affect the accuracy of 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.

[0112] In some embodiments, please refer to Figure 41, which is a longitudinal cross-sectional schematic diagram of an embodiment of the cleaning device provided by the present disclosure, in which the liquid level detection component 233 is partially disposed inside the electric control box 220, and partially extends through the side wall of the electric control box 220 to the outside of the electric control box 220. The portion of the liquid level detection component 233 that contacts the side wall of the electric control box 220 can be sealed in any manner to prevent liquid from penetrating into the electric control box 220. Among them, the portion located outside the electric control box 220 includes at least a detection end 2331, and the detection end 2331 is used to detect the pressure of the liquid in the external environment of the electric control box 220; the portion located inside the electric control box 220 includes at least a transmission end, and the transmission end is connected to the control system 231 in the electric control box 220 to transmit the detected hydraulic information to the control system 231.

[0113] In some embodiments, the space where the detection end 2331 is located is away from the garbage suction channel within the cleaning device 1000, namely the first water channel (mentioned below). For example, an isolation structure is provided between the space where the detection end 2331 is located and the first water channel to reduce the impact of the dynamic pressure of the garbage suction channel on the detection of the detection end 2331. In some embodiments, the detection end 2331 is located in the fourth cavity (mentioned below) of the third accommodating cavity.

[0114] In some embodiments, when the cleaning device 1000 is placed in a liquid environment in the target area 100, the liquid in the target area 100 enters the interior of the cleaning device body 110 through the second drain port 1113 (described in detail below). The second drain port 1113 is always connected to the external environment. The detection end 2331 is disposed within the space in fluid communication with the second drain port 1113 to detect the pressure of the liquid in the space. The liquid in the space is in real-time communication with the liquid in the target area 100 through the second drain port 1113. Therefore, the hydraulic pressure detected by the detection end 2331 is close to or equal to the actual pressure of the liquid at the current location of the cleaning device 1000, thereby improving the accuracy of the hydraulic pressure detection.

[0115] In some embodiments, when a water baffle 1012 (mentioned below) is provided on the outer wall of the first drain outlet 1016, the position of the detection end 2331 can be staggered with the movable range of the water baffle 1012 to reduce the influence of the movement of the water baffle 1012 on the detection end 2331.

[0116] 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.

[0117] 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 .

[0118] 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.

[0119] In some embodiments, the control system 231 can control the adjustment component 235 to continuously turn off the fill light 140b or reduce the brightness of the fill light 140b according to the current state and / or detection data of the cleaning device 1000, wherein the current state of the cleaning device 1000 may include the posture of the cleaning device 1000; the detection data of the cleaning device 1000 may include the brightness of the environment in which the current camera subject 140a is located detected by the cleaning device 1000, but is not limited to this.

[0120] When the current state and / or detection data of the cleaning device 1000 meet preset conditions, the fill light 140b is continuously turned off or the fill light brightness of the fill light 140b is maintained within a fixed range until the conditions for turning on the fill light 140b or increasing the brightness of the fill light 140b are met. For example, if the brightness and darkness levels meet the preset thresholds within the preset time, the cleaning device 1000 may be in a scenario such as about to come into contact with the target side wall 1011, and the fill light 140b is continuously turned off or the brightness of the fill light 140b is reduced. If the cleaning device 1000 is in a posture close to perpendicular to the horizontal plane with the first side 113 facing upward, the cleaning device 1000 may be in a scenario such as about to climb from the target bottom wall 1012 to the target side wall 1011 or to the platform, and the fill light 140b is continuously turned off or the brightness of the fill light 140b is reduced. This avoids misjudging that the brightness of the environment in which the current camera subject 140a is located changes frequently, causing the fill light 140b to frequently adjust the brightness, resulting in increased consumption of the fill light 140b and affecting user experience, thereby improving the effectiveness of the fill light 140b.

[0121] 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 specific targets in the target area 100 based on the captured image through machine learning and other methods to avoid obstacles or go to clean. For example, if it identifies fixed facilities such as escalators or obstacles such as stones, it will avoid obstacles; if it identifies garbage such as fallen leaves or cleanable areas such as platforms, 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.

[0122] 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 cleaning to be missed.

[0123] In some embodiments, the visual sensing component 140 and / or the discrimination component 236 are enabled in a specific cleaning mode. After the specific cleaning mode is turned on, it can be executed separately or after the regular cleaning mode ends, which is not limited here. Among them, the regular cleaning mode is a mode in which the visual sensing component 140 and / or the discrimination component 236 are not enabled. Specifically, the specific cleaning mode involves the cleaning device 1000 cruising and cleaning in the target area 100 with a preset cleaning path, such as a bow-shaped or a circular path. During the cruising cleaning process, if it is determined that there is a specific target in the target area 100, such as garbage such as fallen leaves, the specific target will be cleaned. After the cleaning is completed, the cleaning device 1000 can return to the original cleaning path by retreating, etc., and continue to cruise according to the preset cleaning path. Among them, the determination of whether the cleaning of a specific target is completed can be achieved in a variety of ways. For example, the determination component 236 can directly identify whether the target has been cleared; or a determination condition can be preset, and if the condition is met, the cleaning is considered complete. For example, the determination condition is a time condition, and when the cleaning device 1000 stays at a specific target for a preset time, the cleaning is considered complete. The specific content of the determination condition is not limited here.

[0124] In some embodiments, the spacing between adjacent sub-paths of a preset cleaning path in a specific cleaning mode can be dynamically adjusted. For example, if the discriminator 236 does not identify garbage on a consecutive preset number of adjacent sub-paths, the cleaning device 1000 is controlled to increase the path spacing between adjacent sub-paths to be patrolled, for example, from a first path spacing to a second path spacing, where the second path spacing is larger than the first path spacing. If the discriminator 236 identifies garbage on a consecutive preset number of adjacent sub-paths or identifies multiple pieces of garbage on a single sub-path, the cleaning device 1000 is controlled to adjust the path spacing between adjacent sub-paths to be patrolled from the second path spacing back to the first path spacing or to any spacing smaller than the second path spacing. In this way, cleaning effectiveness can be improved while also improving cleaning efficiency.

[0125] In some embodiments, a specific cleaning mode includes a stop condition, which may be the completion of cruising of the target area 100 or the expiration of a cleaning time estimated based on the area of ​​the target area 100. The area of ​​the target area 100 may be estimated by mapping the target area 100 using the map building module 234.

[0126] In some embodiments, the specific cleaning mode also includes a platform cleaning function, wherein the platform can be a surface in the target area 100 that is higher than the target bottom wall 1012 and has steps. The platform can be identified by the discrimination component 236. Exemplary, the platform cleaning process includes: during the cruise cleaning process, the cleaning device 1000 uses the discrimination component 236 and / or the liquid level detection component 233 to identify the platform. After the platform is identified, the cleaning device 1000 can be controlled to directly go to the platform for cleaning; or the location information of the platform can be recorded. After the cruise cleaning is completed, the cleaning device 1000 is controlled to go to the recorded platform for cleaning based on the end location information. The recorded platform location information can be the coordinate information of the platform in the constructed map of the target area 100, or other positioning information. The cleaning device 1000 can move to the platform in a bow shape according to the direction of the recorded platform position relative to the end location until it approaches the platform, or the cleaning device 1000 can directly plan a path to the platform based on the location information of the recorded position and the end location, which is not limited here.

[0127] In some embodiments, after the cleaning device 1000 reaches the platform, it can climb upwards via the platform steps until it reaches the platform surface and then perform cleaning on the platform surface. If the current platform area is smaller than the preset movable area of ​​the cleaning device 1000, such as smaller than the bottom area of ​​the cleaning device 1000, and there are other steps on the platform, the cleaning device 1000 can be controlled to continue climbing until it completes cleaning on a certain platform surface. After cleaning is completed, the cleaning device 1000 can exit the platform by retreating or turning around to perform subsequent operations, such as moving to the next recording platform, continuing other cleaning tasks, returning to a specific location, etc.

[0128] In some embodiments, the user can select whether to enable the visual sensing component 140 and / or the identification component 236. For example, a function button can be provided on a communication device connected to the cleaning device 1000 or on the cleaning device body 110, and the corresponding function of the visual sensing component 140 and / or the identification component 236 can be turned on or off by pressing the button. The cleaning device 1000 can also determine whether to enable the visual sensing component 140 and / or the identification component 236 based on its own environment and / or parameters of the target area 100. For example, if the environment of the target area 100 is relatively complex or the remaining power of the cleaning device 1000 is insufficient to support the activation of the visual sensing component 140 and / or the identification component 236 within the target area 100, the visual sensing component 140 and / or the identification component 236 can be turned off. In this way, the flexibility and efficiency of cleaning are improved.

[0129] In some embodiments, the cleaning device 1000 further includes a temperature detection component (not shown), which is used to detect the temperature of the liquid in the target area 100. For example, if the target area 100 is a swimming pool, the temperature detection component can detect the water temperature in the swimming pool. In one embodiment, at least a portion of the temperature detection component is disposed inside the cleaning device body 110. Specifically, the temperature detection component can be disposed inside the electrical control box 220 or outside the electrical control box 220. When the temperature detection component is disposed outside the electrical control box 220, the temperature detection component can be disposed in any area within the cleaning device body 110 where the temperature detection component can come into contact with liquid flowing into the cleaning device body 110 from the target area 100. Specifically, when the cleaning device 1000 is located within the target area 100, the liquid in the target area 100 can enter the cleaning device body 110, and the temperature detection component can come into contact with the liquid entering the cleaning device body 110, thereby measuring the temperature of the liquid in the target area 100. The temperature detection component is set inside the cleaning device body 110 to reduce the probability of damage to the temperature detection component due to collision, sunlight exposure, etc. At the same time, the temperature detection component directly contacts the liquid in the target area 100 to ensure the accuracy of the detected temperature.

[0130] The cleaning device 1000 can also feed back the temperature detected by the temperature detection component to the communication device connected to the cleaning device 1000, and display the temperature data on the communication device, such as the real-time water temperature detected by the cleaning device 1000, the water temperature detected before the cleaning device 1000 last left the water, etc. The communication device can be a mobile phone, tablet computer, laptop computer, desktop computer, base station of the cleaning device 1000, etc., but is not limited to this.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] The visual sensing component 140 may include a plurality of fill lights 140b, and the plurality of fill lights 140b are arranged around the camera body 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 camera body 140a, and the other fill light 140b is arranged on the other side of the camera body 140a. In some embodiments, the optical axis of the camera body 140a is lower than the center of the fill light 140b. For example, the camera body 140a is closer to the fifth side 117 of the cleaning device 1000 relative to the fill light 140b, thereby avoiding the light of the fill light 140b from diverging to the camera body 140a, causing the image of the camera body 140a to be overexposed.

[0135] 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 .

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] 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 .

[0145] 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.

[0146] 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 .

[0147] 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.

[0148] The materials of the first sealing ring 1441 and the second sealing ring 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] The side brush body 1511 is at least partially made of a flexible material, and / or at least partially made of a rigid material. In one embodiment, the side brush body 5111 is entirely made of a flexible material. In another embodiment, the side brush body 5111 is entirely made of a rigid material. In yet another embodiment, the side brush body 5111 is partially made of a flexible material and partially made of a rigid material. Flexible materials refer to materials that can undergo elastic deformation. Rigid materials refer to materials that do not easily undergo elastic deformation. When the side brush body 5111 is made of a flexible material, it can be bristles, rubber, etc. When the side brush body 5111 is made of a rigid material, it can be a plastic sheet, a metal sheet, etc. The side brush body 5111 can include one or more cleaning components, and the number of cleaning components can be one, two, three, or more, without limitation. For example, when the side brush body 5111 is made of rubber, the cleaning components can be rubber brush sheets; when the side brush body 5111 is made of a plastic sheet, the cleaning components can be plastic brush sheets.

[0167] In some embodiments, the shapes of different cleaning components within the same side brush body 5111 may differ. For example, the end of one cleaning component facing away from the rotating shaft 1512 may be straight, while the end of another cleaning component facing away from the rotating shaft 1512 may be serrated. The serrated ends of the cleaning components trap some debris, such as long hair, on the cleaning components, making them easier for the user to clean. The straight ends of the cleaning components enhance the liquid-moving effect of the side brush body 5111. By configuring different cleaning components of the side brush body 5111, such as adjacent cleaning components, with different shapes, the side brush 151 retains debris while also ensuring a smooth movement.

[0168] 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.

[0169] 2 , the walking 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 on the target bottom wall 1012 and the target side wall 1011. The first guide wheel 191 and the second guide wheel 192 can be substantially the same size. The cleaning device body 110 includes a shell located on a third side 115, a fourth side 116, and a sixth side 118, and the side profile of the shell does not exceed the side profile of the first guide wheel 191 and the second guide wheel 192. It will be understood that when the cleaning device 1000 is located on the walking surface 101, the orthographic projections of the first guide wheel 191 and the second guide wheel 192 on the walking surface 101 are at least partially located outside the boundaries of the orthographic projection of the cleaning device body 110 shell profile on the walking surface 101. It can be understood that the orthographic projection of the side brush 151 on the walking surface 101 is at least partially located outside the orthographic projections of the cleaning device body 110 housing and the first guide wheel 191 and the second guide wheel 192 on the walking surface 101. For the convenience of description, the present disclosure defines the plane where the walking mechanism 190 of the cleaning device 1000 contacts the surface to be cleaned as the walking surface 101 of the cleaning device. The walking surface 101 is parallel to the travel direction of the cleaning device 1000 and is approximately parallel to the surface to be cleaned. The plane where the rotating axes of the first guide wheel 191 and the second guide wheel 192 in the walking mechanism 190 of the cleaning device 1000 are located is defined as the longitudinal plane of the cleaning device 1000. The longitudinal plane is parallel to the walking surface 101. The plane perpendicular to the longitudinal plane and parallel to the extension direction of the rotating axes of the first guide wheel 191 and the second guide wheel 192, and the distance to the rotating axis of the first guide wheel 191 and the distance to the rotating axis of the second guide wheel 192 are equal, is called the center plane of the cleaning device 1000. The central plane α is disposed opposite to the first side 113 and the second side 114 of the cleaning device 1000 .

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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 dust box 120. As the guide member 154 rotates, the water flow outside the dust box 120 is guided to flow through the notch 121 of the dust box 120 and into the interior of the dust box 120. When the cleaning device 1000 is in the 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 dust box 120, thereby improving the efficiency of external garbage entering the dust box 120. In a specific embodiment, during water surface cleaning, 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.

