Cleaning system, cleaning device, base station and control method for cleaning system

Abstract

Disclosed in the present disclosure are a cleaning system, a cleaning device and a base station. The cleaning system comprises a cleaning device and a base station. The cleaning device comprises a main body, and a mode adjusting mechanism is used for adjusting the switching of the cleaning device between a first motion state and a third motion state; a traveling mechanism is suitable for driving the cleaning device to move on a surface to be cleaned when the cleaning device is in the first motion state or a second motion state; and a propelling mechanism drives the movement of the cleaning device when in the third motion state. The base station comprises a base station body and a bearing piece, wherein the base station body is partially arranged on a side wall of a water pool; and the bearing piece is located on the lower portion of the base station body, and when the cleaning device returns to the base station, the bearing piece is distributed in such a way that same protrudes out of the base station body. The first motion state comprises the state in which the cleaning device operates at the bottom of the pool, the second motion state comprises the state in which the cleaning device operates on a pool wall, and the third motion state comprises at least the state in which the cleaning device operates on the water surface; and the process of the cleaning device returning to the base station comprises at least the process of switching from the third motion state to the second motion state.

Description

Cleaning system, cleaning equipment, base station and cleaning system control method

[0001] This disclosure claims priority to International Patent Application No. PCT / CN2023 / 136911, filed on December 6, 2023, entitled “Pool Robotic System,” the entire contents of which are incorporated herein by reference;

[0002] This disclosure claims priority to Chinese patent application number 202323322296.2, filed on December 6, 2023, entitled “Pool Robotic System,” the entire contents of which are incorporated herein by reference;

[0003] This disclosure claims priority to Chinese patent application number 202311666132.3, filed on December 6, 2023, entitled “Return method for pool robot, pool robot and storage medium,” the entire contents of which are incorporated herein by reference;

[0004] This disclosure claims priority to Chinese patent application number 202420594249.9, filed on March 26, 2024, entitled “Carrying Assembly and Pool Robot System,” the entire contents of which are incorporated herein by reference;

[0005] This disclosure claims priority to Chinese patent application number 202410350025.8, filed on March 26, 2024, entitled “POOL ROBOT CONTROL METHOD, POOL ROBOT, AND STORAGE MEDIUM,” the entire contents of which are incorporated herein by reference;

[0006] This disclosure claims priority to Chinese patent application No. 202410349874.1, filed on March 26, 2024, entitled “Pool Robot Control Method and Pool Robot,” the entire contents of which are incorporated herein by reference;

[0007] This disclosure claims priority to Chinese patent application number 202410350019.2, filed on March 26, 2024, entitled “Extraction Component, Pool Robot, Extraction Component Control Method, and Related Devices,” the entire contents of which are incorporated herein by reference;

[0008] This disclosure claims priority to Chinese patent application No. 202410349870.3, filed on March 26, 2024, entitled “Pool Robot Control Method, Pool Robot Guidance Method, and Related Devices,” the entire contents of which are incorporated herein by reference;

[0009] This disclosure claims priority to Chinese patent application number 202410350047.4, filed on March 26, 2024, entitled “Pool Robot Control Method, Pool Robot, and Related Devices,” the entire contents of which are incorporated herein by reference;

[0010] This disclosure claims priority to Chinese patent application number 202410350031.3, filed on March 26, 2024, entitled “Pool Robot Control Method, Position Determination Method, and Related Device,” the entire contents of which are incorporated herein by reference;

[0011] This disclosure claims priority to Chinese patent application number 202410417536.7, filed on April 8, 2024, entitled “Cleaning System,” the entire contents of which are incorporated herein by reference.

[0012] This disclosure claims priority to PCT application No. PCT / CN2024 / 076040, filed on February 5, 2024, entitled “A Cleaning Device,” the entire contents of which are incorporated herein by reference.

[0013] This disclosure claims priority to Chinese patent application number 2024100704304, filed on January 17, 2024, entitled “A pool robot, its control method, and storage medium,” the entire contents of which are incorporated herein by reference.

[0014] This disclosure claims priority to PCT application No. PCT / CN2024 / 076025, filed on February 5, 2024, entitled “A Cleaning Device,” the entire contents of which are incorporated herein by reference.

[0015] This disclosure claims priority to PCT application No. PCT / CN2024 / 076033, filed on February 5, 2024, entitled “A cleaning device and cleaning device for liquids,” the entire contents of which are incorporated herein by reference.

[0016] This disclosure claims priority to PCT application No. PCT / CN2024 / 076021, filed on February 5, 2024, entitled “A Cleaning Device and Cleaning Device System,” the entire contents of which are incorporated herein by reference.

[0017] This disclosure claims priority to Chinese patent application No. 2023234718518, filed on December 19, 2023, entitled “Pool Robot,” the entire contents of which are incorporated herein by reference.

[0018] This disclosure claims priority to Chinese patent application number 2024100776904, filed on January 18, 2024, entitled “Solar Energy System,” the entire contents of which are incorporated herein by reference.

[0019] This disclosure claims priority to PCT application No. PCT / CN2024 / 087590, filed on April 12, 2024, entitled “Walking device, cleaning equipment and cleaning equipment control method,” the entire contents of which are incorporated herein by reference.

[0020] This disclosure claims priority to U.S. Patent No. 18 / 946861, filed on November 13, 2024, entitled “Walking device, cleaning equipment, and cleaning equipment control method,” the entire contents of which are incorporated herein by reference.

Technical field

[0021] The present disclosure relates to the technical field of cleaning equipment, and in particular to a cleaning system, cleaning equipment, a base station, and a cleaning equipment control method. [Background Technology]

[0022] Cleaning equipment used in water bodies is characterized by low cost, high intelligence, and ease of use. It is increasingly being used for tasks such as water cleaning, disinfection, and emergency rescue. When existing cleaning equipment ceases to function due to reasons such as completion of its task or insufficient power, users need to salvage the equipment from the water to perform maintenance and prevent it from drifting erratically in the water, impacting water use. However, this salvaging process is complex and cumbersome, making it inconvenient to operate. [Summary of the invention]

[0023] In a first aspect, the present disclosure provides a cleaning system, comprising at least a cleaning device and a base station, wherein the cleaning device is at least used to clean the liquid and the inner wall of a pool; the cleaning device includes a main body, and further includes: a mode adjustment mechanism, provided on the main body, at least for adjusting the switching of the cleaning device between a first motion state and a third motion state; a walking mechanism, at least suitable for driving the cleaning device to move on the surface to be cleaned in the first motion state or the second motion state; a propulsion mechanism, at least suitable for driving the cleaning device to move in the third motion state; the base station includes at least a base station body and a bearing, wherein: the base station body is at least partially provided on the side wall of the pool; the bearing is located at the lower part of the base station body; when the cleaning device returns to the base station, the bearing protrudes from the base station body; wherein the first motion state at least includes a state in which the cleaning device is running on the bottom of the pool, the second motion state at least includes a state in which the cleaning device is running on the pool wall or parallel to the pool wall, and the third motion state at least includes a state in which the cleaning device is running on the water surface; wherein the process of the cleaning device returning to the base station at least includes a process of switching from the third motion state to the second motion state.

[0024] In the second aspect, the present disclosure provides a cleaning device, including a cleaning device main body, and also including: a mode adjustment mechanism, which is provided on the main body, at least for adjusting the switching of the cleaning device between the first motion state and the third motion state; a walking mechanism, which is at least suitable for the cleaning device to move on the surface to be cleaned in the first motion state or the second motion state; a propulsion mechanism, which is at least suitable for driving the movement of the cleaning device in the third motion state; a first filter component, which is at least partially accommodated in the cleaning device main body, and is suitable for filtering the water flow entering therein; wherein, the cleaning device also includes: a second water inlet, which is provided at the first end of the cleaning device and is fluidically connected to the first filter component, and is suitable for cleaning the pool water surface when the cleaning device is running in the third motion state. clean water inlet; wherein, the first motion state at least includes the state of the cleaning device running at the bottom of the pool, the second motion state at least includes the state of the cleaning device running on the pool wall or parallel to the pool wall, and the third motion state at least includes the state of the cleaning device running on the water surface; the movement of the cleaning device in the third motion state includes at least the movement of the first motion mode and the second motion mode along the water line of the pool, wherein, in the first motion mode, the first side of the cleaning device is close to the water line and moves in a first direction, and the second water inlet is opened to clean the moving area; in the second motion mode, the first side of the cleaning device is close to the water line and moves in a second direction, and the second water inlet is in a closed state.

[0025] In the third aspect, the present disclosure provides a base station, comprising a base station body, and also comprising: a fixing seat, the fixing seat being suitable for being fixedly connected to the edge of a pool; a second filter assembly being at least partially housed in the base station body; a supporting member being connected to the base station body and being suitable for docking with a cleaning device running in the pool; a self-cleaning sewage inlet being arranged on the supporting member or the base station body and being connected to the second filter assembly through a pipe; a power assembly to provide suction force for the water flow that flows through at least the cleaning device, the self-cleaning sewage inlet, and the second filter assembly in sequence after the cleaning device is docked to the base station; wherein the base station body is movably connected to the fixing seat to adjust the supporting member to be at least partially below the water surface of the pool.

[0026] In a fourth aspect, the present disclosure provides a cleaning system, comprising: a cleaning device, which is suitable for operating in a water body of a pool; the cleaning device comprises: a first docking assembly, which is arranged on the side or bottom of the cleaning device; a walking propulsion structure, which comprises at least one of a walking mechanism or a propulsion mechanism, which is suitable for driving the cleaning device to move on the surface to be cleaned or the water surface; the cleaning system also comprises a carrying assembly, which is at least partially arranged on the wall of the pool; the carrying assembly comprises: a carrying member, which is used to carry the cleaning device; a second docking assembly, which is arranged on the carrying member, and the second docking assembly is suitable for being releasably connected to the first docking assembly to fix the cleaning device to the carrying member or release the cleaning device from the carrying member; the carrying assembly has at least a first posture, in which it is suitable for the cleaning device to run onto the carrying member, and the carrying member is at least partially located below the preset water level of the pool.

[0027] In a fifth aspect, the present disclosure provides a cleaning device suitable for operating in a pool, the cleaning device comprising: at least one first water inlet provided at the bottom of the cleaning device and at least one second water inlet provided at the side of the cleaning device; at least one first water outlet; at least one first filter assembly; a suction assembly to at least generate a clean water flow that flows sequentially through the first water inlet or the second water inlet, the first filter assembly, and the first water outlet; wherein the cleaning device further comprises: an adjustment assembly, under the action of the adjustment assembly, the cleaning device can switch between a first motion state and a second motion state, wherein the first motion state at least includes performing a pool bottom cleaning task, and the second motion state at least includes performing a pool water surface cleaning task; a lateral propulsion assembly, at least for generating a thrust component along the lateral direction of the cleaning device, so that the cleaning device is close to the side wall when it is in the second motion state and moves along the side wall of the pool.

[0028] In a sixth aspect, the present disclosure provides a cleaning system control method, the cleaning system comprising at least a cleaning device and a carrying assembly, the cleaning device being suitable for operating in a pool, the carrying assembly being arranged on a side wall or edge of the pool and being suitable for the cleaning device to dock; wherein the method at least comprises: the cleaning device performing a regression action in response to a regression signal, the regression signal being at least one of the following: the cleaning task is completed, the power of the cleaning device is lower than a preset value, the dust collection amount of the dust box of the cleaning device is greater than a preset value, the cleaning device is self-cleaning, and the amount of reagent in the cleaning device is lower than a preset value; the cleaning device moves toward the carrying assembly, and the movement comprises at least one of the following: the cleaning device moves along the bottom and edge of the pool, and the cleaning device moves along the waterline and edge of the pool; the cleaning device performs a docking action; wherein, before the cleaning device moves toward the carrying assembly, it also comprises determining the relative position relationship between the cleaning device and the carrying assembly, and determining the relative position relationship comprises at least one of the following: the cleaning device identifies the carrying assembly, the carrying assembly identifies the cleaning device, and the cleaning device identifies the positioning mark associated with the carrying assembly.

Brief Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts. Among them:

[0030] FIG1 is a first structural schematic diagram of an embodiment of a cleaning system disclosed herein;

[0031] FIG2 is a second structural schematic diagram of an embodiment of the cleaning system disclosed herein;

[0032] FIG3 is a first structural schematic diagram of an embodiment of the cleaning device disclosed herein;

[0033] FIG4 is an enlarged schematic diagram of A shown in FIG1 ;

[0034] FIG5 is a schematic structural diagram of a first embodiment of a first docking assembly of the present disclosure;

[0035] FIG6 is a schematic structural diagram of a second embodiment of the first docking assembly of the present disclosure;

[0036] FIG7 is a schematic structural diagram of a third embodiment of the first docking assembly of the present disclosure;

[0037] FIG8 is a schematic structural diagram of a fourth embodiment of the first docking assembly of the present disclosure;

[0038] FIG9 is a schematic structural diagram of a fifth embodiment of the first docking assembly of the present disclosure;

[0039] FIG10 is a third structural schematic diagram of an embodiment of the cleaning system disclosed herein;

[0040] FIG11 is a schematic structural diagram of a first embodiment of a first docking assembly and a second docking assembly according to the present disclosure;

[0041] FIG12 is a schematic structural diagram of a sixth embodiment of the first docking assembly of the present disclosure;

[0042] FIG13 is a schematic structural diagram of a second embodiment of the first docking assembly and the second docking assembly of the present disclosure;

[0043] FIG14 is a first structural diagram of an embodiment of a carrier assembly disclosed herein;

[0044] FIG15 is a second structural diagram of an embodiment of a carrier assembly disclosed herein;

[0045] FIG16 is an exploded schematic diagram of an embodiment of a carrier assembly disclosed herein;

[0046] FIG17 is a schematic diagram of a second posture of a carrier in one embodiment of the carrier assembly disclosed herein;

[0047] FIG18 is a schematic structural diagram of another embodiment of the carrier assembly disclosed herein;

[0048] FIG19 is a schematic diagram of a third posture of a carrier in an embodiment of a carrier assembly disclosed herein;

[0049] FIG20 is a schematic structural diagram of a carrier member in another embodiment of a carrier assembly disclosed herein;

[0050] FIG21 is a first structural diagram of another embodiment of a carrier assembly disclosed herein;

[0051] FIG22 is a second structural schematic diagram of another embodiment of the carrier assembly disclosed herein;

[0052] FIG23 is a fourth structural diagram of an embodiment of the cleaning system of the present disclosure;

[0053] FIG24 is a fifth structural diagram of an embodiment of the cleaning system disclosed herein;

[0054] FIG25 is a first cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0055] FIG26A is a schematic structural diagram of a first dust box of the present disclosure;

[0056] FIG26B is another structural schematic diagram of the first dust box of the present disclosure;

[0057] FIG27 is a sixth structural diagram of an embodiment of the cleaning system of the present disclosure;

[0058] FIG28 is a cross-sectional schematic diagram of an embodiment of the cleaning system disclosed herein;

[0059] FIG29 is a second cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0060] FIG30 is a seventh structural diagram of an embodiment of the cleaning system disclosed herein;

[0061] FIG31 is a third cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0062] FIG32 is a first cross-sectional schematic diagram of an embodiment of a first filter assembly of the present disclosure;

[0063] FIG33 is an enlarged schematic diagram of C shown in FIG31;

[0064] FIG34 is an exploded schematic diagram of an embodiment of a first filter assembly of the present disclosure;

[0065] FIG35 is a second structural diagram of an embodiment of the cleaning device disclosed herein;

[0066] FIG36 is a third structural diagram of an embodiment of the cleaning device disclosed herein;

[0067] FIG37 is a fourth structural diagram of an embodiment of the cleaning device disclosed herein;

[0068] FIG38 is a fifth structural diagram of an embodiment of the cleaning device disclosed herein;

[0069] FIG39 is a sixth structural diagram of an embodiment of the cleaning device disclosed herein;

[0070] FIG40 is a schematic structural diagram of an embodiment of a visual recognition component of the present disclosure;

[0071] FIG41 is a fourth cross-sectional schematic diagram of an embodiment of the cleaning device disclosed herein;

[0072] FIG42 is a seventh structural diagram of an embodiment of the cleaning device disclosed herein;

[0073] FIG43 is a third structural diagram of an embodiment of a carrier assembly disclosed herein;

[0074] FIG44 is a schematic structural diagram of another embodiment of a carrier assembly disclosed herein;

[0075] FIG45 is an eighth structural diagram of an embodiment of the cleaning device disclosed herein;

[0076] FIG46 is a schematic structural diagram of an embodiment of a solar energy system disclosed herein;

[0077] FIG47 is a schematic structural diagram of an embodiment of an anti-grounding assembly disclosed herein;

[0078] FIG48 is a flow chart of an embodiment of a cleaning equipment control method disclosed herein;

[0079] FIG49 is a schematic diagram of a signal transmitting a guide signal in an embodiment of a carrier assembly disclosed herein;

[0080] FIG50 is a schematic diagram of signals in one embodiment of the cleaning system of the present disclosure;

[0081] FIG51 is a schematic diagram of a framework of an embodiment of a cleaning system of the present disclosure;

[0082] FIG52 is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present disclosure.

[0083] FIG53A is a schematic diagram of a side view of a cleaning device provided by the present disclosure;

[0084] FIG53B is a schematic diagram of the cleaning device provided by the present disclosure in a first motion state;

[0085] FIG53C is a schematic diagram of a side view of a cleaning device provided by the present disclosure;

[0086] FIG53D is a schematic diagram of a side view of a cleaning device provided by the present disclosure;

[0087] FIG53E is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0088] FIG54A is a schematic diagram of a cleaning device provided by the present disclosure in a side view in a first motion state;

[0089] 54B is a side view schematically illustrating a state in which the front portion of the cleaning device provided by the present disclosure abuts against a side wall during a process in which the cleaning device switches from a first motion state to a second motion state toward a third motion state;

[0090] 54C is a side view schematic diagram of the rotation state of the cleaning device provided by the present disclosure during the process of switching from the first motion state to the second motion state through the second motion state toward the third motion state;

[0091] FIG54D is a side view of the cleaning device provided by the present disclosure in the second motion state during the process of switching from the first motion state to the third motion state through the second motion state;

[0092] FIG54E is a side view of the cleaning device provided by the present disclosure, showing the cleaning device moving along the side wall to the waterline during the process of switching from the first motion state to the second motion state and toward the third motion state;

[0093] 54F is a side view schematic diagram of the rotation state of the cleaning device provided by the present disclosure during the process of switching from the first motion state to the third motion state through the second motion state;

[0094] FIG54G is a side view of a cleaning device according to the present disclosure, showing a process of switching from a first motion state to a third motion state via a second motion state, and the cleaning device is switching to the third motion state; FIG54G is a side view of a cleaning device according to the present invention, showing a process of switching from a first motion state to a second motion state;

[0095] 55A is a side view of the cleaning device provided by the present disclosure, showing a state in which the front portion of the cleaning device abuts against a side wall during a switching process from the third motion state to the second motion state toward the first motion state;

[0096] 55B is a side view schematic diagram of the rotation state of the cleaning device provided by the present disclosure during the switching process from the third motion state to the second motion state through the second motion state toward the first motion state;

[0097] FIG55C is a side view of the cleaning device provided by the present disclosure in the second motion state during the switching process from the third motion state to the first motion state via the second motion state;

[0098] FIG55D is a side view of the cleaning device provided by the present disclosure, showing a state in which the rear portion of the cleaning device abuts against the bottom wall during the switching process from the third motion state to the second motion state and toward the first motion state;

[0099] FIG55E is a side view schematic diagram of the rotation state of the cleaning device provided by the present disclosure during the switching process from the third motion state to the first motion state via the second motion state, wherein the cleaning device switches from the second motion state to the first motion state;

[0100] FIG55F is a side view of the cleaning device provided by the present disclosure, showing the cleaning device switching to the first motion state during the switching process from the third motion state to the second motion state;

[0101] FIG56 is a side view of the cleaning device provided by the present disclosure walking on an inclined side wall;

[0102] FIG57A is a side view of the cleaning device provided by the present disclosure in the third motion state during the process of switching directly from the third motion state to the first motion state;

[0103] 57B is a side view schematically illustrating a state in which the rear portion of the cleaning device rotates and sinks before the front portion during the process of switching the cleaning device provided by the present disclosure from the third motion state directly to the first motion state;

[0104] FIG57C is a side view of the cleaning device provided by the present disclosure, which is in the process of switching from the third motion state directly to the first motion state, with the cleaning device as a whole sinking below the water surface;

[0105] FIG57D is a side view of the cleaning device provided by the present disclosure, which is in a state of sinking in an inclined state underwater during a process of switching from the third motion state directly to the first motion state;

[0106] FIG57E is a side view of the cleaning device provided by the present disclosure, showing a state in which the rear portion of the cleaning device abuts against the bottom wall before the front portion thereof during the process of switching from the third motion state directly to the first motion state;

[0107] FIG57F is a side view of the cleaning device provided by the present disclosure, showing the cleaning device switching from the third motion state directly to the first motion state;

[0108] FIG58A is a side view of the cleaning device provided by the present disclosure during the switching process from the water to the side wall, wherein the cleaning device is in the water;

[0109] FIG58B is a side view schematic diagram of the cleaning device provided by the present disclosure during the switching process from the water to the side wall, in which the rear portion of the cleaning device sinks to an inclined state before the front portion;

[0110] FIG58C is a side view of the cleaning device provided by the present disclosure, showing the front portion of the cleaning device abutting against the side wall during the switching process from the water to the side wall;

[0111] Figure 58D is a side view schematic diagram of the cleaning device provided by the present disclosure in the process of switching from water to the side wall, in which the cleaning device is in the second motion state and is moving upward on the side wall.

[0112] FIG59A is a side view of a cleaning device provided by the present disclosure in a substantially horizontal position in water;

[0113] FIG59B is a side view of the cleaning device provided by the present disclosure in a tilted state in water;

[0114] FIG60A is a side view of a cleaning apparatus provided by the present disclosure in a substantially horizontal position;

[0115] FIG60B is a side view of another embodiment of the cleaning apparatus provided by the present disclosure in a substantially horizontal position;

[0116] FIG61 is a schematic diagram of an embodiment of a cleaning path for cleaning a side wall provided by a cleaning device of the present disclosure;

[0117] FIG62 is a schematic diagram of a cleaning path of a bottom wall cleaned by a cleaning device provided by the present disclosure;

[0118] FIG63A is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0119] FIG63B is another schematic structural diagram of a cleaning device provided by the present disclosure;

[0120] FIG64A is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0121] FIG64B is a schematic structural diagram of a cleaning device provided by the present disclosure;

[0122] FIG64C is a schematic diagram of the cleaning device provided by the present disclosure with some structures removed;

[0123] FIG64D is a schematic diagram of the structure of the cleaning device provided by the present disclosure after transverse cross-section;

[0124] FIG64E is a schematic diagram of the structure of the cleaning device provided by the present disclosure after longitudinal section

[0125] FIG65A is a schematic structural diagram of the docking process between the cleaning device and the base station provided by the present disclosure;

[0126] FIG65B is another structural diagram illustrating the docking process between the cleaning device and the base station provided by the present disclosure;

[0127] FIG66 is a schematic diagram of the cleaning device provided by the present disclosure when retreating along the water surface to clean;

[0128] FIG67 is a schematic diagram of the cleaning device provided by the present disclosure moving forward on the water surface and back to the base station along the edge;

[0129] FIG68A is a schematic structural diagram of a base station (or a bearing component) provided by the present disclosure;

[0130] FIG68B is a schematic structural diagram of a transition seat in a base station provided by the present disclosure;

[0131] FIG68C is an exploded view of the bearing member, transition seat, support member, and second dust box in the base station provided by the present disclosure;

[0132] FIG68D is a cross-sectional schematic diagram of a partial structure of the cleaning device provided by the present disclosure after docking with the base station;

[0133] FIG69A is a schematic diagram of the cleaning device provided by the present disclosure searching for a wall on the bottom wall of a pool;

[0134] FIG69B is a schematic diagram of the cleaning device of the present disclosure moving upward on the fourth wall;

[0135] FIG69C is a schematic diagram of the cleaning device of the present disclosure returning to the base station along the edge of the water surface;

[0136] FIG69D is a schematic diagram illustrating the structure of the front portion of the cleaning device of the present disclosure colliding with the first side surface of the support member;

[0137] FIG69E is a schematic diagram of the cleaning device of the present disclosure after docking with the base station;

[0138] FIG69F is a schematic diagram of the cleaning device of the present disclosure docked with the base station in different orientations;

[0139] FIG70 a is a schematic diagram of the state of the first embodiment of the carrier assembly and the cleaning device disclosed herein;

[0140] FIG70 b is a schematic diagram of the state of the second embodiment of the carrier assembly and the cleaning device disclosed herein;

[0141] FIG70c is a schematic diagram of the state of the third embodiment of the carrier assembly and cleaning device disclosed herein;

[0142] FIG70 d is a schematic diagram of a fourth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0143] FIG70e is a schematic diagram of the fifth embodiment of the carrier assembly and cleaning device disclosed herein;

[0144] FIG70 f is a schematic diagram of a sixth embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0145] FIG70g is a schematic diagram of a seventh embodiment of a carrier assembly and a cleaning device according to the present disclosure;

[0146] FIG71 is a schematic top view of an embodiment of a carrier assembly disclosed herein.

[0147] Figure Number:

[0148] 1. Cleaning system;

[0149] 1000. Cleaning equipment;

[0150] 1001. Cleaning device body; 10011. Front; 10012. Rear;

[0151] 1010, first docking assembly; 1011, first connecting member; 10111, locking member; 10112, limiting groove; 10112a, first groove wall; 10112b, second groove wall; 10112c, lock entrance; 10112a1, first guide slope; 10112b1, second guide slope; 10113, elastic lock;

[0152] 1020, charging receiver;

[0153] 1030, liquid inlet; 1031, first water inlet; 1032, second water inlet;

[0154] 1040. Liquid outlet; 1041. First water outlet; 10411. First sub-liquid outlet; 10412. Second sub-liquid outlet;

[0155] 1050, first filter assembly; 1051, dust box; 10511, dust box water inlet; 10511a, first inlet; 10511b, second inlet; 1051a, first filter surface; 1051b, second filter surface; 1051c, third filter surface; 1051d, fourth filter surface; 1051e, fifth filter surface; 10513, diversion port; 10514, cover; 10515, adjustment member;

[0156] 1060, suction assembly; 1061, main water pump;

[0157] 1070. Traveling and propulsion structure; 1071. Traveling mechanism; 117. Track; 1072. Propulsion mechanism; 10721. First propeller; 10722. Second propeller; 10722a. Propulsion drive member;

[0158] 1080, circulating water inlet;

[0159] 1090, underwater piping components;

[0160] 1100, mode switching member; 1101, float chamber; 112, first regulating member; 1103, air inlet; 11031, first injection port; 113A, first sub-injection port; 11031b, second sub-injection port; 1104, connecting pipe; 1105, discharge port; 1105a, first sub-discharge port; 1105b, second sub-discharge port;

[0161] 1110. Control system;

[0162] 1120, identification component; 1121, first sub-identification component; 1122, second sub-identification component; 1123, visual sensor component; 11231, camera body; 11232, fill light component; 11233, light shielding component;

[0163] 1130, auxiliary cleaning component; 1131, first auxiliary cleaning component; 11311, side brush; 1132, second auxiliary cleaning component; 11321, water spray component;

[0164] 1140, anti-collision parts;

[0165] 1150, first medicine spreading assembly; 1151, first medicine storage assembly; 11511, first medicine opening; 1152, spreading drive assembly; 1153, medicine dosage detection assembly; 1154, control assembly; 1160, water quality detection assembly;

[0166] 1170, device communication module; 1171, first submodule; 1172, second submodule;

[0167] 1180. Solar energy system; 1181. Photovoltaic module; 1182. Photovoltaic control mechanism;

[0168] 1190, anti-grounding assembly; 1191, grounding housing; 1192, grounding member; 1193, pressing elastic portion; 1194, manual portion;

[0169] 1200, cleaning component; 1201, first cleaning member;

[0170] 2000, bearing assembly; 2010, first accommodation space; 2020, second accommodation space;

[0171] 2030, second docking assembly; 2031, second connector; 20311, fixing portion; 20311a, fixing rod; 20311b, limiting rod; 20312, locking slot; 20313, opening;

[0172] 2040, carrier; 2041, first end; 2042, second end; 20421, guide structure; 20421a, baffle; 2043, carrier surface; 2044, first carrier; 20441, first carrier surface; 2045, second carrier; 20451, second carrier surface; 2050, support member; 2051, accommodating portion; 2052, accommodating groove;

[0173] 2060, driving assembly; 2061, rotating shaft; 2062, driving member;

[0174] 2080, water level adaptation component; 2081, floating part; 2082, guide part;

[0175] 2090, charging assembly; 2091, charging component; 2092, elastic component;

[0176] 2100, self-cleaning sewage inlet;

[0177] 2110, second filter assembly;

[0178] 2120, self-cleaning drain;

[0179] 2130, pool control assembly; 2131, water circulation system; 21311, automatic water spreading assembly; 21312, water filling port; 21313, medicine outlet;

[0180] 2140, component communication module; 2141, third submodule; 2142, fourth submodule;

[0181] 2151, first signal transmitter; 2152, second signal transmitter;

[0182] 2160, second medicine spreading assembly; 2161, second medicine storage assembly;

[0183] 3000, connection control component;

[0184] 3010, first magnetic control assembly; 3011, first push-pull rod; 3012, first rotating shaft; 3013, first fixed arm; 3014, first switch; 3020, second magnetic control assembly;

[0185] 4000, induction components;

[0186] 5000. First terminal device. [Specific implementation method]

[0187] 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 the embodiments. 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.

[0188] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0189] The cleaning device 1000 provided by the present disclosure is described in detail below with reference to embodiments.

[0190] Please refer to Figures 1 to 3. Figure 1 is a first structural schematic diagram of an embodiment of a cleaning system disclosed in the present invention; Figure 2 is a second structural schematic diagram of an embodiment of a cleaning system disclosed in the present invention; and Figure 3 is a first structural schematic diagram of an embodiment of a cleaning device disclosed in the present invention. The present invention provides a cleaning system 1, which includes a cleaning device 1000 and a carrier assembly 2000 (or a base station). The cleaning device 1000 is used to perform cleaning, disinfection, rescue and other work tasks in a target area. The target area may be an area containing a water body where the cleaning device 1000 moves. The target area may include, but is not limited to, a swimming pool, a pool, an oil well, a sewer, etc. The following description will take the target area as a pool as an example.

[0191] The cleaning device 1000 is suitable for operation in a pool of water. The cleaning device 1000 can be configured to move on at least one of the surface of the pool, underwater, or on the pool wall. The cleaning device 1000 can be provided with a running mechanism that drives the cleaning device 1000 to move on the surface to be cleaned or on the water surface. The carrying assembly 2000 is used to fix the cleaning device 1000, or to carry the cleaning device 1000 to move in or out of the pool. The carrying assembly 2000 can be at least partially arranged at the edge of the pool, for example, the carrying assembly 2000 can be at least partially arranged on the pool wall. The carrying assembly 2000 can also be arranged at the bank of the pool and extend into the pool. The carrying assembly 2000 can also be arranged in a place other than the edge of the pool, such as in the middle of the pool, at the bottom of the pool, etc. When the cleaning device 1000 is no longer in the state of performing the work task due to receiving the return signal, the cleaning device 1000 can return to the carrying assembly 2000.

[0192] A first docking assembly 1010 is provided on the side or bottom of the cleaning device 1000. The side of the cleaning device 1000 may include any one or more of the front, back, left, and right sides of the cleaning device 1000. The carrier assembly 2000 includes a carrier 2040 and a second docking assembly 2030. The second docking assembly 2030 is disposed on the carrier 2040. The second docking assembly 2030 is adapted to be releasably connected to the first docking assembly 1010 to secure the cleaning device 1000 to the carrier 2040 or release the cleaning device 1000 from the carrier 2040. The carrier 2040 has at least a first position. When the carrier 2040 is in the first position, at least a portion of the carrier 2040 is located below the lowest preset water level of the pool. The carrier 2040 is adapted to allow the cleaning device 1000 to operate onto the carrier. Specifically, when the cleaning device 1000 approaches the carrier assembly 2000, the cleaning device 1000 can move onto the carrier 2040 in the first position. The first docking assembly 1010 is releasably connected to the second docking assembly 2030. When the first docking assembly 1010 and the second docking assembly 2030 are connected, the cleaning device 1000 cannot move relative to the carrier assembly 2000, or the cleaning device 1000 can only move within the range defined by the first docking assembly 1010 and the second docking assembly 2030. When the first docking assembly 1010 and the second docking assembly 2030 are disconnected, the cleaning device 1000 and the carrier assembly 2000 are released, and the cleaning device 1000 can be driven away from the carrier assembly 2000.

[0193] The purpose of the first docking assembly 1010 and the second docking assembly 2030 can depend on the specific configuration of the carrier assembly 2000. For example, when the carrier assembly 2000 is used to secure the cleaning device 1000, that is, when the cleaning device 1000 docks on the carrier assembly 2000 after returning, the first docking assembly 1010 and the second docking assembly 2030 are used to connect the cleaning device 1000 to the carrier assembly 2000 to form a moored fixed position. Alternatively, when the carrier assembly 2000 is used to carry the cleaning device 1000 to enter or exit a pool, that is, when the cleaning device 1000 exits the pool and disembarks from the carrier assembly 2000 after returning, the first docking assembly 1010 or the second docking assembly 2030 can be used to provide auxiliary fixation during the process of the cleaning device 1000 entering or exiting the pool, thereby reducing the probability of the cleaning device 1000 slipping off the carrier assembly 2000.

[0194] With the above arrangement, after the cleaning device 1000 returns to the carrying assembly 2000, it can be directly docked on the carrying assembly 2000 for a long time via the first docking assembly 1010 and the second docking assembly 2030, or can be removed from the pool with the assistance of the first docking assembly 1010 and the second docking assembly 2030. The cleaning device 1000 will not float with the water flow and affect the use of the pool, nor does it need to be manually salvaged out of the water in a timely manner. Instead, it can be docked on the carrying assembly 2000 for a long time or can be removed from the water by itself via the carrying assembly 2000, making it convenient to use.

[0195] The second docking assembly 2030 is adapted to be releasably connected to the first docking assembly 1010, including at least one of the following: a magnetic connection, a mechanical locking connection, and a snap-fit ​​connection. Furthermore, the second docking assembly 2030 and the first docking assembly 1010 may also be connected using other methods such as threaded locking, as long as they can be releasably connected, which is not a limitation herein.

[0196] In some embodiments, cleaning device 1000 includes a control unit (not shown), which is at least adapted to control the cleaning device to move along the edge to and secure to carrier assembly 2000 based on the received return signal to perform a target operation. The target operation refers to the operation task corresponding to the return signal. For example, when the return signal indicates the end of the cleaning task, the target operation may be docking cleaning device 1000 to carrier assembly 2000. Alternatively, when the return signal indicates that the battery level of cleaning device 1000 is below a preset value, the target operation may be charging cleaning device 1000.

[0197] In some embodiments, moving along the edge includes at least one of the following: the cleaning device 1000 moving along the bottom or wall of the pool; or the cleaning device 1000 moving along the waterline of the pool. Moving along the edge means that the cleaning device 1000 always keeps one side close to or in contact with the inner wall of the pool and moves along the inner wall of the pool.

[0198] In some embodiments, the return signal includes at least one of the following: completion of a cleaning task, the battery level of the cleaning device 1000 being lower than a preset value, the amount of dust collected by the cleaning device 1000 being greater than a preset value, the need for self-cleaning of the cleaning device 1000, the amount of reagent in the cleaning device 1000 being lower than a preset value, or receipt of a return command issued by a user. The return signal is not limited to the aforementioned types and can be adaptively configured based on the usage scenario of the cleaning device 1000, which is not limited herein.

[0199] Please refer to Figure 4, which is an enlarged schematic diagram of A shown in Figure 1. In some embodiments, the cleaning device 1000 and / or the carrier assembly 2000 are provided with a connection control assembly 3000. The connection control assembly 3000 is used to control the connection or disconnection between the first docking assembly 1010 and the second docking assembly 2030.

[0200] The specific method by which the connection control component 3000 controls the connection or disconnection between the first docking component 1010 and the second docking component 2030 can be set according to the connection method between the first docking component 1010 and the second docking component 2030. For example, when the first docking component 1010 and the second docking component 2030 are connected by structural restraint, the method by which the connection control component 3000 controls the connection state between the two can be to drive the first docking component 1010 to move so that it forms a restraint with the second docking component 2030 or to release the restraint. For another example, when the first docking component 1010 and the second docking component 2030 are connected by magnetic attraction, the method by which the connection control component 3000 controls the connection state between the two can be to control the magnetism of the first docking component 1010 and the second docking component 2030, or to control the first docking component 1010 to move closer to or farther from the second docking component 2030, or to control the second docking component 2030 to move closer to or farther from the first docking component. Alternatively, the connection control component 3000 can control the connection status of the two by directly controlling the driving force of the cleaning device 1000 so that the cleaning device 1000 overcomes the magnetic attraction between the first docking component 1010 and the second docking component 2030 through the driving force, or directly controlling the driving force of the supporting component 2000 so that the supporting component 2000 overcomes the magnetic attraction between the first docking component and the second docking component through the driving force.

[0201] The connection control component 3000 can be directly connected to the first docking component 1010 and / or the second docking component 2030, thereby controlling the first docking component 1010 and / or the second docking component 2030 by controlling electrical signals, controlling current, directly driving motion, etc. The connection control component 3000 can also be communicatively connected to the first docking component 1010 and / or the second docking component 2030, triggering the first docking component 1010 and / or the second docking component 2030 to perform preset corresponding actions by issuing communication instructions, thereby controlling the connection status of the first docking component 1010 and / or the second docking component 2030.

[0202] In some embodiments, a sensing component 4000 is provided on the cleaning device 1000 and / or the carrying component 2000. The sensing component 4000 is used to detect the positional relationship between the cleaning device 1000 and the carrying component 2000.

[0203] Specifically, the sensing component 4000 may be provided with a sensing element. The sensing component 4000 detects the positional relationship between the cleaning device 1000 and the carrier assembly 2000 through the sensing element. For example, when the sensing element detects that the cleaning device 1000 is approaching the carrier assembly 2000, the sensing component 4000 may send a signal to the carrier assembly 2000 and / or the cleaning device 1000 indicating that the two are in proximity. For another example, when the sensing element detects that the first docking component 1010 and the second docking component 2030 are aligned, the sensing component 4000 may send a signal to the carrier assembly 2000 and / or the cleaning device 1000 indicating that the first docking component 1010 and the second docking component 2030 are aligned. The sensing component 4000 may communicate with the connection control component 3000. The connection control component 3000 may be configured to control the connection between the first docking component 1010 and the second docking component 2030 upon receiving the signal from the sensing component 4000 indicating that the first docking component 1010 and the second docking component 2030 are aligned. The above-mentioned sensing element can be a Hall sensor, an infrared sensor, an ultrasonic sensor, a visual recognition device, a micro switch, a laser sensor, etc.

[0204] Please refer to Figure 5, which is a schematic diagram of the structure of the first embodiment of the first docking assembly of the present disclosure. In conjunction with Figures 1 to 4, in some embodiments, the specific implementation method of the releasable connection between the first docking assembly 1010 and the second docking assembly 2030 can be: the first docking assembly 1010 includes a first connector 1011. The second docking assembly 2030 includes a second connector 2031. The first connector 1011 is magnetically attracted to the second connector 2031. When the first connector 1011 and the second connector 2031 are magnetically attracted, the first docking assembly 1010 and the second docking assembly 2030 are connected. When the first connector 1011 and the second connector 2031 are released, the first docking assembly 1010 and the second docking assembly 2030 are disconnected.

[0205] At least one of the first connector 1011 and the second connector 2031 can form a magnetic field, and the other can be attracted by the magnetic field, thereby connecting the first connector 1011 and the second connector 2031 to each other. For example, one of the first connector 1011 and the second connector 2031 can be configured as a magnet, and the other can be configured as a ferromagnetic metal connector. The ferromagnetic metal connector is attracted to the magnet and magnetically attracted to each other. For example, one of the first connector 1011 and the second connector 2031 can be configured as a magnet, and the other can be iron. The magnetic attraction of the magnet to the iron causes the first connector and the second connector to be magnetically attracted to each other. For another example, both the first connector 1011 and the second connector 2031 can be configured as magnets. The magnetic poles of the first connector 1011 and the second connector 2031 are arranged in opposite directions, and they are magnetically attracted to each other.

[0206] In this embodiment, the cleaning device 1000 may also be provided with a connection control assembly 3000, which includes a first magnetic control assembly 3010 and / or a second magnetic control assembly 3020. When the first connecting member 1011 can form a magnetic field, the first docking assembly 1010 is provided with the first magnetic control assembly 3010. The first magnetic control assembly 3010 is connected to the first connecting member 1011. The first magnetic control assembly 3010 is used to change the magnetic field of the first connecting member 1011. When the second connecting member 2031 can form a magnetic field, the second docking assembly 2030 is provided with a second magnetic control assembly 3020. The second magnetic control assembly 3020 is connected to the second connecting member 2031. The second magnetic control assembly 3020 is used to change the magnetic field of the second connecting member 2031.

[0207] Specifically, the first magnetic control assembly 3010 alters the magnetic field of the first connecting member 1011, meaning that the first magnetic control assembly 3010 can alter the magnetic field strength of the first connecting member 1011, alter the magnetic field direction of the first connecting member 1011, or alter both the magnetic field strength and direction of the first connecting member 1011. A driving force can be generated on the cleaning device 1000, which drives the cleaning device 1000 to move. By altering the magnetic field of the first connecting member 1011, the first magnetic control assembly 3010 causes the magnetic attraction between the first connecting member 1011 and the second connecting member 2031 to be greater than or less than the driving force, thereby allowing the cleaning device 1000 to be secured to the carrier assembly 2000 or to be moved away from the carrier assembly 2000. For example, the first magnetic control assembly 3010 can reduce the magnetic field strength of the first connecting member 1011 until the magnetic attraction between the first connecting member 1011 and the second connecting member 2031 is reduced to less than the driving force, allowing the cleaning device 1000 to move away from the carrier assembly 2000. Alternatively, the first magnetic control assembly 3010 can change the direction of the magnetic field of the first connecting member 1011, thereby changing the magnetic force between the first connecting member 1011 and the second connecting member 2031 from attraction to repulsion, and then separating the cleaning device 1000 from the carrier assembly 2000. The specific configuration of the second magnetic control assembly 3020 for changing the magnetic field of the second connecting member 2031 can be similar to the configuration of the first magnetic control assembly 3010 for changing the magnetic field of the first connecting member 1011, and will not be repeated here.

[0208] In this embodiment, the first docking assembly 1010 can be arranged on any side of the cleaning device 1000 or on multiple sides simultaneously. For example, the first docking assembly 1010 can be arranged on the left and right sides of the cleaning device 1000, on the right or left side, or at the bottom of the cleaning device 1000. Those skilled in the art can arrange the first docking assembly 1010 in a suitable position according to the return method of the cleaning device 1000. For example, if the carrier assembly 2000 is arranged on the pool wall and the cleaning device 1000 returns along the pool wall, the first docking assembly 1010 is only arranged on the right side of the cleaning device 1000. When the cleaning device 1000 performs its work, it can choose to face the left side toward the pool wall. At this time, the first docking assembly 1010 cannot be magnetically attracted to the second docking assembly 2030, and it is not easy to be accidentally attracted. When the cleaning device 1000 needs to return to the carrier assembly 2000, the cleaning device 1000 only needs to change its posture so that the right side faces the pool wall, and the first docking assembly 1010 can approach and connect with the second docking assembly 2030.

[0209] Furthermore, the cleaning device 1000 is not limited to moving away from the carrier assembly 2000 by changing the magnetic field of the first connecting member 1011, changing the magnetic field of the second connecting member 2031, or simultaneously changing the magnetic fields of the first connecting member 1011 and the second connecting member 2031. In one embodiment, a driving force may be generated on the cleaning device 1000 to drive the cleaning device 1000. The magnitude of the driving force may vary. When the driving force increases to a value greater than the magnetic attraction between the first connecting member 1011 and the second connecting member 2031, the driving force directly overcomes the magnetic attraction and causes the cleaning device 1000 to move away from the carrier assembly 2000.

[0210] In some specific embodiments, the first magnetic control component 3010 can modify the magnetic field of the first connector 1011 by electrically connecting the first magnetic control component 3010 to the first connector 1011. When the first connector 1011 is not powered, the first connector 1011 is magnetic. When the first magnetic control component 3010 supplies power to the first connector 1011, the magnetism of the first connector 1011 is eliminated or weakened. Similarly, the second magnetic control component 3020 can modify the magnetic field of the second connector 2031 by electrically connecting the second magnetic control component 3020 to the second connector 2031. When the second connector 2031 is not powered, the second connector 2031 is magnetic. When the second magnetic control component 3020 supplies power to the second connector 2031, the magnetism of the second connector 2031 is eliminated or weakened.

[0211] When the first magnetic control component 3010 does not energize the first connecting member 1011 or the second magnetic control component 3020 does not energize the second connecting member 2031, the cleaning device 1000 only needs to approach the carrier assembly 2000 to be magnetically fixed to the carrier assembly 2000. When the cleaning device 1000 needs to move away from the carrier assembly 2000, the magnetic attraction between the first docking component 1010 and the second docking component 2030 can be released by briefly energizing the first connecting member 1011 or the second magnetic control component 3020 or both simultaneously.

[0212] Through the above-mentioned setting, compared with setting the first connecting member 1011 or the second connecting member 2031 or both to be magnetic when energized and lose magnetism when not energized, this embodiment only needs to briefly provide current to the first connecting member 1011 or the second connecting member 2031 to separate the cleaning device 1000 from the supporting component 2000. There is no need to consume electrical energy for a long time to maintain the magnetism of the first connecting member 1011 or the second connecting member 2031, which consumes less energy and is beneficial to enhancing the endurance of the cleaning system 1.

[0213] The specific implementation method of eliminating the magnetism of the first connecting member 1011 when power is on and making the first connecting member 1011 magnetic when power is off can be to generate another magnetic field through current when power is on, and the other magnetic field interferes with the original magnetic field of the first connecting member 1011, thereby weakening the magnetism of the first connecting member 1011.

[0214] Please refer to Figures 6 to 8. Figure 6 is a schematic structural diagram of the second embodiment of the first docking assembly of the present disclosure; Figure 7 is a schematic structural diagram of the third embodiment of the first docking assembly of the present disclosure; and Figure 8 is a schematic structural diagram of the fourth embodiment of the first docking assembly of the present disclosure. In other specific embodiments, the specific implementation method of the first magnetic control component 3010 changing the magnetic field of the first connecting member 1011 can be: the first magnetic control component 3010 is connected to the first connecting member 1011, and the first magnetic control component 3010 can control the movement of the first connecting member 1011 relative to the second docking component 2030, thereby changing the position or orientation of the first connecting member 1011, so that the first connecting member 1011 and the second connecting member 2031 are magnetically attracted or de-magnetized.

[0215] Specifically, when the first connecting member 1011 moves away from the second connecting member 2031, the magnetic attraction between the first connecting member 1011 and the second connecting member 2031 weakens, and vice versa. When the first connecting member 1011 changes its orientation, the magnetic attraction between the first connecting member 1011 and the second connecting member 2031 changes. For example, if both the first connecting member 1011 and the second connecting member 2031 are magnets, changing the orientation of the first connecting member 1011 from opposite magnetic pole to the second connecting member 2031 to the same magnetic pole as the second connecting member 2031 changes the magnetic attraction between the two from attraction to repulsion.

[0216] The first magnetic control component 3010 controls the movement of the first connector 1011 relative to the second docking component 2030, which can specifically be linear motion or rotational motion. For example, the first magnetic control component 3010 can include a first push-pull rod 3011. The first connector 1011 is connected to the first push-pull rod 3011. The first push-pull rod 3011 can be extended and retracted relative to the second docking component 2030 to drive the first connector 1011 toward or away from the second docking component 2030. The first push-pull rod 3011 can be a screw structure, etc. By controlling the extension and retraction of the first push-pull rod 3011, the position of the first connector 1011 can be changed, thereby changing the magnetic attraction between the first connector 1011 and the second docking component 2030. The structure of the first push-pull rod 3011 can be set according to actual conditions, as long as it can be extended and retracted, and is not limited here.

[0217] For another example, the first magnetic control assembly 3010 includes a first rotating shaft 3012. The first connector 1011 is connected to the first rotating shaft 3012. The first magnetic control assembly 3010 can drive the first connector 1011 to rotate about the first rotating shaft 3012, so that the first connector 1011 is in a first position or a second position. When the first connector 1011 is in the first position, the first connector 1011 is magnetically attracted to the second docking assembly 2030. When the first connector 1011 is in the second position, the first connector 1011 and the second docking assembly 2030 are magnetically disengaged. The first rotating shaft 3012 can be configured to only change the orientation of the first connector 1011, without changing its position. For example, the two magnetic poles of the first connector 1011 are located at opposite ends. The first rotating shaft 3012 is connected between the two magnetic poles of the first connector 1011. The first position is when the magnetic pole of the first connector 1011 that is magnetically attracted to the second connector 2031 is oriented toward the second docking assembly 2030. The second posture is a state in which the magnetic pole of the first connecting member 1011 deviates from the second docking assembly 2030. The first rotating shaft 3012 can also be configured to both change the orientation of the first connecting member 1011 and drive the first connecting member 1011 to change position. For example, the first magnetic control assembly 3010 also includes a first fixed arm 3013. The first fixed arm 3013 has two opposing ends. The first connecting member 1011 is disposed at one end of the first fixed arm 3013. The first rotating shaft 3012 is connected between the two ends of the first fixed arm 3013. The first rotating shaft 3012 drives the first fixed arm 3013 to rotate. When the first fixed arm 3013 rotates, the end of the first fixed arm 3013 provided with the first connecting member 1011 changes position with the rotation. The first connecting member 1011 can move closer to or farther away from the second docking assembly 2030.

[0218] The specific implementation method of the second magnetic control component 3020 changing the magnetic field of the second connecting member 2031 can also be set as the second magnetic control component 3020 controlling the movement of the second connecting member 2031 relative to the first docking component 1010. For details, please refer to the above-mentioned settings related to the first magnetic control component 3010 controlling the movement of the first connecting member 1011 relative to the second docking component 2030, which will not be repeated here.

[0219] Through the above-mentioned setting, the cleaning device 1000 only needs to control the first magnetic part to move relative to the second docking component 2030 by the first magnetic control component 3010, or control the second magnetic part to move relative to the first docking component 1010 by the second magnetic control component 3020, or perform both at the same time, so as to conveniently control the magnetic attraction or detachment of the first magnetic part and the second magnetic part. The cleaning system 1 is flexible in design and easy to use.

[0220] Please refer to Figure 9, which is a schematic diagram of the structure of the fifth embodiment of the first docking assembly of the present disclosure. In some other specific embodiments, the specific implementation method of the first magnetic control component 3010 changing the magnetic field of the first connecting member 1011 can be: the first connecting member 1011 is a permanent magnetic suction cup. The first connecting member 1011 includes a first switch 3014. The first magnetic control component 3010 is connected to the first switch 3014. The first magnetic control component 3010 can drive the first switch 3014 to move to a first position or a second position. When the first switch 3014 is in the first position, the first connecting member 1011 is magnetic. When the first switch 3014 is in the second position, the first connecting member 1011 is non-magnetic.

[0221] Through the above configuration, the first magnetic control component 3010 only needs to control the first switch 3014 to control the magnetic field of the first connecting member 1011 , which simplifies the control and has a streamlined structure.

[0222] Please refer to Figures 10 to 12. Figure 10 is a third schematic diagram of the structure of an embodiment of the cleaning system of the present disclosure; Figure 11 is a schematic diagram of the structure of the first embodiment of the first docking assembly and the second docking assembly of the present disclosure; and Figure 12 is a schematic diagram of the structure of the sixth embodiment of the first docking assembly of the present disclosure. In other embodiments, the specific implementation method of the releasable connection between the first docking assembly 1010 and the second docking assembly 2030 can be: one of the first docking assembly 1010 and the second docking assembly 2030 is provided with a first connector 1011, and the other is provided with a second connector 2031. The first connector 1011 is releasably locked to the second connector 2031. When the first connector 1011 and the second connector 2031 are locked, the first connector 1011 and the second connector 2031 form a structural limit with each other, the first docking assembly 1010 and the second docking assembly 2030 are connected, and the cleaning device 1000 cannot move relative to the support assembly 2000. When the first connecting member 1011 and the second connecting member 2031 are unlocked, the first docking assembly 1010 and the second docking assembly 2030 are disconnected, and the cleaning device 1000 can move away from the carrying assembly 2000 .

[0223] Through the above arrangement, the cleaning device 1000 and the carrying assembly 2000 are locked by the first connecting member 1011 and the second connecting member 2031 to form a structural limit, and the connection is reliable and fixed, which is particularly conducive to long-term docking.

[0224] In some specific embodiments, the first connector 1011 includes a movable locking member 10111. The second connector 2031 includes a fixing portion 20311. The locking member 10111 is movable to lock with or unlock from the fixing portion 20311. When the locking member 10111 is locked with the fixing portion 20311, the locking member 10111 is at least partially embedded in a side of the fixing portion 20311. The locking member 10111 can be locked to the fixing portion 20311 by rotational motion, linear motion, or the like.

[0225] The specific implementation structure of the releasable locking between the locking member 10111 and the fixing portion 20311 can be configured according to actual circumstances and is not limited herein. For example, a locking hook may be provided at one end of the locking member 10111. The locking member 10111 rotates, driving the locking hook to move, locking the hook to one side of the fixing portion 20311 to form a stop. In another example, the locking member 10111 may be in the shape of a straight rod. The locking member 10111 can be extended and retracted along a straight line to one side of the fixing portion 20311. When the locking member 10111 is extended, the locking member 10111 forms a stop with the side of the fixing portion 20311. The movement of the locking member 10111 can be controlled by the connection control assembly 3000. The connection control assembly 3000 may include a locking driver 2062. The locking driver 2062 is connected to the locking member 10111 and drives the movement of the locking member 10111.

[0226] With the above arrangement, after the cleaning device 1000 is returned to the carrier assembly 2000, the cleaning device 1000 can be secured by locking the locking assembly to one side of the fixing portion 20311, resulting in a simple structure. Furthermore, the locking member 10111 can be controlled by the connection control assembly 3000, and the first connecting member 1011 and the second connecting member 2031 can be automatically locked, eliminating the need for manual operation of the locking member 10111, making it easy to use.

[0227] In this embodiment, the first connecting member 1011 may further include a limiting groove 10112. The limiting groove 10112 includes a first groove wall 10112a and a second groove wall 10112b disposed opposite each other. A latch entrance 10112c is formed between the first groove wall 10112a and the second groove wall 10112b. The latch entrance 10112c is located at the end of the limiting groove 10112 facing the second connecting member 2031. One end of the locking member 10111 is disposed on the first groove wall 10112a, and the other end can move to connect with the second groove wall 10112b to close the latch entrance 10112c, or move away from the second groove wall 10112b to open the latch entrance 10112c. When the fixing portion 20311 is located in the limiting groove 10112 , the locking member 10111 closes the lock entrance 10112 c to limit the fixing portion 20311 , and the fixing portion 20311 is locked in the limiting groove 10112 .

[0228] The relative movement of the fixing portion 20311 into the limiting groove 10112 can be determined based on actual conditions. For example, the limiting groove 10112 can be fixed, and the fixing portion 20311 can move toward or away from the limiting groove 10112. Alternatively, the fixing portion 20311 can be fixed, and the limiting groove 10112 can move toward or away from the fixing portion 20311.

[0229] Furthermore, a first guide slope 10112a1 may be provided on one end of the first groove wall 10112a facing the latch entrance 10112c. A second guide slope 10112b1 may be provided on one end of the second groove wall 10112b facing the latch entrance 10112c. As the distance from the first guide slope 10112a1 to the bottom wall of the limiting groove 10112 gradually decreases along the direction from the first groove wall 10112a to the second groove wall 10112b, the distance from the second guide slope 10112b1 to the bottom wall of the limiting groove 10112 gradually increases. In other words, the first guide slope 10112a1 and the second guide slope 10112b1 form a generally V-shaped opening. When the fixing portion 20311 moves toward the limiting groove 10112, the first guide slope 10112a1 and the second guide slope 10112b1 can guide the fixing portion 20311.

[0230] The bottom wall of the limiting groove 10112 is the groove wall opposite to the lock entrance 10112c in the limiting groove 10112. The inclination angles of the first guide slope 10112a1 and the second guide slope 10112b1 can be determined according to actual conditions, such as 5 degrees, 10 degrees, 15 degrees, 30 degrees, 45 degrees, 60 degrees, etc., and are not limited here.

[0231] To further facilitate locking with the locking member 10111, the fixing portion 20311 may further include a fixing rod 20311a and a limiting rod 20311b that are connected to each other. The second connecting member 2031 may include a fixing plate. The fixing plate is fixed to the cleaning device 1000 or the supporting assembly 2000. The limiting rod 20311b may extend in a direction perpendicular to the extending direction of the fixing rod 20311a. One end of the fixing rod 20311a is fixed to the fixing plate, and the other end is connected to the limiting rod 20311b. There may be two fixing rods 20311a, with the two fixing rods 20311a being connected to both ends of the limiting rod 20311b respectively. The above arrangement can enhance the stability of the limiting rod 20311b and prevent the locking member 10111 locked to the limiting rod 20311b from slipping off from both ends of the limiting rod 20311b, thereby ensuring that the first connecting member 1011 and the second connecting member 2031 can be locked tightly. In addition, the second connecting member 2031 may not be provided with a fixing plate, and one end of the fixing rod 20311a may be directly fixed to the cleaning device 1000 or the carrying assembly 2000. The number of the fixing rods 20311a may also be set to only one or more according to actual needs.

[0232] Please refer to Figure 13, which is a schematic diagram of the structure of a second embodiment of the first and second docking assemblies of the present disclosure. In other specific embodiments, the first connector 1011 includes a spring lock 10113. The second connector 2031 includes a locking slot 20312. The spring lock 10113 can be locked within the locking slot 20312, creating a tension threshold. When the cleaning device 1000 applies a driving force and needs to be moved away from the carrier assembly 2000, a pulling force is generated between the spring lock 10113 and the locking slot 20312 in the direction of the lock slot 20312. When the pulling force exceeds the tension threshold, the spring lock 10113 and the locking slot 20312 are released. When the pulling force is less than the tension threshold, the spring lock 10113 and the locking slot 20312 remain locked. In other words, when the cleaning device 1000 needs to be moved away from the carrier assembly 2000, it only needs to generate a driving force greater than the tension threshold to directly detach from the carrier assembly 2000.

[0233] Specifically, the lock slot 20312 has an opening 20313. The lock slot 20312 is elastic and can undergo elastic deformation. Along the direction from the first connector 1011 to the second connector 2031, the area of ​​the opening 20313 of the lock slot 20312 is smaller than the cross-sectional area of ​​the widest point of the elastic lock 10113. The elastic lock 10113 can only enter and exit the lock slot 20312 when the lock slot 20312 undergoes elastic deformation, expanding the opening 20313. The widest point of the elastic lock 10113 is the location where the elastic lock 10113 reaches its maximum size, perpendicular to the direction from the first connector 1011 to the second connector 2031. When the cleaning device 1000 approaches and connects to the carrier assembly 2000, the elastic lock 10113 aligns with the opening 20313 and presses against the lock slot 20312, forcing the lock slot 20312 to undergo elastic deformation. The locking slot 20312 elastically deforms until the area of ​​the opening 20313 expands to a cross-sectional area greater than or equal to the widest point of the elastic lock 10113. The elastic lock 10113 then enters the locking slot 20312, completing the locking process. When the cleaning device 1000 applies a driving force toward the direction away from the carrier assembly 2000, the cleaning device 1000 drives the elastic lock 10113 in the direction of removal from the locking slot 20312. The elastic lock 10113 compresses the interior of the locking slot 20312, causing the locking slot 20312 to elastically deform until the area of ​​the opening 20313 expands to a cross-sectional area greater than or equal to the widest point of the elastic lock 10113. At this point, the elastic lock 10113 is removed from the locking slot 20312, releasing the lock.