[0184] Thus, in one embodiment, when the cleaning device 1000 is performing surface cleaning, the first sewage suction port 1111a is partially located above and partially below the water surface, allowing floating debris, such as leaves and garbage bags, to naturally flow into the dust box 120 along with the surface current. The guide member 154 is partially located 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 dust box 120.

[0185] 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 is understood 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; 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 garbage 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 sewage suction port 1111 can suck up the garbage.

[0186] 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.

[0187] 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 dust 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.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] In some embodiments, the cleaning device 1000 includes a transmission assembly, through which the travel mechanism 190 drives the roller brush assembly 171 for rotation. Referring to Figures 20b and 20c, Figure 20b is a third partial schematic diagram of an embodiment of the cleaning device provided by the present disclosure, and Figure 20c is a side view of a third embodiment of the cleaning device provided by the present disclosure. For example, taking the second guide wheel 192 as the driving wheel and the first guide wheel 191 as the driven wheel, the transmission assembly includes a second transmission assembly, which is used to at least drive the second guide wheel 192 for rotation. The second transmission assembly includes a first gear 1921, and the output end of the fourth drive member 194 is connected to the first gear 1921. The first gear 1921 meshes with the first internal gear 1924 of the second guide wheel 192. When the second guide wheel 192 rotates, the first internal gear 1924 rotates simultaneously, so that the rotation of the first gear 1921 drives the second guide wheel 192, thereby driving the first guide wheel 191 for rotation via the track 193.

[0201] In some embodiments, the second transmission assembly further includes a second gear set 1922, which includes a first sub-gear 19221 and a second sub-gear 19222. The first sub-gear 19221 and the second sub-gear 19222 are coaxially arranged and are gears of the same level. They may be of the same or different sizes. When one of the first sub-gear 19221 and the second sub-gear 19222 rotates, the other rotates simultaneously. The second transmission assembly further includes a third gear 1923, which meshes with the second sub-gear 19222 and is connected to the roller brush assembly 171. When the third gear 1923 rotates, the roller brush assembly 171 connected to the third gear 1923 rotates accordingly. The first internal gear 1924 is also engaged with the first sub-gear 19221. When the first internal gear 1924 rotates, it drives the first sub-gear 19221 to rotate, and then drives the second sub-gear 19222 to rotate, and also drives the third gear 1923 to rotate, thereby driving the roller brush assembly 171 to rotate, and realizing that the second guide wheel 192 drives the roller brush assembly 171 to rotate.

[0202] In some embodiments, the second transmission assembly includes more than one second gear set 1922, with different second gear sets 1922 being dispersed. The second sub-gears 19222 of each second gear set 1922 simultaneously mesh with the third gear 1923, and the first sub-gears 19221 of each second gear set 1922 simultaneously mesh with the first internal gear 1924. By providing multiple second gear sets 1922, the forces acting on individual second gear sets 1922 are dispersed, reducing the likelihood of damage to each second gear set 1922. In some embodiments, the second transmission assembly further includes a first gear cover plate 1925, which is connected to the ends of the gear shafts of different second gear sets 1922 to connect the different second gear sets 1922 in series. This optimizes the forces acting on the different second gear sets 1922, prevents deviation of the gear shafts due to long-term force acting in the same direction on a single second gear set 1922, and enhances the stability of each second gear set 1922.

[0203] In some embodiments, the transmission assembly further includes a first transmission assembly, which is configured to at least cause the first guide wheel 191 to drive the roller brush assembly 171 to rotate. The first transmission assembly includes a fourth gear set 1911, which includes a third sub-gear 19111 and a fourth sub-gear 19112. The third sub-gear 19111 and the fourth sub-gear 19112 are coaxially arranged and are gears of the same level. They may be of the same or different sizes. When one of the third sub-gear 19111 and the fourth sub-gear 19112 rotates, the other rotates simultaneously. The first transmission assembly further includes a fifth gear 1912, which meshes with the fourth sub-gear 19112 and is connected to the roller brush assembly 171. When the fifth gear 1912 rotates, the roller brush assembly 171, which is connected to the fifth gear 1912, rotates accordingly. The first guide wheel 191 includes a second internal gear 1913. When the first guide wheel 191 rotates, the second internal gear 1913 rotates simultaneously. When the second guide wheel 192 drives the first guide wheel 191 to rotate, the second internal gear 1913 rotates. The second internal gear 1913 also meshes with the third sub-gear 19111. When the second internal gear 1913 rotates, it drives the third sub-gear 19111, which in turn drives the fourth sub-gear 19112, which in turn drives the fifth gear 1912, thereby driving the roller brush assembly 171 to rotate. This allows the first guide wheel 191 to drive the roller brush assembly 171. Through the above-described method, only a single fourth drive member 194 is required to drive the first guide wheel 191, the second guide wheel 192, and the two roller brush assemblies 171. This simplifies the drive structure and reduces manufacturing costs.

[0204] In some embodiments, the first transmission assembly includes more than one fourth gear set 1911, with each fourth gear set 1911 being dispersed. The fourth sub-gears 19112 of each fourth gear set 1911 simultaneously mesh with the fifth gear 1912, and the third sub-gears 19111 of each fourth gear set 1911 simultaneously mesh with the second internal gear 1913. By providing multiple fourth gear sets 1911, the forces acting on individual fourth gear sets 1911 are dispersed, reducing the likelihood of damage to each fourth gear set 1911. In some embodiments, the fourth transmission assembly further includes a second gear cover plate 1914, which is connected to the ends of the gear shafts of each fourth gear set 1911 to connect the four gear sets 1911 in series. This optimizes the forces acting on the four gear sets 1911, prevents deviation of the gear shafts due to long-term force acting in the same direction on a single fourth gear set 1911, and enhances the stability of each fourth gear set 1911.

[0205] In some embodiments, the cleaning device 1000 includes at least one of a first motion state, a second motion state, and a third motion state. The first motion state is a state in which the cleaning device 1000 is walking on the target bottom wall 1012, or the overall direction of the cleaning device 1000 is at an angle less than 90° to the target bottom wall 1012 and away from the water surface; the plane in which the walking mechanism 190, such as the track 193 or the guide wheels included in the walking mechanism 190, contacts the surface to be cleaned can be defined as the overall direction of the walking device 100, that is, the plane is the plane where the bottom of the track 193 and / or the guide wheels are located; or, if the walking mechanism includes a first guide wheel 191, a second guide wheel 192, and a track 193, the overall direction of the cleaning device 1000 can also be the extension direction of the line connecting the rotation center of the first guide wheel 191 and the rotation center of the second guide wheel 192. The second motion state is a state in which the cleaning device 1000 is walking on the target sidewall 1011 or the overall direction of the cleaning device 1000 is substantially parallel to the target sidewall 1011; the third motion state is a state in which the cleaning device 1000 is moving on the water surface, or is at least partially exposed to the water surface in the walking state, or is located below the water surface and close to the water surface as a whole;

[0206] After at least a portion of the first side 113 of the cleaning device 1000 emerges from the water surface, the second side 114 of the cleaning device 1000 rotates toward the liquid surface, and the walking mechanism 190 rotates from the target sidewall 1011 to the water surface. The walking mechanism 190 is in a substantially horizontal state, that is, the cleaning device 1000 is in a substantially horizontal state, thereby switching the cleaning device 1000 from the second motion state to the third motion state. The rotational movement of the second side 114 toward the liquid surface can be achieved by, when at least a portion of the first side 113 emerges from the water surface, exposing the first injection port (not shown) provided on the first side 113 to the water surface, allowing the first buoyancy adjustment control 2611 to inject air into the first float chamber 261.

[0207] 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.

[0208] 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.

[0209] 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.

[0210] Please continue to refer to Figures 2 and 4a, and refer to Figures 20a and 20d at the same time. Figure 20a is a side view of an embodiment of the cleaning device provided by the present disclosure, and Figure 20d is a side view of a fourth embodiment of the cleaning device provided by the present disclosure. 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 main body 110, at least covering the first guide wheel 191 and the second guide wheel 192 so that the first guide wheel 191 and the second guide wheel 192 are not visible from the outer side of the cleaning device 1000. If the running mechanism 190 includes a crawler track 193, the annular area formed by the crawler track 193 is substantially the same as the cover plate area. The cover plate 195 can be detachably covered on the side of the running mechanism 190 facing away from the cleaning device main 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, it is possible to prevent the first guide wheel 191 and the second guide wheel 192 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 is possible to prevent fixed impurities from entering between the first guide wheel 191 and the crawler 193 and between the second guide wheel 192 and the crawler 193 to a certain extent and affecting the movement of the walking mechanism 190, thereby reducing the problems of the walking mechanism 190 being blocked, the walking mechanism 190 being unable to move in a balanced manner, and the noise increased during the movement of the walking mechanism 190. The side of the cover plate 195 facing away from the cleaning device body 110 can be a complete plane or an incomplete plane, such as a grid shape, which is not limited here.

[0211] In another embodiment, the cover plate 195 can be integral or split. When the cover plate 195 is integral, it covers the space formed by the crawler track 193. When the cover plate 195 is split, it can include at least a first sub-cover plate and a second sub-cover plate, wherein the first sub-cover plate covers at least the outer side of the first guide wheel 191, and the second sub-cover plate covers at least the outer side of the second guide wheel 192.

[0212] In another embodiment, when the cleaning device 1000 is traveling on the walking surface 101, the projection of the outer profile of the cover plate 195 on the walking surface 101 is located within the projection of the outer profile of the track 193 on the walking surface 101. That is, the width of the projection of the outer profile of the two tracks 193 on either side of the cleaning device 1000 on the walking surface 101 is greater than the width of the projection of the outer profile of the cover plate 195 on either side of the cleaning device 1000 on the walking surface 101. When arranged in this way, because the track has a certain degree of flexibility, when the side of the cleaning device 1000 contacts the sidewall of the pool or an obstacle, the track 195 acts as a buffer, preventing the cover plate 195 or other components from directly contacting the sidewall or obstacle and being damaged. Of course, the projection of the outer profile of the track 193 on the walking surface 101 can also be located within or flush with the projection of the outer profile of the cover plate 195 on the walking surface 101. In this case, the first anti-collision member 200 can be provided on the cover plate 195 or other components to reduce the damage to the machine caused by collision.

[0213] If a second auxiliary cleaning assembly 160 is included, the second auxiliary cleaning assembly 160 can be disposed on the side of the cover plate 195 facing away from the travel mechanism 190. By disposing the second auxiliary cleaning assembly 160 on the cover plate 195, the movement of the travel mechanism 190 will not affect the flow path and flow form of the liquid sprayed by the second auxiliary cleaning assembly 160.

[0214] In some embodiments, the cleaning device 1000 further includes a first anti-collision member 200. The first anti-collision member 200 may be single or multiple, and the first anti-collision member 200 at least partially or completely protrudes outside the main contour of the cleaning device body 110. For example, the first 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 first anti-collision member 200 may also be provided on the side of the cover 195 facing away from the walking mechanism 190 and / or the side of the second auxiliary cleaning assembly 160 facing away from the cover 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 195 and / or the second auxiliary cleaning assembly 160. The first anti-collision member 200 can prevent the cleaning device body 110 from being scratched, and can 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, to prevent climbing and other behaviors that may occur due to direct contact between the walking mechanism 190 and the target sidewall 1011.

[0215] In some embodiments, when the first anti-collision member 200 is arranged on the second auxiliary cleaning component 160, or is arranged on the cover plate 195 and the first 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 first 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.

[0216] In some embodiments, the first anti-collision member 200 includes a roller 201 and a bracket 202. For example, two brackets 202 are provided, each disposed on the cover plate 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 first anti-collision member 200 contacts an object, the roller 201 can generate rolling friction with the contact surface.

[0217] In some embodiments, the cleaning device 1000 further includes a propulsion assembly 180. When the cleaning device 1000 moves within 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 spaced apart from 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 within 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 water to enter the propulsion assembly 180 and spray water 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 may be a propeller. By rotating the propeller, the cleaning device 1000 may obtain a driving force. Under the action of the driving force, the cleaning device 1000 may move on the liquid surface of the target area 100, or may be suspended in a certain depth of the liquid and move.

[0218] 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 propulsion assemblies 180 is disposed on the other side of the cleaning device body 110. When turning or making a U-turn is required, this 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 a 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.

[0219] In some embodiments, as shown in FIG20 a, the propulsion assembly 180 includes a first liquid outlet 181 and a third driving member 182. The propulsion assembly 180 is located on the side of the cleaning device body 110. The first liquid outlet 181 faces the rear of the cleaning device body 110. The third driving member 182 is used to drive water to be ejected from the first liquid outlet 181 to drive the cleaning device 1000 to move.

[0220] 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.

[0221] In some embodiments, the propulsion assembly 180 can be connected to the water spraying member 161. The cleaning device 1000 also includes a connecting assembly 184. The propulsion assembly 180 also 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 through the connecting assembly 184, so that the propulsion assembly 180 is connected to 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 also used 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.

[0222] 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.

[0223] 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.

[0224] In some embodiments, please continue to refer to Figure 20d. The propulsion assembly 180 is disposed in the internal space of the walking mechanism 190. Specifically, it can be located between the first guide wheel 191 and the second guide wheel 192 on the same side, reducing the structural complexity of the cleaning device 1000. The cover plate 195 of the walking mechanism 190 can be a partially hollow structure. Under certain viewing angles, the propulsion assembly 180 can be observed from the outside of the cover plate 195. Water flow outside the cleaning device 1000 can enter the internal space of the walking mechanism 190 through one side of at least a portion of the hollow structure, thereby flowing through the propulsion assembly 180 disposed in the internal space of the walking mechanism 190, and then flowing out of the internal space of the walking mechanism 190 from the other side of at least another portion of the hollow structure to form a complete fluid path of the propulsion assembly 180. In this embodiment, the third driving member 182 of the propulsion assembly 180 (including the second impeller 1821 and the second drive motor 1822) can also be reversed to form two fluid paths in opposite directions.