[0234] Through the above arrangement, the locking groove 20312 can lock or release the elastic lock 10113 through elastic deformation without setting a complex fixing structure. The first connecting member 1011 and the second connecting member 2031 have a simplified structure, and the cleaning device 1000 and the supporting assembly 2000 are stably connected.

[0235] In this embodiment, the driving force of the cleaning device 1000 can be controlled by the connection control assembly 3000. When the cleaning device 1000 needs to move away from the carrier assembly 2000, the connection control assembly 3000 can directly control the cleaning device 1000 to output a driving force greater than a tension threshold. When the cleaning device 1000 is connected to the carrier assembly 2000, the connection control assembly 3000 can also control the cleaning device 1000 to temporarily increase the driving force so that the elastic lock 10113 squeezes the lock slot 20312 to elastically deform and complete the connection.

[0236] Furthermore, the connection control assembly 3000 may also be provided with a sensing assembly 4000, which detects the relative position of the elastic lock 10113 and the lock slot 20312. The cleaning device 1000 may also include a control assembly 1154, which can control the driving force of the cleaning device 1000 based on the detection results of the sensing assembly 4000. For example, when the cleaning device 1000 needs to move away from the carrier assembly 2000, the control assembly 1154 can control the cleaning device 1000 to output a driving force greater than a tension threshold. At this time, if the sensing assembly 4000 detects that the elastic lock 10113 and the lock slot 20312 have not separated, it means that the tension threshold may have changed due to reasons such as material aging. Based on the detection results, the control assembly 1154 can further increase the driving force until the sensing assembly 4000 detects that the elastic lock 10113 and the lock slot 20312 have separated.

[0237] The structures of the first docking assembly 1010 and the second docking assembly 2030 are not limited to the arrangement in the above embodiment. The structure of the second docking assembly 2030 can also be configured similarly or in conjunction with the embodiment of the first docking assembly 1010, and will not be described in detail here.

[0238] Please refer to Figures 14 to 16. Figure 14 is a schematic diagram of the first structure of an embodiment of a carrier assembly of the present disclosure; Figure 15 is a schematic diagram of the second structure of an embodiment of a carrier assembly of the present disclosure; and Figure 16 is an exploded schematic diagram of an embodiment of a carrier assembly of the present disclosure. In some embodiments, the carrier assembly 2000 is used to carry the cleaning device 1000 for movement in or out of a pool. The carrier assembly 2000 includes a carrier 2040. The carrier 2040 includes a first end 2041 and a second end 2042 disposed opposite each other. A carrier surface 2043 is formed between the first end 2041 and the second end 2042. The carrier 2040 has at least a first posture. When the carrier 2040 is in the first posture, the second end 2042 is below the lowest preset water level of the pool. At this point, the cleaning device 1000 can move from the pool onto the carrier surface 2043, or from the carrier surface 2043 into the pool.

[0239] The minimum preset water level refers to the theoretically lowest water level required when using the support assembly 2000. The support assembly 2040 can carry the cleaning device 1000 to move into or out of the pool by either actively moving the cleaning device 1000 along the support surface 2043 or by being driven by the support surface 2043.

[0240] With the above arrangement, the cleaning device 1000 can enter or leave the pool through the carrier 2040. After returning to the carrier assembly 2000, the cleaning device 1000 can be taken ashore for maintenance without being immersed in water for a long time, which is conducive to improving the service life of the cleaning device 1000. In addition, the cleaning device 1000 no longer needs to be manually carried, launched or salvaged, but can be automatically taken out of the water by the carrier assembly 2000, which is convenient for use.

[0241] In some embodiments, the support assembly 2000 further includes a support member 2050. The support member 2050 is disposed at the edge of the pool. The support member 2050 connects to the support member 2040 and provides support for the support member 2040. When the cleaning device 1000 exits the pool via the support member 2040, the cleaning device 1000 can move onto the support member 2050 to dock or further move away.

[0242] In some embodiments, when the carrier 2040 is in the first posture, the first end 2041 of the carrier 2040 is located at the edge of the pool. The second end 2042 extends obliquely into the pool from the edge of the pool. The cleaning device 1000 can directly travel from the second end 2042 to the first end 2041 or from the first end 2041 to the second end 2042 along the bearing surface 2043 to enter or leave the pool. When the carrier assembly 2000 is provided with a support member 2050, the first end 2041 can be fixedly connected to the support member 2050. The support member 2050 supports the first end 2041 so that the carrier 2040 maintains the first posture.

[0243] Please refer to Figures 17 and 18. Figure 17 is a schematic diagram of the second position of the carrier according to one embodiment of the present disclosure; Figure 18 is a schematic diagram of the structure of another embodiment of the carrier assembly according to the present disclosure. In other embodiments, the carrier 2040 is capable of active movement. When the carrier 2040 is in the first position, the first end 2041 of the carrier 2040 can be located at the edge of the pool, and the second end 2042 can extend from the edge into the pool. The first end 2041 can also be located below the water surface, meaning that the entire carrier 2040 is underwater. The carrier 2040 also includes a second position. The carrier 2040 can move from at least the first position to the second position. When the carrier 2040 is in the second position, the cleaning device 1000 can be moved out of the pool. In this position, the second end 2042 can be located above the minimum preset water level. The carrier 2040 can switch from the first position to the second position through rotation or lifting. The specific position of the carrier 2040 in the second position can be configured based on the movement of the carrier 2040. For example, the second position can be when the support member 2040 rotates until the support surface 2043 is parallel to the water surface. Alternatively, the second position can be when the support member 2040 linearly moves up and down until the second end 2042 is above the water surface. When the support member 2040 moves from the first position to the second position, the support member 2040 pulls the cleaning device 1000 out of the pool.

[0244] In this embodiment, the second docking assembly 2030 can be disposed on the carrying surface 2043 or elsewhere on the carrying assembly 2000. The second docking assembly 2030 is connected to the first docking assembly 1010 and is used to secure the cleaning device 1000 to the carrying surface 2043. When the cleaning device 1000 is connected to the carrying surface 2043 by the first docking assembly 1010 and the second docking assembly 2030, the cleaning device 1000 cannot move relative to the carrying surface 2043. When the first docking assembly 1010 and the second docking assembly 2030 are disconnected, the cleaning device 1000 can move relative to the carrying surface 2043. Thus, when the carrying assembly 2040 moves and drives the cleaning device 1000 into or out of the pool, the cleaning device 1000 can be locked to the carrying surface 2043, preventing it from sliding off the carrying surface 2043 and ensuring stable use.

[0245] In some specific embodiments, the second end 2042 of the support member 2040 is provided with a guide structure 20421. The guide structure 20421 is used to assist the cleaning device 1000 in moving from the pool to the support member 2040. The guide structure 20421 can be configured according to actual circumstances. For example, the guide structure 20421 can specifically be: two baffles 20421a are provided along the left and right edges of the support surface 2043 at the second end 2042. The two baffles 20421a are arranged in an open, inclined manner along the first end 2041 toward the second end 2042, forming a guide slope. Guided by the guide slope, the cleaning device 1000 moves toward the first end 2041.

[0246] For another example, the guide structure 20421 can be specifically as follows: two baffles 20421a are provided along the left and right edges of the second end 2042 and the bearing surface 2043. A plurality of guide wheels are provided on the two baffles 20421a toward the center of the bearing surface 2043 to form the guide structure 20421. The cleaning device 1000 moves toward the first end 2041 under the guidance of the guide wheels. Furthermore, a guide groove (not shown in the figure) that matches the guide wheel can be provided on the side wall of the cleaning device 1000. The guide groove extends in a direction parallel to the bearing surface 2043. When the cleaning device 1000 moves from the pool to the carrier 2040, the guide wheel can be embedded in the corresponding guide groove and roll in contact with the bottom wall or side wall of the guide groove. The cleaning device 1000 is limited by the guide wheel and can only move in a direction parallel to the bearing surface 2043.

[0247] In some specific embodiments, the support assembly 2000 includes a drive assembly 2060. The drive assembly 2060 is connected to the support member 2040. The drive assembly 2060 can output power and drive the support member 2040 to move. The method by which the drive assembly 2060 drives the support member 2040 can be configured according to the movement mode of the support member 2040. For example, if the support member 2040 moves in rotation, the drive assembly 2060 may include a rotating shaft 2061 and a driving member 2062. The rotating shaft 2061 is connected to the support member 2040 and is driven to rotate by the driving member 2062. The rotation of the rotating shaft 2061 drives the support member 2040 to rotate. If the support member 2040 moves in a linear lifting motion, the support assembly 2000 may include a lifting structure 2070. The lifting structure 2070 is connected to the support member 2040. The driving member 2062 is connected to the lifting structure 2070 and drives the lifting structure 2070 to move upward and downward, thereby driving the support member 2040 to move upward and downward.

[0248] In some embodiments, the support member 2040 rotates from the first position to the second position. The support member 2040 can rotate about the first end 2041, causing the second end 2042 to rotate above the water surface and drive the cleaning device 1000 out of the water. The cleaning device 1000 can then be driven from the first end 2041 away from the support surface 2043 and onto land. The drive assembly 2060 can be connected to the first end 2041.

[0249] Please refer to Figure 19, which is a schematic diagram of the third position of the carrier in one embodiment of the carrier disclosed herein. In some specific embodiments, the carrier 2040 can be further rotated to the third position. The carrier assembly 2000 includes a support member 2050. When the carrier 2040 is rotated to the third position, the carrier surface 2043 faces the support member 2050. The carrier surface 2043 can be parallel to and spaced from the support member 2050, and a first accommodating space 2010 is formed between the carrier surface 2043 and the support member 2050. The first accommodating space 2010 is used to accommodate the cleaning device 1000.

[0250] With the above arrangement, when the cleaning device 1000 leaves the pool, it can be located within the first accommodating space 2010. At this time, the carrier 2040 is located above the cleaning device 1000, shielding the cleaning device 1000 from light and falling dust. After leaving the pool, the cleaning device 1000 is less likely to be exposed to sunlight for a long time, which could cause aging or other problems, and is less likely to become dirty due to dust accumulation. The cleaning device 1000 can be stored securely.

[0251] In other specific embodiments, the support member 2040 includes a first support member 2044 and a second support member 2045 connected to the first support member 2044. The first support member 2044 is provided with a first support surface 20441. The second support member 2045 is provided with a second support surface 20451. The first support surface 20441 and the second support surface 20451 are connected to form a support surface 2043. In other words, the support member 2040 is formed by splicing the first support member 2044 and the second support member 2045. The support assembly 2000 includes a support member 2050. One end of the first support member 2044 is rotatably connected to the support member 2050, and the other end is rotatably connected to the second support member 2045. When the first support member 2044 rotates, the first support member 2044 drives the second support member 2045 to rotate. When the first supporting surface 20441 and the second supporting surface 20451 rotate toward the support member 2050 , the support member 2050 , the first supporting surface 20441 , and the second supporting surface 20451 enclose a second accommodating space 2020 . The second accommodating space 2020 is used to accommodate the cleaning device 1000 .

[0252] With the above arrangement, the cleaning device 1000 can be located within the second accommodating space 2020, with the second carrier 2045 located above the cleaning device 1000 and the first carrier 2044 located to one side of the cleaning device 1000. Both carriers can shield the cleaning device 1000 from light and falling dust. After leaving the pool, the cleaning device 1000 is less likely to be exposed to sunlight for a long time, which could cause aging or other malfunctions, and is less likely to become dirty due to dust accumulation, allowing it to be stored securely.

[0253] In some specific embodiments, the carrier 2040 rotates to a storage position after the cleaning device 1000 enters or exits the pool. The storage position may be such that the carrier 2040 rotates close to the pool wall or close to the support member 2050. The specific storage position can be pre-set based on actual conditions and experience.

[0254] Please refer to Figures 21 and 22. Figure 21 is a schematic diagram of the first structure of another embodiment of the load-bearing assembly disclosed herein; Figure 22 is a schematic diagram of the second structure of another embodiment of the load-bearing assembly disclosed herein. In some specific embodiments, the load-bearing member 2040 is lifted and lowered from the first position to the second position. The load-bearing assembly 2000 also includes a support member 2050. The support member 2050 is provided with a lifting structure 2070 for driving the load-bearing member 2040 in a direction toward or away from the water surface. The lifting direction of the load-bearing member 2040 can be perpendicular to the water surface or inclined to the water surface, as long as it can move toward or away from the water surface. When the load-bearing member 2040 is in the first position, the second end 2042 is located below the water surface or near the waterline. The first end 2041 can be located below, above, or near the waterline. When the load-bearing member 2040 is lifted from the first position to the second position, the second end 2042 rises to be above the water surface, meaning that the load-bearing member 2040 is at least partially out of the water. The cleaning device 1000 can be connected to the carrying surface 2043 through the first docking component 1010 and the second docking component 2030 and rise and fall with the carrying surface 2043, thereby enabling the cleaning device 1000 to enter and exit the water.

[0255] The lifting structure 2070 can be driven by manual push-pull or by the drive assembly 2060. The drive assembly 2060 can be a device powered by a drive motor or a cylinder. The drive assembly 2060 can be directly connected to the lifting structure 2070 to drive the lifting structure 2070, or it can be connected to a transmission device to indirectly drive the lifting structure 2070. The transmission device can be disposed between the drive assembly 2060 and the lifting structure 2070. The transmission device can be configured, for example, using gears, pull belts, cables, or spools.

[0256] In some specific embodiments, the lifting structure 2070 includes a guide structure (not shown in the figures), and the supporting member 2040 can move along the direction defined by the guide structure.

[0257] In some specific embodiments, a baffle 20421a is provided on at least one of the left and right sides of the carrier 2040 to generate positioning information after the cleaning device 1000 contacts the limiting structure.

[0258] In some specific embodiments, at least one in-position sensor (not shown in the figure) is provided on the carrier 2040. The in-position sensor is used to send an in-position prompt information to the cleaning device 1000 when it detects that the cleaning device 1000 reaches a preset position.

[0259] In some specific embodiments, the carrier 2040 can rotate relative to the support 2050 to change the angle between the carrier 2040 and the support 2050, or change the angle between the carrier 2040 and the water surface, thereby making the slope of the carrier 2040 relative to the support 2050 gentler, so that the cleaning device 1000 on the carrier 2040 can automatically move away from the carrier 2040 after leaving the pool. Alternatively, the slope of the carrier 2040 relative to the water surface can be made gentler, so that the cleaning device 1000 on the carrier 2040 can smoothly enter the pool.

[0260] In other embodiments, the carrier assembly 2000 is used to securely dock the cleaning device 1000. A second docking assembly 2030 is positioned on the side of the carrier assembly 2000 facing the pool. When the cleaning device 1000 approaches the carrier assembly 2000, the first docking assembly 1010 of the cleaning device 1000 can connect to the second docking assembly 2030, securing the cleaning device 1000 to the carrier assembly 2000. This arrangement allows the cleaning device 1000 to dock, charge, self-clean, and replace and refill agents after returning to the carrier assembly 2000, without floating in the water and affecting pool use, and without requiring removal from the water, making it convenient to use.

[0261] In some embodiments, when the cleaning device 1000 is traveling on the water surface, at least one of the first docking assembly 1010 and the second docking assembly 2030 can adapt to changes in the water level of the pool, allowing the two to connect. The first docking assembly 1010 and the second docking assembly 2030 being able to adapt to changes in the water level of the pool means that when the water level of the pool changes, the first docking assembly 1010 and / or the second docking assembly 2030 can always have at least a portion located at or near the water surface of the pool, and the first docking assembly 1010 or the second docking assembly 2030 can connect to the portion of the other located at or near the water surface of the pool.

[0262] In some embodiments, the first docking assembly 1010 can adapt to changes in the water level of the pool by allowing the cleaning device 1000 as a whole to move and change position as the water level changes, or by allowing the first docking assembly 1010 to move relative to the cleaning device 1000 to adapt to changes in the water level. The second docking assembly 2030 can adapt to changes in the water level of the pool by allowing the supporting assembly 2000 as a whole to change position as the water level changes, or by allowing the second docking assembly 2030 to move relative to the supporting assembly 2000 to adapt to changes in the water level of the pool.

[0263] Through the above arrangement, the cleaning device 1000 is not easily unable to connect with the second docking assembly 2030 due to changes in water level, and the cleaning system 1 is stable in use.

[0264] Furthermore, as shown in FIG4 , in one embodiment, the carrier assembly 2000 includes a water level adaptation assembly 2080. The water level adaptation assembly 2080 is used to adjust the second docking assembly 2030 to be located near the waterline of the pool according to the water level of the pool, or to adjust the position of the carrier 2040 so that the cleaning device 1000 can dock to the carrier assembly 2000 or float freely according to changes in the pool water level.

[0265] In one specific embodiment, the water level adaptation assembly 2080 includes a float 2081 and a guide 2082. The guide 2082 is used to define the movement direction of the second docking assembly 2030 or the support 2040, while the float 2081 is used to drive the second docking assembly 2030 or the support 2040 to move in response to changes in the pool water level. Specifically, the guide 2082 is positioned at the edge of the pool. The float 2081 floats with the pool water level. The float 2081 is slidably connected to the guide 2082. The float 2081 slides up and down on the guide 2082 in response to changes in the water level. The second docking assembly 2030 is mounted on the float 2081. Thus, the guide 2082 guides and limits the float 2081, allowing the float 2081 to stably rise and fall with the pool water level and avoid drifting along the water surface due to currents. This allows the cleaning device 1000 to better align with the second docking assembly 2030.

[0266] In other embodiments, the cleaning device 1000 is provided with a floating member (not shown in the figure). The first docking assembly 1010 is provided on the floating member. The floating member can be coupled to the inside of the cleaning device 1000. The floating member is provided with a motion mechanism and a charging receiving member 1020 or a communication module. When the cleaning device 1000 approaches the carrier assembly 2000 and the cleaning device 1000 only needs to perform charging or communication tasks, the floating member can be released by the cleaning device 1000 and float to the water surface. Driven by the motion mechanism, the floating member moves to the carrier assembly 2000, so that the first docking assembly 1010 can be connected to the second docking assembly 2030 on the carrier assembly 2000. Alternatively, the floating member can also be provided on the carrier assembly 2000. The second docking assembly 2030 is provided on the floating member. The floating member can be coupled to the inside of the carrier assembly 2000. The floating member is provided with a motion mechanism and a charging assembly or a communication module. When the cleaning device 1000 moves to the vicinity of the carrying assembly 2000 , the float can be released and float to the water surface, and then driven by the motion mechanism to approach the cleaning device 1000 , so that the first docking assembly 1010 docks with the second docking assembly 2030 .

[0267] In other specific embodiments, when cleaning device 1000 is traveling underwater, second docking assembly 2030 is at least partially underwater. First docking assembly 1010 can connect to the underwater portion of second docking assembly 2030. Alternatively, multiple second docking assemblies can be provided, distributed sequentially along the height of the pool wall, such that at least one second docking assembly is underwater, and the first docking assembly connects to the underwater second docking assembly.

[0268] Please refer to Figure 23, which is a fourth structural diagram of an embodiment of the cleaning system of the present disclosure. In some other specific embodiments, as shown in Figure 22, the second docking assembly 2030 extends from the water surface of the pool or near the water surface to underwater. Each position of the second docking assembly 2030 can be connected to the first docking assembly 1010. Alternatively, a plurality of second docking assemblies 2030 are distributed in sequence along the height direction of the pool wall, and at different height positions (for example, above water, on the water surface, and underwater positions), there are second docking assemblies 2030 that can be connected to the first docking assembly 1010. Thus, no matter whether the cleaning device 1000 is traveling on the water surface or underwater, or can travel on the water surface and underwater, the cleaning device 1000 can be well connected to the second docking assembly 2030.

[0269] In other specific embodiments, the second docking assembly 2030 can be raised and lowered in a direction perpendicular to the water surface. When the cleaning device 1000 is traveling underwater, the second docking assembly 2030 can be lowered from the water surface to a corresponding depth underwater and connected to the first docking assembly 1010. Alternatively, when the cleaning device 1000 is traveling on the water surface, the second docking assembly 2030 can be raised from underwater to the surface and connected to the first docking assembly 1010. The raising and lowering movement of the second docking assembly 2030 can be achieved by providing a float chamber, an electric slide rail, or other methods, which are not limited here.

[0270] In some embodiments, the carrier assembly 2000 itself can also perform other functions, such as spreading chemicals into the water. When the cleaning device 1000 returns to the carrier assembly 2000 or is carried by the carrier assembly 2000 and moves out of the pool, the carrier assembly 2000 can also be used, but is not limited to, to suck out waste from the cleaning device 1000, charge the cleaning device 1000, replenish or replace chemicals in the cleaning device 1000, and store the cleaning device 1000. Referring back to Figure 14, the above process can be performed on the carrier 2040, and when the carrier assembly 2000 is provided with a support member 2050, it can also be performed on the support member 2050.

[0271] In some specific embodiments, the carrier assembly 2000 is provided with a support member 2050, and the cleaning device 1000 can move onto the support member 2050 and interact with the support member 2050. The support member 2050 can be used, but is not limited to, to suck out the garbage in the cleaning device 1000, to charge the cleaning device 1000, to replenish or replace the agent of the cleaning device 1000, and to store the cleaning device 1000.

[0272] In some specific embodiments, the support member 2050 includes a receiving portion 2051. The receiving portion 2051 is formed with a receiving groove 2052. The receiving groove 2052 can accommodate the cleaning device 1000. The cleaning device 1000 is charged and / or self-cleaned in the receiving groove 2052. For example, when the supporting assembly 2000 is provided with a photovoltaic system or a self-cleaning system, the photovoltaic system and the self-cleaning system can be provided in the receiving groove 2052. Or the supporting assembly further includes a receiving member, the front end of the support member is connected to the supporting member, the rear end of the support member is connected to the receiving member, the receiving member extends vertically and intersects with the supporting member or is vertically distributed, the receiving member is provided with a receiving groove, the notch of the receiving groove faces the support member, after the cleaning device returns to the support member, it continues to move forward until the cleaning device is accommodated in the receiving groove, and the cleaning device is charged, self-cleans, collects dust, replenishes medicine, etc. in the receiving groove.

[0273] Please refer to Figure 24, which is a fifth structural schematic diagram of an embodiment of the cleaning system of the present disclosure. In some embodiments, the carrier assembly 2000 is provided with a charging assembly 2090. The cleaning device 1000 is provided with a charging receiver 1020. The cleaning device 1000 can be recharged with power from the charging receiver 1020. The charging assembly 2090 is used to transmit power to the charging receiver 1020, thereby charging the cleaning device 1000. The charging method of the charging assembly 2090 can be contact charging or wireless charging. When the charging assembly 2090 charges the cleaning device 1000 by contact, the charging assembly 2090 and the charging receiver 1020 can be charging electrodes. The cleaning device 1000 can directly contact the charging receiver 1020 with the charging assembly 2090, thereby directly transmitting power. When the charging assembly 2090 charges the cleaning device 1000 wirelessly, the charging assembly 2090 and the charging receiver 1020 can be induction coils. The charging receiver 1020 can be located on one side of the cleaning device 1000. After the cleaning device 1000 returns to the carrier assembly 2000, the side with the charging receiver 1020 can be oriented toward the charging assembly 2090, so that the charging receiver 1020 is close to and aligned with the charging assembly 2090. The charging assembly 2090 transmits power to the charging receiver 1020 by wireless charging.

[0274] The charging assembly 2090 can be located on the carrier 2040 , or on the support 2050 , or in any independent space of the carrier assembly 2000 except the carrier 2040 and the support 2050 .

[0275] While the charging assembly 2090 is charging the cleaning device 1000, the cleaning device 1000 can also be connected to the carrier assembly 2000 via the first docking assembly 1010 and the second docking assembly 2030 to maintain relative stability during the charging process. The docking of the charging assembly 2090 with the charging receiver 1020 can occur simultaneously with the docking of the first docking assembly 1010 and the second docking assembly 2030. After docking, the charging assembly 2090 may not immediately begin charging, but instead wait until it receives a charging command from the cleaning device 1000 or the carrier assembly 2000. The second docking assembly 2030 can be positioned around the charging assembly 2090, and the first docking assembly 1010 can be positioned around the charging receiver 1020. Thus, when the first docking assembly 1010 connects to the second docking assembly 2030, the charging assembly 2090 is also simultaneously aligned with the charging receiver 1020. Alternatively, the docking of the charging component 2090 with the charging receiving component 1020 is later than the docking of the first docking component 1010 and the second docking component 2030. The first docking component 1010 and the second docking component 2030 are docked first to achieve the initial limiting or positioning between the cleaning equipment and the carrying component. After that, the charging component 2090 is docked with the charging receiving component 1020 to ensure that the charging component 2090 and the charging receiving component 1020 are docked in place, and then receive the charging instruction issued by the cleaning equipment or the carrying component, and then execute the charging process.

[0276] When the cleaning device 1000 and the carrier assembly 2000 are charging via contact, and the first docking assembly 1010 is docked with the second docking assembly 2030, the charging assembly 2090 and the charging receiver 1020 can both be above the water surface to reduce water interference with the charging process. Furthermore, when the charging receiver 1020 and the charging assembly 2090 are both underwater after docking, the cleaning device 1000 and the carrier assembly 2000 can control the movement of the carrier 2040 before initiating charging, driving the charging assembly 2090 and the charging receiver 1020 above the water surface. For example, before charging is initiated, the cleaning device is on the carrier, and the carrier is controlled to move, which in turn drives the cleaning device, so that the charging assembly 290 and the charging receiver 1020 are moved above the water surface before charging can begin. Alternatively, before charging is initiated, the cleaning device is not on the carrier, and both the carrier and the cleaning device are controlled to move toward the water surface, driving the charging assembly and the charging receiver above the water surface before docking and charging can begin. That is, the first docking assembly and the second docking assembly can be docked underwater before being moved above the water surface to perform the charging process. In another embodiment, when the cleaning device 1000 and the carrier assembly 2000 are charged by contact, the charging receiving member 1020 and the charging assembly 2090 can also be charged underwater after the two are docked.

[0277] The location of the charging assembly 2090 can be determined based on the mobility of the cleaning device 1000. For example, if the cleaning device 1000 is capable of surface travel, the charging assembly 2090 can be located at the waterline of the pool. The charging position of the charging assembly 2090 can float relative to the water surface. When the cleaning device 1000 is surface travel, it can easily align with the charging assembly 2090 located at the waterline. If the cleaning device 1000 is capable of underwater travel, the charging assembly 2090 can be located underwater. The cleaning device 1000 can be charged directly underwater. If the cleaning device 1000 is capable of both surface and underwater travel, the charging assembly 2090 can be located at the waterline or underwater. Alternatively, the charging assembly 2090 can extend from the waterline to underwater, allowing any location between the waterline and underwater to dock with the charging receiver 1020 for charging. Alternatively, multiple charging assemblies 2090 can be arranged in a row along the height of the pool wall, allowing charging of the charging receiver 1020 at different locations along the height of the pool wall. In addition, the charging component 2090 can also be set on the shore of the pool, and the cleaning device 1000 can dock with the charging component 2090 on the shore for charging after leaving the pool.

[0278] Furthermore, in some specific embodiments, the charging assembly 2090 includes a charging member 2091 and an elastic member 2092. The charging member 2091 is used to transmit electrical energy to the charging receiver 1020. The elastic member 2092 is used to ensure full and stable contact between the charging member 2091 and the cleaning device 1000, thereby improving charging efficiency. The elastic member 2092 can apply an elastic force to the charging member 2091 in the direction from the charging member 2091 toward the cleaning device 1000, or apply an elastic force to the cleaning device 1000 in the direction from the cleaning device 1000 toward the charging member 2091. The elastic member 2092 drives the charging member 2091 toward the cleaning device 1000, or drives the cleaning device 1000 toward the charging member 2091. In other words, the charging member 2091 or the cleaning device 1000 is elastically driven toward the other, bringing the charging member 2091 and the charging receiver 1020 closer together, reducing the distance between them, and improving charging efficiency.

[0279] When the charging assembly 2090 charges the cleaning device 1000 via contact charging, the charging element 2091 can be a metal contact. The metal contact can be pressed against the charging receiver 1020 attached to the cleaning device 1000, directly conducting electricity and transferring electrical energy. When the charging assembly 2090 charges the cleaning device 1000 via wireless charging, the charging element 2091 is a wireless coil. The charging element 2091 can be located inside or on the surface of the carrier assembly 2000. The charging receiver 1020 can also be a wireless coil. The charging receiver 1020 can be located inside or on the surface of the cleaning device 1000. Magnetic elements can be provided on each of the charging element 2091 and the charging receiver 1020, so that the charging element 2091 or the cleaning device 1000 is magnetically driven toward the other, allowing the charging element 2091 and the charging receiver 1020 to quickly and accurately mate, thereby improving the efficiency of wireless charging. The charging element 2091 and the charging receiving element 1020 may also be covered with an anti-corrosion coating to reduce corrosion or rust caused by humid environments. For example, a first magnetic element may be provided around or near the charging element, and a second magnetic element may be provided around or near the charging receiving element. The magnetic poles of the first and second magnetic elements facing or approaching each other are opposite, thereby achieving magnetic attraction between the first and second magnetic elements. Alternatively, iron may be provided around or near one of the charging element and a magnet around or near the other. Through the magnetic attraction of the magnet to the iron, the charging element 2091 and the charging receiving element 1020 can be quickly and accurately attached.

[0280] Please refer to Figure 25, which is a first cross-sectional view of an embodiment of a cleaning device according to the present disclosure. In some embodiments, the cleaning device 1000 includes a cleaning device body 1001. The cleaning device body 1001 is provided with at least one first filter assembly 1050, at least one suction assembly 1060, at least one liquid inlet 1030, at least one liquid outlet 1040, and a travel propulsion structure 1070.