[0225] In some embodiments, please refer to Figure 20e, which is a side view of the fifth embodiment of the cleaning device provided by the present disclosure, the propulsion assembly 180 includes a third driving member 182, and the internal space of the walking mechanism 190 is further provided with a base 1901, which is located on the side of the propulsion assembly 180 facing the cleaning device body 110. The propulsion assembly 180 can be partially or completely accommodated in the space formed by the base 1901, and the base 1901 can be provided on a side plate (not shown) on the side of the walking mechanism 190 close to the cleaning device body 110, but is not limited thereto. In some embodiments, please refer to Figure 20f, which is a side view of the sixth embodiment of the cleaning device provided by the present disclosure, the cleaning device 1000 is further provided with a flow channel baffle 1902, which is located on the side of the propulsion assembly 180 facing away from the cleaning device body 110. The flow channel baffle 1902 can be fixedly or detachably connected to the base 1901, and together with the base 1901, it forms at least a portion of the fluid channel of the propulsion assembly 180. The flow channel baffle 1902 can be set on the side of the cover 195 facing the cleaning device body 110. When the cover 195 covers the walking mechanism 190, the base 1901 and the flow channel baffle 1902 together form at least a portion of the fluid channel of the propulsion assembly 180. When the cover 195 is removed, the base 1901 and the propulsion assembly 180 can be accessed, and the user can clean the propulsion assembly 180. By limiting the flow channel of the propulsion assembly 180, the direction of water flow through the propulsion assembly 180 is limited, thereby improving the effectiveness of the propulsion assembly 180.

[0226] In some embodiments, an additional baffle 1951 may be provided on the side of the cover 195 facing away from the cleaning device body 110. The additional baffle 1951 is connected to the cover 195 at both ends. For example, one end of the additional baffle 1951 is fixed to the upper edge of the cover 195, and the other end is fixed to the lower edge of the cover 195. The additional baffle 1951 and the cover 195 may be integrally formed or removably connected. Along the longitudinal direction of the cover 195, the additional baffle 1951 may entirely cover the surface of the cover 195 or be embedded in the cover 195. Furthermore, the additional baffle 1951 may be provided at a position corresponding to the propulsion assembly 180 to provide shielding and protection for the propulsion assembly 180. The additional baffle 1951 may have any shape, including but not limited to circular, triangular, and polygonal shapes. The additional baffle 1951 structure may be solid or partially hollow, without limitation.

[0227] In some embodiments, the additional baffle 1951 is further provided with one or more anti-collision strips 19512. The anti-collision strips 19512 protrude from the additional baffle 1951 and can be positioned at any easily accessible location on the additional baffle 1951 to prevent scratches on the surface of the additional baffle 1951. The anti-collision strips 19512 can extend across the length of the additional baffle 1951 and can be made of any friction-resistant material, without limitation herein.

[0228] In some embodiments, the additional baffle 1951 is further provided with one or more second anti-collision members 19511, which partially or completely protrude from the additional baffle 1951, that is, partially or completely protrude from the side profile of the cleaning device body 110, to prevent the additional baffle 1951 from being scratched. If a first anti-collision member 200 is provided on the side of the cover 195 facing away from the walking mechanism 190, the horizontal distance of the second anti-collision member 19511 protruding from the side profile of the cleaning device body 110 is less than or equal to the first anti-collision member 200, thereby preventing the second anti-collision member 19511 from protruding too much and being easily hit by concentrated collisions, thereby reducing the possibility of damage to the second anti-collision member 19511. The structure of the second anti-collision member 19511 can be similar to that of the first anti-collision member 200, and the size can be different from that of the first anti-collision member 200, which is not limited here. In the vertical direction, the second anti-collision member 19511 can be set in the additional baffle 1951 near the fifth side 117. When there is a sloped boundary, such as an arc-shaped boundary, in the target area 100, the possibility of the additional baffle 1951 being scratched is reduced.

[0229] In some embodiments, please continue to refer to Figure 20a. The cleaning device 1000 also includes a speed reducer 185. The speed reducer 185 is disposed 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 is cleaning 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 cleaning device 1000 from moving too fast on the liquid surface and pushing garbage away from the working area of ​​the sewage suction port 1111, thereby improving the cleaning effect of the cleaning device 1000.

[0230] 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.

[0231] 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.

[0232] 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 dust box of the cleaning device provided by the present disclosure. The cleaning device 1000 also includes a main drive pump 210. A notch 121 is formed in the dust box 120. The notch 121 can be connected to the sewage suction port 1111, for example, connected to the first sewage suction port 1111a. The dust box 120 has a filtering surface 123. The first accommodating chamber 111 is provided with a first liquid discharge port 1112, and the sewage suction port 1111, the dust box 120 and the first liquid discharge port 1112 are fluidically connected. The main driving pump 210 is used to drive the water flow from the sewage suction port 1111 into the dust box 120 and flow through the filter surface 123 of the dust box 120 to flow out of the first accommodating cavity 111 from the first liquid discharge port 1112. The water flow entering the dust box 120 from the sewage suction port 1111 contains garbage, which remains in the dust box 120 under the filtering action of the dust box 120. The liquid flows through the filter surface 123 of the dust box 120 to the first liquid discharge port 1112 to be discharged from the first accommodating cavity 111.

[0233] The main drive pump 210 can provide a certain suction force, so that a negative pressure area is generated near the first sewage suction port 1111a and the gap 121, and the liquid and garbage in the working area of ​​the first sewage suction port 1111a are sucked into the dust box 120. Because the dust box 120 has a filter surface 123, the liquid can flow through the filter surface 123 to the first liquid discharge port 1112 to be discharged from the first accommodating cavity 111, while the garbage remains in the dust box 120, thereby achieving the separation of garbage and liquid. The first auxiliary cleaning assembly 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 dust box 120 and discharging the liquid can be referred to the above embodiment and will not be repeated here.

[0234] The filter surface 123 includes a first filter surface 1231, a second filter surface 1232, a third filter surface 1233, a fourth filter surface 1234, and optionally a fifth filter surface 1235. The first filter surface 1231, the second filter surface 1232, the fourth filter surface 1234, and the third filter surface 1233 are connected end-to-end to form the side filter portion of the dust box 120. The fifth filter surface 1235 forms the bottom filter portion of the dust box 120. The first filter surface 1231 is located on the side of the filter surface 123 that is close to the first side 113 of the cleaning device body 110, the second filter surface 1232 is located on the side of the filter surface 123 that is close to the third side 115 of the cleaning device body 110, the third filter surface 1233 is located on the side of the filter surface 123 that is close to the fourth side 116 of the cleaning device body 110, and the fourth filter surface 1234 is located on the side of the filter surface 123 that is close to the second side 114 of the cleaning device body 110. The notch 121 is formed on the first filter surface 1231 . The fourth filter surface 1234 faces the main driving pump 210 .

[0235] The dust box 120 also has a box opening 122, which is located at the top of the dust 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 dust box cover 124. The dust 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 finishes cleaning, the dust box cover 124 can be opened to remove the dust box 120 for cleaning. By setting the fifth filter surface 1235 at the bottom of the dust box 120, when the dust box 120 is cleaned using a flushing tool that outputs fluid, such as a water gun, the flushing tool that outputs fluid, such as a water gun, can more smoothly flush out the garbage at the bottom of the dust box 120, thereby improving the cleaning efficiency and cleaning effect of the dust box 120.

[0236] The notch 121 of the dust box 120 is located on the side of the first filter surface 1231 near the first sewage suction port 1111a. Optionally, the first filter surface 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 surface 1231 has a notch 121 for connecting to the first sewage suction port 1111a; the fifth filter surface 1235 also has a notch 121, and the notch 121 is located on the side of the fifth filter surface 1235 near the first filter surface 1231, for connecting to the second sewage suction port 1111b. The fourth filter surface 1234 faces the main drive pump 210, and the liquid inlet 211 of the main drive pump 210 is fluidically connected to the first drain port 1112. By making the fourth filter surface 1234 opposite to the first filter surface 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 surface 1234, so that the liquid flowing into the dust box 120 can flow more toward the fourth filter surface 1234 under the drive of the negative pressure, so as to flow out from the first liquid discharge port 1112 faster, thereby improving the filtering efficiency of the dust box 120.

[0237] There is a gap between the dust 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 dust box 120. However, since the fourth filter surface 1234 faces the main drive pump 210, most of the liquid flowing into the dust box 120 will flow directly through the fourth filter surface 1234 to the first drain port 1112 and be discharged. The remaining liquid will flow through the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233 to the gap between the filter surface 123 and the inner wall of the first accommodating chamber 111, and then flow through the gap between the filter surface 123 and the inner wall of the first accommodating chamber 111 to the gap between the fourth filter surface 1234 and the inner wall of the first accommodating chamber 111, and be discharged through the first drain port 1112.

[0238] Because the fourth filter surface 1234 faces the main drive pump 210, most of the liquid flowing into the dust box 120 passes through the fourth filter surface 1234. This makes the fourth filter surface 1234 more likely to be clogged by garbage. When the fourth filter surface 1234 is clogged, the liquid flowing into the dust box 120 can still flow through the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233 to the first drain port 1112. By providing the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233, when the fourth filter surface 1234 is clogged, the liquid flowing into the dust box 120 can also be smoothly discharged through the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233, thereby preventing liquid accumulation in the dust box 120 due to clogging.

[0239] To improve the filtration effect of the dust box 120 and ensure that the liquid flowing into the dust box 120 can be smoothly discharged through the first filter surface 1231, the second filter surface 1232, and the third filter surface 1233 when the fourth filter surface 1234 is blocked, the mesh size of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 can be optimized. It is understood that the mesh size refers to the number of holes on the filter screen 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.

[0240] In some embodiments, the number of mesh filters on the first filter surface 1231 may be 25-35 mesh, and the number of mesh filters on the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 may be 50-120 mesh. For example, the number of mesh filters on the first filter surface 1231 may be 30 mesh, but is not limited thereto; the number of mesh filters on the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 may be 60 mesh, 100 mesh, etc., but is not limited thereto. By setting the mesh size of the first filter surface 1231 within the range of 25-35, and the mesh sizes of the second, third, and fourth filter surfaces 1232, 1233, and 1234 within the range of 50-120, i.e., the mesh size of the first filter surface 1231 is smaller than that of the other filter surfaces 123, not only can the filtration effect and efficiency be guaranteed, but also the liquid flowing into the dust box 120 can be smoothly discharged through the first filter surface 1231 even if the second, third, and fourth filter surfaces 1232, 1233, and 1234 are blocked. Of course, as described above, most of the dust-laden liquid will flow through the fourth filter surface 1234 to the first drain port 1112. Alternatively, the mesh sizes of the first, second, and third filter surfaces 1231, 1232, and 1233 can all be set smaller than that of the fourth filter surface 1234, thereby ensuring smooth flow of the entire working water even if the fourth filter surface 1234 is blocked.

[0241] In one embodiment, each filter surface 123 includes an inner filter 123a and an outer filter 123b. The first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234 each include an inner filter 123a and an outer filter 123b. The dust box 120 may include only one dust box 120, with the inner filter 123a and the outer filter 123b stacked on the same dust box 120. Of course, the dust box 120 may also include two dust boxes 120, that is, the dust box 120 includes an inner dust box 120 and an outer dust box 120, the inner dust box 120 is mounted inside the outer dust box 120, the inner filter 123a is disposed on the inner dust box 120, and the outer filter 123b is disposed on the outer dust box 120. In some embodiments, each filter surface 123 may include only one layer of filter mesh. Of course, each filter surface 123 may also include more than two layers of filter mesh. For example, each filter surface 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.

[0242] In the embodiment of the present disclosure, each filter surface 123 includes an inner filter 123a and an outer filter 123b. By providing the inner filter 123a and the outer filter 123b, the dust 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.

[0243] The filter surface 123 may be made of a conventional filter mesh, such as woven fabric or textile, but is not limited thereto.

[0244] The filter surface 123 has a through hole 123c for draining the liquid in the dust box 120. The through hole 123c can be a gap between fibers on the filter surface 123, or the through hole 123c can be formed on the filter surface 123 by stamping, cutting, hot melting, or laser etching a flexible or rigid sheet such as plastic or metal.

[0245] In order to improve the filtering effect of the dust box 120 and ensure that the filter surface 123 is not completely blocked, the present disclosure optimizes the filtering level of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233, and the fourth filter surface 1234. It should be noted that the higher the filtering level of the filter surface 123, the smaller the garbage particles that can be filtered, and the better the filtering effect. For example, if the flow area of ​​the through hole 123c on the filter surface 123 is smaller, the filtering level of the filter surface 123 is higher, the smaller the garbage particles that can be filtered, and the better the filtering effect; if the flow area of ​​the through hole 123c on the filter surface 123 is larger, the filtering level of the filter surface 123 is lower, the larger the garbage particles that can be filtered, and the worse the filtering effect. Of course, the method of measuring the filtering level of the filter surface 123 is not limited to this, and other methods can also be used. It is only necessary to ensure that the higher the filtering level of the filter surface 123, the smaller the garbage particles that can be filtered, and the better the filtering effect.

[0246] In some embodiments, the filtering levels of the second filter surface 1232 , the third filter surface 1233 and the fourth filter surface 1234 are all greater than the filtering level of the first filter surface 1231 , and the filtering levels of the first filter surface 1231 , the second filter surface 1232 , the third filter surface 1233 and the fourth filter surface 1234 are all different. The filtration levels of the inner filter mesh 123a of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234 can be respectively equal to the filtration levels of the outer filter mesh 123b of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234, or the filtration levels of the outer filter mesh 123b of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234 can be respectively greater than the filtration levels of the inner filter mesh 123a of the first filter surface 1231, the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234, so that when the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234 are blocked, the liquid flowing into the dust box 120 can also be discharged smoothly through the first filter surface 1231. In some embodiments, the filtration levels of the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234 are all greater than the filtration level of the first filter surface 1231, and the filtration level of the inner filter mesh 123a of the first filter surface 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 surface 1232, the third filter surface 1233 and the fourth filter surface 1234 are all lower than the filtration level of the corresponding outer filter mesh 123b. That is, the filtration levels of the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234 are all greater than the filtration level of the first filter surface 1231, and the filtration level of the inner filter mesh 123a of the first filter surface 1231 is equal to the filtration level of the outer filter mesh 123b of the first filter surface 1231, and the filtration level of the inner filter mesh 123a of the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234 are respectively lower than the filtration level of the outer filter mesh 123b of the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234.

[0247] In some embodiments, the filtration level of the outer filter 123b of the first filter surface 1231 is greater than the filtration level of the inner filter 123a of the first filter surface 1231, and the filtration levels of the outer filter 123b of the remaining filter surfaces are greater than or equal to the filtration levels of the corresponding inner filter 123a.