[0281] Among them, the liquid inlet 1030 is used for liquid to enter the cleaning device body 1001. The liquid inlet 1030 can be set at the bottom and / or side of the cleaning device body 1001, so as to be suitable for the cleaning device 1000 to perform tasks such as pool bottom cleaning, pool wall cleaning, waterline cleaning, and water surface cleaning. The liquid outlet 1040 is used to discharge the water in the cleaning device body 1001. The cleaning device body 1001 can include at least one liquid outlet 1040 located at the top of the cleaning device 1000, and / or a liquid outlet 1040 located at the rear side of the cleaning device body 1001, and / or a liquid outlet 1040 located at the side of the cleaning device body 1001. The walking and propulsion structure 1070 includes a walking mechanism and a propulsion mechanism. The walking and propulsion structure 1070 is suitable for driving the cleaning device 1000 to travel on the surface to be cleaned or the water surface. The walking mechanism is at least suitable for driving the cleaning device to move on the surface to be cleaned in the first motion state or the second motion state; the propulsion mechanism is at least suitable for driving the cleaning device to move in the third motion state. At least one first filter component 1050 is at least partially arranged in the cleaning device body 1001, and the first filter component 1050 is used to filter the dust-laden water flow. The dust-laden water flow refers to the water flow carrying stains or suspended matter. The first filter component 1050 can separate the stains and suspended matter in the dust-laden water flow from the water flow. At least one suction component 1060 is arranged in the cleaning device body 1001. The suction component 1060 is used to generate a suction force, thereby guiding the flow direction of the liquid, so that the water flow enters the liquid inlet 1030 and is discharged from the liquid outlet 1040 after passing through at least one first filter component 1050.

[0282] Additionally, in other embodiments, the cleaning device 1000 may not include the suction assembly 1060. For example, when the cleaning device 1000 is operating on the surface of a body of water, the liquid inlet 1030 may be disposed on the side of the cleaning device 1000. The relative motion between the side and the water flow during movement of the cleaning device 1000 in the pool allows water to passively flow into the liquid inlet 1030.

[0283] Please refer to Figures 27 to 29. Figure 27 is a sixth schematic diagram of the structure of an embodiment of the cleaning system disclosed herein; Figure 28 is a schematic cross-sectional view of an embodiment of the cleaning system disclosed herein; and Figure 29 is a second schematic cross-sectional view of an embodiment of the cleaning device disclosed herein. In some embodiments, the liquid inlet 1030 includes at least a first water inlet 1031. The first water inlet 1031 is disposed on the cleaning device body 1001. Liquid enters the cleaning device body 1001 through the first water inlet 1031. The liquid outlet 1040 includes at least a first water outlet 1041. The first water outlet 1041 is disposed on the cleaning device body 1001. Liquid exits the cleaning device body 1001 through the first water outlet 1041. The first water outlet 1041 can be disposed on the top or side of the cleaning device body 1001. The first water inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially connected to form a first water flow path. Under the guidance of the suction assembly 1060, a water flow in a first direction X is generated. The liquid enters the cleaning device body 1001 from the first water inlet 1031, flows to the first filter assembly 1050 and the suction assembly 1060, and is then discharged from the first water outlet 1041. During this process, the dust-laden water flow is purified by the first filter assembly 1050, achieving pool cleaning.

[0284] Wherein, the first filter assembly is at least partially housed in the main body of the cleaning device and is suitable for filtering the water flow entering therein. The second water inlet 1032 is provided at the first end of the cleaning device and is in fluid communication with the first filter assembly 1050, and is suitable for serving as a water flow inlet for cleaning the water surface of the pool when the cleaning device is operating in the third motion state; wherein, the first motion state at least includes the state in which the cleaning device is operating at the bottom of the pool, the second motion state at least includes the state in which the cleaning device is operating at the pool wall or parallel to the pool wall, and the third motion state at least includes the state in which the cleaning device is operating on the water surface. In one embodiment, the first docking assembly is provided at the first end of the cleaning device and is suitable for docking with a base station.

[0285] In some other embodiments, the cleaning device 1000 does not include the suction assembly 1060. The first water inlet 1031 is provided on the side of the cleaning device 1000. The first water outlet 1041 can be provided on the side opposite to the first water inlet 1031. When the cleaning device 1000 operates on the water surface, the cleaning device 1000 moves in the water body through the walking propulsion structure 1070. The first water inlet 1031 on the side of the cleaning device 1000 generates relative motion with the dust-laden water flow, so that the dust-laden water flow passively flows into the first water inlet 1031, and is pushed to the first filter assembly 1050 and then discharged from the first water outlet 1041. In this process, the dust-laden water flow is purified by the first filter assembly 1050, thereby achieving pool cleaning. If the first water inlet 1031 is arranged on the front side wall of the front part of the cleaning device main body 1001, when the cleaning device moves forward on the water surface, the dust-laden water flow passively flows into the first water inlet, and is pushed to the first filter component 1050 and then discharged from the first water outlet 1041; if the first water inlet is arranged on the rear side wall of the rear part of the cleaning device main body 1001, when the cleaning device moves backward on the water surface, the dust-laden water flow passively flows into the first water inlet, and is pushed to the first filter component 1050 and then discharged from the first water outlet 1041.

[0286] In one embodiment, as shown in Figures 25, 29, or 64E, the cleaning device includes a suction assembly 1060, and the liquid inlet portion includes at least a first water inlet 1031 and a second water inlet 1032. The first water inlet 1031 is located at the bottom of the cleaning device body 1001. The first water inlet 1031, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially connected to form a first waterway for cleaning the pool bottom or sidewalls. The second water inlet 1032 is located at the front or rear of the cleaning device body. The second water inlet 1032, the first filter assembly 1050, the suction assembly 1060, and the first water outlet 1041 are sequentially connected to form a second waterway for cleaning the water surface or waterline. As shown in Figures 25 and 29, the second water inlet 1032 is located on the front sidewall of the front of the cleaning device body. When the cleaning device is cleaning the water surface, it cleans the water surface by moving forward. As shown in FIG64E , the second water inlet 1032 is provided on the rear side wall of the rear portion of the cleaning device body. When the cleaning device is cleaning the water surface, the cleaning device cleans the water surface by moving backward.

[0287] The first filter assembly includes a first dust box 1051. As shown in FIG64E , a first inlet 10511a and a second inlet 10511b are provided on the first dust box. The first inlet is connected to the first water inlet so that the liquid in the water enters the first dust box through the first water inlet for filtration; the second inlet is connected to the second water inlet so that the liquid on the water surface enters the first dust box through the second water inlet for filtration.

[0288] The cleaning device body includes a first accommodating chamber 10013 and a second accommodating chamber 10014, wherein a first dust box 1051 is disposed within the first accommodating chamber, and the second accommodating chamber has a first cavity 10014a and a second cavity 10014b, wherein the first cavity and the second cavity are separated, and a second drainage port 10013a is disposed on the sidewall of the first accommodating chamber, connecting the first accommodating chamber and the first cavity, and a first water outlet 1041 is disposed on the cleaning device body and connected to the first cavity. The suction assembly includes a main water pump 1061, the impeller of the main water pump being disposed within the first cavity 10014a, and the main motor of the main water pump being located within the second cavity 10014b, thereby sequentially connecting the water inlet on the body, the first dust box, the second drainage port, the first cavity, and the first water outlet to form the first water path of the cleaning device.

[0289] A first baffle 10511c is provided at the first water inlet and / or the first entrance, and a second baffle 10511d is provided at the second water inlet and / or the second entrance. When the cleaning device is cleaning the water surface, the first baffle is closed to prevent liquid in the pool from entering the first dust box through the first water inlet. The second baffle is open, allowing liquid to enter the first dust box through the second water inlet and the second entrance. When the cleaning device is moving in the water or cleaning the pool bottom or walls, the second baffle is closed to prevent liquid from entering the first dust box through the second water inlet. The first baffle is open, allowing liquid to enter the first dust box through the first water inlet and the first entrance. That is, when cleaning the water surface, the first baffle is closed and the second baffle is open; when cleaning the pool walls or bottom, the first baffle is open and the second baffle is closed.

[0290] The cleaning device also includes an electrical control box 6000, which has a sealed cavity. At least a portion of the electrical control box is located within the second cavity. The main motor of the main water pump 1061 is housed within the sealed cavity. The output shaft of the main motor extends into the first cavity and connects to the main impeller 1061a. The electrical control box houses the cleaning device's electrical components, such as the battery pack, the drive motor for the travel mechanism, and the control unit, isolating them from the external environment.

[0291] For example, in one embodiment, the second accommodating chamber is provided with a horizontally extending first partition, which divides the second accommodating chamber into a first cavity and a second cavity disposed vertically. At least a portion of the control box is disposed on the first partition. For example, the control box includes a box body and an upper cover sealed over the top opening of the box body, the upper cover being disposed on the first partition, and the box body being located within the second cavity.

[0292] As shown in FIG25 , a third drain port 10013b is further provided on the side wall of the first accommodating chamber, which is connected to the second cavity 10014b. A first drain port 105 is provided on the bottom of the cleaning device body. The third drain port, the second cavity, and the first drain port are sequentially connected to form a second waterway for rapid drainage. When the cleaning device is lifted out of the water, the third baffle 10013c on the third drain port opens, and the liquid in the first dust box and the first accommodating chamber is rapidly discharged out of the cleaning device through the third drain port, the second cavity, and the first drain port. The third baffle on the third drain port is only open when the cleaning device is discharging water and out of the water. In all other states, the third baffle is always closed.

[0293] In one embodiment, the cleaning device body includes a dust bin having a first accommodating cavity, a first dust box disposed within the dust bin, the aforementioned second and third drain ports both being disposed on the sidewalls of the dust bin, the first and second water inlets being disposed on the dust bin to communicate with the outside, or on the outer shell of the cleaning device body, with a communication port disposed on the dust bin to communicate the first water inlet with the first inlet, and the second water inlet with the second inlet. The dust bin may be mounted on the outer shell of the cleaning device body, or may be formed on the outer shell of the body as a part of the outer shell structure.

[0294] Please refer to Figure 31, which is a third cross-sectional schematic diagram of an embodiment of the cleaning device of the present disclosure. In conjunction with Figures 24 and 25, in some other embodiments, the liquid inlet 1030 includes a first water inlet 1031 and a second water inlet 1032. The first water inlet 1031 and the second water inlet 1032 are arranged at any one or more positions of the top, side, and bottom of the cleaning device body 1001. When a roller brush or other structure is arranged inside the cleaning device body 1001, the second water inlet 1032 can also be arranged near the roller brush or other structure. The first water inlet 1031 and the second water inlet 1032 can act independently or in conjunction with each other. When the second water inlet 1032 is located at the top of the cleaning device body 1001, the cleaning device 1000 floats to near the water surface and the cleaning device 1000 is in the same posture as when walking on the bottom of the pool. The second water inlet 1032 is opened, and under the action of the suction assembly 1060, at least a portion of the second water inlet 1032 is located below and near the water surface, and garbage on the water surface enters the cleaning device 1000 through the second water inlet 1032. When the second water inlet 1032 is located on the side of the cleaning device body 1001, the cleaning device 1000 can adjust its posture during the process of floating to near the water surface so that the second water inlet 1032 faces the water surface and is below and near the water surface, or the second water inlet 1032 is at least partially below the water surface, or the second water inlet 1032 is at least partially above the water surface.

[0295] It should be noted that the setting position of the liquid inlet 1030 is related to the position of the first filter component 1050. When the first filter component 1050 is set at the front of the cleaning device 1000, the liquid inlet 1030 can be set at the front of the cleaning device 1000. For example, in one embodiment, the second water inlet is provided on the front side of the front of the cleaning device, and the first water inlet is provided on the bottom of the front of the cleaning device. When the first filter component 1050 is provided at the rear of the cleaning device 1000, the liquid inlet 1030 can be provided at the rear of the cleaning device 1000. In the above setting method, the filtration path of the water flow is shorter. For example, when the cleaning device 1000 is traveling along the water surface for cleaning, the first filter component 1050 can be facing the front side of the cleaning device 1000. The first water inlet 1031 can be provided at the front side of the cleaning device 1000. Of course, to ensure the normal operation of the cleaning device 1000, the liquid inlet 1030 and the first filter assembly 1050 can also be arranged relatively far apart, for example: the first water inlet 1031 is arranged at the front and the first filter assembly 1050 is arranged at the rear; or the first water inlet 1031 is arranged at the rear and the first filter assembly 1050 is arranged at the front. In other words, the water flow filtering path is longer, but it helps to adjust the overall weight relationship of the cleaning device 1000.

[0296] In some embodiments, both the first water inlet 1031 and the second water inlet 1032 are in communication with the first filter assembly 1050. The separate communication of the first water inlet 1031 and the second water inlet 1032 with the first filter assembly 1050 increases the cleaning efficiency of the cleaning device 1000. For example, in one embodiment, the first water inlet 1031 is in communication with the first filter assembly 1050 for cleaning the pool bottom or walls, while the second water inlet 1032 is in communication with the first filter assembly for cleaning the water surface.

[0297] In some embodiments, the first water outlet 1041 is inclined to discharge liquid in a direction away from the central plane α of the cleaning device 1000. The cleaning device 1000 also includes a diverter plate. The diverter plate is arranged behind the first water outlet 1041. The discharge direction of the first water outlet 1041 is inclined backward relative to the normal travel direction of the cleaning device 1000, thereby generating reaction forces in both downward and forward directions on the cleaning device 1000. By arranging the diverter plate behind the first water outlet 1041, the backward fluid component can be blocked, thereby reducing the forward reaction force on the cleaning device 1000, thereby reducing the travel speed and facilitating the speed control of the cleaning device 1000.

[0298] In some embodiments, the first water outlet 1041 further includes a first sub-drainage outlet 10411 and a second sub-drainage outlet 10412. The drainage direction of the first sub-drainage outlet 10411 and the drainage direction of the second sub-drainage outlet 10412 can be the same or different. For example, the drainage direction of the first sub-drainage outlet 10411 is generally upward, while the drainage direction of the second sub-drainage outlet 10412 is inclined in a direction opposite to the normal travel direction of the cleaning device 1000. The drainage directions of the first sub-drainage outlet 10411 and the second sub-drainage outlet 10412 are both generally upward. The first sub-drainage outlet 10411 and the second sub-drainage outlet 10412 can be arranged in front of and behind each other, for example, the first sub-drainage outlet 10411 is located in front of or on the front side of the central plane α, and the second sub-drainage outlet 10412 is located behind or on the rear side of the central plane. Of course, the first sub-drainage outlet 10411 and the second sub-drainage outlet 10412 can also be arranged basically side by side, that is, along the lateral direction of the cleaning device 1000, and can be arranged before or after the center plane α. The spraying direction can be consistent, for example, roughly upward or both have a certain inclination angle relative to the center plane α.

[0299] The first sub-drain port 10411 and the second sub-drain port 10412 can be opened or closed in accordance with the tilt angle of the cleaning device 1000 and / or the current state of the cleaning device 1000. For example, as shown in FIG31 , the drainage direction of the first sub-drain port 10411 is generally upward, while the drainage direction of the second sub-drain port 10412 is tilted in the direction opposite to the normal travel direction of the cleaning device 1000. The first sub-drain port 10411 is located in front of the central plane α, and the second sub-drain port 10412 is located behind the central plane. When the cleaning device 1000 is operating on the water surface, the second sub-drain port 10412 can be opened to form a cleaning water flow channel and provide partial forward propulsion, while the first sub-drain port 10411 is closed to prevent it from generating downward pressure that would push the front of the cleaning device 1000 into the water and affect the normal operation of the first water inlet 1031. When the cleaning device 1000 is operating in water, the first sub-drainage port 10411 can be controlled to open and the second sub-drainage port 10412 can be closed. The first sub-drainage port 10411 provides sufficient downward pressure for the operation 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. The first sub-drainage port 10411 and the second sub-drainage port 10412 can also adjust the spray flow rate based on the tilt angle of the cleaning device 1000 and / or the current state of the cleaning device 1000. For example, when the cleaning device 1000 is operating at the bottom wall of a body of water, the spray flow rate of the first sub-drainage port 10411 is greater than the spray flow rate of the second sub-drainage port 10412, so that the spray force at the first sub-drainage port 10411 is greater than the spray force at the second sub-drainage port 10412. When the cleaning device 1000 switches from running on a horizontal surface to running on a downhill surface, the cleaning device 1000 can quickly conform to the downhill surface, making the movement of the cleaning device 1000 more stable. When the cleaning device 1000 is climbing stairs, especially when transitioning from the vertical surface of the stairs to the horizontal surface, the water jet from the first sub-drain port 10411 can quickly achieve the above transition process and avoid jamming.

[0300] Please refer to Figures 32 to 34. Figure 32 is a first cross-sectional schematic diagram of an embodiment of the first filter assembly of the present disclosure; Figure 33 is an enlarged schematic diagram of C shown in Figure 31; and Figure 34 is an exploded schematic diagram of an embodiment of the first filter assembly of the present disclosure. In some embodiments, the first filter assembly 1050 includes a first dust box 1051. The first dust box 1051 can be used for surface cleaning and underwater cleaning of a pool. The first dust box 1051 can include a dust box water inlet 10511. The dust box water inlet 10511 is connected to the liquid inlet 1030. The dust box water inlet 10511 serves as an inlet for garbage or other impurities in the pool to enter the cleaning device 1000.

[0301] In some embodiments, the first filter assembly 1050 includes at least one first dust box 1051, a first filter layer 10512, at least one air guide 10513, and a cover 10514. The first filter layer 10512 is disposed at least on a sidewall of the first dust box 1051. The air guide 10513 is disposed on the first dust box 1051 and / or the first filter layer 10512. The cover 10514 is releasably disposed over the air guide 10513. As the cleaning device 1000 moves, the first dust box 1051 also has at least a first filtering state and a second filtering state. In the first filtering state of the first dust box 1051, the cover 10514 seals and covers the air guide 10513. In the second filtering state of the first dust box 1051, the cover 10514 opens the air guide 10513. It is understood that opening the diversion port 10513 means that at least part of the water flow can flow out of the first dust box 1051 through the diversion port 10513. The second filtering state can be the state of the first filter assembly 1050 when the cleaning device 1000 is climbing a slope or a wall underwater or the first filter layer 10512 is blocked. In this case, the first filter assembly 1050 is in a tilted, inverted or running state along with the cleaning device 1000. Under the influence of gravity and / or external force, such as water thrust, the cover 10514 moves to open the diversion port 10513.

[0302] Through the above arrangement, when the first filter assembly 1050 is in the second motion state, the cover 10514 gradually opens the diversion port 10513. At least a portion of the water in the first dust box 1051 flows directly out through the diversion port 10513, increasing the water output of the first dust box 1051. This allows the cleaning device 1000 to always meet the water intake requirements of the suction assembly 1060 when climbing a wall or a slope, or when the first filter layer 10512 is clogged to a certain extent, thereby maintaining stable climbing performance or operational performance, and thus being applicable to more situations, such as underwater cleaning and surface cleaning. Since the first water outlet continuously drains water when the suction assembly is open, the liquid discharged from the first water outlet exerts a reverse thrust on the cleaning device, causing the cleaning device's travel mechanism to adhere closely to the pool bottom, pool wall, wall, or slope, maintaining the cleaning device's stable operational performance.

[0303] In some embodiments, the filter assembly further includes an adjustment member 10515 mounted on the cover member 10514. The adjustment member 10515 is located away from the pivotal connection between the cover member 10514 and the first dust box 1051. The adjustment member 10515 is mounted away from the pivotal connection between the cover member 10514 and the first dust box 1051. The adjustment member 10515 assists the cover member 10514 in closing or opening the air guide port 10513.

[0304] In some embodiments, the cleaning device 1000 further includes a first dust box in-position detection mechanism (not shown in the figure). The first dust box in-position detection mechanism is used to detect whether the first dust box 1051 is installed in place on the cleaning device body 1001. Only after the first dust box in-position detection mechanism detects that the first dust box 1051 is installed in place can the cleaning device 1000 operate normally. This helps to reduce the problem of ineffective cleaning or poor cleaning effect due to misoperation, and better improves the intelligence of the cleaning device 1000. For example, the cleaning device body is provided with a dust bin, and the first dust box is installed in the dust bin.

[0305] In some embodiments, as shown in FIG. 33 or FIG. 34 , the first dust box 1051 includes a first filter surface 1051a, a second filter surface 1051b, a third filter surface 1051c, and a fourth filter surface 1051d, and optionally, a fifth filter surface 1051e. The first filter surface 1051a, the second filter surface 1051b, the fourth filter surface 1051d, and the third filter surface 1051c are connected end to end to form the side filter portion of the first dust box 1051. The fifth filter surface 1051e forms the bottom filter portion of the first dust box 1051. In one embodiment, the aforementioned guide port 10513, the adjustment member 10515, and the cover member 10514 are disposed on the first filter surface 1051a.

[0306] In one embodiment, the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c and the fourth filter surface 1051d all include inner filters and outer filters. The first dust box 1051 may include only one dust box, with the inner filter and the outer filter stacked on the same dust box. Of course, the first dust box 1051 may also include two dust boxes 1051, namely, an inner dust box 1051 (i.e., an inner dust box) and an outer dust box 1051 (i.e., an outer dust box), the outer dust box 1051 being mounted on the outside of the inner dust box 1051, the inner filter being arranged on the inner dust box 1051, and the outer filter being arranged on the outer dust box 1051. In one embodiment, the water inlet of the dust box is arranged on the inner dust box, the inner filter is for coarse filtration, and the outer filter is for fine filtration. The liquid enters the inner cavity of the inner dust box through the first water inlet and the water inlet of the dust box, passes through the coarse filtration of the inner filter, enters the outer dust box, passes through the fine filtration of the outer filter, and the filtered liquid passes through the suction component and is discharged through the first water outlet; of course, the water inlet of the dust box may be arranged on the outer dust box, the outer filter is for coarse filtration, and the inner filter is for fine filtration. Of course, each first filter layer 10512 may also include two or more layers of filter screens, for example, three layers of filter screens, four layers of filter screens, five layers of filter screens, etc., but is not limited thereto. In addition, the dust box 1051 may also include two or more layers of filter screens.

[0307] In some embodiments, the filtration levels of the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d are all greater than the filtration level of the first filter surface 1051a. That is, the first filter surface 1051a performs coarse filtration, while the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d perform fine filtration. For example, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d have the same filtration level and can filter dirt of the same size. The first filter surface can filter smaller dirt than the second filter surface.

[0308] When the cleaning device is moving on the bottom or wall of the pool, the suction component is turned on, and the first water outlet 1041 is arranged on the top of the main body of the cleaning device. The liquid continuously discharged from the first water outlet 1041 generates a reverse thrust (i.e., a third thrust) on the cleaning device, so that the bottom of the cleaning device can be tightly attached to the bottom or wall of the pool, ensuring the normal movement of the cleaning device. In this embodiment, due to the coarse filtration of the first filter surface, if at least one of the second filter surface, the third filter surface, and the fourth filter surface for fine filtration is blocked or completely blocked, the liquid entering the first dust box through the first water inlet can still flow through the first filter surface. Under the action of the suction component, the first water outlet 1041 can always discharge liquid, generating a reverse thrust on the cleaning device, ensuring the normal movement of the cleaning device on the bottom or wall of the pool. Furthermore, the aforementioned guide port 10513, adjustment member 10515, and cover member 10514 are arranged on the first filter surface 1051a. When at least one of the second filter surface, the third filter surface and the fourth filter surface for fine filtration is blocked or all of them are blocked, or even the first filter surface is also blocked, the cover opens the guide port, so that the liquid in the first dust box flows out through the guide port, meeting the water intake requirement of the suction component. Under the action of the suction component, the liquid flowing out of the guide port is arranged through the first water outlet, further ensuring that the liquid discharged from the first water outlet generates a reverse thrust on the cleaning equipment, so that the cleaning equipment can move closely on the bottom or wall of the pool.

[0309] In another embodiment, the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d all have different filtration levels. Alternatively, the filtration level of the outer filter screens of the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d can be greater than the filtration level of the inner filter screens of the first filter surface 1051a, the second filter surface 1051b, the third filter surface 1051c, and the fourth filter surface 1051d, respectively. This allows the outer filter surfaces to perform fine filtration while the inner filter surfaces perform coarse filtration, allowing the outer filter surfaces to filter smaller waste than the inner filter surfaces.

[0310] In some embodiments, the first filter assembly 1050 or the cleaning device body 1001 includes an anti-vomiting assembly (not shown). For example, the anti-vomiting assembly is located near the dust box water inlet 10511. When the cleaning device 1000 is moving backward, turning, or stopped, the anti-vomiting assembly prevents at least some debris from being vomited back into the cleaning area through the dust box water inlet 10511, thereby resolving the potential problem of debris vomiting with the cleaning device 1000.

[0311] In some embodiments, the anti-vomiting assembly includes an anti-vomiting door and an anti-vomiting drive (not shown in the figure). The anti-vomiting door is rotatably arranged in the first dust box 1051 near the dust box water inlet 10511. The anti-vomiting drive drives the anti-vomiting door to rotate relative to the dust box water inlet 10511. When the cleaning device 1000 is moving backward, turning, or stopping, the anti-vomiting drive drives the anti-vomiting door to rotate, at least partially blocking the dust box water inlet 10511, thereby reducing the occurrence of garbage spitting back in the dust box 1051 (i.e., garbage in the first dust box flows back into the pool from the dust box water inlet and the first water inlet). Through the combined action of the above-mentioned anti-vomiting door and the anti-vomiting drive, at least part of the garbage can be actively prevented from being spitted back into the area to be cleaned.

[0312] In other embodiments, as shown in Figure 26A, the first filter assembly 1050 may also include a first dust box 1051. No air guide port is provided on the first dust box, and the filtration levels on the four filter surfaces are the same, or different, or the filtration levels on some filter surfaces are the same, and the filtration levels on some filter surfaces are different.

[0313] Alternatively, as shown in Figure 26B, the first filter assembly 1050 includes an inner dust box 10511A and an outer dust box 10511B, at least part of the outer dust box is sleeved on or around at least part of the side wall of the inner dust box, the inner dust box is provided with a first inner inlet and a second inner inlet, the outer dust box is provided with a first outer inlet and a second outer inlet, the first inner inlet, the first outer inlet and the first water inlet are connected, the second inner inlet, the second outer inlet and the second water inlet are connected, the inner dust box forms coarse filtration, and at least one filter surface of the outer dust box is fine filtration; or the outer dust box has at least two filter surfaces, at least one filter surface is fine filtration, and at least one filter surface is coarse filtration, so as to meet the secondary filtration function while meeting the water intake requirement of the suction assembly 1060. The liquid enters the inner dust box through the first inner inlet or the second inner inlet and is first coarsely filtered, and then passes through the outer dust box for fine filtration. The liquid after fine filtration is discharged through the main water pump and the first water outlet.

[0314] Please refer back to Figure 25. In some embodiments, the suction assembly 1060 has a first working mode and a second working mode, wherein: in the first working mode, the suction assembly 1060 provides water flow power for the cleaning device 1000 to perform a cleaning operation. In the second working mode, the suction assembly 1060 can provide water flow power (mentioned below) for the cleaning device 1000 to perform a self-cleaning operation. The suction assembly 1060 may also include a main water pump 1061. The main water pump 1061 can be used to drive the cleaning device 1000 to suck liquid from the water inlet and discharge it from the water outlet. The water outlet may include one or more, serving as an outlet for the liquid in the cleaning device 1000 to leave the cleaning device 1000 and enter the pool.

[0315] In some embodiments, when the cleaning device 1000 is located on the target side wall, the first water outlet (e.g., the main water pump 1061 outlet) can be at least facing the inside of the pool and parallel to the horizontal direction or tilted downward in the vertical direction, so as to ensure that when the main water pump 1061 is operating and liquid is discharged from the main water pump 1061 outlet, the cleaning device 1000 can obtain a driving force to drive the cleaning device 1000 to be closely attached to the target side wall. The driving force can be the reaction force applied to the cleaning device 1000 when the liquid is discharged from the main water pump 1061 outlet, i.e., the third thrust, under the action of the third thrust, the bottom of the cleaning device can be closely attached to the side wall of the pool. When the main water pump 1061 outlet is facing the inside of the pool and parallel to the horizontal direction, the driving force obtained by the cleaning device 1000 is vertically toward the target side wall, so that the cleaning device 1000 can be closely attached to the target side wall. As shown in FIG64E , the first water outlet is roughly parallel to the horizontal direction to form a water outlet that sprays directly upward, thereby increasing the third thrust of the cleaning device.

[0316] In some embodiments, when the cleaning device 1000 needs to move on the target side wall, the water outlet of the main water pump 1061 can be oriented toward the pool and tilted downward in the vertical direction. On the one hand, the driving force obtained by the cleaning device 1000 has a component in the horizontal direction toward the target side wall, which can make the cleaning device 1000 cling to the target side wall; on the other hand, the aforementioned driving force can also have an upward component in the vertical direction, thereby also allowing the cleaning device 1000 to move upward along the target side wall. When the cleaning device 1000 is located on the target bottom wall, the driving force obtained by the main water pump 1061 through the drainage of the main water pump 1061 outlet can also have a component in the horizontal direction, thereby also allowing the cleaning device 1000 to move on the target bottom wall.

[0317] Please refer to Figures 35, 36 and 64B, which respectively disclose an embodiment of a cleaning device. The cleaning device also includes a walking propulsion structure. In some embodiments, the walking propulsion structure includes at least two walking mechanisms 1071 and a propulsion mechanism 1072. The walking mechanism 1071 is arranged at the bottom of the cleaning device body 1001. The walking mechanism 1071 is suitable for driving the cleaning device 1000 to move on the surface to be cleaned. For example, in one embodiment, the walking mechanism 1071 may include a walking wheel, or, as shown in Figure 64C, the walking mechanism 1071 includes a first walking wheel 1171, a second walking wheel 1172, and a crawler 117 wound around the outer circumference of the first walking wheel and the second walking wheel, and an annular area 1173 is formed between the inner side wall of the crawler and the two walking wheels. In one embodiment, as shown in Figure 64C, the diameters of the first walking wheel and the second walking wheel are approximately the same. Alternatively, in another embodiment, the diameter of the first running wheel 1171 is larger than the diameter of the second running wheel 1172 to form a large running wheel and a small running wheel. In the forward direction of the cleaning device, the large running wheel (i.e., the first running wheel 1171) is located in front of the small running wheel (i.e., the second running wheel 1172). When the cleaning device moves from the pool bottom wall toward the pool side wall, the large running wheel has a stronger grip, making it easier for the large running wheel to move from the pool bottom wall to the pool side wall, thereby facilitating the switching of the cleaning device from the pool bottom to the pool wall; similarly, it also facilitates the switching of the cleaning device from the pool side wall to the pool bottom wall. In one embodiment, there are two running mechanisms, and the two running mechanisms are symmetrically arranged on the bottom of the cleaning device body.