[0248] In some embodiments, the filtration levels of the second filter surface 1232, the third filter surface 1233 and the fourth filter surface 1234 are all greater than the filtration level of the first filter surface 1231, and the filtration levels of the outer filter mesh 123b of the first filter surface 1231, the second filter surface 1232 and the third filter surface 1233 are respectively equal to the filtration levels of the inner filter mesh 123a of the first filter surface 1231, the second filter surface 1232 and the third filter surface 1233, and the filtration level of the outer filter mesh 123b of the fourth filter surface 1234 is greater than the filtration level of the inner filter mesh 123a of the fourth filter surface 1234.

[0249] Regarding the dust box 120, in one embodiment, as shown in Figures 38a and 38b , the dust box is disposed within the first accommodating cavity 111, with a first drain port 1112 on the first accommodating cavity 111. The sidewalls of the dust box 120 may include at least a first sidewall, a second sidewall, and a third sidewall connected end-to-end; or more sidewalls connected end-to-end. The specific number of sidewalls may be determined based on the shape and size of the first accommodating cavity 111 in the actual product. For ease of description, the structure of the dust box 120 will be described using an example in which the dust box includes a first sidewall, a second sidewall, a third sidewall, and a fourth sidewall connected end-to-end. Each sidewall is provided with a filter. At least one first filter is provided on the first sidewall to form a first filter surface 1231; at least one second filter is provided on the second sidewall to form a second filter surface 1232; at least one third filter is provided on the third sidewall to form a third filter surface 1233; and at least one fourth filter is provided on the fourth sidewall to form a fourth filter surface 1234. The dust box's sidewalls, all filter surfaces, and the bottom of the dust box define a first cavity 1214. The dust box has a water inlet that connects the sewage inlet 1111 of the cleaning device body with the dust box's inner cavity. Liquid is filtered within the dust box and drawn into the suction assembly through a first drain port 1112. The filtered liquid is then discharged from the cleaning device through a second drain port 212 on the cleaning device body, thereby cleaning waste in or on the surface of the water. Each filter surface can have one, two, three, or more filters. The specific number is not limited and is selected based on actual needs.

[0250] As shown in Figure 38c, the water inlet portion of the dust box includes at least a second inlet 1212, which connects the first cavity 1214 of the dust box to the sewage suction port 111. In one embodiment, the third filter surface 1233 is located close to, facing, or adjacent to the first liquid drainage port 1112, so that liquid in the dust box can be quickly drawn into the suction assembly through the third filter surface 1233 and the first liquid drainage port 1112, and discharged out of the cleaning device through the second liquid drainage port 212.

[0251] In one embodiment, the filtration levels of the first, second, third, and fourth filter surfaces are all the same, that is, the filter holes on the filter screens of each filter surface are the same size. In another embodiment, the filtration level of the third filter surface is lower than the filtration levels of the first, second, and fourth filter surfaces, so that the third filter surface acts as a coarse filter, filtering large particles or garbage; the other three filter surfaces form a fine filter, used to filter small particles or garbage. Because the second liquid drain port 212 is located on the top of the cleaning device body 100, liquid is continuously discharged from the second liquid drain port 212. This portion of liquid generates a reverse thrust on the cleaning device, allowing the bottom of the cleaning device to move closely against the wall or the side wall of the pool. The third filter surface is used for coarse filtration. When the other filter surfaces are blocked, the suction assembly allows the liquid in the dust box 120 to pass smoothly through the third filter surface and into the gap between the dust box 120 and the first accommodating chamber 111. The liquid is then sucked away by the suction assembly through the first liquid discharge port 1112. This ensures the required water intake of the suction assembly. When the cleaning device is moving up a slope or along a sidewall in a pool, even if the other filter surfaces are blocked, the cleaning device can still move along the sidewall or climb a slope, thereby preventing the cleaning device from falling off the sidewall or wall. Alternatively, in another embodiment, a portion of the third filter on the third filter surface 1233 is used for coarse filtration, and a portion of the third filter is used for fine filtration. Similarly, when the fine filtration third filter is blocked, the suction assembly allows the liquid in the dust box 120 to pass through the portion of the third filter that has been used for coarse filtration and into the gap between the dust box 120 and the first accommodating chamber 111, where it is sucked away by the suction assembly. In other implementations, the filtering levels of the various filters may be the same or different, which is not specifically limited here, and the filtering level of each filter may be selected according to actual needs.

[0252] For example, the first and third filter surfaces are configured for coarse filtration and have the same filtration level, while the second and fourth filter surfaces are configured for fine filtration and have the same filtration level. Alternatively, part or all of the first filter screen on the first filter surface 1231 is configured for coarse filtration, part or all of the third filter screen on the third filter surface 1233 is configured for coarse filtration, and the filters on the second filter surface 1232 and fourth filter surfaces 1234-1233 are configured for fine filtration; alternatively, the filters on the second filter surface 1232, third filter surface 1233, and fourth filter surface 1234 are configured for fine filtration.

[0253] In one embodiment, as shown in Figure 38c, the water inlet of the dust box is provided on the bottom of the dust box, and includes a first extension portion 1210 protruding inward toward the first cavity 1214 of the dust box 120, and the first extension portion 1210 has a hollow channel with openings at both ends. The outer end opening of the hollow channel serves as a second inlet 1212, which is connected to the second sewage suction port 1111b for cleaning the bottom wall or side wall of the pool; the inner end opening of the hollow channel is connected to the first cavity 1214 of the dust box 120; the hollow channel is used to guide the liquid entering the second sewage suction port 1111b directly into the dust box, ensuring that the liquid in the pool flows smoothly into the dust box.

[0254] When the cleaning device is cleaning the pool bottom or sidewalls underwater, the hollow passageway or second inlet 1212 of the first extension 1210 must be open to allow liquid in the pool to flow into the dust box. However, in some cases, the hollow passageway need not be open, or the second inlet 1212 need not be connected to the first cavity 1214 of the dust box 120. As shown in FIG38c , a movable first shielding member 1213 is provided on the first extension 1210 or on the inner wall of the dust box. The first shielding member 1213 moves within the first cavity 1214 of the dust box 120 to either block or open the inner opening of the hollow passageway, thereby connecting or blocking the second inlet 1212 to the first cavity 1214 of the dust box 120. The first shielding member 1213 can block either the inner or outer opening of the first extension 1210, depending on actual needs.

[0255] The first shielding member 1213 closes or opens the second inlet 1212. A driving assembly can be provided to drive the movement of the first shielding member 1213. For example, when the bottom wall or side wall of the pool needs to be cleaned, the second inlet 1212 needs to be connected to the first cavity 1214 of the dust box. The control unit controls the movement of the driving assembly to drive the movement of the first shielding member 1213 to open the second inlet 1212 or the hollow passage. Conversely, when the second inlet 1212 does not need to be connected to the first cavity 1214 of the dust box, the control unit controls the movement of the driving assembly to drive the movement of the first shielding member to close the second inlet 1212 or the hollow passage. Alternatively, the first shielding member is made of a soft rubber material to form a soft rubber seal. When the suction assembly is turned on, negative pressure is generated in the first cavity 1214 of the dust box 120. Under the action of this negative pressure, the soft rubber seal opens, and the liquid in the pool enters the dust box through the second inlet 1212. As shown in FIG38k , one end of the soft rubber seal is mounted on the dust box wall or provided on the first extension portion 1210 .

[0256] Taking the soft rubber seal provided on the first extension portion 1210 as an example, as shown in FIG38k , the first extension portion 1210 has a first outer edge 12101 on one side of the inner end opening, and the side wall connected to the first outer edge 12101 on the first extension portion 1210 serves as a first outer wall body 12102. The first outer edge 12101 can be formed on the side wall of the dust box or installed on the side wall of the dust box; a plurality of connecting columns are provided at one end of the soft rubber seal, and one end of the soft rubber seal is overlapped on the first outer edge 12101. Multiple connecting columns extend downward through the first outer edge 12101, and a limiting cap 12131 is provided at the end of each connecting column to limit one end of the soft seal on the first extension portion 1210. Under the negative pressure of the suction component, the other end of the soft seal rotates to open the hollow channel or the second inlet 1212; when the negative pressure of the suction component is removed or the gravity of the solution in the dust box (mentioned below), the other end of the soft seal rotates again to close the hollow channel or the second inlet 1212.

[0257] As shown in FIG38j or FIG39e , the first extension portion 1210 is provided near or adjacent to the first side wall. To facilitate installation of the limiting cap 12131 on the connecting post, a first recessed first clearance area is provided on the outer wall of the first side wall of the dust box 120. This exposes both the first outer edge 12101 and the first outer wall 12102 of the first extension portion 1210. This allows the connecting post to pass through the first outer edge 12101 and be exposed outside the dust box, facilitating installation of the limiting cap on the connecting post from outside the dust box. The first outer wall 12102 of the first extension portion 1210 can be formed on the dust box as part of the dust box side wall; or the first outer wall 12102 of the first extension portion 1210 can be detachably mounted on the side wall of the dust box. Alternatively, the entire first extension portion 1210 can be formed on the dust box as part of the dust box structure.

[0258] As shown in Figure 38h, the main body of the cleaning device is provided with a dust bin 1010. The dust bin 1010 has a second cavity 1014, which can be the first accommodating cavity 111 or a portion of the first accommodating cavity 111. The dust box 120 is installed in the second cavity 1014 of the dust bin 1010. The dust bin 1010 includes a dust bin water inlet, which is provided with a second water inlet 10131. The second water inlet 10131 passes through the outer shell of the cleaning device body and communicates with the outside world, serving as a second sewage suction port 1111b. It should be noted that the dust bin 1010 can be an independent structure installed in the main body; of course, the dust bin 1010 can also be formed on the main body and directly serve as a part of the main body structure.

[0259] As shown in Figure 38j, when the water inlet of the dust box is provided with a first extension portion 1210, in order to allow the liquid in the water pool to smoothly enter the dust box 120, a second extension portion 1013 is also provided at a corresponding position on the bottom of the dust bin 1010. The second extension portion 1013 has a hollow channel with openings at both ends. The outer end opening of the second extension portion 1013 serves as a second sewage suction port 1111b. The second extension portion 1013 extends into the first extension portion 1210, and the inner end opening of the second extension portion 1013 is higher than or flush with the inner end opening of the first extension portion 1210, so that the liquid in the water pool can directly enter the dust box through the second extension portion 1013, which is consistent with the water flow direction of the liquid filtration, thereby ensuring that the liquid can enter the dust box 120. Of course, the inner end opening of the second extension portion 1013 can also be lower than the inner end opening of the first extension portion 1210. However, in the path where the liquid enters the dust box through the inner end openings of the second extension portion 1013 and the first extension portion 1210 in sequence, since the inner end opening of the second extension portion 1013 is lower than the inner end opening of the first extension portion 1210, a first gap is formed between the two, and some liquid will inevitably flow into the first gap and directly enter the dust bin without being filtered by the first cavity 1214 of the dust box, resulting in a reduced cleaning and filtering effect. Alternatively, a sealing structure can be provided at the first gap to prevent some liquid from flowing into the first gap, which can also ensure that all fluid entering the second extension portion 1013 enters the dust box.

[0260] As shown in Figures 38i, 38g and 41, the aforementioned first drain port 1112 is arranged on the side wall of the dust bin 1010. The first drain port 1112 is connected to the main drive pump 210 of the suction assembly. The filtered water in the dust box enters the dust bin 1010, and then enters the suction assembly through the first drain port 1112 on the dust bin 1010, and is finally discharged from the cleaning equipment through the second drain port 212. The suction assembly is arranged in the main body but outside the dust bin 1010, and is distributed in the main body close to or adjacent to the first drain port 1112.

[0261] As shown in FIG38a , the top of the dust box is provided with a box opening 122. Correspondingly, the top of the dust bin 1010 is provided with an opening for placing the dust box into or removing the dust box from the dust bin 1010. As shown in FIG38e and FIG38d , the main body of the cleaning device is provided with an access opening, and a dust box cover 124 is provided on the main body. The dust box cover 124 is reversibly or movably provided at the access opening on the main body to cover or open the access opening for removing the dust box from the dust bin 1010 or the main body.

[0262] In one embodiment, to facilitate removal of the dust box 120 from the dust bin 1010 of the main body, as shown in Figures 38a and 38b , a movable second handle 252 is provided on the dust box 120. The second handle 252 has an operating state and a storage state. When the dust box 120 is not needed, the second handle 252 is in the storage state. As shown in Figure 38a , the second handle 252 is stored in the dust box 120 and is not higher than the top opening or the access opening of the dust box. When the dust box is needed, the second handle 252 is rotated so that the second handle 252 extends out of the top opening or the access opening of the dust box to lift the dust box, thereby enabling the dust box to be removed and placed. In one embodiment, as shown in Figure 38b , the two ends of the second handle 252 are respectively connected to the inner side wall of the dust box via a connecting shaft 12382. Preferably, the two connecting shafts 12382 are respectively provided on two opposing inner side walls of the dust box. For example, the two connecting shafts 12382 are provided on the second side wall and the fourth side wall, and the third side wall faces the first drain port 1112. Alternatively, the second handle 252 can also be provided on the side wall of the dust box in other rotatable or reversible connection modes, which are not limited here.

[0263] In order to prevent the second handle 252 from affecting the liquid passing through the third filter surface 1233 of the third side wall when the handle is in the storage state during the cleaning process of the cleaning device, when the second handle 252 is in the storage state, the second handle 252 is higher than the second filter surface 1232, the third filter surface 1233, the fourth filter surface 1234 and the first filter surface 1231, so that the water flow path of the liquid filtered in the dust box does not pass through the second handle 252, and the second handle 252 will not block the liquid from flowing to the various filter surfaces.

[0264] Furthermore, in order to ensure that the dust box provides more stable support for the second handle 252 when the second handle 252 is in the stored state, the second handle 252 will not shake or shake very little during the cleaning process of the cleaning equipment. As shown in Figure 38b, a first step surface 12381 is respectively provided on the two opposite inner walls of the dust box; the second handle 252 includes a first connecting section 2521, a second connecting section 2522, and a lifting section 2523 connecting the first connecting section 2521 and the second connecting section 2522; the first connecting section 2521 and the second connecting section 2522 are respectively connected to the inner wall of the dust box 120 through a connecting shaft 12382, and are respectively overlapped on a first step surface to stably and fixedly support the second handle 252; the lifting section 2523 is suspended in the inner cavity of the dust box, which is convenient for the user to grab the lifting section 2523 and lift the handle to take and place the dust box.

[0265] When the second handle 252 is in the storage state and the dust box cover 124 is covered on the access opening, the inner wall of the dust box cover 124 can be close to, adjacent to, or in contact with the top surface of the second handle 252 to limit the top of the second handle 252, so that under the upper and lower limiting action of the dust box cover 124 and the first step, the second handle 252 will not move or shake in the storage state.