[0318] The propulsion mechanism 1072 is at least adapted to drive the cleaning device 1000 through or on the surface of a body of water. The propulsion mechanism 1072 may include at least one first propeller 116. The first propeller 116 is configured to propel the liquid in a first predetermined direction. When the liquid moves in the first predetermined direction, the cleaning device is subjected to a first driving force in the horizontal direction. The magnitude of the first driving force is positively correlated with the speed and flow rate of the liquid in the first predetermined direction. By providing the first propeller 116, the cleaning device 1000 can be shifted in the horizontal direction, for example, allowing it to move straight or turn horizontally, allowing the cleaning device to move across the water surface, thereby facilitating cleaning of the pool surface.

[0319] In one embodiment, as shown in Figure 35, there are two first propellers 116, and the two first propellers 116 are symmetrically arranged on both sides of the cleaning equipment. The second water inlet 1032 of the cleaning equipment is arranged at the front of the cleaning equipment. The second water inlet 1032 is used for water surface cleaning, and the two first propellers 116 are arranged on both sides of the rear of the cleaning equipment. When the first propeller 116 is turned on, the liquid in the pool enters the first propeller 16, and the propulsion outlet at the rear end of the first propeller sprays liquid toward the rear. The sprayed liquid generates a first thrust toward the front of the cleaning equipment, and the first thrust drives the cleaning equipment to move forward, so that the cleaning equipment moves forward on the water surface. During forward movement, the suction assembly causes the liquid on the water surface to sequentially pass through the second water inlet 1032, the second inlet of the first dust box 1050, the first dust box, and the suction assembly, and finally to be discharged from the cleaning device through the first water outlet 1041 provided on the main body of the cleaning device, thereby forming a first water path for the cleaning device to perform cleaning. That is, when the cleaning device is cleaning the water surface, the cleaning device cleans the water surface by moving forward. Furthermore, the speed difference between the two first propellers can be used to enable the cleaning device to achieve steering and edge-moving functions on the water surface. In the cleaning device shown in FIG35 , the two first propellers 116 are provided on both sides of the cleaning device and arranged above the crawler tracks of the running mechanism. In one embodiment, when the cleaning device is on a horizontal plane, the projections of the two first propellers on the horizontal plane fall within a first region formed between the projections of the outermost edges of the crawler tracks of the two running mechanisms on the horizontal plane, thereby causing at least a portion of the crawler tracks of the lower portion of the cleaning device to extend beyond the outermost edges of the first propellers in the lateral direction of the cleaning device.

[0320] As shown in Figures 35, 36, and 64B, the walking mechanism further includes an outer cover plate 1174, which is provided on the main body and shields the first and second walking wheels, preventing the walking wheels from being exposed and providing protection for the walking wheels. The area of ​​the outer cover plate is approximately equal to the area of ​​the annular region 1173, thereby shielding the walking wheels and not interfering with the normal operation of the crawler track. In one embodiment, at least one anti-collision member 1140 is provided on the outer wall of the outer cover plate 1174. When the cleaning equipment is traveling along the waterline, the anti-collision member protrudes from the outer wall of the outer cover plate, causing the anti-collision member 1140 to collide with the side wall of the pool before the side wall of the cleaning equipment, thereby preventing the side wall of the cleaning equipment from directly colliding with the side wall of the pool and providing protection and cushioning for the side wall of the cleaning equipment.

[0321] In another embodiment, as shown in FIG36 , the first propeller 116 is not disposed on either side of the rear portion of the cleaning device. Instead, the two first propellers 116 are respectively disposed within an annular region 1173 of a walking mechanism, thereby utilizing the annular region 1173 of the crawler track and not occupying the space on the outer wall of the cleaning device body, making the structure of the cleaning device more compact and miniaturized. Since the first propeller 116 is disposed within the annular region, in order to allow water to enter and drain from the first propeller 116, at least one connecting waterway is provided on the outer cover plate, so that liquid is drawn into the first propeller from one end of the connecting waterway and discharged from the other end of the connecting waterway to generate a first thrust. For example, a plurality of grilles are provided on the outer cover plate, and the grilles are used to form a connecting waterway, but the connecting waterway avoids the first walking wheel and the second walking path.

[0322] In another embodiment, as shown in Figure 64B, two first propellers 116 are provided on both sides of the cleaning device body. Since in Figure 64B, the second water inlet 1032 is provided on the rear side surface of the rear part of the cleaning device, in order for the cleaning device to realize the walking function on the water surface, the two first propellers 116 are provided on both sides of the front part of the cleaning device body, so that when the cleaning device moves backward on the water surface, the propulsion liquid outlet on the front end of the first propeller 116 sprays liquid toward the front, thereby generating a first thrust in the backward direction for the cleaning device, so that the cleaning device can move backward, and the liquid on the water surface passes through the second water inlet 1032, the second inlet of the first dust box 1050, the first dust box and the suction component in turn, and finally is discharged from the cleaning device through the first water outlet 1041 provided on the main body of the cleaning device to form a first water path for the cleaning device to perform cleaning, that is, when the cleaning device is cleaning on the water surface, the cleaning device cleans the water surface by retreating.

[0323] As shown in Figures 64B and 64C, the propulsion mechanism also includes a lateral propulsion component 115, which can be arranged on the side, top or bottom of the cleaning device body 1001, and includes a fluid inlet and a fluid injection port. The liquid enters the lateral propulsion component through the fluid inlet, and the liquid is ejected from the fluid injection port to spray water in a direction away from the side of the cleaning device body 1001. The sprayed water generates a second thrust on the cleaning device, wherein the second thrust can at least provide the cleaning device 1000 with a thrust component along its lateral direction, so that the cleaning device 1000 is close to the side wall of the pool when moving along the side wall of the pool in the third motion state, and in the second motion state, the cleaning device moves laterally along the water line to clean the water line.

[0324] In one embodiment, the lateral propulsion assembly 115 is located below the electrical control box 6000 and within the second cavity, making the cleaning device compact. Furthermore, when the first water inlet is open, the lateral propulsion assembly is activated without affecting the water flow into the first water inlet. Of course, the lateral propulsion assembly can also be located elsewhere in the cleaning device. The lateral propulsion assembly can be used for cleaning the edges of the water surface or the bottom wall of a pool.

[0325] For example, when the cleaning device body 1001 moves along a wall in a pool, the lateral propulsion assembly can be disposed on the side of the cleaning device body 1001 facing away from the pool wall. The operation of the lateral propulsion assembly can at least provide a thrust component directed toward the wall, so that the cleaning device 1000 can better move along the edge of the pool wall. In particular, when the edge of the pool is irregular in shape, such as having irregular protrusions or depressions, when the cleaning device 1000 moves along the edge in the third motion state, due to the action of the first propeller 116, it is difficult for the cleaning device 1000 to rely on the sensing component to accurately control its movement, resulting in a very poor effect along the edge. At this time, a lateral propulsion component is set on the side of the cleaning device 1000 away from the edge of the pool to generate a thrust component pointing to the edge of the pool, which can well control the cleaning device 1000 to operate according to the shape of the edge of the pool. The thrust component can push the cleaning device 1000 to the edge of the pool in real time; when the cleaning device 1000 is in the second motion state, when the cleaning device cleans the water line on the wall of the pool, the lateral direction of the cleaning device 1000 is roughly parallel to or at a certain angle to the water line. The lateral thrust provided by the lateral propulsion component can make the cleaning device 1000 pass over the water line in a roughly lateral direction, thereby cleaning the water line.

[0326] Depending on the cleaning requirements, at least one lateral propulsion assembly can be provided on one or both sides of the cleaning device 1000. The lateral propulsion assembly can be a propeller, a water jet, etc., but is not limited thereto. Of course, the lateral propulsion assembly can be provided at any position in the cleaning device body 1001 that is convenient for providing thrust. The lateral direction can be defined as the direction pointed by the line connecting the center lines of the left and right sides of the cleaning device 1000.

[0327] Specifically, when the cleaning device body 1001 moves along the edge in the third motion state, the second thrust provided by the lateral propulsion assembly enables the cleaning device body 1001 to move close to the edge, avoiding the situation where the cleaning device body 1001 cannot move along the edge normally under the conditions of large edge curvature, excessive angle, missing edge, etc., and due to inertia movement to the non-edge area, resulting in missed scanning. Optionally, the lateral propulsion assembly can be arranged on the left and / or right side of the cleaning device 1000 near the front side, and the direction of the water jet of the lateral propulsion assembly 115 is angled with the side (i.e., the side wall of the cleaning device where the lateral propulsion assembly is located) and points to the target area, so that the second thrust direction provided by the lateral propulsion assembly to the cleaning device is in the opposite direction of its water jet, and the second thrust has a component along the transverse direction of the cleaning device 1000, and the direction of the component is parallel to the center plane α, so that the front side of the cleaning device body 1001 is close to the edge in time, further improving the accuracy of the cleaning device 1000 moving along the edge. Of course, the lateral propulsion assembly can be arranged in the middle or rear position of the left or right side of the cleaning device, which can also enable the cleaning device body to be close to or close to the side wall edge of the pool.

[0328] Cleaning equipment usually has a left edge and / or right edge mode, wherein the left edge mode means that the left edge of the cleaning equipment is close to or in close contact with the edge of the target area (such as a pool). In order to make the lateral propulsion component generate a second thrust toward the left side, the lateral propulsion component can be arranged on the right side of the cleaning equipment, and the fluid injection port of the lateral propulsion component is directed to the right side of the cleaning equipment. The liquid injected from the fluid injection port generates a second thrust toward the left side of the cleaning equipment. The second thrust pushes the cleaning equipment to move toward the left side so that the left edge of the cleaning equipment is in close contact with or close to the edge of the target area.

[0329] Similarly, the right edge mode refers to the right side edge of the cleaning device being close to or in close contact with the edge of the target area. In order to make the lateral propulsion component generate a thrust toward the right side, the lateral propulsion component is arranged on the left side of the cleaning device, and the fluid injection port of the lateral propulsion component is facing the left side of the cleaning device. The liquid injected from the fluid injection port generates a second thrust toward the right side of the cleaning device. This second thrust pushes the cleaning device to move toward the right side, so that the right side edge of the cleaning device is in close contact with or close to the edge of the target area, thereby realizing the edge walking or edge cleaning function of the cleaning device in the third motion state.

[0330] In one embodiment, as shown in Figure 64D, the lateral propulsion assembly includes a lateral flow channel 115a arranged laterally on the main body of the cleaning device, and both ends of the lateral flow channel 115a pass through the two lateral side walls of the main body of the cleaning device and are connected to the outside world, and the two end ports of the lateral flow channel 115a serve as the first opening 115d and the second opening 115e respectively, wherein one of the first opening 115d and the second opening 115e serves as a fluid inlet, and the other serves as a fluid injection port; the lateral propulsion assembly also includes a lateral impeller 115c, and a lateral motor 115b that drives the lateral impeller 115c to rotate, wherein the lateral impeller 115c and the lateral motor 115b are both arranged in the lateral flow channel 115a. In Figure 64D, the cleaning device is on the left edge, with the first opening 115d serving as the fluid inlet and the second opening 115e serving as the fluid ejection port. To generate a greater second thrust toward the left on the right side of the cleaning device, the lateral impeller 115c and the lateral motor 115b are optionally located on the right side of the lateral channel 115a and near the second opening. This allows the impeller to rotate when the lateral motor rotates in the forward direction, maximizing the second thrust generated by the liquid ejected from the fluid ejection port. Alternatively, the lateral impeller and the lateral motor can be located in the middle of the lateral channel 115a, or near the left side of the lateral channel 115a. This structure can also achieve a right edge for the cleaning device. For example, by changing the direction of the lateral motor 115b, when the lateral motor 115b rotates in the reverse direction, the first opening serves as the fluid ejection port and the second opening serves as the fluid inlet. Liquid is ejected from the first opening toward the left, generating a second thrust toward the right on the cleaning device, thereby achieving a right edge.

[0331] Similarly, if the cleaning device is on the right edge, the lateral impeller and the lateral motor can be arranged on the left side of the lateral flow channel 115a to generate a larger second thrust toward the right side on the left side of the cleaning device.

[0332] In one embodiment, a lateral propulsion assembly 115 is provided between the two side surfaces of the cleaning device, with a first opening 115d provided on one side surface and a second opening 115e provided on the other side surface. Along the height direction of the cleaning device, the first opening and / or the second opening are located within the range of the walking mechanism. For example, as shown in FIG64C , the two ends 115a of the lateral flow channel are respectively located within the annular area 1173 of a walking mechanism, thereby not occupying other areas on the main body of the cleaning device, allowing the cleaning device to move along the edge while being more compact in structure and smaller in size. If an outer cover is provided, a clearance hole or a avoidance grille is provided on the outer cover plate to expose both the first opening and the second opening, so that the two ends of the lateral flow channel are connected to the liquid in the pool.

[0333] When the cleaning device body 1001 moves on the wall of the pool, that is, the cleaning device is in the second movement state, for example, when cleaning the water line, the lateral propulsion component can make the cleaning device body 1001 move laterally to the left or right on the wall of the pool to achieve horizontal cleaning of the water line; it can also move left or right while moving up and down, thereby improving the flexibility of the movement of the cleaning device 1000.

[0334] In one embodiment, a sensor assembly is provided on the cleaning device body 1001 for detecting or controlling whether the cleaning device 1000 can move along the edge in a predetermined manner, such as at least one of a visual sensor assembly 1123, an ultrasonic sensor assembly, and an infrared sensor assembly, etc., provided on the side, top, or bottom of the cleaning device body 1001. The sensor assembly is electrically connected to the control system 1110 of the cleaning device 1000. When the sensor assembly detects that the cleaning device 1000 deviates from the edge of the pool during movement, the control system 1110 controls the jet nozzle of the lateral propulsion assembly to increase or decrease the jet power, thereby causing the cleaning device 1000 to move closer to the edge of the pool or slightly away from the edge of the pool.

[0335] As shown in Figure 64E, a first water inlet 1031 is provided at the bottom of the cleaning device body 1001, and a first inlet is provided at the first dust box. The first water inlet and the first inlet are directly connected, so that almost all of the liquid in the pool passes through the first water inlet and the first inlet and enters the first dust box directly for filtration. When the cleaning device is cleaning the bottom or side walls of the pool, the cleaning device moves forward to clean the bottom or side walls of the pool. When cleaning the surface of the water, since the second water inlet is provided at the rear of the cleaning device, the cleaning device moves backward on the water surface to clean the water surface. Therefore, when the cleaning device is in the third motion state, during the water surface cleaning process, when cleaning the side walls of the pool along the edge, the cleaning device moves backward to clean along the edge. For example, when the pool is rectangular, oval, or irregular in shape, the cleaning device is in the left edge mode. For example, taking the pool as a rectangle, as shown in FIG66 , when the cleaning device is in the third motion state, since the cleaning device is cleaning the edge of the water surface by retreating, the direction of the cleaning device's path along the water surface is counterclockwise (in the direction indicated by the arrow in FIG66 ), so as to clean the four edge areas near the waterline. That is, the operation of the cleaning device in the third motion state also includes cleaning the water surface of the pool, and the process of cleaning the water surface of the pool at least includes: the cleaning device switches to a state where the other side of the cleaning device moves along the edge of the pool.

[0336] As shown in FIG67 , if the cleaning device is in the third motion state and needs to return to the base station, the cleaning device, when on the water surface, moves along the side wall of the pool in the forward direction until the front of the cleaning device hits the side wall of the base station 2000 and the left side wall of the cleaning device hits the side wall of the pool. During this process, the direction of the cleaning device's movement along the water surface of the pool back to the base station is in a clockwise direction (the direction indicated by the arrow in FIG67 ). In other words, since the second water inlet is located at the rear of the cleaning device body, the cleaning device cleans the water surface in a backward manner; the cleaning device cleans the pool bottom or pool wall in an forward manner. Therefore, when cleaning along the water surface and returning to the base station along the water surface, the directions of the cleaning device's movement along the water surface are roughly opposite, one is clockwise and the other is counterclockwise.

[0337] That is to say, the movement of the cleaning device in the third motion state includes at least the movement of the first motion mode and the second motion mode along the waterline of the pool, wherein, in the first motion mode, the first side of the cleaning device is close to the waterline and moves in a first direction, and the second water inlet is open to clean the moving area (i.e., cleaning the water surface); in the second motion mode, the first side of the cleaning device is close to the waterline and moves in a second direction, and the second water inlet is in a closed state (i.e., the water surface returns to the base station along the edge). One of the first direction and the second direction is clockwise, and the other is counterclockwise.

[0338] Furthermore, as shown in Figure 36 , if a first auxiliary cleaning assembly 1130 is provided on the cleaning device body, the first auxiliary cleaning assembly is positioned near the second water inlet and at least partially extends outside the cleaning device body. When the cleaning device is in the third motion state, cleaning along the edge of the water surface or returning to the base station along the edge, the second auxiliary cleaning assembly can clean the walls near the waterline. For example, if first auxiliary cleaning assembly 1130 is a side brush, the side brush can scrub the pool walls near the waterline, achieving a waterline cleaning function. In other words, the first auxiliary cleaning assembly is suitable for cleaning the pool waterline when the cleaning device is in the first motion mode or the second motion mode.

[0339] Of course, when the second water inlet is located on the rear portion of the cleaning device body, the cleaning device can also return to the base station along the edge of the water surface in a backward manner. That is, the direction of the cleaning device's movement path remains consistent when cleaning along the edge of the water surface and returning to the base station along the edge of the water surface. Alternatively, when returning to the base station along the edge of the water surface, the side motor can be rotated in the opposite direction to adjust the cleaning device's movement path from left-edge mode to right-edge mode. In this way, when the cleaning device returns to the base station along the edge of the water surface in a forward direction and when the cleaning device cleans along the edge of the water surface in a backward direction, the direction of the cleaning device's movement path is counterclockwise.

[0340] If the second water inlet 1032 is provided at the front portion 10011 of the cleaning device body, and the cleaning device cleans the pool bottom, the pool wall or the water surface in a forward manner, then when the cleaning device is in the third motion state, whether the cleaning device is cleaning along the water surface or returning to the base station along the water surface, the cleaning device moves along the edge in a forward manner, and the direction of the cleaning device's walking path along the edge is the same. For example, taking the left-edge mode as an example, the walking path directions of the cleaning device for cleaning along the edge on the water surface and returning to the base station along the edge are both clockwise. Of course, when the cleaning device returns to the base station along the edge on the water surface, the side mode of the cleaning device can be adjusted from the left-edge mode to the right-edge mode by changing the direction of the lateral motor. Then, the walking path direction of the cleaning device for cleaning along the edge on the water surface is opposite to the walking path direction for returning to the base station along the edge on the water surface. The walking path direction for cleaning along the edge is clockwise, and the walking path direction for returning to the base station along the edge is counterclockwise. Alternatively, without changing the edge mode, when the cleaning device returns to the base station along the edge of the water surface, the cleaning device can use the backward method to return to the base station along the edge of the water surface. At this time, the walking path direction of the cleaning device along the edge of the water surface is opposite to the walking path direction along the edge of the water surface back to the base station.

[0341] In one embodiment, as shown in FIG35 , there are two second propellers 10722, and the two second propellers 10722 are arranged on both sides of the cleaning device body; if the second water inlet 1032 for cleaning the water surface is arranged on the front side wall of the front part of the cleaning device body, correspondingly, the two second propellers 10722 are distributed on both sides of the rear part of the cleaning device body, and when the cleaning device is cleaning the water surface, the cleaning device cleans the water surface by moving forward; if the second water inlet 1032 for cleaning the water surface is arranged on the rear side wall of the rear part of the cleaning device body, correspondingly, the two second propellers are distributed on both sides of the front part of the cleaning device body, in one embodiment In another embodiment, there are two second propellers 10722. If the second water inlet 1032 for cleaning the water surface is arranged on the rear side wall of the rear part of the cleaning device body, correspondingly, the two second propellers 10722 are distributed on both sides of the front part of the cleaning device body. When the cleaning device is cleaning the water surface, the cleaning device cleans the water surface by retreating. The first water inlet 1031 for cleaning the bottom wall or the side wall of the pool is arranged on the bottom of the cleaning device body. When the cleaning device is cleaning the bottom or the wall of the pool, the cleaning device cleans the bottom or the wall of the pool by advancing. At this time, the first water inlet can be arranged on the bottom of the front part or the bottom of the rear part of the cleaning device body.

[0342] In other embodiments, as shown in Figure 36, the walking propulsion structure 1070 may only include a propulsion mechanism 1072. The propulsion mechanism 1072 may include a first propeller 10722. There are two first propellers 10722, and the two first propellers 10722 are respectively arranged on opposite sides of the cleaning device main body 1001. The first propeller 10722 can be arranged near the waterline of the cleaning device 1000. The first propeller 116 is provided with a propulsion liquid outlet (not shown in the figure) and a propulsion drive 10722a. The propulsion liquid outlet is toward the rear of the cleaning device main body 1001. The propulsion drive 116a is used to drive water flow to spray out from the propulsion liquid outlet to drive the cleaning device 1000 to travel along the water surface or in the water.

[0343] In one embodiment, the setting position of the injection port of the propulsion mechanism 1072, and its projection on the central plane α, may not overlap at all or at least partially overlap with the projection of the walking mechanism 1071 on the central plane α. For example, the projection of the injection port of the first propeller 116 on the central plane α is within the range of the projection of the walking mechanism 1071 on the central plane α.

[0344] Please refer to Figure 30, which is a seventh structural schematic diagram of an embodiment of the cleaning system disclosed herein. In some embodiments, liquid can also flow in the reverse direction of the first flow direction X, generating a second flow in the direction Y. The liquid flows sequentially through the first water outlet 1041, the first filter assembly 1050, and the first water inlet 1031. During this reverse flow, the first filter assembly 1050 can be self-cleaned. The carrier assembly 2000 includes at least one self-cleaning sewage inlet 2100. The cleaning device 1000 includes at least one self-cleaning sewage outlet connected to the first filter assembly 1050 and at least one self-cleaning water inlet connected to the first filter assembly 1050. When the cleaning device 1000 is fixed to or parked on the carrier assembly 2000, the self-cleaning sewage inlet 2100 docks with the self-cleaning sewage outlet, and the self-cleaning water inlet is located below the water surface of the pool or connected to an external water source. During the self-cleaning process, the cleaning device 1000 can utilize existing structures as both the self-cleaning sewage outlet and the self-cleaning water inlet. For example, the self-cleaning sewage outlet can be the first water inlet 1031 of the cleaning device 1000 when performing a cleaning operation, and the self-cleaning water inlet can be the first water outlet 1041 of the cleaning device 1000 when performing a cleaning operation. The cleaning device 1000 can also be provided with a self-cleaning water inlet and a self-cleaning sewage outlet independently of the first water inlet 1031 and the first water outlet 1041. The following description uses the first water inlet 1031 as the self-cleaning sewage outlet and the first water outlet 1041 as the self-cleaning water inlet as an example.

[0345] In some specific embodiments, the cleaning system 1 further includes a power assembly 2170. The power assembly is configured to generate a water flow in a second direction Y during the self-cleaning process. During the self-cleaning process of the cleaning device 1000, the first water outlet 1041 is connected to a water source to provide a water flow in the second direction Y. The water flow path in the first direction X and the water flow path in the second direction Y at least partially overlap. The power assembly directs the water flow through at least the first water outlet 1041 and the first filter assembly 1050, where the water can flush the interior and sidewalls of the first filter assembly 1050, thereby cleaning dirt from the interior and sidewalls of the first filter assembly 1050. The dirt in the water then flows through the first water inlet 1031 and the self-cleaning inlet 2100 into the carrier assembly 2000, or is further discharged from the carrier assembly 2000 into a sewage tank. The carrier assembly 2000 can store the dirt in the carrier 2040. If the carrier assembly 2000 is provided with a support member 2050, the dirt can also be stored in the support member 2050. Dirt can also be stored in an independent space in the carrier assembly 2000, excluding the carrier 2040 and the support member 2050. For example, the support member is provided with a dust collection bin or a dust collection bag, and dirt is temporarily stored in the dust collection bin or dust collection bag. After a period of storage, the user can clean out the dirt in the dust collection bin or dust collection bag. Alternatively, the carrier assembly further includes a container, one end of the support member is connected to the support member, and the other end is connected to the container, intersecting or perpendicularly distributed. The container is provided with a receiving groove facing the support member, so that the cleaning equipment can move directly from the support member to the receiving groove and stay in the receiving groove after landing. The container is provided with a dust collection bin away from other parts of the receiving groove, or a dust collection bag is provided in the dust collection bin, so that the cleaning equipment can collect dust on the container after landing.

[0346] Therefore, the user does not need to manually take out the cleaning device 1000 for manual flushing and cleaning, and can automatically and effectively clean the dirt collected in the first filter component 1050. At the same time, the inner wall of the first filter component 1050 can also be effectively cleaned. At most, the supporting component 2000 only needs to be cleaned at intervals, which improves the user experience.

[0347] The number of water outlets of the cleaning device 1000 can be one, two or more. For example, the cleaning device 1000 includes at least a first water outlet 1041 and a second water outlet, and their settings are different. During the cleaning process, the first water outlet 1041 is in an open state and the second water outlet is in a closed state. The water flow in the first flow direction X flows through the first water inlet 1031, the first filter component 1050 and the first water outlet 1041 in sequence, and then is discharged from the cleaning device 1000. During the self-cleaning process, the first water outlet 1041 is in a closed state and the second water outlet is in an open state. The water flow in the second flow direction Y flows through the second water outlet, the first filter component 1050 and the self-cleaning sewage inlet 2100 in sequence.

[0348] Alternatively, when the cleaning device 1000 has more than two water outlets, during the cleaning process, the first water outlet 1041 is in an open state, and the first water outlet 1041 is the outlet through which water flows out of the cleaning device 1000 during the cleaning process, and at least the second water outlet is in a closed state. During the self-cleaning process, at least two water outlets are in an open state.

[0349] The number of the first water inlet 1031 can be one, two, or three, etc., without limitation. The number of the self-cleaning sewage inlet 2100 can be one, two, or three, etc. The number of the first water inlet 1031 and the self-cleaning sewage inlet 2100 can be the same or different.

[0350] It should be noted that the functions of the first water inlet 1031 can be different. When the number of the first water inlet 1031 is one, in addition to having a drainage function during the self-cleaning process, the first water inlet 1031 can also have a water intake function during the pool cleaning process. When the number of the first water inlet 1031 is two, one of the first water inlets 1031 is the water inlet of the cleaning device 1000 during the cleaning process, and the other can be used as a self-cleaning water outlet during the self-cleaning operation. In this embodiment, during the pool cleaning process, the first water inlet serving as the water inlet is opened, and during the self-cleaning process of the first filter component, the first water inlet serving as the self-cleaning water outlet is closed; conversely, during the self-cleaning process of the first filter component, the first water inlet serving as the water inlet during the pool cleaning process is closed, and the first water inlet serving as the self-cleaning water outlet is opened.

[0351] In some specific embodiments, during the self-cleaning process of the cleaning device 1000, the first water inlet 1031 is sealed and docked with the self-cleaning sewage inlet 2100. The sealed docking between the first water inlet 1031 and the self-cleaning sewage inlet 2100 can be achieved by providing a sealing soft rubber ring on the self-cleaning sewage inlet 2100, or providing a sealing soft rubber ring at the very end of the first water inlet 1031, or providing a sealing soft rubber ring on both. As a result, the sealing between the first water inlet 1031 and the self-cleaning sewage inlet 2100 helps reduce the risk of liquid leakage between the first water inlet 1031 and the self-cleaning sewage inlet 2100, and makes the water flow more stable, thereby improving the self-cleaning effect of the cleaning device 1000.

[0352] During the sealing connection between the first water inlet 1031 and the self-cleaning sewage inlet 2100, the first water inlet 1031 and the self-cleaning sewage inlet 2100 are at least partially located below the water surface. This arrangement increases the water flow path, making it easier for dirt in the water to enter the base station (i.e., the carrier assembly), thereby improving the self-cleaning effect of the cleaning device 1000.

[0353] In some specific embodiments, the carrier assembly 2000 further includes a second filter assembly 2110. The second filter assembly 2110 performs a filtering function, configured to filter the dust-laden water flow entering the carrier assembly 2000. The second filter assembly 2110 is removably mounted within the carrier assembly 2000, outside the carrier assembly 2000, or in at least one of the pool skimmer assembly. The second filter assembly 2110 is fluidically connected to the self-cleaning sewage inlet 2100 to receive the dust-laden water flow from the first filter assembly 1050. The power assembly is configured to direct the water flow sequentially through the first water outlet 1041, the first filter assembly 1050, the self-cleaning sewage inlet 2100, and into the second filter assembly 2110. Dirt in the cleaning device 1000 enters the second filter assembly 2110 through the self-cleaning sewage inlet 2100 and is filtered by the second filter assembly 2110.

[0354] The filtration level of the second filter assembly 2110 can be greater than or equal to that of the first filter assembly 1050. Specifically, the first filter assembly performs coarse filtration, while the second filter assembly performs fine filtration. The first filter assembly filters large particles, while the second filter assembly filters smaller particles. This allows the second filter assembly 2110 to intercept all particles flowing out of the first filter assembly 1050. Alternatively, the filtration level of the second filter assembly 2110 can be lower than that of the first filter assembly 1050, intercepting large particles of particles in the first filter assembly 1050 while allowing smaller particles to escape through the second filter assembly 2110 and be discharged into a pre-set wastewater pool. The filtration level above indicates the level of waste interception by the filter assembly, with a higher filtration level indicating a higher level of interception of smaller particles. The structure of the second filter assembly 2110 can be customized based on actual needs. For example, the second filter assembly 2110 can include a second dust box and a filter screen. The filter screen is disposed on the second dust box. Alternatively, the second filter assembly 2110 can include a filter bag. The filter bag is detachably mounted within the carrier assembly 2000. As water flows from the inside to the outside of the second filter assembly, dirt in the water is filtered by the second filter assembly; or as water flows from the outside to the inside of the second filter assembly, dirt in the water is filtered by the second filter assembly.

[0355] In some specific embodiments, the carrier assembly 2000 is further provided with a self-cleaning drain port 2120. The self-cleaning drain port 2120 is in communication with the outside of the second filter assembly 2110 to allow water flowing through the second filter assembly 2110 to flow out of the carrier assembly 2000 during the self-cleaning process of the cleaning device 1000.

[0356] In some specific embodiments, as shown in Figure 30, a circulating water inlet 1080 is provided on the cleaning device 1000. The first water outlet 1041 is in a closed state. During the self-cleaning process of the cleaning device 1000, the circulating water inlet 1080 is docked with the self-cleaning drain outlet 2120, and the first water inlet 1031 is docked with the self-cleaning sewage inlet 2100. The power component guides the water flow to form a closed internal circulation flow through the first filter component 1050, the first water inlet 1031, the self-cleaning sewage inlet 2100, the second filter component 2110, the self-cleaning drain outlet 2120, and the circulating water inlet 1080. As a result, the dust-carrying water flow can be repeatedly filtered in the internal circulation, which is conducive to improving the self-cleaning effect of the cleaning device 1000.

[0357] The circulating water inlet 1080 is provided with a valve member (not shown in the figure) which can be opened and closed. The valve member can be opened according to actual needs.

[0358] In another specific embodiment, the cleaning device 1000 is provided with a circulating water inlet 1080. The first water outlet 1041 is in an open state. During the self-cleaning process of the cleaning device 1000, the circulating water inlet 1080 and the self-cleaning drain outlet 2120 are connected, and the first water inlet 1031 and the self-cleaning sewage inlet 2100 are connected. The power assembly guides the water flow to form a closed internal circulation flow between the first filter assembly 1050, the first water inlet 1031, the self-cleaning sewage inlet 2100, the second filter assembly 2110, the self-cleaning drain outlet 2120, the circulating water inlet 1080, and the first filter assembly 1050. Furthermore, the power assembly also guides water flow from the first water outlet 1041 into the cleaning device 1000 to replenish the water flow during the self-cleaning process, thereby ensuring the stability of the water flow during the self-cleaning process. At the same time, the water flow from the first water outlet 1041 also impacts the inner wall of the first filter assembly 1050, thereby facilitating the removal of debris attached to the inner wall of the first filter assembly 1050. Through the above arrangement, the water flow rate of the water circuit can be increased, thereby enhancing the self-cleaning effect of the cleaning device 1000.

[0359] Furthermore, an underwater pipe member 1090 may be provided between the circulating water inlet 1080 and the self-cleaning drain outlet 2120. One end of the underwater pipe member 1090 is connected to the circulating water inlet 1080, and the other end is connected to the self-cleaning drain outlet 2120. When the first docking position between the circulating water inlet 1080 and the self-cleaning drain outlet 2120 and the second docking position between the first water inlet 1031 and the self-cleaning sewage inlet 2100 are located on different docking surfaces between the cleaning device 1000 and the carrier assembly 2000, the circulating water inlet 1080 and the self-cleaning drain outlet 2120 can be connected via the underwater pipe member 1090, thereby achieving the aforementioned closed-loop waterway and thereby enhancing the self-cleaning effect of the cleaning device 1000.

[0360] In some other specific embodiments, the self-cleaning drain outlet 2120 is connected to the first water outlet 1041. The power assembly is used to guide the water flow through the first water outlet 1041, the first filter assembly 1050, the first water inlet 1031, the self-cleaning sewage inlet 2100, the second filter assembly 2110, the self-cleaning drain outlet 2120 and the first water outlet 1041 to form a closed internal loop, thereby improving the self-cleaning effect of the cleaning device 1000.

[0361] In some specific embodiments, unlike the aforementioned embodiment where the self-cleaning drain port 2120 is connected to the outside of the second filter assembly 2110, the self-cleaning drain port 2120 communicates with the inside of the second filter assembly 2110. The inside of the second filter assembly 2110 is where dirt in the dust-laden water flow is filtered and deposited. The self-cleaning drain port 2120 is inserted into the interior of the second filter assembly 2110, allowing direct contact with the deposited dirt within the second filter assembly 2110. Dirt and other substances drawn into the cleaning device 1000 can be directly discharged from the carrier assembly 2000 through the self-cleaning drain port 2120.

[0362] In some specific embodiments, unlike the above-described embodiment in which water is introduced through the first water outlet 1041 during the self-cleaning process of the cleaning device 1000, in this embodiment, the first water outlet 1041 is closed during the self-cleaning process of the cleaning device 1000. The cleaning device 1000 is provided with a circulating water inlet 1080 through which water is introduced.

[0363] In some specific embodiments, the second filter assembly 2110 can be arranged in a sewage system or a sewage pipe outside the supporting assembly 2000. For example, the second filter assembly 2110 is arranged in the pool skimming assembly. The self-cleaning drain outlet 2120 is connected to the pool skimming assembly. The pool skimming assembly can be an integral part of the pool infrastructure or a separately arranged assembly. In this embodiment, the power assembly can also be arranged on the pool skimming assembly. When the cleaning device 1000 needs to perform self-cleaning, the cleaning device 1000 moves to dock with the pool skimming assembly. For another example, the second filter assembly 2110 is arranged in an external sewage pipe. The self-cleaning drain outlet 2120 is connected to the external sewage pipe.

[0364] Through the above arrangement, the bearing assembly 2000 is used in combination with the sewage system or sewage pipe in the pool, and the relevant structures in the sewage system or sewage pipe can be used to clean dirt, which is helpful to reduce the number of times of cleaning dirt.

[0365] In some specific embodiments, the power assembly can be a self-cleaning suction element disposed on the carrier assembly 2000, or a suction assembly 1060 disposed on the cleaning device 1000, or an external suction element disposed outside the carrier assembly 2000 and the cleaning device 1000. The location and number of the power assembly can be determined based on actual conditions. For example, the power assembly can be disposed within the carrier assembly 2000, outside the carrier assembly 2000, in the cleaning device 1000, or in the pool skimmer assembly.

[0366] When the suction assembly 1060 of the cleaning device 1000 serves as a power assembly, the suction assembly 1060 includes a first working mode and a second working mode. During the cleaning process of the cleaning device 1000, the suction assembly 1060 is in the first working mode, such as when the suction assembly 1060 rotates forward, and the suction assembly 1060 is used to form a water flow in a first flow direction X. During the self-cleaning process of the cleaning device 1000, the suction assembly 1060 is in the second working mode, such as when the suction assembly 1060 rotates reversely, and the suction assembly 1060 is used to form a water flow in a second flow direction Y. The suction assembly 1060 in the cleaning device 1000 serves as a power assembly and can use its own structure to achieve driving force, which can reduce costs. The entire cleaning system 1 can achieve the cleaning process of the cleaning device 1000 and the self-cleaning process of the cleaning device 1000 through a single suction assembly 1060.

[0367] In other embodiments, the carrier assembly 2000 includes a power assembly to generate at least a water flow that sequentially flows through the self-cleaning water inlet, the self-cleaning sewage outlet, and the self-cleaning sewage inlet 2100. When the cleaning device 1000 does not include the suction assembly 1060, or the suction assembly 1060 is not activated, after the cleaning device 1000 is docked with the carrier assembly 2000, the power assembly in the carrier assembly 2000 provides driving force to form a second water flow in the direction Y, thereby achieving the self-cleaning process of the cleaning device 1000.

[0368] As shown in Figure 64E, the cleaning device includes a first water inlet 1031 and a second water inlet 1032. When the cleaning device returns to the base station to self-clean the first dust box 1051, the first water outlet 1041 serves as the self-cleaning water inlet and the second water inlet 1032 serves as the self-cleaning sewage outlet.

[0369] As shown in Figure 68A, the base station includes a carrier 2040 and a base station body. The base station is provided with a self-cleaning sewage inlet 2100 corresponding to the second water inlet 1032. When the cleaning device is docked at the base station, the second water inlet 1032 and the self-cleaning sewage inlet 2100 are sealed and docked. In one embodiment, the self-cleaning sewage inlet 2100 is provided on the carrier 2040. The base station is provided with a second filter assembly 2100, and the cleaning device is provided with a first filter assembly 1050. When the cleaning device is docked at the base station, the first filter assembly 1050 is in fluid communication with the second filter assembly 2110. The base station also includes a power assembly 2170, provided at the cleaning device or the base station, to generate suction force to move water from the first filter assembly 1050 to the second filter assembly 2110 when the cleaning device is docked at the base station. The power assembly is provided downstream of the second filter assembly.

[0370] Specifically, the base station body includes a support member 2050, which is at least partially located on the side wall of the pool. The support member is located below the base station body. When the cleaning device returns to the base station, the support member protrudes from the base station body. The base station also includes a self-cleaning mechanism, which includes a power assembly 2170 and a second filter assembly 2110. The first end of the carrier 2040 is fixed to the support member 2050, and the second end thereof extends outwardly in a generally horizontal direction. The top surface of the carrier 2040 has a bearing surface 2043. A self-cleaning sewage inlet 2100 is provided on the second end of the carrier, and a second docking assembly 2030 is provided at the first end or on the bearing surface; as shown in FIG68B , the support member is provided with a third accommodating cavity 2054 and a self-cleaning drainage outlet 2120; a second filter assembly 2110 is provided in the third accommodating cavity 2054, and the self-cleaning sewage inlet 2100 and the second filter assembly 2110 are connected so that the liquid in the first dust box 1051 flows through the second water inlet or the first water inlet, the self-cleaning sewage inlet 2100 in sequence. 0, the second filter assembly 2110, the power assembly 2170, and finally discharged through the self-cleaning drain outlet 2120, forming a self-cleaning third waterway, while the garbage in the liquid is trapped in the second filter assembly 2110, realizing the self-cleaning function of the first dust box 1051 of the cleaning device. In this embodiment, the cleaning device does not need to be put on shore. The carrier 2040 is located underwater and the cleaning device is docked underwater, so that the cleaning device is docked underwater. The carrier can always remain fixed to the support member 2050; or the carrier is in a working state before the cleaning device returns to the base station, and when the cleaning device leaves the base station, the carrier 2040 is in a storage state. When the carrier 2040 is in the storage state, the carrier 2040 and a side wall of the support member 2050 (for ease of description, abbreviated as the first side surface 2050a) are generally parallel. When in the working state, the carrier 2040 and the first side surface 2050a of the support member 2050 are generally perpendicular. Alternatively, when the carrier is in the stowed state, it retracts into the support member 2050, and when it is in the working state, it extends out of the support member. In other words, regardless of whether the carrier has two states, as long as the cleaning device returns to the base station, the carrier protrudes from the base station body to support the robot.

[0371] As shown in Figure 28, in one embodiment, if the first water inlet of the cleaning device serves as a self-cleaning sewage outlet, the cleaning device uses the bottom to dock with the base station's support member, and the first water inlet and the first docking assembly are both located on the bottom of the cleaning device; when the cleaning device is docked with the base station, the bottom of the cleaning device rests on the support surface. If the second water inlet of the cleaning device serves as a self-cleaning sewage outlet, as shown in Figure 29, when the second water inlet is located on the front side of the front portion of the cleaning device, the cleaning device uses the front portion to dock with the base station's support member, and correspondingly, the first docking assembly is located on the front portion of the cleaning device; as shown in Figure 64E, when the second water inlet is located on the rear side of the rear portion of the cleaning device, the cleaning device uses the rear portion to dock with the base station's support member, and correspondingly, the first docking assembly is located on the rear portion of the cleaning device.

[0372] As shown in Figures 68B and 68D , a first flow channel 2190 is provided on the carrier to connect the self-cleaning sewage inlet with the interior of the second filter assembly. To ensure a sealed connection between the self-cleaning sewage inlet and the second water inlet on the carrier, as shown in Figure 68C , an upwardly protruding extension 2194 is provided at the end of the first flow channel. The end of the extension serves as the self-cleaning sewage inlet 2100. When the cleaning device and the base station are docked, the extension 2191 extends into the second water inlet and forms a sealed connection. The second water inlet and the second inlet of the first dust box are sealed together. As a result, under the suction action of the power assembly 2170, the liquid in the first dust box enters the first flow channel 2190 through the second inlet, the second water inlet, and the self-cleaning sewage inlet 2100.

[0373] As shown in Figure 68C, the second filter assembly 2110 has at least one third inlet 21101 connected to its interior, the third inlet 21101 is connected to the first flow channel 2190, and at least one fourth outlet 2054c is provided on the third accommodating chamber 2054; as shown in Figure 68B, a second flow channel 2191 is also provided in the support member, at least part of the power assembly 2170 is provided in the second flow channel, the first end of the second flow channel is connected to the fourth outlet, and the second end of the second flow channel serves as a self-cleaning drain outlet 2120. Under the action of the power assembly, the liquid in the first dust box passes through the second water inlet, the self-cleaning sewage inlet, the first flow channel, the second filter assembly, and the second flow channel, and the garbage is trapped in the second filter assembly, and the liquid is discharged through the self-cleaning drain outlet.

[0374] As shown in Figures 68B and 68D, the base station is also provided with at least one transition channel 2192. One end of the transition channel is connected to the fourth outlet 2054c, and the other end is connected to the second channel 2192, allowing filtered liquid to be discharged from the base station through the filtered flow and the second channel. In one embodiment, liquid flowing from the transition channel to the second channel must turn before entering the second channel. This reduces the height space occupied by the transition channel and the second channel on the support member 2059, allowing the support member to have more space in the vertical direction to accommodate the second dust box. The liquid flows in opposite directions in the second channel and the transition channel, forming an S-like pattern, thereby making the base station structure more compact. In one embodiment, the second channel and the filtration channel are both located below the second filter assembly. That is, the liquid in the first dust box passes through the second water inlet, the self-cleaning sewage inlet, the first channel, the second filter assembly, the transition channel, the second channel, and finally the self-cleaning drain outlet to form a self-cleaning third waterway.

[0375] Furthermore, as shown in Figures 68B and 68C, the base station also includes a transition seat 2193, located between the carrier 2040 and the support 2050. A first connecting port 2193a is provided on the transition seat to connect the first flow channel with the interior of the second filter assembly. The transition seat is provided with at least one transition channel 2192 and at least one second flow channel 2191, staggered in spacing. The filter channel 2192 extends from the fourth outlet 2054c toward the carrier, while the second flow channel 2191 extends from the carrier toward the support. The second flow channel is located below the second filter assembly 2110 and passes through the support to communicate with the outside world. Specifically, the starting end of the transition channel communicates with the fourth outlet 2054c, the ending end of the transition channel communicates with the starting end of the second flow channel, and the ending end of the second flow channel communicates with the outside world. To enhance suction, the power assembly 2170 is located near the starting end of the second flow channel. For example, the power assembly includes a self-cleaning water pump, the impeller of which is located near the starting end of the second flow channel so that the rotation of the impeller can generate suction. In one embodiment, there are two transition flow channels and one second flow channel, and the two transition flow channels are symmetrically arranged on both sides of the second flow channel to increase the flow channel of the second flow channel and promote the rapid discharge of the liquid filtered by the second filter assembly. Of course, in another embodiment, the transition flow channel can be omitted and only the second flow channel can be provided, and the fourth outlet 2054c is directly connected to the second flow channel.

[0376] As shown in Figure 68A, the base station also includes a fixing seat 2180, which is suitable for being fixedly connected to the edge of the pool; the second filter component 2110 is at least partially accommodated in the base station body; the support member 2040 is connected to the base station body and is suitable for docking with the cleaning equipment running in the pool; the self-cleaning sewage inlet is arranged on the support member 2040 or the base station body, and is connected to the second filter component 2110 through a pipe; the power component 2170 provides suction force for the water flow that flows through at least the cleaning equipment, the self-cleaning sewage inlet, and the second filter component 2110 in sequence after the cleaning equipment is docked to the base station; wherein, the base station body is movably connected to the fixing seat to adjust the support member to be at least partially below the water surface of the pool.

[0377] For example, the base station body includes a support member, or the base station body serves as the support member, and the support member is mounted on a mounting base. The mounting base is used to secure the entire base station to the bank or wall of a pool, such that the supporting member is located underwater. In one embodiment, the support member is vertically movable on the mounting base to adjust the height of the support member on the mounting base to accommodate pools of varying depths.

[0378] For example, the fixing base includes a mounting portion and a fixing portion 21802 connected to the mounting portion 1801. The fixing portion 21802 extends along the height direction of the support member. The fixing portion is provided with multiple mounting holes at different heights. A matching piece is provided on the support member. By installing the matching piece in the mounting holes at different heights, the height of the base station on the fixing base can be changed to achieve pools of different depths. The positions of the matching piece and the mounting hole can be swapped. In one embodiment, the mounting portion extends horizontally and is suitable for installation on the bank of the pool. The fixing portion extends vertically so that the fixing portion can abut or approach the wall of the pool in the pool. The support member is installed on the fixing portion.

[0379] In one embodiment, the distance between the lowest point of the supporting member and the water surface of the pool is greater than the overall length of the cleaning device, so that the base station can be installed on the edge of the pool and the supporting member can remain underwater to achieve underwater docking function.

[0380] Second filter assembly 2110 includes a second dust box 21102, which is provided with at least one filter surface. The filtration level of the second dust box's filter surface can be the same as or different from that of the first dust box's filter surface. The filter surface of the second dust box has a higher filtration level than the first dust box's filter surface, enabling the second dust box to filter smaller-sized debris, thereby achieving fine filtration and ensuring that all debris discharged from the first dust box is collected in the second dust box. Since the self-cleaning drain typically discharges liquid into a pool, the fine filtration of the second dust box prevents filtered debris from re-entering the pool along with the liquid through the self-cleaning drain, thereby affecting the cleaning effect.

[0381] As shown in FIG68D , one of the first docking assembly and the second docking assembly is a plug-in slot, and the other is a plug-in component. For example, the plug-in slot is provided at the rear of the cleaning device, and the plug-in component is provided at the first end of the carrier. The plug-in component is inserted into the plug-in slot when the cleaning device is moved toward the carrier at the rear to complete the docking.

[0382] The base station is provided with a first wireless charging unit, which is suitable for charging the second wireless charging unit of the cleaning device after the cleaning device is docked with the base station.

[0383] When the base station of this embodiment is used in a pool, if the pool is rectangular, the side walls of the pool include a first wall, a second wall, a third wall and a fourth wall connected end to end. When the fixing base of the base station is installed on the pool, the supporting member is usually located at the corner where the two adjacent walls are located.

[0384] When the cleaning system 1 does not include the second filter assembly 2110, the dirt in the support assembly 2000 can be directly discharged into an external sewage pipe (not shown in the figure) or a pool skimming assembly through the power assembly.

[0385] In some specific embodiments, when the first water inlet 1031 is the water inlet for the cleaning device 1000 to clean a pool, a first, openable, and closable baffle is provided at the first water inlet 1031. When the cleaning device 1000 is in the cleaning process, the first baffle opens in a first direction, directing water flowing in the first direction into the first filter assembly 1050. When the cleaning device 1000 is in the self-cleaning process, the first baffle opens in a second direction, directing water flowing in the second direction out of the first water inlet 1031. The first and second directions are opposite. The first baffle can be opened in the first direction or in the second direction to open the first water inlet 1031 under the control of the suction assembly 1060, a mechanical structure, or an electronic control method.

[0386] When the first water inlet 1031 is disposed at the bottom of the cleaning device 1000, the mechanical structure may be a counterweight (not shown in the figure), which is movably disposed on the first baffle. When the cleaning device 1000 is in the cleaning process, the counterweight is adapted to open the first cover in a first direction; when the cleaning device 1000 is in the self-cleaning process, the counterweight is adapted to open the first cover in a second direction. The electronic control method may be a cover drive 2062 (not shown in the figure) connected to the first cover. Upon receiving a cleaning command or a self-cleaning command, the cover drive 2062 directly drives the first cover to open in the first direction or the second direction.

[0387] When the first water inlet 1031 is different from the water inlet used by the cleaning device 1000 to clean the pool, a first baffle is openably connected to the water inlet structure for water intake. A second cover (not shown) is openably connected to the first water inlet 1031. When the cleaning device 1000 is in the cleaning process, the first cover is open and the second cover is closed. When the cleaning device 1000 is in the self-cleaning process, the first cover can be opened or closed, and the second cover is open.

[0388] In some specific embodiments, the cleaning system 1 includes a presence detection mechanism (not shown) for the second filter assembly 2110. The presence detection mechanism for the second filter assembly 2110 is used to detect whether the second filter assembly 2110 is in place. When the second filter assembly 2110 is not in place, the presence detection mechanism transmits a signal to the cleaning system 1, which is used to control the power assembly to stop working. When the second filter assembly 2110 is in place, the presence detection mechanism transmits a signal to the cleaning system 1, which is used to control the movement of the power assembly, thereby implementing a self-cleaning process for the cleaning device 1000.

[0389] In some specific embodiments, the cleaning device 1000 is provided with a first filter component 1050 in place detection mechanism (not shown in the figure). When it is detected that the first filter component 1050 is not in place or is not installed in place, the suction component 1060 of the cleaning device 1000 is controlled so as not to start the cleaning process.

[0390] In some embodiments, the supporting assembly 2000 is provided with a connecting rod structure (not shown in the figure). The connecting rod structure includes a relative docking end and a pressing end. The self-cleaning sewage inlet 2100 is arranged at the docking end. When the cleaning device 1000 has not returned to the supporting assembly 2000, the docking end is located inside the supporting assembly 2000. That is, the self-cleaning sewage inlet 2100 is located inside the supporting assembly 2000 and is not exposed to the outside world. The pressing end protrudes from the surface of the supporting assembly 2000. When the cleaning device 1000 returns to the supporting assembly 2000, the cleaning device 1000 squeezes the pressing end along the cleaning device 1000 toward the supporting assembly 2000, causing the pressing end to move into the supporting assembly 2000, thereby causing the connecting rod structure to tilt, causing the docking end to move toward the cleaning device 1000, and then causing the self-cleaning sewage inlet 2100 to move to dock with the first water inlet 1031.

[0391] In some embodiments, as shown in FIG. 25 , the cleaning device includes a cleaning assembly 1200 . Cleaning assembly 1200 includes a first cleaning element 1201 . First cleaning element 1201 is used to remove subsurface debris and / or surface debris from being drawn into first filter assembly 1050 or to scrub surfaces to be cleaned. For example, there may be multiple first cleaning elements: one for cleaning surface debris, which may be located at or near second water inlet 1032 ; at least one for cleaning underwater debris, which may be located in front of or at first water inlet 1031 ; or at least two first cleaning elements for cleaning underwater debris, with at least one located in front of the first water inlet and at least one located behind the first water inlet. In one embodiment, when the first cleaning element is used to clean underwater debris, the travel mechanism 1071 may include a transmission element (not shown) connected to first cleaning element 1201. When travel mechanism 1071 moves, travel mechanism 1071 drives first cleaning element 1201 to rotate via the transmission element. The first cleaning member 1201 may be a roller brush or a bristle brush, etc.; the transmission member may be a transmission shaft, a gear, etc. In another embodiment, when the first cleaning member 1201 is used for underwater garbage cleaning, the cleaning device further includes a drive assembly and a transmission assembly. The first cleaning member is connected to the running mechanism via the transmission assembly. The drive assembly drives the first cleaning member 1201 to rotate, which in turn drives the running mechanism via the transmission assembly to achieve the running function of the cleaning device. For example, the first cleaning member includes a roller, a cleaning body disposed outside the roller, the interior of the roller having a hollow cavity, and the drive assembly disposed within the hollow cavity. The drive assembly drives the roller to rotate, which in turn drives the running mechanism via the transmission assembly to achieve the running function of the cleaning device. In another embodiment, the roller may or may not have a hollow cavity. The drive assembly is disposed on the main body of the cleaning device, and the drive assembly drives the roller to rotate, which in turn drives the running mechanism. Alternatively, there are two drive assemblies, one for driving the running mechanism and the other for driving the first cleaning member, with the two drive assemblies acting as a physical transmission force.

[0392] Alternatively, in another embodiment, when the first cleaning member 1201 is used for underwater garbage cleaning, the cleaning device further includes a driving assembly and a transmission assembly. The first cleaning member is connected to the walking mechanism through the transmission assembly. The driving assembly drives the walking mechanism to move, and drives the first cleaning member 1201 to rotate through the transmission assembly to realize the walking function of the cleaning device while driving the first cleaning member to rotate to realize the cleaning function.

[0393] Referring to Figures 37 and 53A, the present disclosure provides a cleaning device for cleaning equipment in liquids, wherein the cleaning device can be a pool robot, a swimming pool robot, an underwater cleaning device, etc., which are not limited here. Figure 53A is a first side view of a cleaning device 1000 for liquids provided by the present disclosure, which can be used to move in a target area 300 filled with liquid, and can switch the position of the liquid level 200 above and below. The target area 300 can be an area filled with liquid for the cleaning device 1000 to move, for example, the target area 300 can be a pool, a swimming pool, an oil well or a sewer, etc., which are not limited here. It should be noted that, as shown in Figure 53A, the cleaning device 1000 for liquids can also move on the bottom wall 310 and the sidewall 320 of the target area 300 in addition to being used to move in the target area 300 filled with liquid.

[0394] The cleaning device 1000 for use in liquid includes a mode switching member 1100 , which is used to switch the position of the cleaning device 1000 between a second motion state and a third motion state. It should be noted that, as shown in Figure 53B or Figure 54A, a second side view of the cleaning device 1000 for use in liquid is provided, and when the cleaning device 1000 walks on the bottom wall 310, or when the overall direction of the cleaning device 1000 is at an angle less than 90° to the bottom wall 310 and is away from the water surface, it is defined as a first motion state, where being away from the water surface can be understood as the cleaning device 1000 cleaning the pool bottom, performing actions in the water, etc.; as shown in Figure 53 or Figure 54D, a third side view of the cleaning device 1000 for use in liquid is provided, and when the cleaning device 1000 walks on the side wall 320 or when the overall direction of the cleaning device 1000 is roughly parallel to the side wall 320, it is defined as a second motion state; as shown in Figure 53C or Figure 54G or Figure 60A or Figure 60B, a fourth side view of the cleaning device 1000 for use in liquid is provided, and the cleaning device When 1000 is moving on the water surface, or the cleaning device 1000 is at least partially exposed above the water surface, or the cleaning device 1000 is located as a whole below the water surface and close to the water surface, it is defined as the third motion state, where being close to the water surface can be understood as the cleaning device 1000 being at a distance from the water surface less than a threshold value, and being able to perform water surface cleaning tasks, etc.; the above walking mechanism of the cleaning device 1000, such as the plane where the track 117 or the wheel contacts the surface to be cleaned, can be defined as the overall direction 106 of the cleaning device 1000, that is, as shown in Figure 53C, the plane where the bottoms of the tracks or wheels on both sides of the walking mechanism of the cleaning device 1000 are located; or, if the walking mechanism includes a first wheel, a second wheel and a track, and the track is wound around the first wheel and the second wheel, the overall direction of the cleaning device 1000 can also be the extension direction of the line connecting the rotation center of the first wheel and the rotation center of the second wheel. The first motion state may include the cleaning process of the bottom wall 310, the processing of the liquid in the pool, etc.; the second motion state may include the cleaning process of the side wall 320, the cleaning process of the waterline, etc.; the third motion state may include the process of moving on the water surface and cleaning the water surface. The cleaning process of the water surface can be understood as the garbage floating on the water surface entering the interior of the cleaning device 1000 through the suction port of the cleaning device 1000. In one embodiment, the diameters of the first wheel and the second wheel are substantially equal; in another embodiment, the diameter of the first wheel is larger than the diameter of the second wheel. In the forward direction of the cleaning device, the first wheel is located in front of the second wheel, so that the first wheel has better grip, which facilitates the wall climbing function of the cleaning device.

[0395] Thus, the mode switching component 1100 is used to switch the position of the cleaning device 1000 above or below the liquid surface 200, enabling the cleaning device 1000 including the cleaning device 1000 to flexibly switch its position above or below the liquid surface 200. Specifically, the mode switching component 1100 enables the cleaning device 1000 to switch its position above or below the liquid surface 200 so that it is above the liquid surface 200, thereby enabling the cleaning device 1000 including the cleaning device 1000 to switch to a third motion state, whereupon the cleaning device 1000 can clean the liquid surface of the liquid environment; the mode switching component 1100 enables the cleaning device 1000 to switch its position above or below the liquid surface 200 so that it is in a second motion state, whereupon the cleaning device 1000 can clean the pool wall or waterline, etc. The cleaning device 1000 can thus perform all-round cleaning of the liquid environment, thereby improving the efficiency and application scope of cleaning in the liquid environment and reducing the cleaning cost of the liquid environment.

[0396] For different configurations of the cleaning device 1000, such as when cleaning the water surface, when the suction port is set on the front side of the machine or cleaning device 1000, as shown in Figure 60A, the third motion state is a state in which the cleaning device 1000 is roughly horizontal or the head is slightly tilted upward and the tail is slightly tilted downward (which can be defined as a first tilted state, as shown in Figure 60B), and the suction port is at least partially below the water surface; when the suction port is set at the bottom of the machine or cleaning device 1000, the suction port can be the same as the suction port for cleaning the pool bottom, that is, the suction port includes a first suction port (i.e., the first water inlet 1031 hereinafter) and a second suction port (i.e., the second water inlet 1032 hereinafter), and the first suction port is used for the pool bottom. Bottom cleaning, the second suction port is used for water surface cleaning, and the third motion state is that the front side of the cleaning device 1000 significantly emerges from the water surface, and the suction port is at least partially exposed to the water surface or close to the water surface. At this time, in order to maintain the balance of the machine, the tail of the machine is below the water surface (which can be defined as the second tilted state), and the tilt degree of the machine is significantly greater than the first tilted state; when the suction port is set at the junction or transition between the front and the bottom of the machine, the third motion state is that at least part of the junction or transition of the cleaning device 1000 emerges from the water surface to satisfy the requirement that the suction port is at least partially exposed to the water surface or close to the water surface. At this time, the tail of the machine is lower than the head of the machine, and the tail of the machine can be immersed in water or at least part of the side of the tail is exposed to the water surface.