[0266] When the second handle 252 is in working state, the dust box cover 124 is opened, and the user rotates the second handle 252, so that at least part of the lifting section 2523 of the second handle 252 extends out of the box opening 122 of the dust box 120; or further extends out of the taking and placing opening of the outer shell of the cleaning device body, so that the user can lift the dust box and realize the taking and placing function of the dust box.

[0267] As shown in FIG38b , in one embodiment, two first stepped surfaces 12381 are provided on the inner walls of the second and fourth side walls, respectively. The lifting section 2523 of the second handle 252 is located near or adjacent to the third side wall. To facilitate the user's gripping of the lifting section 2523, a second stepped surface 12383 is provided on the inner wall of the third side wall of the dust box 120. The two ends of the second stepped surface 12383 are connected to one end of the adjacent first stepped surface 12381. In the direction from the first side wall toward the third side wall, a first gap is formed between the lifting means 2523 and the second stepped surface 12383, facilitating the user's hand to grasp the lifting section 2523 through the first gap to extract the dust box. Furthermore, the second stepped surface 12383 can optionally be lower than the lifting means 2523, creating a clearance space that allows the user's hand to be positioned below the bottom of the lifting section 2523 for grasping the lifting section 2523. Preferably, the second step surface 12383 and the first step surface are both located above the filter screen on the side wall of the dust box where they are located, so that the provision of the second handle 252 will not affect the filtering effect of the dust box.

[0268] In one embodiment, to facilitate identification of whether the dust box is properly installed within the dust bin 1010, a detection assembly is further included. The detection assembly includes a detection member and a sensing member. One of the detection member and the sensing member 1215 is located on the dust bin, while the other is located on the dust bin 1010 or the main body. When the dust bin is installed within the dust bin 1010 or the first accommodating chamber 111, the detection member receives a signal from the sensing member, indicating that the dust bin is properly installed within the dust bin 1010. For example, the sensing member 1215 is made of iron and is a Hall effect sensor. The Hall effect sensor detects the iron, indicating that the dust bin is properly installed. As shown in FIG38c , an installation cavity 1216 is provided on the outer wall of the dust bin. One of the detection member and the sensing member is located within the installation cavity 1216. For example, the sensing member 1215 is located within the installation cavity. In one embodiment, the outer wall of the third sidewall of the dust bin 120 is recessed inwardly to form a protrusion to form the installation cavity. One of the sensing member and the detection member is installed within the installation cavity. The installation cavity 1216 is sealed by a sealing cap 120120. Of course, the mounting cavity can be provided on other side walls of the dust box.

[0269] In one embodiment, when the dust box 120 is installed in the dust bin 1010, a second gap is provided between the bottom of the dust box and the bottom of the dust bin 1010 to facilitate removal of the dust box from the dust bin 1010. This prevents liquid in the second cavity 1014 of the dust bin 1010 from forming a water film between the bottom of the dust box and the bottom of the dust bin 1010 when the bottom of the dust box contacts the bottom of the dust bin 1010, thereby generating an adsorption force and making it difficult to separate the bottom of the dust box from the bottom of the dust bin 1010, thereby making it difficult to remove the dust box. By providing the second gap, the bottom of the dust box and the bottom of the dust bin 1010 do not contact each other. Even if the liquid in the dust bin 1010 is located within the second gap, no water film will be formed to generate an adsorption force, thereby facilitating removal of the dust box from the dust bin 1010. For example, in one embodiment, the bottom of the dust box is provided with at least one downwardly extending raised outer edge (not shown in the figures). The raised outer edge contacts the bottom of the dust bin 1010 to support the dust box, thereby forming a second gap between the bottom of the dust box and the bottom of the dust bin 1010. There may be multiple raised outer edges, evenly distributed on the bottom of the dust box; or the raised outer edges may be annular and distributed around the edge of the bottom of the dust box. Alternatively, the raised outer edge may be provided on the bottom surface of the dust bin 1010 and protrude upward.

[0270] In one embodiment, as shown in Figures 38g and 38i, a first drain port 1112 is provided on the side wall of the dust bin 1010, and the first drain port 1112 is opposite to the third side wall of the dust box. During the cleaning process of the cleaning device, the liquid in the water pool flows through the second sewage suction port 1111b, the second inlet 1212, the first cavity 1214 of the dust box, the second cavity of the dust bin 1010, the first drain port 1112 and the suction component in sequence, and is finally discharged through the second drain port 212 of the cleaning device to form a first water path for the water flow.

[0271] Furthermore, in order to lift or scoop the cleaning device out of the pool and out of the water, and quickly drain the liquid in the dust box, at least one first drain outlet 1016 is provided on the side wall of the dust bin 1010, as shown in Figure 39l, and at least one second drain outlet 1113 is provided at the bottom of the main shell. The first drain outlet 1016 and the second drain outlet 1113 are connected, and the first drain outlet 1016 is located inside the cleaning device. As shown in Figure 38g, a water baffle 1012 is provided on the outer wall of the first drain outlet 1016. When the cleaning device is in a cleaning or operating state in the water or on the water surface, and the main drive pump of the suction component is turned on, the main drive pump puts the first cavity 1214 of the dust box and the second cavity of the dust bin 1010 at negative pressure; the liquid in the water or on the water surface enters the cleaning device through the second drain outlet 1113, and the first pressure exerted on the water baffle 1012 on the outer wall of the dust bin 1010 toward the dust bin 1010 is greater than the second pressure exerted on the water baffle 1012 toward the outside of the dust bin 1010 by the liquid in the dust bin 1010. Under the action of these two pressure differences, the water baffle can tightly cover or close or block or seal the first drain outlet 1016, so that the liquid in the dust bin 1010 cannot be discharged from the first drain outlet 1016, and thus will not be discharged from the cleaning device through the second drain outlet 1113.

[0272] When the cleaning device is ready to discharge water, the main drive pump is turned off, and the negative pressure generated by it on the dust box and the dust bin 1010 is canceled. During the process of discharging water (i.e. leaving the water surface) or after the cleaning device is discharged, the liquid outside the dust bin 1010 is discharged from the cleaning device through the second drain outlet 1113 due to the cleaning device being lifted out of the water, and the first pressure on the dust bin 1010 is canceled. The liquid in the second cavity of the dust bin 1010 moves in the direction away from the first drain outlet 1016 under the action of its gravity (especially when the cleaning device is tilted and lifted), thereby opening the first drain outlet 1016. The water in the dust box and the dust bin 1010 is quickly discharged from the cleaning device through the first drain outlet 1016 and the second drain outlet 1113 in turn, thereby accelerating the drainage speed of the cleaning device during the water discharge process, quickly reducing the weight of the pool robot, and helping to improve the user experience. That is, the first drain outlet 1016 is connected to the second drain outlet 1113 to form a second waterway for liquid flow. On the contrary, during the entry of the cleaning device into the water, liquid in the water or on the water surface quickly enters the cleaning device through the second drain port 1113, which helps to quickly increase the gravity of the pool robot and enable it to enter the water quickly. Since the main drive pump is in the on-state during the entry of the cleaning device into the water, the water baffle 1012 remains covering or closing the first drain port 1016 during the entry. In other words, the water baffle 1012 has a non-draining state in which it closes the first drain port 1016, and a draining state in which it opens the first drain port 1016.

[0273] As for the water baffle 1012, as shown in FIG38g , in one embodiment, the water baffle 1012 is made of a flexible waterproof material, one end of which is disposed on the outer wall of the dust bin 1010, while the other end is suspended and capable of covering, sealing, blocking, or closing the first drain opening 1016 under the action of a pressure difference between a first pressure and a second pressure. During the process of discharging water from the cleaning device, the water baffle 1012 rotates away from the first drain opening 1016 under the action of gravity of the liquid in the dust bin 1010, thereby opening the first drain opening 1016. In another embodiment, the water baffle 1012 is movably disposed on the outer wall of the dust bin 1010 via an elastic member. When the cleaning device is in the water or on the surface of the water, the elastic member causes the water baffle 1012 to cover, block, or seal the first drain opening 1016. During the process of discharging water from the cleaning device, the gravity of the liquid in the dust bin 1010 overcomes the force of the elastic member, causing the water baffle 1012 to move away from the first drain opening 1016, thereby opening the first drain opening 1016. That is, only when the cleaning device is discharging water will the water baffle 1012 be in the state of opening the first drain port 1016. In other states of the cleaning device, the water baffle 1012 is always in the state of covering, closing or sealing the first drain port 1016. In other words, the aforementioned first waterway and the second waterway are isolated from each other.

[0274] In one embodiment, the first drain port 1016 and the first liquid drain port 1112 are disposed on the same side wall of the dust bin 1010. As shown in FIG38i , the first liquid drain port 1112 is located above the first drain port 1016, and the filtered liquid is sucked into the suction assembly through the first liquid drain port 1112. The first drain port 1016 is located below the first liquid drain port 1112. When the cleaning device is lifted to discharge water, under the action of the gravity of the liquid and when the cleaning device is tilted, the first drain port 1016 located below facilitates the rapid discharge of the liquid in the dust bin and dust bin 1010 out of the cleaning device through the first drain port 1016. Of course, the first drain port 1016 and the first liquid drain port 1112 do not need to be disposed on the same side wall of the dust bin 120, but may be distributed on different side walls of the dust bin, as long as the first drain port 1016 is located on the side wall of the dust bin near the bottom of the cleaning device. Of course, the first drain outlet 1016 can also be arranged on the bottom of the dust bin 1010; if the water baffle is driven by a driving assembly to open or close the first drain outlet 1016, the first drain outlet 1016 can be arranged on the side wall of the dust box or on the bottom of the dust box.

[0275] As shown in Figures 38c and 38f, the top edge of the dust box is provided with a second outer edge 1236 extending outward, and a first mounting groove is provided on the second outer edge 1236. A first sealing strip 12361 is provided in the first mounting groove, and a first protrusion corresponding to the first sealing strip is provided on the inner surface of the dust box cover 124 (not shown in the figure). When the dust box is installed in the dust bin 1010 and the dust box cover 124 is covered on the loading and unloading port, the first protrusion can squeeze the first sealing strip 12361 so that the dust box cover 124 seals the box opening 122 of the dust box, preventing the cleaning equipment from leaving the dust box during the cleaning process or operation. Small-sized garbage remaining in the dust box through the gap between the dust box cover 124 and the box opening 122 of the dust box 120 flows back out of the dust box through the gap between the dust box cover 124 and the box opening 122 of the dust box 120; the cooperation of the first sealing strip and the first protrusion forms a sealed connection between the dust box cover 124 and the box opening of the dust box, thereby blocking small-sized garbage in the dust box.

[0276] As shown in Figures 38a to 38k, the dust box water inlet includes a second inlet 1212, and the first inlet is not provided. The cleaning device is mainly used to clean the bottom wall or side walls of the pool. However, in another embodiment, as shown in Figure 21, the dust box water inlet also includes at least one first inlet 1211; the sewage suction port 1111 also includes a first sewage suction port 1111a provided on the front side wall of the front portion of the cleaning device. The first sewage suction port 1111a and the first inlet 1211 are connected, allowing the cleaning device to be used for water surface cleaning. As shown in Figure 41, the first inlet 1211 can be provided on the first side wall of the dust box 120. The first inlet 1211 and the first sewage suction port 1111a are connected to each other, so that liquid on the water surface enters the dust box through the first sewage suction port 1111a and the first inlet 1211. That is, the water inlet of the dust box includes the aforementioned second inlet 1212 and the first inlet 1211; the sewage suction port includes the first sewage suction port 1111a and the second sewage suction port 1111b, and the first sewage suction port 1111a is connected to the first inlet for cleaning the water surface; the second sewage suction port 1111b is connected to the second inlet 1212 for cleaning the bottom wall or the side wall of the pool. As shown in Figure 41, the second sewage suction port 1111b can be arranged on the bottom of the cleaning equipment.

[0277] Similar to the first shielding member 1213, as shown in Figures 41 or 391, a second shielding member 12104 is provided on the dust bin 1010 or the main body to shield the first sewage suction port 1111a, thereby opening or closing the first sewage suction port 1111a (or the first inlet 1211). A drive assembly is provided on the main body or dust bin 1010, and the drive assembly is used to drive the second shielding member to move, thereby closing or opening the first sewage suction port 1111a. If the water surface needs to be cleaned, the control unit controls the drive assembly to move, thereby driving the second shielding member to move, thereby opening the first sewage suction port 1111a. If the water surface does not need to be cleaned, the control unit controls the drive assembly to move, thereby driving the second shielding member to move, thereby closing the first sewage suction port 1111a.

[0278] Since the first sewage suction port 1111a is arranged on the front side wall of the front part of the cleaning device body, when cleaning the water surface, when the first sewage suction port 1111a is opened, under the action of the main driving pump, the liquid on the water surface enters the dust box, and the liquid in the dust box presses the first covering member 1213 under the action of gravity, so that the first covering member 1213 remains on the inner end opening of the first extension portion 1210, and the second sewage suction port 1111b is not connected to the dust box; when the water surface cleaning is finished and the bottom wall or side wall of the pool is cleaned, the second covering member blocks the first sewage suction port 1111a, and the first sewage suction port 1111a is closed. Under the action of the main driving pump, the first covering member opens the second sewage suction port 1111b, and the liquid in the pool enters the dust box through the second sewage suction port 1111b.

[0279] The aforementioned dust box is a single dust box. In another embodiment, as shown in Figures 39a to 391, a dust box is arranged on the outer periphery of the aforementioned single dust box to form a double dust box structure. For the sake of convenience, the inner dust box is referred to as the inner dust box 1201, and the outer dust box is referred to as the outer dust box 1202, that is, the double dust box structure includes an inner dust box and an outer dust box.

[0280] The outer dust box 1202 is sleeved or wrapped around the outer dust box 1201. The inner dust box 1201 forms the first stage of filtration, and the outer dust box 1202 forms the second stage of filtration. The liquid filtered by the outer dust box 1202 enters the suction assembly through the first drain port 1112 and is finally discharged from the cleaning device through the second drain port 212. The outer dust box 1202 and the inner dust box 1201 have similar structures. The side walls of the inner dust box 1201 and the outer dust box 1202 are both provided with a filtering surface, and both include a first filtering surface 1231, a second filtering surface 1232, a third filtering surface 1233, and a fourth filtering surface 1234. For ease of description, the filtering surface of the inner dust box 1201 is described as the inner filtering surface, and the filtering surface of the outer dust box 1202 is described as the outer filtering surface.