[0397] In the process of the cleaning device 1000 switching from the second motion state to the third motion state, it is actually a process in which the cleaning device 1000 rotates approximately in the first direction around a first virtual axis. The first virtual axis is located in the front body of the cleaning device 1000, that is, the rotation distance of the front of the machine is smaller than the rotation distance of the rear of the machine. For example, as shown in Figures 54F and 16G, when the cleaning device 1000 needs to switch from the second motion state to the third motion state, the cleaning device 1000 starts to rotate, from the overall direction of the cleaning device 1000 being approximately parallel to the side wall to the overall direction of the cleaning device 1000 being parallel to the water surface. For example, in Figure 54F, the cleaning device 1000 The front of the cleaning device 1000 rotates counterclockwise toward the pool wall, and the rear of the cleaning device 1000 rotates counterclockwise away from the pool wall and rises toward the water surface. The rotation distance of the front is smaller than the rotation distance of the rear, until the cleaning device 1000 switches to the third motion state, at which time the top of the machine is facing up and the bottom is facing down; in the process of the cleaning device 1000 switching from the third motion state to the second motion state, the cleaning device 1000 runs until the front abuts the pool wall, and then rotates approximately in the second direction around a second virtual axis, which is also located in the front body of the cleaning device 1000, and the rotation distance of the tail of the machine is greater than the rotation distance of the front of the machine. For example, as shown in Figures 55A and 55B, when the cleaning device 1000 needs to switch from the third motion state to the second motion state, the front of the cleaning device 1000 first reaches the pool wall, and the cleaning device 1000 begins to rotate, from the overall direction of the cleaning device 1000 being parallel to the water surface to the overall direction of the cleaning device 1000 being roughly parallel to the side wall. For example, in Figure 55B, the front of the cleaning device 1000 rotates clockwise away from the pool wall, and the rear of the cleaning device 1000 rotates clockwise toward the pool wall and sinks, and the rotation distance of the rear is greater than the rotation distance of the front of the machine, until the cleaning device 1000 switches to the second motion state, at which time the front of the cleaning device 1000 faces upward and the rear faces downward. The above first direction and second direction are opposite directions, one of the first direction and the second direction is clockwise and the other is counterclockwise.

[0398] In one embodiment, the mode switching member 1100 is further used to adjust the vertical force of the cleaning device 1000. Specifically, when the cleaning device 1000 is in the second motion state, the mode switching member 1100 can adjust the vertical force of the cleaning device 1000, and the cleaning device 1000 can switch from the second motion state to the third motion state; and if the cleaning device 1000 is in the third motion state, the mode switching member 1100 can adjust the vertical force of the cleaning device 1000, and the cleaning device 1000 can switch from the third motion state to the second motion state, or directly switch from the third motion state to the first motion state. That is, the mode switching member 1100 is used to adjust the vertical force of the cleaning device 1000, so that the cleaning device 1000 can achieve the position switching of the cleaning device 1000 above and below the liquid surface 200.

[0399] It should be noted that, as shown in Figure 53A, the vertical direction can be the vertical direction of the target area 300, such as the vertical direction of the pool, that is, the direction of gravity; the horizontal direction can be the horizontal direction of the target area 300, such as the horizontal direction of the pool, that is, the direction perpendicular to the direction of gravity.

[0400] In one embodiment, the vertical force acting on the cleaning device 1000 includes the buoyancy experienced by the cleaning device 1000 in the vertical direction. The mode switching member 1100 is further used to adjust the magnitude of the buoyancy experienced by the cleaning device 1000 in the vertical direction. The magnitude of the buoyancy experienced by the cleaning device 1000 in the vertical direction changes, while the gravity of the cleaning device 1000 itself remains substantially unchanged. Therefore, the cleaning device 1000 can switch between the second motion state and the third motion state or between the first motion state and the third motion state, thereby achieving a position change above and below the liquid surface 200. Specifically, when the cleaning device 1000 is in the second motion state, the mode switching component 1100 adjusts the buoyancy of the cleaning device 1000 in the vertical direction to increase. As the cleaning device 1000 moves, the cleaning device 1000 can switch from the second motion state to the third motion state, thereby realizing the posture switching of the cleaning device 1000 from below the liquid surface 200 to above the liquid surface 200; when the cleaning device 1000 is in the third motion state, the mode switching component 1100 adjusts the buoyancy of the cleaning device 1000 in the vertical direction to decrease. As the cleaning device 1000 moves, the cleaning device 1000 can switch from the third motion state to the second motion state or the first motion state, thereby realizing the posture switching of the cleaning device 1000 from above the liquid surface 200 to below the liquid surface 200.

[0401] It should be noted that for a mode switching component provided with, for example, a rigid cavity, the volume of water within the rigid cavity is increased or decreased to increase or decrease the gravity of the mode switching component, thereby increasing or decreasing the vertical buoyancy of the cleaning device 1000. In other words, for a mode switching component provided with, for example, a rigid cavity, although the gravity of the cleaning device 1000 is adjusted, in essence, the position switching of the cleaning device 1000 above and below the liquid surface is achieved by adjusting the buoyancy of the cleaning device 1000 in the vertical direction.

[0402] In one embodiment, as shown in Figure 37, a first front view of a cleaning device 1000 for use in liquid is provided, and the mode switching component 1100 includes a float chamber 111, a first adjusting member 112 and at least one first injection port 113; the float chamber 111 is used to accommodate gas and / or liquid; the first adjusting member 112 is used to adjust the volume of gas and / or liquid in the float chamber 111; at least one first injection port 113 is connected to the float chamber 111 for external gas or liquid to enter the float chamber 111; wherein, after the first injection port 113 of the cleaning device 1000 floats to the surface of the water, the first adjusting member 112 is started to inject gas into the float chamber 111 through the first injection port 113, as shown in Figure 54F, the tail of the cleaning device 1000 moves toward the liquid surface, thereby realizing the switching of the cleaning device 1000 from the second motion state to the third motion state. The change in volume of the gas or liquid in the float chamber 111 causes the magnitude of the buoyancy exerted on the cleaning device 1000 in the vertical direction to change, thereby enabling the cleaning device 1000 to switch from the second motion state to the third motion state, thereby achieving the position switching of the cleaning device 1000 above and below the liquid surface 200. It should be noted that, as shown in Figures 53B and 53C, or as shown in Figures 54A and 54F, the position of the cleaning device 1000 in the third motion state is substantially the same as that in the first motion state, and as shown in Figures 60A and 60B, the cleaning device 1000 is in a substantially horizontal state.

[0403] Specifically, as shown in FIG53A or FIG54D, when the cleaning device 1000 moves upward on the side wall 320, or when the cleaning device 1000 moves upward in a direction roughly parallel to the side wall 320, the cleaning device 1000 is in a second motion state; as shown in FIG53D or FIG54E, a fifth side view of the cleaning device 1000 for use in liquid is provided, and the cleaning device 1000 continues to crawl upward along the side wall 320 or in a direction roughly parallel to the side wall 320, until the front of the cleaning device 1000 moves to the waterline 201 position, the first injection port 113 is exposed to the water surface, and the first adjusting member 112 adjusts the first injection port 113 to Gas is injected into the float chamber 111, and the gas volume of the float chamber 111 increases, which increases the buoyancy of the cleaning device 1000. Since the front part of the cleaning device 1000 is at least partially exposed above the water surface, the tail part of the cleaning device 1000 floats up, as shown in Figure 53C or Figure 54F, and the cleaning device 1000 begins to move from a vertical state to a roughly horizontal state until the tail part of the cleaning device 1000 is at least partially above the water surface. As shown in Figure 53C or Figure 54G, the cleaning device 1000 is in the third motion state and can clean the water surface, completing the posture switching of the cleaning device 1000 from the second motion state to the third motion state.

[0404] As shown in Figure 37, the first injection port 113 can be set at the front position of the cleaning device 1000. In order to increase the buoyancy of the cleaning device 1000, the gas introduced into the float chamber 111 needs to be introduced into the float chamber 111 through the first injection port 113, and the gas can be introduced into the float chamber 111 through the first injection port 113 only when the first injection port 113 floats to the surface and is exposed. Therefore, by setting the first injection port 113 at the front position of the cleaning device 1000, the first injection port 113 can be made to float to the surface first during the second motion state, so that when the posture of the cleaning device 1000 needs to be switched, gas can be injected into the float chamber 111 more quickly to achieve the posture switching of the cleaning device 1000 from the second motion state to the third motion state.

[0405] In one embodiment, the first injection port 113 can be provided on the float chamber 111, or can be provided independently of the float chamber 111. In other embodiments, the first injection port 113 can be provided on the housing of the cleaning device 1000 to facilitate communication with the outside (e.g., external liquid or external gas) to exchange gas and / or liquid. In one embodiment, the first injection port 113 is located in the front portion of the cleaning device 1000, and at least one or more connecting ports are provided on the front side wall of the front portion of the cleaning device 1000. The connecting ports connect the outside world with the inside of the cleaning device 1000, so that the external gas enters the cleaning device 1000 through the connecting port and is then injected into the float chamber through the first injection port, or the gas in the float chamber is discharged from the cleaning device 1000 through the first injection port and the connecting port.

[0406] In one embodiment, as shown in FIG53B or FIG54A, the cleaning device 1000 further includes a first motion state capable of performing underwater cleaning tasks, etc. The cleaning device 1000 can move from the first motion state to the second motion state to the third motion state, or the cleaning device 1000 can move from the third motion state to the second motion state to the first motion state, that is, the cleaning device 1000 can switch between the first motion state, the second motion state, and the third motion state.

[0407] Specifically, as shown in FIG3 , the cleaning device 1000 moves on the bottom wall 310, or when the overall direction of the cleaning device 1000 is less than 90° from the bottom wall 310 and moves away from the water surface 200, the cleaning device 1000 is in a first motion state; as shown in FIG53A , after completing underwater cleaning, the cleaning device 1000 is at the side wall 320 and moves upward along the side wall 320, as shown in FIG54C , or the cleaning device 1000 moves upward in a direction roughly parallel to the side wall 320, and the cleaning device 1000 is in a second motion state, completing the posture switching of the cleaning device 1000 from the first motion state to the second motion state; then, as shown in FIG53D , the cleaning device 1000 moves along the side wall 320 to the waterline, and the first injection port 1 5 , the first adjusting member 112 adjusts the first injection port 113 to inject gas into the float chamber 111, and the gas volume of the float chamber 111 increases, so that the buoyancy of the cleaning device 1000 increases. Since the front part of the cleaning device 1000 has at least partially floated on the water surface, the tail of the cleaning device 1000 rises at this time, and the cleaning device 1000 begins to move from a vertical state to a roughly horizontal state until the tail of the cleaning device 1000 is at least partially above the water surface or the tail moves toward the water surface at least a certain distance relative to the second motion state. The cleaning device 1000 is in the third motion state and can clean the water surface, completing the posture switching of the cleaning device 1000 from the second motion state to the third motion state.

[0408] After completing the cleaning of the water surface, the cleaning device 1000 can run to any waterline. At this time, the front of the cleaning device 1000 is roughly against the waterline of the pool wall, and the tail is away from the waterline of the pool wall. The first adjusting member 112 is then used to adjust the first injection port 113 to discharge the gas in the float chamber 111 outward. The volume of the gas in the float chamber 111 is reduced, so that the buoyancy of the cleaning device 1000 is reduced, and the cleaning device 1000 begins to sink. At this time, the main water pump and / or the walking mechanism can be in an operating state, and the cleaning device 1000 begins to change from a horizontal state to a vertical state, completing the posture switching of the cleaning device 1000 from the third operating state to the second operating state. It should be noted that when the first adjusting member 112 is adjusted through the first injection port 113 In the process of regulating the volume of gas in the float chamber 111, the general trend is that the gas in the float chamber 111 away from the first injection port 113 is discharged before the gas in the float chamber 111 close to the first injection port 113, that is, the body part of the cleaning device 1000 away from the first injection port 113 sinks first until the cleaning device 1000 completes the transformation to the second motion state, and then the body part where the first injection port 113 is located sinks, which is conducive to better realizing the regulation of the volume of gas in the float chamber 111; then, the cleaning device 1000 can move downward along the side wall 320 or roughly parallel to the side wall 320 until it abuts against the bottom wall 310, and finally runs to the bottom wall 310, so as to realize the switching of the cleaning device 1000 from the second operating state to the first operating state. Alternatively, the cleaning device 1000 can start from any position on the water surface and use the first adjustment member 112 to adjust the first injection port 113 to discharge the gas in the float chamber 111 outward. The volume of the gas in the float chamber 111 is reduced, and the buoyancy of the cleaning device 1000 is reduced, causing the cleaning device 1000 to start sinking until it sinks to a preset depth or directly sinks to the bottom wall 310, completing the posture switching from the third operating state to the first operating state. During this process, the body part where the first injection port 113 is located is still kept as much as possible to finally sink below the water surface.

[0409] In other specific embodiments, the float chamber 111 is flexible, and the volume of the float chamber 111 can change with changes in the volume of the gas; the first adjustment member 112 is a pump (e.g., a pneumatic pump, a hydraulic pump, or an electric pump). The pump can drive gas into / out of the float chamber 111, causing the volume of the gas in the float chamber 111 to increase / decrease, thereby increasing / decreasing the volume of the float chamber 111 and adjusting the volume of the gas in the float chamber 111. When the cleaning device 1000 is in the second motion state, when the pump drives gas to be injected from the first injection port 113, the volume of the gas in the deflated float chamber 111 increases. The float chamber 111 increases as the gas volume increases, thereby increasing the buoyancy of the cleaning device 1000. The cleaning device 1000 can switch from the second motion state to the third motion state, achieving a position switch of the cleaning device 1000 from below the liquid surface 200 to above the liquid surface 200. When the cleaning device 1000 is in the third motion state, the pump drives the gas to be discharged from the first injection port 113, the volume of the gas in the float chamber 111 decreases, and the float chamber 111 decreases as the gas volume decreases, so that the buoyancy of the cleaning device 1000 is reduced. The cleaning device 1000 can switch from the third motion state to the second motion state, or directly switch from the third motion state to the first motion state.

[0410] It should be noted that the gas source of the pump can be a gas tank installed on the cleaning device 1000, or it can be external air. When the gas source of the pump is a gas tank, the cleaning device 1000 can inject gas into the float chamber 111 through the first injection port 113, either above or below the water. At this time, the cleaning device 1000 can directly switch from the first motion state to the third motion state, or switch from the first motion state to the third motion state through the second motion state. When the gas source of the pump is external air, gas can be injected into the float chamber 111 through the first injection port 113 only after the first injection port 113 floats to the surface. In addition, the float chamber 111, which can change its volume as the volume of the gas changes, is made of a flexible material. The flexible material may include but is not limited to polyvinyl alcohol resin, polyethylene terephthalate, rubber, etc.

[0411] In one embodiment, as shown in FIG37 , the mode switching component 1100 further includes a first connecting pipe 1104. Specifically, the mode switching component 1100 includes a float chamber 111, a first adjusting member 112, at least one first injection port 113, and a first connecting pipe 1104. The first connecting pipe 1104 is used to transport gas or liquid and can connect one or more of the float chamber 111, the first adjusting member 112, and the first injection port 113. As shown in FIG37 , the cleaning device 1000 includes at least two float chambers 111, a first adjusting member 112, a first injection port 113, and a first connecting pipe 1104. The float chamber 111 can be connected to the first adjusting member 112 via the first connecting pipe 1104, and the first adjusting member 112 can be connected to the first injection port 113 via the first connecting pipe 1104.

[0412] In one specific embodiment, the float chamber 111 is rigid, the cleaning device 1000 further includes a discharge port, and the first adjustment member 112 is a pump. When the cleaning device 1000 is in the third motion state, the pump drives the gas within the float chamber 111 to be discharged through the first inlet 113. This reduces the pressure within the float chamber, creating a negative pressure, which drives liquid into the float chamber 111 through the discharge port. Therefore, when gas is discharged and liquid is injected, the weight of the float chamber 111 increases, reducing the buoyancy of the cleaning device 1000. The cleaning device 1000 can switch from the third motion state to the second motion state or the first motion state, achieving a positional change from above the liquid surface 200 to below the liquid surface 200. When the cleaning device 1000 is in the second motion state, the pump drives gas to be injected through the first injection port 113, thereby also driving the liquid in the float chamber 111 to be discharged from the discharge port; therefore, when gas is injected and liquid is discharged, the weight of the float chamber 111 is reduced, and the buoyancy of the cleaning device 1000 is increased. The cleaning device 1000 can switch from the second motion state to the third motion state, realizing the posture switching from below the liquid surface 200 to above the liquid surface 200.

[0413] Specifically, as shown in Figure 54A, when the cleaning device 1000 moves on the bottom wall 310, or when the overall direction of the cleaning device 1000 is less than 90° to the bottom wall 310 and moves away from the water surface 200, the cleaning device 1000 is in a first motion state, with the top of the cleaning device 1000 facing upward and the bottom facing downward or facing the bottom wall of the pool, and the bottom wall of the pool can be cleaned. When the cleaning device 1000 is walking on the bottom wall or cleaning the bottom wall, the main water pump is in an open state to generate a third thrust, so that the cleaning device 1000 is tightly attached to the bottom wall. After completing the underwater cleaning, as shown in Figure 54B, the cleaning device 1000 moves toward the side wall until the front of the cleaning device 1000 abuts the side wall; as shown in Figure 54C, the cleaning device 1000 rotates and walks onto the side wall until the overall direction of the cleaning device 1000 is roughly parallel to the side wall, and the cleaning device 1000 is in a second motion state. During this rotation process, when the front of the cleaning device 1000 abuts the side wall, within a preset time, if the front of the cleaning device 1000 can smoothly rotate upward to the side wall, the main water pump does not need to be turned off, and the main water pump is still in the on state; if within the preset time, the front of the cleaning device 1000 cannot smoothly rotate upward to the side wall, for example, the posture of the cleaning device 1000 is detected by a sensor, if the posture of the cleaning device 1000 is within the preset time If it remains unchanged, it is considered that the cleaning device 1000 is stuck on the bottom wall or at the junction of the bottom wall and the side wall, that is, the third thrust generated by the main water pump being turned on causes the cleaning device 1000 to be tightly attached to the bottom wall, and the front part of the cleaning device 1000 cannot be lifted up and rotated, and the cleaning device 1000 is in a stuck state; at this time, the main water pump is controlled to be temporarily closed, and the third thrust generated by the main water pump is canceled to make the cleaning device 1000 tightly attached to the bottom wall, ensuring that the front part of the cleaning device 1000 can be smoothly rotated upward to the side wall. When the cleaning device 1000 rotates to the point where the angle formed between the overall direction of the cleaning device 1000 and the bottom wall is the first preset angle, the main water pump is controlled to be turned on to generate the third thrust, ensuring that the cleaning device 1000 can rotate from the bottom wall to the side wall, and tightly adhere to the side wall to switch to the second motion state. Alternatively, when the front portion of the cleaning device 1000 abuts against the side wall, the posture of the cleaning device 1000 is not detected, and the main water pump is directly controlled to be temporarily shut down, allowing the front portion of the cleaning device 1000 to smoothly rotate upward onto the side wall. When the cleaning device 1000 rotates until the angle formed between the overall direction of the cleaning device 1000 and the bottom wall reaches a first preset angle, the main water pump is controlled to be turned on to generate a third thrust, allowing the cleaning device 1000 to cling to the side wall and switch to the second motion state. As shown in Figure 54D, the posture switching of the cleaning device 1000 from the first motion state to the second motion state is completed.In the second motion state, the front of the cleaning device 1000 faces upward and the rear faces downward. In the height direction of the pool sidewall, the rear portion 10012 of the cleaning device 1000 can move closer to or further away from the pool bottom wall. In the second motion state, the cleaning device 1000 can clean the sidewall. While the cleaning device 1000 is moving along or cleaning the sidewall, the main water pump remains on. After completing the cleaning of the sidewall, as shown in FIG54E , the cleaning device 1000 moves upward along the sidewall to the waterline until the front portion of the cleaning device 1000 emerges from the water, causing at least a portion of the first inlet 113 provided on the front portion of the cleaning device 1000 to emerge from the water.

[0414] When the cleaning device 1000 is in the first motion state and the second motion state, the float chamber can be almost filled with liquid, or mostly liquid and a small amount of gas, which helps the cleaning device 1000 to be located below the liquid surface; the first injection port 113 is provided at the front 10011 of the cleaning device 1000, the float chamber portion close to the first injection port is provided at the front 10011 of the cleaning device 1000, and the float chamber portion away from the first injection port is provided at the rear 10012 of the cleaning device 1000; when the cleaning device 1000 moves on the side wall, the first suction port for bottom cleaning continuously sucks in liquid, and the main water outlet 1181 of the main water pump continuously discharges liquid, and the liquid discharged from the main water outlet 1181 applies a third thrust to the cleaning device 1000 to drive the cleaning device 1000 to be tightly attached to the side wall.

[0415] As shown in FIG54E, the cleaning device 1000 is kept against the side wall. When at least part of the first injection port 113 floats to the surface, the first regulating member 112 is started. When the first regulating member 112 is a pump, the motor of the pump rotates in the positive direction. Driven by the pump, the external gas is injected into the float chamber through the first injection port, increasing the volume of the gas in the float chamber. The liquid in the float chamber away from the first injection port is discharged through the discharge port. The general trend is that the liquid in the float chamber portion close to the first injection port 113 is discharged before the liquid in the float chamber portion away from the first injection port, and the float chamber portion close to the first injection port 113 is discharged before the liquid in the float chamber portion away from the first injection port. The float chamber portion of the first injection port is filled with gas, thereby increasing the buoyancy of the float chamber portion near the first injection port 113, that is, the buoyancy of the front part of the cleaning device 1000 near the first injection port is increased. Under the action of this buoyancy, the cleaning device 1000 is driven to start rotating. However, since the main water pump is still in the on state and generates a third thrust, the contact point or contact position between the front part of the cleaning device 1000 and the side wall is constantly changing when the cleaning device 1000 rotates. The front part of the cleaning device 1000 rotates toward the side wall, and the rear part of the cleaning device 1000 rotates away from the side wall and rises toward the water surface.

[0416] As shown in FIG54F, if the sidewall is a vertical surface, the cleaning device 1000 begins to rotate, from the overall direction of the cleaning device 1000 being perpendicular to the water surface to the overall direction of the cleaning device 1000 being parallel to the water surface; or, from the overall direction of the cleaning device 1000 being approximately parallel to the sidewall, to the overall direction of the cleaning device 1000 being parallel to the water surface; or, from the state in which the cleaning device 1000 is in contact with the sidewall, to the state in which the cleaning device 1000 is approximately horizontal. For example, in FIG54F, the front portion of the cleaning device 1000 rotates counterclockwise toward the sidewall, and the rear portion rotates counterclockwise away from the sidewall and rises toward the water surface. At this time, the rear portion of the cleaning device 1000 rises until the rear portion of the cleaning device 1000 is at least partially above the water surface or the rear portion moves toward the water surface at least a certain distance relative to the second motion state. The cleaning device 1000 is in the third motion state, as shown in FIG54G, completing the posture switching of the cleaning device 1000 from the second motion state to the third motion state. In the third motion state, the top of the cleaning device 1000 faces upward or faces away from the pool bottom wall, and the bottom of the cleaning device 1000 faces downward or faces the pool bottom wall. The cleaning device 1000 is in a substantially horizontal state, as shown in Figures 60A and 60B. In actual use scenarios, due to various factors, the front of the cleaning device 1000 is slightly tilted upward and the rear is slightly tilted downward. That is, the angle formed by the overall direction of the cleaning device 1000 and the water surface is less than or equal to 30 degrees. In this case, the cleaning device 1000 is considered to be in a substantially horizontal state. As shown in Figures 54A and 54G or Figure 60B, the postures of the cleaning device 1000 in the first and third motion states are substantially the same, and the cleaning device 1000 is in a substantially horizontal state. After the cleaning device 1000 switches from the second motion state to the third motion state, the cleaning device can stop near the waterline without cleaning the water surface, so that the user can lift the cleaning device 1000 from the water surface near the waterline and get the cleaning device 1000 out of the water and onto the shore; or it can stay near the waterline and wait for other instructions from the user, for example, the cleaning device 1000 needs to clean the water surface, or switch to the second motion state, or switch to the first motion state, etc.

[0417] When the cleaning device 1000 is cleaning the water surface, the main water pump is turned on. After completing the cleaning of the water surface, the cleaning device 1000 can move to any waterline. At this time, the front of the cleaning device 1000 is roughly against the waterline of the pool wall, and the rear is away from the waterline of the pool wall. When the cleaning device 1000 is in the third state, the float chamber can be almost full of gas, or mostly filled with gas, which helps the cleaning device 1000 maintain the third motion state. As shown in Figure 55A, the first adjustment member 112 is used to adjust the volume of gas in the float chamber. For example, when the first adjustment member 112 is a pump, the pump rotates in the opposite direction. Driven by the pump, the gas in the float chamber is discharged outward from the first injection port, and the discharge port of the float chamber draws liquid into the float chamber. The general trend is that the gas in the float chamber 111 away from the first injection port 113 is discharged before the gas in the float chamber 111 close to the first injection port 113. The volume of gas in the float chamber decreases, and the portion of the float chamber away from the first injection port is filled with liquid before the portion of the float chamber close to the first injection port. The gravity of the float chamber part of the injection port increases, that is, the gravity of the rear part of the cleaning device 1000 increases before the gravity of the front part. Under the action of the increased gravity at the rear part of the cleaning device, the cleaning device 1000 starts to rotate, but because the main water pump is in the on state to generate a third thrust, the abutment point or abutment position between the front part of the cleaning device 1000 and the side wall is constantly changing when the cleaning device 1000 rotates. The rear part of the cleaning device 1000 rotates and sinks first until the cleaning device 1000 completes the switch to the second motion state, and then the body part where the first injection port 113 is located sinks.

[0418] As shown in Figure 55B, taking the side wall as a vertical surface as an example, the cleaning device 1000 starts to rotate, from the overall direction of the cleaning device 1000 being parallel to the water surface, to the overall direction being perpendicular to the water surface; or from the overall direction of the cleaning device 1000 being parallel to the water surface, to the overall direction being roughly parallel to the side wall; or from the roughly horizontal state of the cleaning device 1000, to the state where the overall direction of the cleaning device 1000 is in contact with the side wall. For example, the rear part of the cleaning device 1000 rotates clockwise toward the side wall in Figure 55B, and the front part rotates clockwise away from the side wall, and the rear part sinks before the front part until the cleaning device 1000 completes the transformation to the second motion state, and the overall direction of the cleaning device 1000 is roughly perpendicular to the water surface, or the overall direction of the cleaning device 1000 is roughly parallel to the side wall, or the overall direction of the cleaning device 1000 is in contact with the side wall, completing the switch from the third motion state to the second motion state, as shown in Figure 55C; as shown in Figure 55D, the front part of the cleaning device 1000 then sinks, and the cleaning device 1000 can move downward along the side wall 320 or roughly parallel to the side wall 320 until the rear part of the cleaning device 1000 abuts the bottom wall of the pool. During this walking process, the front part of the cleaning device 1000 faces upward and the rear part faces downward, and the cleaning device 1000 moves backward on the side wall. Afterwards, as shown in Figure 55E, the cleaning device 1000 rotates from the overall direction of the cleaning device 1000 being perpendicular to the water surface to the overall direction of the cleaning device 1000 being parallel to the water surface; or from the overall direction of the cleaning device 1000 being roughly parallel to the side wall to the overall direction being roughly parallel to the water surface, and the cleaning device 1000 is in a roughly horizontal state. During this rotation process, when the rear part of the cleaning device 1000 abuts against the bottom wall, within a preset time, if the rear part of the cleaning device 1000 can smoothly rotate downward to the bottom wall, the main water pump does not need to be turned off, and the main water pump remains in the on state; if within the preset time, the rear part of the cleaning device 1000 cannot smoothly rotate downward to the bottom wall, for example, the posture of the cleaning device 1000 is detected by a sensor, and if the posture of the cleaning device 1000 remains unchanged within the preset time. , it is considered that the cleaning device 1000 is stuck on the side wall or stuck at the junction of the bottom wall and the side wall, that is, the third thrust generated by the main water pump being turned on makes the cleaning device 1000 close to the side wall, and the rear part of the cleaning device 1000 cannot be lifted and rotated downward, and the cleaning device 1000 is in a stuck state; at this time, the main water pump is controlled to be temporarily closed, and the third thrust generated by the main water pump is canceled to make the cleaning device 1000 close to the side wall, ensuring that the rear part of the cleaning device 1000 can smoothly rotate downward to the bottom wall. When the cleaning device 1000 rotates to the point where the angle formed between the overall direction of the cleaning device 1000 and the side wall is the second preset angle, the main water pump is controlled to be turned on again to generate the third thrust, ensuring that the cleaning device 1000 can rotate from the side wall to the bottom and close to the bottom wall to switch to the first motion state.Alternatively, when the rear portion of the cleaning device 1000 abuts against the bottom wall, the posture of the cleaning device 1000 is not detected, and the main water pump is directly controlled to be temporarily shut down, so that the rear portion of the cleaning device 1000 can smoothly rotate downward onto the bottom wall. When the cleaning device 1000 rotates to the point where the angle between the overall direction of the cleaning device 1000 and the side wall is a second preset angle, the main water pump is controlled to be turned on again to generate a third thrust, so that the cleaning device 1000 can be closely attached to the bottom wall to switch to the first motion state. As shown in Figure 55F, the switching of the cleaning device 1000 from the second motion state to the first motion state is completed.

[0419] However, in actual usage scenarios, many pool walls are not vertical surfaces. When the side wall is a curved surface, an arc surface, or an inclined surface, when the cleaning device 1000 is on the side wall, the overall direction of the cleaning device 1000 forms an angle α with the water surface. As shown in Figure 18, when the side wall is an inclined surface, the overall direction of the cleaning device 1000 forms an angle α with the water surface. Similarly, when the cleaning device 1000 moves on an arc surface or a curved surface, the overall direction of the cleaning device 1000 also forms an angle α with the water surface. In the aforementioned embodiment, during the switching process of the cleaning device 1000 from the second motion state to the third motion state, as the cleaning device 1000 rotates from the side wall toward the water surface, the angle between the overall direction of the cleaning device 1000 and the water surface gradually decreases until the angle is approximately 0 degrees, and the overall direction of the cleaning device 1000 is parallel to the water surface, or the cleaning device 1000 is in a substantially horizontal state, thereby achieving the switching of the cleaning device 1000 from the second motion state to the third motion state; conversely, during the switching process of the cleaning device 1000 from the third motion state to the second motion state, as the cleaning device 1000 rotates from the water surface toward the side wall, the angle between the overall direction of the cleaning device 1000 and the water surface gradually increases until the overall direction of the cleaning device 1000 contacts the side wall, thereby achieving the switching of the cleaning device 1000 from the third motion state to the second motion state. It should be noted that: when the pump rotates in the forward direction, gas is injected into the float chamber and liquid is discharged; when the pump rotates in the reverse direction, gas is discharged from the float chamber and liquid is injected; here, one of the forward and reverse directions is clockwise and the other is counterclockwise. In one embodiment, the cleaning device 1000 also includes a detection component, which is used to detect whether the bottom wall, side wall, or the junction between the bottom wall and the side wall of the pool is flat or curved, so as to facilitate planning of the cleaning path for the cleaning device 1000 to clean the bottom wall or side wall.