[0281] As shown in FIG39e , in one embodiment, a first inner filter is provided on the first side wall of the inner dust box 1201 to form a first inner filter surface 12011. At least one second inner filter is provided on the second side wall, forming a second inner filter surface 12012. At least one third inner filter is provided on the third side wall, forming a third inner filter surface 12013. At least one fourth inner filter is provided on the fourth side wall, forming a fourth inner filter surface 12014. The first inner filter surface 12011, the second inner filter surface 12012, the third inner filter surface 12013, and the fourth inner filter surface 12014 of the inner dust box 1201 have the same filtration level and can filter garbage of the same size. The inner dust box 1201 performs coarse filtration.

[0282] As shown in FIG39g , outer dust box 1202 includes a first sidewall, a second sidewall, a third sidewall, and a fourth sidewall connected end to end. The first sidewall is provided with at least one first outer filter, which forms a first outer filter surface 12021. The second sidewall is provided with at least one second outer filter, which forms a second outer filter surface 12022. The third sidewall is provided with at least one third outer filter, which forms a third outer filter surface 12023. The fourth sidewall is provided with at least one fourth outer filter, which forms a fourth outer filter surface 12024. First outer filter surface 12021 corresponds to first inner filter surface 12011, second outer filter surface 12022 corresponds to second inner filter surface 12012, third outer filter surface 12023 corresponds to third inner filter surface 12013, and fourth outer filter surface 12024 corresponds to fourth inner filter surface 12014. The filter surface of the inner dust box 1201 forms a coarse filter, and at least part of the filter surface of the outer dust box 1202 forms a fine filter.

[0283] For example, the four filter surfaces of the outer dust box 1202 have the same filtering level and can filter garbage of the same size. Compared with the filter surface of the inner dust box 1201, the filter surface of the outer dust box 1202 can filter smaller garbage, so that the filter surface of the outer dust box 1202 forms fine filtration, and the filter surface of the inner dust box 1201 forms coarse filtration. The liquid in the pool now passes through the coarse filtration of the inner dust box and then the fine filtration of the outer dust box, and then enters the suction assembly through the first liquid discharge port of the first accommodating chamber 111, and is finally discharged outside the cleaning equipment through the second liquid discharge port.

[0284] In another embodiment, the filtration levels of the four filter surfaces of the inner dust box 1201 are the same, and among the four filter surfaces of the outer dust box 1202, the filtration levels of the second outer filter surface 12022, the third outer filter surface 12023 and the fourth outer filter surface 12024 are also the same, but different from the level of the first outer filter surface 12021. The filtration level of the first outer filter surface 12021 is the same as the level of the inner filter surface of the inner dust box 1201, so as to form coarse filtration; the second outer filter surface 12022, the third outer filter surface 12023 and the fourth outer filter surface 12024 of the outer dust box 1202 form fine filtration, which can filter smaller-sized garbage. Because when the cleaning device moves on the side wall, slope or wall of the pool, the main drive pump of the suction component is in the open state, the liquid in the pool enters the dust box through the second suction port 1111b and the second inlet 1212, and after being filtered by the inner dust box 1201 and the outer dust box 1202, enters the dust bin 1010, and then enters the suction component through the first liquid discharge port 1112 on the dust bin 1010, and finally is discharged through the second liquid discharge port 212 of the cleaning device. Since the second liquid discharge port 212 is provided on the top of the cleaning device body, when the second liquid discharge port 212 continuously discharges liquid, the discharged liquid exerts a reverse thrust on the cleaning device. Under the action of this thrust, the bottom of the cleaning device can move closely against the side wall, wall or slope of the pool, thereby preventing the cleaning device from falling from the side wall, wall or slope of the pool.

[0285] When at least part of the second outer filter surface 12022, the third outer filter surface 12023 and the fourth outer filter surface 12024 of the outer dust box 1202 is clogged, in order to ensure the water intake of the suction component, the first filter surface 1231 is designed to be coarse filtration. At this time, the liquid filtered by the inner dust box 1201 can enter the dust bin 1010 through the first filter surface 1231, and then enter the suction component to meet the water intake of the suction component, so as to ensure that the liquid discharged from the second liquid discharge port 212 generates a reverse thrust, ensuring the normal movement of the cleaning equipment on the side wall, wall or slope of the pool. Therefore, the first outer filter surface 12021 and the inner filter surface of the inner dust box 1201 are designed to be the same filtration level to ensure the water intake of the suction component.

[0286] Since the third outer filter surface 12023 and the third inner filter surface 12013 are both close to or adjacent to the first liquid drain port 1112 of the dust bin 1010; the filtration level of the first outer filter surface 12021 away from the third outer filter surface 12023 is selected to be the same as the filtration level of the inner filter surface, under the suction action of the suction component, the liquid filtered by the inner dust box 1201 follows the direction of the suction force, and the liquid filtered by the inner dust box 1201 preferentially passes through the third outer filter surface 12023 into the dust bin 1010, and enters the suction component through the first liquid drain port 1112. The first outer filter surface 12021 and the third outer filter surface 12023 are relatively distributed, and the distance between them is the farthest. Under normal circumstances Under this condition, most of the liquid filtered by the inner dust box 1201 enters the second cavity of the dust bin 1010 through the third outer filter surface 12023, the second outer filter surface 12022 and the fourth outer filter surface 12024; a very small amount of liquid filtered by the inner dust box 1201 will enter the dust bin 1010 through the fourth outer filter surface 12024; however, when at least one of the third outer filter surface 12023, the second filter surface 1232 and the fourth filter surface 1234 is blocked, under the action of the suction component, the liquid filtered by the inner dust box 1201 will pass through the first outer filter surface 12021 directly into the dust bin 1010 to meet the water intake requirement of the suction component.

[0287] Of course, the other outer filter surfaces of the outer dust box 1202 can also be set to the same filtration level as the inner filter surface of the inner dust box 1201. For example, at least one of the second outer filter surface 12022 and the fourth outer filter surface 12024 of the outer dust box 1202 can be set to the same filtration level as the inner filter surface. Alternatively, a portion of one of the first outer filter surface 12021, the second outer filter surface 12022, the third outer filter surface 12023, and the fourth outer filter surface 12024 can be set to the same filtration level as the inner filter surface for coarse filtration to ensure water intake of the suction component, while a portion can be set to the same filtration level as the other outer filter surfaces for fine filtration. The filtration level of the third outer filter surface is preferably different from that of the inner filter surface to provide fine filtration and ensure the secondary filtration effect of the outer dust box 1202.

[0288] In addition, for the inner dust box 1201, the filtration level on each inner filter surface can be the same or different, depending on actual needs; for the outer dust box 1202, the filtration level of each outer filter surface can be the same or different. Under the suction action, while meeting the water intake of the suction component, the coarse filtration of the inner dust box 1201 and the fine filtration function of the outer dust box 1202 can be achieved. The specific filtration level is selected according to actual needs. That is to say: the outer dust box 1202 is arranged to at least partially surround the inner dust box 1201; the filtration level of at least one filter surface of the outer dust box 1202 is higher than the filtration level of at least one filter surface of the inner dust box 1201, so that the inner dust box 1201 forms a coarse filtration, and at least one filter surface of the outer dust box 1202 forms a fine filtration, realizing the function of secondary filtration; in order to meet the water intake of the suction component, the outer dust box 1202 includes at least two filter surfaces, wherein the filtration level of at least one filter surface of the outer dust box is equivalent to or the same as the filtration level of at least one filter surface of the inner dust box, so as to meet the water intake requirement of the suction component; the filtration level of at least one filter surface is higher than the filtration level of at least one filter surface of the inner dust box, so as to realize the secondary filtration function of the liquid.

[0289] As for the second inlet 1212 of the dual dust box, as shown in Figures 39i and 39h , the outer end of the first extension 1210 of the inner dust box 1201 opens as the second inner inlet 1212a; a second outer inlet 1212b is provided at the bottom of the outer dust box 1202, and the second outer inlet 1212b is connected to the second inner inlet 1212a. Optionally, as shown in Figure 39i , the dust box water inlet further includes a guide portion 12103. The guide portion 12103 is provided on the end surface of the outer end of the first extension 1210, with the first end of the guide portion 12103 connected to the outer end of the first extension 1210, and the second end of the guide portion 12103 abutting or adjacent to the second outer inlet 1212b of the outer dust box 1202. The guide portion 12103 is trumpet-shaped, with the diameter gradually increasing from the first end to the second end.

[0290] As shown in Figure 39j, the second extension portion 1013 of the dust bin 1010 does not extend into the hollow channel of the first extension portion 1210. The end face of the inner end of the second extension portion 1013 abuts against the end face of the outer end of the first extension portion 1210. The guide portion 12103 is located on the outside of the second extension portion 1013. The second outer inlet 1212b of the outer dust box 1202 is blocked outside the second extension portion 1013, so that the second sewage suction port 1111b of the dust bin 1010 is connected to the first extension portion 1210, and the liquid in the pool enters the inner cavity of the inner dust box 1201 through the second sewage suction port, the second inner inlet 1212a and the hollow channel of the first extension portion 1210; since the second outer inlet 1212b of the outer dust box 1202 is blocked outside the second extension portion 1013, the liquid in the second sewage suction port will not directly enter the outer dust box 1202 through the second outer inlet 1212b. The guide portion 12103 is provided to facilitate installation of the dual dust box structure within the dust bin 1010, guiding the second extension portion 1013 into the guide portion 12103, ensuring that the inner end surface of the second extension portion 1013 can accurately abut the outer end surface of the first extension portion 1210, thereby ensuring that the dust box can be properly installed. In another embodiment, the second extension portion 1013 can extend into the first extension portion 1210, allowing liquid to enter the cavity of the inner dust box 1201 through the second suction port, the second extension portion 1013, and the first extension portion 1210.

[0291] In order to prevent the bottoms of the inner dust box 1201 and the outer dust box 1202 from directly contacting each other, and the liquid forming a water film between the two to form an adsorption force, making it difficult to separate the inner dust box 1201 and the outer dust box 1202, at least one first rib (not shown in the figure) is provided on at least one of the bottoms of the inner dust box 1201 and the outer dust box 1202 to form a gap between the bottom box of the inner dust box 1201 and the bottom of the outer dust box 1202, thereby avoiding the formation of a water film and facilitating the separation of the inner dust box 1201 and the outer dust box 1202.

[0292] The inner dust box 1201 and the outer dust box 1202 are detachably connected. As shown in FIG39e , the inner dust box 1201 is provided with the aforementioned second handle 252. The inner dust box 1201 and the outer dust box 1202 can be taken out of or put into the dust bin 1010 simultaneously through the second handle 252. There are many ways to detachably connect the inner dust box 1201 and the outer dust box 1202. For example, through a buckle, or a connection with a fastener, or a magnetic connection. As shown in FIG39h , at least one mating hole 12027 is provided on the side wall of the outer dust box 1202. As shown in FIG39f , a buckle 12018 is provided on the side wall of the inner dust box 1201. The buckle 12018 is engaged with the mating hole 12027 to achieve a detachable connection between the inner dust box 1201 and the outer dust box 1202. When the user holds the outer dust box 1202 and pulls the second handle 252 upwards, the buckle 12018 can disengage from the mating hole, separating the inner dust box 1201 and the outer dust box 1202; on the contrary, when the user inserts the outer dust box 1202 into the inner dust box 1201 and presses the outer dust box 1202 downwards, the buckle 12018 can be snapped into the mating hole 12027, thereby connecting the inner dust box 1201 and the outer dust box 1202.

[0293] To further facilitate the user's gripping of the second handle 252, as shown in Figures 39j and 39f, a second recessed second clearance area 12019 is provided on the second step surface 12383 of the inner dust box 1201. The user's hand can be inserted through the second clearance area 12019 under the lifting section 2523 of the second handle 252, making it easier to grip the second handle 252 to take the dust box 120. As shown in Figures 38c and 39i, the inner dust box 1201 is provided with a detection assembly for identifying whether the dust box is properly installed in the dust bin 1010. The detection assembly is protruding from the outer wall of the inner dust box 1201. The outer dust box 1202 is positioned to avoid the detection assembly. As shown in Figure 39g, a third clearance area 12028 is provided on the inner wall of the outer dust box 1202.

[0294] As shown in Figure 39g, in order to facilitate the separation of the outer dust box 1202 and the inner dust box 1201, a plurality of protrusions 120230 can be provided on the lower outer wall surface of the outer dust box 1202, so that the user can press one finger on the protrusion to hold the inner dust box 1201, and pull out the inner dust box 1201 through the second handle 252 to separate the inner dust box 1201 and the outer dust box 1202.

[0295] As shown in Figures 39a and 39b, the second outer edge 1236 of the inner dust box 1201 is located above the top of the outer dust box 1202. In other words, the outer dust box 1202 is not completely surrounded by the inner dust box 1201, but partially surrounded by the inner dust box 1201, and the top of the inner dust box is higher than the top of the outer dust box. When the dual dust box is installed in the dust bin 1010, the second outer edge 1236 can overlap the top opening of the dust bin 1010, facilitating the positioning of the dust box within the dust bin 1010. At the same time, the second handle 252 is provided on the inner wall of the inner dust box 1201, so that the second handle 252 does not occupy space outside the dust box, making the dual dust box structure compact and occupying a small amount of space. In addition, since the inner dust box 1201 is provided with a detection component for identifying whether the dust box is installed in place in the dust bin 1010, the detection part or sensing part in the detection component is arranged on the outer wall of the inner dust box 1201 and needs to be sealed in the installation cavity 1216; since the top of the inner dust box is lower than the bottom of the installation cavity 1216 on the outer dust box, during the cleaning process, the height of the liquid will not exceed the height of the outer filter surface of the outer dust box 1202, ensuring that the liquid does not enter the installation cavity 1216 and will not affect the detection performance of the detection component, thereby ensuring the detection performance of the detection component.

[0296] Of course, the second outer edge 1236 can be set on the top of the outer dust box 1202, and the sensing part or detection part of the detection assembly can be set on the side wall of the outer dust box 1202. The outer dust box 1202 can surround the entire outer periphery of the inner dust box 1201, and the installation cavity 1216 is higher than the top of the inner dust box. The second handle 252 is set on the inner wall of the inner dust box 1201, so that the second handle 252 does not occupy the space outside the dust box, making the structure of the double dust box compact; alternatively, the second outer edge 1236, the sensing part or detection part of the detection assembly can be set on the side wall of the outer dust box 1202, and the second handle 252 can be set on the second outer edge 1236 of the outer dust box 1202, which can also realize the function of taking and placing the dust box, but compared with setting the second handle 252 on the inner wall of the inner dust box 1201, the second handle 252 needs to occupy the space outside the dust box, making the structure of the double dust box not compact enough.

[0297] As shown in Figure 39e, a first inner inlet 12015 is provided on the first side wall of the inner dust box 1201. As shown in Figure 39g, a first outer inlet 12025 is provided on the first side wall of the outer dust box 1202. The first outer inlet 12025 is located on the outside of the first inner inlet 12015, and the first inner inlet 12015 is connected to the first sewage suction port 1111a, so that the liquid on the water surface passes through the first sewage suction port 1111a and the first inner inlet 12015 and directly enters the inner cavity of the dust box for filtration. The filtered liquid enters the dust bin 1010, and is then sucked into the suction assembly through the first liquid discharge port 1112, and is finally discharged outside the cleaning equipment through the second liquid discharge port 212.

[0298] In one embodiment, as shown in Figure 39e, the first inner inlet 12015 is provided with a first outer edge 120122 extending outward, and the first outer edge 120122 overlaps the top surface of the first outer inlet 12025 to block the first outer inlet 12025 below the first inner inlet 12015, ensuring that the liquid enters the cavity of the inner dust box 1201 directly through the first inner inlet 12015 after passing through the first sewage suction port 1111a.

[0299] In one embodiment, the first inner inlet 12015 and the first outer inlet 12025 are both notches, allowing liquid to flow into the dust box without resistance through the first suction port 1111a and the first inner inlet 12015. In another embodiment, the first inner inlet 12015 and the first outer inlet 12025 are holes, allowing liquid to enter the inner cavity of the inner dust box 1201 through the first suction port 1111a and the first inner inlet 12015.

[0300] As shown in Figure 39e, a first inner box opening 12016 is provided at the top of the inner dust box 1201, and as shown in Figure 39g, a first outer box opening 12026 is provided at the top of the outer dust box 1202, and a first sealing strip 12361 is provided on the second outer edge 1236. The inner wall of the dust box cover 124 is provided with a first protrusion corresponding to the first sealing strip 12361. When the dust box cover 124 is covered on the take-and-put port, the first protrusion squeezes the first sealing strip 12361 to seal the first inner box opening 12016, thereby blocking the small-sized garbage in the inner dust box 1201 inside the dust box. Since a first inlet is provided on the first side wall of the dual dust box and a second inlet 1212 is provided on the bottom, in order to ensure the negative pressure in the dust box and the dust bin 1010, as shown in Figure 39d, the top opening of the dust bin 1010 is provided with a third outer edge 1017 extending outward, and the second outer edge 1236 of the inner dust box 1201 can be overlapped on the third outer edge 1017. A second mounting groove 1014 is provided on the third outer edge 1017, and a second sealing strip is provided in the second mounting groove. The second sealing strip is located on the outside of the third outer edge, and a second protrusion is provided on the inner wall surface of the dust box cover 124. When the dust box cover 124 is covered on the take-and-put port, the second protrusion squeezes the second sealing strip to seal the top opening of the dust bin 1010, ensuring that the suction component can form the required negative pressure in the dust bin 1010 when it is turned on. In the height direction of the cleaning device, because the second outer edge overlaps the third outer edge 1017, the first sealing strip is arranged higher than the second sealing strip, thereby forming a first seal at the top opening of the dust bin 1010 and a second seal at the first inner box opening of the inner dust box 1201. Of course, the first sealing strip and the second sealing strip can also be flush, or the first sealing strip can be arranged lower than the second sealing strip.

[0301] As shown in Figure 39d, in order to avoid direct contact between the bottom of the outer dust box 1202 of the dual dust box and the bottom of the dust bin 1010, the liquid forms a water film between the two to generate adsorption force. In addition to the raised outer edge at the bottom of the outer dust box 1202 as mentioned above, a second upwardly protruding rib 1015 can also be provided at the bottom of the dust bin 1010 to support the outer dust box 1202, so that a gap is formed between the bottom of the outer dust box 1202 and the bottom of the dust bin 1010 to avoid the formation of a water film, thereby facilitating the removal of the dual dust box from the dust bin 1010.

[0302] As for the dust box cover 124, as shown in Figure 39k, the dust box cover 124 only covers the access opening; or, as shown in Figure 38d, the dust box cover 124 can cover the access opening and other areas on the top of the cleaning device body, but the second liquid discharge port 21221 needs to be exposed.

[0303] In another embodiment of the dual dust box structure, as shown in Figures 40a, 40b, and 40d, the outer dust box 1202 and the inner dust box 1201 are each provided with a second outer inlet 1212b and a second inner inlet 1212a at their bottoms, respectively. Furthermore, at least one fifth outer filter and at least one fifth inner filter are provided, respectively. The fifth outer filter forms a fifth outer filter surface 120229, and the fifth inner filter forms a fifth inner filter surface 120121, with the fifth inner filter surface corresponding to the fifth outer filter surface. In one embodiment, the fifth inner filter surface 120121 provides coarse filtration, and the fifth outer filter surface 120229 provides fine filtration. The five inner filter surfaces of the inner dust box 1201 have the same filtration level. Of the five outer filter surfaces of the outer dust box 1202, except for the first outer filter surface 12021, which has the same filtration level as the inner dust box 1201, the other four outer filter surfaces have the same filtration level and provide fine filtration. When the dual dust box structure is taken out of the dust bin 1010, due to the setting of the fifth outer filter surface 120229 and the fifth inner filter surface 120121, when the dust box is lifted, the liquid in the dust box can be quickly discharged from the dust box through the fifth inner filter surface 120121 and the fifth outer filter surface 120229, thereby realizing the rapid drainage function when the dust box is lifted.

[0304] In one embodiment, the second inner inlet 1212a and the fifth inner filter surface 120121 are staggered on the bottom of the inner dust box 1201, wherein the second inner inlet 1212a is distributed close to the first inner filter surface 12011, and the fifth inner filter surface 120121 is distributed away from the first inner filter surface 12011 and close to the third inner filter surface 12013; similarly, the second outer inlet 1212b is distributed close to the first outer filter surface 12021, and the fifth outer filter surface 120229 is distributed away from the first outer filter surface 12021 and close to the third outer filter surface 12023.

[0305] In one embodiment, as shown in Figure 38a or Figure 39e, when the second handle 252 is in the stowed state, the lifting section 2523 of the second handle 252 is located near or adjacent to the third sidewall of the dust box. With this arrangement, after the liquid is filtered in the dust box, under the action of the suction assembly, the liquid preferably flows toward the third filter surface 1233. During this flow, a small amount of garbage in the liquid will be caught on the lifting section 2523 of the second handle 252. To prevent garbage in the dust box from catching on the second handle 252, as shown in Figure 40c, when the second handle 252 is in the stowed state, the lifting section 2523 of the second handle 252 is located away from the third sidewall and near the first inlet on the first sidewall of the dust box, thereby preventing garbage from catching on the second handle 252 as the fluid flows toward the third filter surface 1233.

[0306] As shown in Figure 41, the cleaning device includes a first accommodating chamber 111, the dust box is arranged in the first accommodating chamber 111, and a first drain port 1112 and a first water outlet 1016 are provided on the side wall of the first accommodating chamber. The main body of the cleaning device also includes a third accommodating chamber, and the third accommodating chamber includes a third cavity 11011 and a fourth cavity 11012. The third cavity 11011 and the fourth cavity 11012 are separated, and the first drain port 1112 is connected to the third cavity 11011; the cleaning device 1000 also includes a second drain port 212 fluidically connected to the first drain port 1112; the second drain port 212 is located on the sixth side 118 and is connected to the first cavity; wherein the sixth side 118 is located at the upper part of the cleaning device main body 110. The impeller of the main drive pump 210 is located in the third cavity 11011. When the impeller 2101 of the main drive pump 210 is turned on, liquid enters the dust box 120 through the sewage suction port 1111. After being filtered in the dust box 120, the liquid enters the third cavity 11011 through the first drain port 1112 and is finally discharged through the second drain port 212, forming the first water path of the cleaning device 1000. A first drain port 1016 is also provided on the side wall of the first accommodating cavity 111 near the main drive pump 210. The first drain port 1016 is connected to the second cavity. The cleaning device 1000 is also provided with a second drain port 1113. The first drain port 1016 and the second drain port are connected through the second cavity. When the cleaning device 1000 leaves the water surface, the first drain port, the second cavity, and the second drain port 1113 sequentially form the second water path of the cleaning device 1000; wherein the second water path is separated from the first water path.

[0307] In one embodiment, a horizontally disposed first partition 11013 is provided within the third accommodating chamber, dividing the third accommodating chamber into a third cavity 11011 and a fourth cavity 11012, disposed vertically. The suction assembly 210 includes an impeller 2101 and a main motor driving the impeller. The cleaning device also includes an electrical control box 220, which has a sealed mounting cavity. The main motor driving the pump is housed within the electrical control box 220. The main motor's output shaft extends into the third cavity 11011 and connects to the impeller 2101, thereby driving the impeller's rotation. When the main drive pump is turned on, liquid enters the dust box through the first suction port 1111a or the second suction port 1111b, the first inlet of the dust box (corresponding to the first suction port 1111a) or the second inlet 1212 (corresponding to the second suction port 1111b). After being filtered in the dust box, the liquid enters the gap between the first accommodating chamber and the dust box, then enters the third cavity 11011 through the first drainage port 1112, and finally is discharged through the second drainage port 212, thus forming the first clean water path of the cleaning device. As shown in Figure 391, the bottom of the housing of the cleaning device body is provided with a second drainage port 1113. The first drainage port 1016 and the second drainage port 1113 are connected through the fourth cavity 11012. Therefore, when the cleaning device is lifted out of the water, the second water path formed by the first drainage port 1016, the lower cavity, and the second drainage port 1113 is separated from the first water path.

[0308] In one embodiment, the detection terminal 2331 of the liquid level detection assembly 233 is located on the electrical control box and within the fourth cavity 11012, and is used to detect the liquid level at the current location of the cleaning device. Furthermore, the fourth drive member 194 and the first buoyancy adjustment unit 2611 are both located within the electrical control box, along with the battery pack, control system 231, or control unit, and are isolated from the external liquid environment to ensure proper function.

[0309] In one embodiment, the electrical control box includes a box body and a sealing cover sealed against an opening at the top of the box body. An opening is provided in the first partition plate 11013, and a portion of the sealing cover is sealed against the opening of the first partition plate 11013, allowing the electrical control box to be located within the main body. The output shaft of the main drive pump extends through the sealing cover into the upper cavity and connects to the impeller. The electrical control box 220 is sealed against the first partition plate to separate the third cavity 11011 from the fourth cavity 11012.

[0310] When the cleaning device is provided with a dust bin 1010, the second cavity within the dust bin serves as the first accommodating cavity, the dust box is provided within the dust bin, and the first liquid discharge port 1112 and the first water discharge port 1016 are provided on the side walls of the dust bin. In one embodiment, the side walls of the dust bin correspond to the side walls of the dust bin. When the dust box has four side walls, the dust bin also has four corresponding side walls. The shape of the dust bin interior matches the outer shape of the dust box. In one embodiment, the first liquid discharge port and the first water discharge port are provided on the third side wall of the dust bin.

[0311] In one embodiment, when the cleaning device is not provided with a dust bin, a second partition extending vertically may be provided in the main body, the second partition divides the main body into a first accommodating chamber and a third accommodating chamber distributed on the left and right, the dust box is provided in the first accommodating chamber, the aforementioned first liquid discharge port 1112 and the first water discharge port 1016 are provided on the second partition, and the first partition is provided on the second partition to divide the third accommodating chamber into a third cavity and a fourth cavity distributed up and down.

[0312] As shown in FIG42 , another embodiment of a dust box comprises a first side wall of the dust box 120 having a guide port 11014 provided thereon, and an adjustment assembly provided thereon for closing or opening the guide port. For example, the adjustment assembly includes a cover 11015. When the cleaning device is moving along a wall, a slope, or the side wall of a pool, if the detection mechanism detects that at least one of the second outer filter surface 12022, the third outer filter surface 12023, and the fourth outer filter surface 12024 of the outer dust box 1202 is clogged and reaches a predetermined level of clogging, the control unit controls the drive assembly to move the cover 11015 to open the guide port, allowing the liquid filtered by the inner dust box 1201 to flow rapidly through the guide port into the dust bin 1010 and then into the suction assembly through the first liquid discharge port 1112, thereby ensuring a sufficient water intake of the suction assembly and causing the liquid discharged from the second liquid discharge port 212 to generate a reverse thrust, thereby ensuring that the bottom of the cleaning device is in close contact with the wall, the side wall, or the slope. The regulating assembly can also open the diversion port without being driven by the driving assembly. A counterweight block can be provided on the regulating assembly. For example, the regulating assembly includes a cover 11015 and a counterweight block 11016 provided on the inner wall of the cover 11015. When the filter surface of the dust box is clogged, when the cleaning device moves on the wall, because the first side wall is located above the third side wall, the regulating assembly automatically opens the diversion port under the action of gravity to meet the water intake of the suction assembly. In one embodiment, a third partition 11017 is provided on the diversion port, and the third partition is provided with a plurality of grille holes. The filtration level of the grille holes is lower than that of the filter surfaces on the other side walls of the dust box. When the filter surfaces on the other side walls of the dust box are clogged, the cover 11015 opens, and the liquid in the dust box flows out through the grille holes. The grille holes act as a coarse filter, and their filtration level is lower than that of the filter surfaces on the other side walls of the dust box.

[0313] In another embodiment, a sixth filter can be provided on the third side wall or the first liquid discharge port 1112 of the second partition of the dust bin 1010. The dust bin can be a single dust bin or a double dust bin. The sixth filter is partially used for fine filtration and partially for coarse filtration. That is, the sixth filter includes a coarse filtration area and a fine filtration area. The adjustment component can be provided on the coarse filtration area. When the fine filtration area is not clogged, the adjustment component keeps the coarse filtration area closed. When the detection mechanism detects that the fine filtration area of ​​the sixth filter is clogged, the control unit controls the drive component to drive the adjustment component to move, thereby opening the coarse filtration area. As a result, the liquid in the dust bin 1010 or the first accommodating chamber enters the suction component through the coarse filtration area to meet the water intake of the suction component, allowing the cleaning device to move along the wall. Alternatively, a sixth filter is provided on part of the first liquid discharge port 1112 for coarse filtration, and a seventh filter is provided on part of the first liquid discharge port 1112 for fine filtration. The adjustment component is provided on the sixth filter. When the seventh filter is not blocked, the adjustment component keeps the sixth filter closed. When the detection mechanism detects that the sixth filter is blocked, the control unit controls the driving component to drive the adjustment component to move to open the sixth filter.