[0420] In addition, it should be noted that: in the aforementioned embodiment, during the rotation process of the cleaning device 1000 switching from the second motion state to the third motion state, the abutment point or abutment position of the front portion of the cleaning device 1000 and the side wall is in a state of change, and the cleaning device 1000 can only perform a rotational action, and the walking mechanism of the cleaning device 1000 is not running, or it moves slightly upward while rotating, that is, the walking mechanism of the cleaning device 1000 is in a running state, and the role of the walking mechanism at this time is to assist the main water pump, further maintaining the gap between the front portion of the cleaning device 1000 and the side wall. Maintain abutment; during the rotation process of the cleaning device 1000 switching from the third motion state to the second motion state, the abutment point or abutment position between the front part of the cleaning device 1000 and the side wall is changing. The cleaning device 1000 can only rotate, and the walking mechanism of the cleaning device 1000 does not operate, or moves slightly downward while rotating. The role of the walking mechanism is to assist the main water pump to further maintain the abutment between the front part of the cleaning device 1000 and the side wall; the main driving force for the abutment between the front part of the cleaning device 1000 and the side wall is the third thrust generated by the main water pump. In one embodiment, if the walking mechanism includes a crawler, when the cleaning device 1000 switches between the first motion state, the second motion state and the third motion state, the abutment between the front part of the cleaning device 1000 and the side wall can be the abutment between the front part of the crawler and the side wall; the abutment between the rear part of the cleaning device 1000 and the bottom wall can be the abutment between the rear part of the crawler and the bottom wall.

[0421] In the aforementioned embodiment, the cleaning device 1000 switches from the third motion state to the first motion state through the second motion state and then switches to the first motion state. In another embodiment, as shown in Figures 57A to 57F, the cleaning device 1000 switches directly from the third motion state to the first motion state without going through the second motion state. Specifically, as shown in FIG57A , the cleaning device 1000 is in a third motion state, the cleaning device 1000 is in a roughly horizontal state, the float chamber is almost filled with gas, or most of it is gas; the first regulating member 112 is used to adjust the gas volume in the float chamber, for example, the first regulating member 112 is a pump, the pump rotates in the opposite direction, the gas in the float chamber is discharged through the first injection port, the liquid is injected into the float chamber from the discharge port, the gas volume in the float chamber is reduced, and the buoyancy of the float chamber is reduced, as shown in FIG57B , in the process of discharging the gas in the float chamber, the general trend is that the gas in the float chamber 111 away from the first injection port 113 is discharged before the gas in the float chamber 111 close to the first injection port 113, the part of the float chamber away from the first injection port is filled with liquid before the part of the float chamber close to the first injection port, the gravity of the float chamber away from the first injection port increases before the gravity of the float chamber close to the first injection port, and the cleaning The rear part of the device 1000 sinks first, and the front part where the first injection port 113 is located sinks later. During the process of the rear part of the cleaning device 1000 sinking first, at least part of the first injection port is located on the water surface, so as to continuously discharge the gas in the float chamber. The buoyancy of the cleaning device 1000 continues to decrease, which helps to adjust the buoyancy of the float chamber. The cleaning device 1000 rotates from the overall direction of the cleaning device 1000 being parallel to the water surface to the overall direction of the cleaning device 1000 forming an angle with the water surface; or the cleaning device 1000 rotates from a roughly horizontal state to an inclined state, with the front part of the cleaning device 1000 tilted upward and the rear part tilted downward, as shown in Figures 57B and 57C. The rear part of the cleaning device 1000 rotates clockwise toward the bottom of the pool and sinks first, and the front part of the cleaning device 1000 rotates clockwise and sinks later, until the cleaning device 1000 as a whole sinks into the liquid. Afterwards, as shown in Figure 57D, the first injection port in the liquid can continue to exhaust gas, the buoyancy in the float chamber becomes smaller and smaller, and the difference in gravity between the front and rear of the cleaning device 1000 continues to shrink. During the sinking process, the cleaning device 1000 slightly rotates to adjust its posture so that the difference in the position of the front and rear of the cleaning device 1000 in the height direction of the side wall becomes smaller. As shown in Figure 57D, the head of the cleaning device 1000 rotates counterclockwise downward, and the tail rotates slightly counterclockwise upward.During the entire sinking process, the first injection port continuously discharges the gas in the float chamber, and the discharge port continuously injects liquid into the float chamber. The overall direction of the cleaning device 1000 still has an angle with the water surface, and the cleaning device 1000 is in an inclined state. As shown in Figure 57E, the front of the cleaning device 1000 is above its rear part, until the walking mechanism at the rear of the cleaning device 1000 abuts against the bottom wall of the pool. Under the action of gravity of the cleaning device 1000, the front of the cleaning device 1000 rotates downward until it contacts the bottom wall of the pool. As shown in Figure 57F, the cleaning device 1000 is in a roughly horizontal state, or the overall direction of the cleaning device 1000 is parallel to the water surface, or the overall direction of the cleaning device 1000 abuts against the bottom wall, so as to complete the direct switching of the cleaning device 1000 from the third motion state to the first motion state. During the process of the cleaning device 1000 switching directly from the third motion state to the first motion state, the driving force for the sinking of the cleaning device 1000 mainly relies on the first adjusting member 112, and the main water pump can be in the on state all the time. The third thrust has a component force in the vertical direction, which can also assist the cleaning device 1000 to sink faster to switch to the first motion state; or, the main water pump is not turned on, and the cleaning device 1000 mainly relies on the action of the first adjusting member 112 to sink.

[0422] As shown in Figure 57C, when the cleaning device 1000 is completely submerged in the water, the first inlet may not be degassing. During the submersion process, the cleaning device 1000 maintains a substantially constant tilt until the rear travel mechanism of the cleaning device 1000 contacts the pool wall. Under the weight of the travel mechanism, the front of the travel mechanism rotates toward the pool bottom until it contacts the pool wall. The cleaning device 1000 is then substantially horizontal, completing the direct transition from the third motion state to the first motion state. However, if the main water pump remains on during the submersion process, the third thrust generated by the main water pump will also slightly adjust the posture of the cleaning device 1000. However, the cleaning device 1000 as a whole will still sink in a tilted state with the front of the cleaning device 1000 tilted upward and the rear of the cleaning device 1000 tilted downward.

[0423] The cleaning device 1000 can also be switched from the water to the water surface. As shown in FIG58A , the cleaning device 1000 is in a roughly horizontal state in the water. If the cleaning device 1000 needs to switch from the water to the water surface, as shown in FIG58B , the first adjusting member 112 is used to discharge the gas in the float chamber through the first injection port, and the liquid is injected into the float chamber through the discharge port of the float chamber, thereby rotating the cleaning device 1000. The rear part of the cleaning device 1000 sinks before the front part, and the posture of the cleaning device 1000 is adjusted to an inclined state. As shown in FIG58C , the cleaning device 1000 moves in an inclined state until the front part of the walking device abuts against the side wall; or, if the cleaning device 1000 is initially in an inclined state in the water, as shown in FIG58C , the cleaning device 1000 moves in an inclined state until the front part of the cleaning device 1000 abuts against the side wall 58D , the cleaning device 1000 moves onto the side wall until the cleaning device 1000 is roughly parallel to the side wall, and the cleaning device 1000 is in the second motion state. Afterwards, the process of switching the cleaning device 1000 from the second motion state to the third motion state is the same as the aforementioned embodiment. As shown in FIG54E , the cleaning device 1000 moves along the side wall 320 to the waterline until the front of the cleaning device 1000 floats above the water surface, so that at least part of the first injection port provided on the front of the cleaning device 1000 floats above the water surface; as shown in FIG54F , the cleaning device 1000 rotates from the side wall to the water surface, realizing the switching of the cleaning device 1000 from the second motion state to the third motion state, and the cleaning device 1000 is in a roughly horizontal state to realize the switching of the cleaning device 1000 from water to the water surface. As shown in Figure 58D, when the cleaning device 1000 switches to the second motion state, if the cleaning device 1000 needs to switch from the water to the bottom wall of the pool, the same as the previous embodiment, as shown in Figure 55D, first retreats downward until the rear of the cleaning device 1000 first abuts against the bottom wall of the pool. As shown in Figure 55E, the cleaning device 1000 rotates until the cleaning device 1000 is roughly parallel to the bottom of the pool wall to complete the switching of the cleaning device 1000 from the water through the second motion state to the first motion state.

[0424] If the cleaning device 1000 is in the water and switches directly to the bottom of the pool without going through the second motion state, as shown in FIG59A, if the cleaning device 1000 is initially in a roughly horizontal state, the first adjusting member 112 is used to discharge the gas in the float chamber through the first injection port, and the liquid is injected into the float chamber through the discharge port of the float chamber, thereby rotating the cleaning device 1000, and the rear part of the cleaning device 1000 sinks before the front part, and the posture of the cleaning device 1000 is adjusted to an inclined state; or, as shown in FIG59B, the cleaning device 1000 is initially in the water. In the tilted state, the process of switching the cleaning device 1000 from the water to the bottom wall of the pool in the tilted state is the same as the previous embodiment. As shown in Figures 57D and 57E, the cleaning device 1000 keeps sinking in the tilted state until the walking mechanism at the rear of the cleaning device 1000 first contacts the bottom wall of the pool. After that, the front of the cleaning device 1000 rotates toward the bottom of the pool until the front of the cleaning device 1000 abuts against the bottom wall of the pool. The cleaning device 1000 is in a roughly horizontal direction, thereby realizing the switching of the cleaning device 1000 from the water to the bottom wall of the pool.

[0425] When the cleaning device 1000 is moving in water or on the surface of water, the walking mechanism of the cleaning device 1000 does not contact the bottom wall or the side wall. The driving force for the cleaning device 1000 to move in water or on the surface of water mainly relies on the second propeller. The walking mechanism can be in an inoperative state. However, in order to avoid obstacles in front of or behind the cleaning device 1000, the walking mechanism can be in an operational state. When encountering an obstacle, the walking mechanism is needed to drive the cleaning device 1000 to avoid the obstacle. For example, if the obstacle is a step, the walking mechanism moves on the step so that the cleaning device 1000 avoids or crosses the step. Thereafter, driven by the second propeller, the cleaning device 1000 continues to move in water or on the surface of water. Therefore, when the cleaning device 1000 is cleaning on the surface of water, even if the walking mechanism floats in water or on the surface of water, the walking mechanism can be in an operational state to avoid obstacles. If the cleaning device 1000 is in contact with the bottom wall or the side wall, even if the cleaning device 1000 is cleaning on the surface of water or moving, the walking mechanism still provides driving force to move the cleaning device 1000 forward or backward. For example, when the water depth in the pool is relatively shallow, the walking mechanism of the cleaning device 1000 still remains in contact with the bottom of the pool when cleaning the water surface. At this time, the driving force of the cleaning device 1000 when cleaning the water surface mainly relies on the walking mechanism, rather than the second propeller.

[0426] If the mode switching component includes a float chamber 111, a first adjustment member 112, and at least one first injection port 113, for the main water pump, the cleaning device 1000 is in an open state when cleaning the bottom wall, side wall or water surface; during the rotation process of the cleaning device 1000 switching between the second motion state and the third motion state, the main water pump is in an open state, so that the front of the cleaning device 1000 abuts against the side wall, which facilitates the rear part of the cleaning device 1000 to rotate up or down; during the rotation process of the cleaning device 1000 switching between the first motion state and the second motion state, the main water pump can be temporarily turned off or not; during the process of the cleaning device 1000 switching directly from the third motion state to the first motion state, the main water pump can be in an open or closed state; after the cleaning device 1000 completes the cleaning task, the cleaning device 1000 returns to any water line, and before being ready to be in standby or shutdown state, the main water pump is controlled to be in a closed state.

[0427] In one embodiment, as shown in Figures 53E and 64A , the bottom of the cleaning device 1000 is provided with one or more first drain ports 105 . These first drain ports 105 are connected to the drain port 119 of the float chamber 111 . When liquid in the float chamber is discharged through the drain ports, it is first discharged into the cleaning device 1000 and then discharged out of the cleaning device 1000 through the first drain port on the bottom of the cleaning device 1000 . These first drain ports are also used to quickly drain water from the cleaning device 1000 when the cleaning device 1000 is lifted from or removed from the water surface. For example, as shown in Figure 53E , multiple first drain ports are provided, one at the rear of the cleaning device 1000 and behind the first water inlet for pool bottom cleaning. Alternatively, the first drain port may be located at the front of the cleaning device 1000 and in front of the first water inlet.

[0428] In one specific embodiment, the cleaning device 1000 has multiple cleaning paths for the side wall. For example, as shown in Figure 61, the cleaning device 1000 switches from a first motion state to a second motion state, and the cleaning device 1000 moves upward along the first route on the side wall until the front of the cleaning device 1000 is adjacent to the water line or slightly above the water line, so as to clean the path area where the first route is located; thereafter, the cleaning device 1000 retreats along the original route until the rear of the cleaning device 1000 is close to or adjacent to the bottom wall of the pool; thereafter, the cleaning device 1000 moves upward at an angle deviating from the first route for a certain distance, for example, the cleaning device 1000 forms an angle θ1 with the water surface with its overall direction and moves upward at an angle, and adjusts the posture of the cleaning device 1000 so that the cleaning device 1000 is roughly parallel to the side wall and is in the second path. line; then, the cleaning device 1000 moves upward along the second route until the front of the cleaning device 1000 is adjacent to the waterline or slightly above the waterline, and the path area where the second route is located is cleaned. Afterwards, the cleaning device 1000 retreats along the original route until the rear of the cleaning device 1000 is close to or adjacent to the bottom wall of the pool; then, the cleaning device 1000 moves upward at an angle deviating from the second route for a distance, for example, the cleaning device 1000 moves upward at an angle of θ2 with the water surface, and the posture of the cleaning device 1000 is adjusted so that the cleaning device 1000 is roughly parallel to the side wall and is on the third route. The cleaning device 1000 moves upward along the third route for cleaning, and so on. The cleaning device 1000 as a whole moves in an inverted "N" shape to clean the area of ​​the side wall. Among them, in any two adjacent routes, when the cleaning device 1000 moves obliquely upward from the direction deviating from the previous route to the next route, the angles θ1 and θ2 mentioned above may be the same or different.

[0429] In one embodiment, the cleaning device 1000 has multiple cleaning paths for cleaning the pool bottom and the water surface. For example, as shown in FIG62 , when cleaning the pool bottom, the cleaning device 1000 can first clean the edges of the pool bottom along the edges, and then clean the internal area within the edges. When cleaning the internal area, the cleaning device moves along a first cleaning path from the first end of the pool bottom toward the second end in the longitudinal direction of the pool. The cleaning device then turns and moves along a second cleaning path from the second end side of the pool bottom toward the first end side of the pool bottom. The first cleaning path and the second cleaning path are substantially parallel and separated by a preset distance. The cleaning device then turns and continues moving along the first cleaning path from the first end toward the second end, and so on, to clean the area within the pool bottom. Alternatively, the cleaning device first cleans the internal area of ​​the pool bottom along the first cleaning path and the second cleaning path, and finally cleans the edges of the pool bottom along the edges. The cleaning path of the cleaning device 1000 for the water surface is the same as the cleaning path for the pool bottom, and will not be described in detail here.

[0430] In one embodiment, the float chamber 111 can be arranged at the front end of the cleaning device 1000, or at the rear end, middle portion, etc. of the cleaning device 1000, without limitation. In one specific embodiment, as shown in FIG63A , there are two float chambers, symmetrically arranged on both sides of the cleaning device in the horizontal direction. For ease of description, one float chamber is used for illustration, with the front portion of the float chamber arranged at the front of the cleaning device 1000 and the rear portion of the float chamber arranged at the rear of the cleaning device 1000. The float chamber ...

Claims

1. A cleaning system, comprising at least a cleaning device and a base station, wherein the cleaning device is used at least to clean the liquid in a pool and / or the inner wall of the pool; The cleaning device comprises a main body and further comprises: A mode adjustment mechanism, provided on the main body, at least used to adjust the switching of the cleaning device between the first motion state and the third motion state; A walking mechanism, at least suitable for driving the cleaning device to move on the surface to be cleaned in the first motion state or the second motion state; a propulsion mechanism, at least adapted to drive the cleaning device to move in a third motion state; The base station at least comprises a base station body and a bearing, wherein: The base station body is at least partially arranged on the side wall of the pool; the bearing member is located at the lower part of the base station body; when the cleaning device returns to the base station, the bearing member is arranged to protrude from the base station body; The first motion state at least includes the state in which the cleaning device is running on the bottom of the pool, the second motion state at least includes the state in which the cleaning device is running on the pool wall or parallel to the pool wall, and the third motion state at least includes the state in which the cleaning device is running on the water surface; The process of the cleaning device returning to the base station at least includes a process of switching from the third motion state to the second motion state.

2. The cleaning system according to claim 1, wherein: The process of the cleaning device returning to the base station also includes: the process of the cleaning device switching from the first motion state to the third motion state.

3. The cleaning system according to any one of claims 1 to 2, wherein: The process of the cleaning device returning to the base station also includes: the cleaning device switches from the second motion state to the third motion state, and the operation process of the third motion state also includes the cleaning device switching to a state of walking along the edge of the pool on one side.

4. The cleaning system according to any one of claims 1 to 3, wherein: The operation of the cleaning device in the third motion state also includes cleaning the water surface of the pool, and the process of cleaning the water surface of the pool at least includes: the cleaning device switches to a state where the other side of the cleaning device moves along the edge of the pool.

5. The cleaning system according to any one of claims 1 to 4, wherein: The cleaning device includes a first end, and a second water inlet and a first docking assembly located on the first end; the second water inlet is configured as a suction port for the cleaning device to clean the water surface when the cleaning device is in a third motion state, and the first docking assembly is configured for the cleaning device to dock with the carrier when returning to the base station.

6. The cleaning system according to any one of claims 1 to 5, wherein: The base station is provided with a self-cleaning sewage inlet corresponding to the second water inlet; when the cleaning device is docked at the base station, the second water inlet is sealed and docked with the self-cleaning sewage inlet.

7. The cleaning system according to any one of claims 1 to 6, wherein: The self-cleaning sewage inlet is arranged on the supporting member.

8. The cleaning system according to any one of claims 1 to 7, wherein: The base station is provided with a second filter component, and the cleaning device is provided with a first filter component (1050); when the cleaning device is docked at the base station, the first filter component is fluidically connected with the second filter component.

9. The cleaning system according to any one of claims 1 to 8, wherein: It also includes a power component, which is arranged on the cleaning device or the base station to generate a suction force for water to flow from the first filter component to the second filter component when the cleaning device is docked at the base station.

10. The cleaning system according to any one of claims 1 to 9, wherein: The cleaning device further comprises a lateral propulsion assembly to provide lateral thrust at least when the cleaning device is moving along the edge of the water surface in the third motion state.

11. The cleaning system according to any one of claims 1 to 10, wherein: The lateral propulsion assembly is arranged between the two side surfaces of the cleaning device, a first opening is arranged on one side surface, and a second opening is arranged on the other side surface. Along the height direction of the cleaning device, the first opening and / or the second opening are located within the range of the walking mechanism.

12. A cleaning device, comprising a cleaning device body, and further comprising: A mode adjustment mechanism, provided on the main body, at least used to adjust the switching of the cleaning device between the first motion state and the third motion state; A walking mechanism, at least suitable for the cleaning device to move on the surface to be cleaned in the first motion state or the second motion state; a propulsion mechanism, at least adapted to drive the cleaning device to move in a third motion state; A first filter assembly, at least partially housed in the cleaning device body, adapted to filter water flow entering therein; Wherein, the cleaning equipment also includes: a second water inlet, disposed at the first end of the cleaning device and in fluid communication with the first filter assembly, suitable for serving as a water inlet for cleaning the water surface of the pool when the cleaning device is operating in the third motion state; The first motion state at least includes the state in which the cleaning device is running on the bottom of the pool, the second motion state at least includes the state in which the cleaning device is running on the pool wall or parallel to the pool wall, and the third motion state at least includes the state in which the cleaning device is running on the water surface; The movement of the cleaning device in the third motion state includes at least the movement of the first motion mode and the second motion mode along the water line of the pool, wherein: In the first motion mode, the first side of the cleaning device is close to the waterline and moves in a first direction, and the second water inlet is opened to clean the moving area; In the second motion mode, the first side of the cleaning device is close to the waterline and moves along the second direction, and the second water inlet is in a closed state.

13. The cleaning device according to claim 12, wherein: Also included is a lateral propulsion assembly adapted at least to provide a thrust directed toward the side wall of the pool when the cleaning device travels along the side.

14. The cleaning device according to claim 12 or 13, wherein: It also includes a first docking assembly, which is arranged at the first end of the cleaning device and is suitable for docking with the base station.

15. The cleaning device according to any one of claims 12 to 14, wherein: It also includes a first auxiliary cleaning component, which is suitable for the cleaning device to clean the pool water line in the first motion mode or the second motion mode.

16. The cleaning device according to any one of claims 12 to 15, wherein: It also includes a first injection port, which is arranged near a second end portion arranged opposite to the first end of the cleaning device, so as to inhale or exhaust air when the cleaning device switches between the second motion state and the third motion state.

17. A base station, comprising a base station body, and further comprising: A fixing seat, the fixing seat being adapted to be fixedly connected to the edge of the pool; A second filter assembly is at least partially accommodated in the base station body; A carrier, connected to the base station body, suitable for docking with a cleaning device operating in the pool; A self-cleaning sewage inlet, which is arranged on the carrier or the base station body and is connected to the second filter assembly through a pipeline; A power component, for providing a suction force for the water flow that flows through at least the cleaning device, the self-cleaning sewage inlet, and the second filter component in sequence after the cleaning device is docked to the base station; The base station body is movably connected to the fixing seat so as to adjust the bearing member to be at least partially located below the water surface of the pool.

18. The base station according to claim 17, wherein: The distance between the lowest point of the supporting member and the water surface of the pool is greater than the overall length of the cleaning device.

19. The base station according to claim 17 or 18, wherein: The base station is provided with a first wireless charging unit, which is suitable for charging the second wireless charging unit of the cleaning device after the cleaning device is docked with the base station.

20. The base station according to any one of claims 17 to 19, wherein: The power component is arranged downstream of the second filter component.

21. A cleaning system, wherein: include: A cleaning device, wherein the cleaning device is adapted to operate in a pool of water; The cleaning equipment comprises: A first docking assembly, disposed on the side or bottom of the cleaning device; A walking and propulsion structure, including at least one of a walking mechanism or a propulsion mechanism, adapted to drive the cleaning device to travel on the surface to be cleaned or the water surface; The cleaning system further comprises a bearing assembly, wherein the bearing assembly is at least partially disposed on a wall of the pool; The bearing assembly comprises: A carrier, used for carrying the cleaning device; a second docking assembly adapted to be releasably connected to the first docking assembly to secure the cleaning device to the carrier or release the cleaning device from the carrier; The carrier has at least a first posture, in which the cleaning device is suitable for running onto the carrier, and the carrier is at least partially located below a preset water level of the pool.

22. The cleaning system of claim 21, wherein: The cleaning device comprises a control unit, which is at least adapted to control the cleaning device to move along the edge to and be fixed to the carrier assembly to perform a target operation based on the received regression signal.

23. The cleaning system of claim 22, wherein: The regression signal includes at least one of the following: the cleaning task is completed, the power of the cleaning device is lower than a preset value, the dust collection amount of the cleaning device is greater than a preset value, the cleaning device needs self-cleaning, and the amount of reagent in the cleaning device is lower than a preset value.

24. The cleaning system of claim 22, wherein: The moving along the edge includes at least one of the following: the cleaning device moves along the edge along the bottom of the pool; the cleaning device moves along the edge along the water line of the pool.

25. The cleaning system of claim 21, wherein: The second docking assembly is suitable for being releasably connected to the first docking assembly, including at least one of the following: magnetic connection, mechanical locking connection, and snap connection.

26. The cleaning system of claim 21, wherein: The cleaning device comprises a device communication module, and the device communication module comprises at least one of a first sub-module and a second sub-module; The bearing assembly includes an assembly communication module, and the assembly communication module includes at least one of a third submodule and a fourth submodule; Among them, the first submodule and the third submodule are suitable for underwater communication, and the second submodule and the fourth submodule are suitable for water communication; and at least one of the following is true: the first submodule communicates with the second submodule and the third submodule, and the third submodule communicates with the first submodule and the fourth submodule.

27. The cleaning system of claim 26, wherein: It also includes a first terminal device, which communicates with the second sub-module or the fourth sub-module.

28. The cleaning system of claim 21, wherein: The supporting assembly also includes a water level adaptation assembly, which is used to adjust the second docking assembly to a position near the waterline of the pool according to the water level of the pool, or to adjust the position of the supporting component to allow the cleaning equipment to dock to the supporting assembly or float freely according to changes in the water level of the pool.

29. The cleaning system of claim 28, wherein: The water level adaptation component includes a floating member and a guiding member, wherein the guiding member is used to limit the movement direction of the second docking component or the supporting member, and the floating member is used to drive the second docking component or the supporting member to move as the water level of the pool changes.

30. The cleaning system of claim 21, wherein: The carrier also includes a second posture, and the carrier is switched from the first posture to the second posture through rotational movement or lifting movement; wherein, in the second posture, the cleaning device can be moved outside the pool.

31. The cleaning system of claim 21, wherein: The cleaning device comprises a first filter assembly, the first filter assembly being used to filter a dust-carrying water flow; The supporting component includes at least one self-cleaning sewage inlet, and the cleaning device includes at least one self-cleaning sewage outlet connected to the first filter component and at least one self-cleaning water inlet connected to the first filter component; when the cleaning device is fixed to the supporting component, the self-cleaning sewage inlet is connected to the self-cleaning sewage outlet, and the self-cleaning water inlet is located below the water surface of the pool or connected to an external water source.

32. The cleaning system of claim 31, wherein: The cleaning device comprises a suction component, and the suction component has a first working mode and a second working mode, wherein: in the first working mode, water flow power is provided for the cleaning device to perform a cleaning operation; in the second working mode, water flow power can be provided for the cleaning device to perform a self-cleaning operation.

33. The cleaning system of claim 31, wherein: The bearing assembly includes a power assembly to at least generate a water flow that flows sequentially through the self-cleaning water inlet, the self-cleaning sewage outlet, and the self-cleaning sewage inlet.

34. The cleaning system of claim 31, wherein: The self-cleaning sewage outlet is the first water inlet of the cleaning device when performing a cleaning operation, and the self-cleaning water inlet is the first water outlet of the cleaning device when performing a cleaning operation.

35. The cleaning system of claim 31, wherein: The carrier assembly includes a second filter assembly, which is in fluid communication with the self-cleaning dirt inlet to receive the dust-laden water flow from the first filter assembly.

36. The cleaning system of claim 31, wherein: The cleaning device comprises at least a first medicine spreading component, which comprises at least a first medicine storage component; the supporting component comprises at least a second medicine storage component; when the cleaning device is fixed to the supporting component, the second medicine storage component can be used to replenish medicine for the first medicine storage component.

37. The cleaning system of claim 31, wherein: It also includes a solar energy system, which includes at least one photovoltaic component. The photovoltaic component is arranged on the supporting component or electrically connected to the supporting component to power the load mechanism or rechargeable battery of the cleaning device when the cleaning device is fixed to the supporting component.

38. A cleaning device adapted to operate in a pool, wherein: The cleaning equipment comprises: at least one first water inlet provided at the bottom of the cleaning device and at least one second water inlet provided at the side of the cleaning device; at least one first water outlet; at least one first filter assembly; A suction assembly to generate at least a clean water flow that flows sequentially through the first water inlet or the second water inlet, the first filter assembly, and the first water outlet; Wherein, the cleaning equipment also includes: An adjustment component, under the action of which, the cleaning device can switch between a first motion state and a second motion state, wherein the first motion state at least includes performing a pool bottom cleaning task, and the second motion state at least includes performing a pool surface cleaning task; The lateral propulsion assembly is at least used to generate a thrust component along the lateral direction of the cleaning device so that the cleaning device is close to the side wall when it is in the second motion state and moves along the side wall of the pool.

39. The cleaning device of claim 38, wherein: The cleaning device includes a cleaning device body and an auxiliary cleaning component, and the auxiliary cleaning component can be rotatably arranged on the cleaning device body so that the cleaning device can perform at least one of the following actions when it is in the second motion state: guiding the garbage outside the cleaning path of the second water inlet into the cleaning range of the second water inlet, or cleaning the water line of the pool.

40. A method for controlling a cleaning system, wherein the cleaning system comprises at least a cleaning device and a bearing assembly, wherein the cleaning device is suitable for running in a pool, and the bearing assembly is arranged on a side wall or edge of the pool and is suitable for the cleaning device to dock; wherein: The method at least comprises: The cleaning device performs a regression action in response to a regression signal, wherein the regression signal is at least one of the following: the cleaning task is completed, the power of the cleaning device is lower than a preset value, the dust collection amount of the dust box of the cleaning device is greater than a preset value, the cleaning device needs self-cleaning, and the amount of reagent in the cleaning device is lower than a preset value; The cleaning device moves toward the carrying assembly, and the moving includes at least one of the following: the cleaning device moves along the bottom and edge of the pool, and the cleaning device moves along the waterline and edge of the pool; The cleaning device performs a docking action; Wherein, before the cleaning device moves toward the carrying component, the relative position relationship between the cleaning device and the carrying component is determined, and determining the relative position relationship includes at least one of the following: the cleaning device identifies the carrying component, the carrying component identifies the cleaning device, and the cleaning device identifies a positioning mark associated with the carrying component.

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