[0314] 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.

[0315] 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 disposed and locked to the second liquid discharge port 212 of the main driving pump 210.

[0316] 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.

[0317] 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.

[0318] 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.

[0319] 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.

[0320] 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.

[0321] 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.

[0322] 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.

[0323] 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.

[0324] 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.

[0325] 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.

[0326] 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.

[0327] 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 a horizontal thrust in the same direction as the running direction of the cleaning device 1000. Even if the dust box 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 in the same direction as 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.

[0328] 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.

[0329] 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.

[0330] 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 .

[0331] 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 .

[0332] Please continue to refer to Figure 25. The cleaning device 1000 also 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 liquid drain port 212 will tilt downward. The liquid in the dust box 120 will flow out from the second liquid drain port 212 and other drainage channels under the action of gravity. Since the cleaning device 1000 will enter the dust box 120 when cleaning the target area 100, some liquid in the dust box 120 may not be discharged in time. By discharging the liquid, the liquid can be prevented from remaining in the dust box 120 and affecting the subsequent cleaning of the dust box 120. At the same time, the weight of the cleaning device 1000 can also be reduced, making it easier to lift.

[0333] In some embodiments, the cleaning device body 110 is provided with an escape opening 251a, which facilitates the user to insert their 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 using the first handle 251, the fourth filter surface 1234 of the dust box 120 is tilted and located at the bottom of the entire dust box 120, and the side of the main drive pump 210 provided with the second liquid discharge port 212 is tilted downward, allowing the liquid in the dust box 120 to flow from the fourth filter surface 1234 to the main drive pump 210 under the action of gravity and be quickly discharged from the second liquid discharge port 212. This can not only ensure liquid discharge efficiency, but also increase the liquid discharge ratio and reduce the residual liquid in the dust box 120.

[0334] 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.

[0335] Please refer to Figures 30 and 31. Figure 30 is a cross-sectional view of the dust box and second handle of the cleaning device provided by the present disclosure; Figure 31 is a structural schematic diagram of the second handle of the cleaning device provided by the present disclosure. The dust box 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 disposed above the box opening 122 of the dust box 120. By providing the second handle 252 at the box opening 122, the user can easily remove the dust box 120 from the first accommodating chamber 111 using the second handle 252. In one embodiment, the second handle 252 is movable relative to the dust box 120 between a closed position and an open position. In the closed position, the dust box cover 124 is closed and in close contact with the opening 122 of the dust box 120. In the open position, the dust box cover 124 is open, and the user can remove the dust box 120 from the cleaning device body 110 using the second handle 252. The second handle 252 cooperates with the dust box 120 via a second reset assembly. When the dust box cover 124 is closed, the second reset assembly is compressed, placing the second handle 252 in the closed position. When the dust box 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.

[0336] 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 debris 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 dust box 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 the dust box 120 from the first filter surface 1231 near the sewage inlet 1111, and liquid flowing into the dust box 120 flows toward the fourth filter surface 1234 and out through the first liquid discharge port 1112, the second handle 252 can be positioned on the side of the dust box opening 122 near the first filter surface 1231, with one end of the second handle 252 positioned on the side of the dust box 120 where the second filter surface 1232 is located, and the other end positioned on the side of the dust box 120 where the third filter surface 1233 is located. Reduce the gap between the side of the second handle 252 and the dust box 120 when the second handle 252 is installed on the dust box 120 to prevent garbage from being stuck between the side of the second handle 252 and the dust box 120, making it difficult to clean the dust box 120. For example, reduce the gap between one end of the second handle 252 and the second filter surface 1232, and reduce the gap between the other end of the second handle 252 and the third filter surface 1233.

[0337] In some embodiments, the distance between the second handle 252 and the filter surface 123 through which the suction passage passes is increased to prevent trash from getting stuck between the second handle 252 and the filter surface 123, making it difficult to clean the dust box 120. For example, the area of ​​the fourth filter surface 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 surface 1234. This prevents trash from getting stuck between the second handle 252 and the fourth filter surface 1234, making it difficult to clean the dust box 120. In some embodiments, the distance D1 between the second handle 252 and the filter surface 123 is 5-20 mm. For example, the distance D1 between the second handle 252 and the fourth filter surface 1234 can be 7 mm, 14 mm, etc., but is not limited thereto. It is sufficient to ensure that the distance between the second handle 252 and the filter surface 123 is within the range of 5-20 mm. By controlling the distance between the second handle 252 and the filter surface 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 dust box 120 through the suction port 1111, nor will it hinder liquid from being discharged through the filter surface 123. It can also prevent garbage from being stuck between the second handle 252 and the filter surface 123, making it difficult to clean the dust box 120.

[0338] 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.

[0339] 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.

[0340] 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 dust box 120 is fully loaded, prompts that the dust box 120 is blocked, prompts that the second auxiliary cleaning assembly 160, 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 of the cleaning device 1000 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.

[0341] 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.

[0342] 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.

[0343] 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.

[0344] 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.

[0345] 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 the water flow 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 the 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 arranged 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.

[0346] 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.

[0347] 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.

[0348] 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), hig...

Claims

1. A cleaning device, comprising a cleaning device body (110), wherein the cleaning device body (110) comprises a first side (113) located at the front, a second side (114) located at the rear, a third side (115) located at the left side, and a fourth side (116) located at the right side; The cleaning device (1000) further comprises: A walking mechanism (190), the walking mechanism (190) being arranged substantially symmetrically on both sides of the cleaning device (1000), the walking mechanism (190) comprising at least a first guide wheel (191) and a second guide wheel (192) of substantially the same size, and a crawler track (193) sleeved outside the first guide wheel (191) and the second guide wheel (192); a cover plate (195) arranged to cover the outer side surfaces of the first guide wheel (191) and the second guide wheel (192), so that the first guide wheel (191) and the second guide wheel (192) are not visible from the outer side surface of the cleaning device (1000); The area of ​​the annular region formed by the crawler (193) sleeved with the first guide wheel (191) and the second guide wheel (192) is substantially equal to the area of ​​the cover plate (195); Furthermore, the projection of the outer contour of the cover plate (195) on the walking surface (101) is located within the projection of the outer contour of the crawler track (193) on the walking surface (101); and, a projection of the third side (115) or the fourth side (116) on the walking surface (101) is located within a projection of an outer contour of the crawler (193) on the walking surface (101); Wherein, the walking surface (101) is a plane on the surface to be cleaned that is in contact with the walking mechanism (190).

2. The cleaning device according to claim 1 further comprises a first auxiliary cleaning component (150), wherein a projection of the first auxiliary cleaning component (150) on the walking surface (101) at least partially exceeds a projection of an outer contour of the track (193) on the walking surface (101).

3. According to the cleaning device according to claim 2, the first auxiliary cleaning component (150) includes at least a side brush (151), and the side brush (151) includes at least two cleaning parts, at least one end of the cleaning part is straight, and at least one end of the cleaning part is serrated.

4. The cleaning device according to any one of claims 1-3, further comprising a roller brush assembly (171), wherein the walking mechanism (190) drives the roller brush assembly (171) to rotate via a transmission assembly, wherein the transmission assembly comprises at least two gears of the same level. 5 . The cleaning device according to claim 4 , further comprising a gear cover plate, wherein the gear cover plate is connected to the ends of the gear shafts of the at least two gears of the same level to connect the different gears of the same level in series.

6. The cleaning device according to any one of claims 1 to 5, further comprising a propulsion assembly (180), wherein the propulsion assembly (180) is at least partially disposed in an internal space of the walking mechanism (190).

7. The cleaning device according to claim 6, wherein: The cover plate (195) is a partially hollow structure, and water flow outside the cleaning device (1000) enters the internal space of the walking mechanism (190) through one side of at least one portion of the hollow structure, flows through the propulsion assembly (180), and then flows out of the internal space of the walking mechanism (190) from the other side of at least another portion of the hollow structure, so as to form a fluid path of the propulsion assembly (180).

8. The cleaning device according to any one of claims 6-7, wherein: The inner space of the walking mechanism (190) is further provided with a base (1901), the base (1901) being located on the side of the propulsion assembly (180) facing the cleaning device body (110), and the propulsion assembly (180) is partially or completely accommodated in the space formed by the base (1901); The cleaning device (1000) further comprises a flow channel baffle (1902), wherein the flow channel baffle (1902) is located on a side of the propulsion assembly (180) facing away from the cleaning device body (110), and the flow channel baffle (1902) and the base (1901) together form at least a portion of the fluid channel of the propulsion assembly (180).

9. The cleaning device according to any one of claims 1 to 8, further comprising an electric control box (220) and a liquid level detection component (233), wherein the electric control box (220) comprises a control system (231); the liquid level detection component (233) is partially disposed inside the electric control box (220), and partially extends through a side wall of the electric control box (220) to the outside of the electric control box (220); in, The portion of the liquid level detection component (233) located outside the electric control box (220) comprises at least a detection end (2331), and the detection end (2331) is used to detect the liquid pressure in the external environment of the electric control box (220); the portion of the liquid level detection component (233) located inside the electric control box (220) comprises at least a transmission end, and the transmission end is connected to the control system (231) inside the electric control box (220).

10. The cleaning device according to any one of claims 1 to 9, further comprising a second drain outlet (1113) always connected to the external environment, and a liquid level detection component (233), wherein the liquid level detection component (233) comprises at least a detection end (2331), and the detection end (2331) is arranged inside a space fluidly connected to the second drain outlet (1113) for detecting the liquid pressure in the space.

11. The cleaning device according to any one of claims 1 to 10, further comprising a first anti-collision member (200), wherein the first anti-collision member (200) at least partially or completely protrudes outside the main body contour of the cleaning device body (110).

12. The cleaning device according to any one of claims 1 to 11, further comprising a visual sensing component (140), an adjustment component (235) and a control system (231), wherein the visual sensing component (140) comprises a camera body (140) a and a fill light component (140) b, wherein the fill light component (140) b is used to adjust the brightness of a shooting area of ​​the camera body (140) a; The adjustment component (235) is connected to the control system (231), and the control system (231) is used to control the adjustment component (235) to continuously turn off the fill light (140) b or to keep the fill light brightness of the fill light (140) b within a fixed range according to the current state and / or detection data of the cleaning device (1000).

13. The cleaning device according to any one of claims 1 to 12, further comprising a dust box (120), a first accommodating chamber (111), and a main driving pump (210), wherein the dust box (120) is at least partially accommodated in the first accommodating chamber (111), The first accommodating chamber (111) is provided with a first liquid discharge port (1112), and the first liquid discharge port (1112) is arranged on a side wall of the first accommodating chamber (111) close to the main driving pump (210).

14. The cleaning device according to claim 13, further comprising a third accommodating chamber, comprising a third cavity (11011), wherein the first liquid discharge port (1112) is in communication with the third cavity (11011); The first liquid discharge port (1112) is in communication with the third cavity (11011), and the cleaning device (1000) further comprises a second liquid discharge port (212) in fluid communication with the first liquid discharge port (1112); the second liquid discharge port (212) is located on the sixth side (118) and is in communication with the third cavity (11011); wherein, The sixth side (118) is located at an upper portion of the cleaning device body (110).

15. The cleaning device according to claim 14, further comprising a sewage suction port (1111), wherein: The impeller (2101) of the main driving pump (210) is located in the third cavity (11011). When the impeller (2101) of the main driving pump (210) is turned on, liquid enters the dust box through the suction port (1111). After being filtered in the dust box (120), the liquid enters the third cavity (11011) through the first liquid discharge port, and is finally discharged through the second liquid discharge port, thereby forming a first water path of the cleaning device (1000).

16. The cleaning device according to claim 15, wherein: The third accommodating chamber further comprises a fourth chamber (11012); a first drain port (1016) is further provided on a side wall of the first accommodating chamber (111) close to the main driving pump (210); the first drain port (1016) is communicated with the fourth chamber (11012); the cleaning device (1000) is further provided with a second drain port (1113); the first drain port (1016) and the second drain port are communicated with each other via the fourth chamber (11012); when the cleaning device (1000) leaves the water surface, the first drain port, the fourth chamber (11012) and the second drain port (1113) sequentially form a second water path of the cleaning device (1000); wherein the second water path is separated from the first water path.

17. The cleaning device according to claim 15, further comprising a liquid level detection component (233), wherein the liquid level detection component (233) comprises at least a detection end (2331), wherein the detection end (2331) is away from the first water channel and / or the detection end (2331) is located in the fourth cavity (11012).

18. The cleaning device according to any one of claims 1-17 further includes a dual dust box structure, the dual dust box structure includes an inner dust box and an outer dust box, the outer dust box at least partially surrounds the inner dust box; the filtration level of at least one filter surface of the outer dust box is higher than the filtration level of at least one filter surface of the inner dust box.

19. The cleaning device according to claim 18, wherein the outer dust box and the inner dust box each comprise at least two filter surfaces, wherein: The filtration grade of at least one filtration surface of the outer dust box is equivalent to the filtration grade of at least one filtration surface of the inner dust box.

20. The cleaning device according to any one of claims 1 to 19, wherein: The walking surface (101) comprises a target side wall (1011) and a target bottom wall (1012); the cleaning device (1000) comprises at least one of a first motion state, a second motion state and a third motion state; The first motion state is a state in which the cleaning device (1000) is walking on the target bottom wall (1012), or the overall direction of the cleaning device (1000) forms an angle of less than (90)° with the target bottom wall (1012) and is away from the water surface; The second motion state is a state in which the cleaning device (1000) is walking on the target side wall (1011) or the overall direction of the cleaning device (1000) is substantially parallel to the target side wall (1011); The third motion state is a state in which the cleaning device (1000) is moving on the water surface, or at least partially exposed above the water surface in a walking state, or the cleaning device (1000) is located as a whole below the water surface and close to the water surface; After at least a portion of the first side (113) of the cleaning device (1000) emerges from the water surface, the second side (114) of the cleaning device (1000) rotates and moves toward the liquid surface, thereby enabling the cleaning device (1000) to switch from the second motion state to the third motion state.

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