Cleaning robot, water-entry control method, control device, and readable storage medium

Abstract

The present application provides a cleaning robot, a water-entry control method, a control device, and a computer-readable storage medium. The cleaning robot of the present application has a first cleaning mode and a second cleaning mode; in the first cleaning mode, the cleaning robot is placed with its front surface facing upward in an area to be cleaned; and in the second cleaning mode, the cleaning robot is placed with its front surface facing downward in said area. The cleaning robot comprises a body, buoyancy devices, and automatic opening and closing devices; the buoyancy devices each comprise a first buoyancy chamber, a water port, and a gas port; the water port and the gas port are both communicated with the first buoyancy chamber; and the automatic opening and closing devices each are provided at the corresponding gas port and configured to open or close the gas port. The automatic opening and closing devices of the cleaning robot of the present application can be started only when the cleaning robot satisfies a preset posture, such that the cleaning robot enters water more stably, has a smaller inclination angle upon touching the pool bottom, and can better return to a horizontal state.

Description

Cleaning robot, water entry control method, control device and readable storage medium

[0001] The present application claims priority to Chinese Patent Applications No. 202410945932.7 and 202410945933.1, filed on July 15, 2024, entitled "Cleaning Robot" and "Water Entry Control Method, Control Device, Readable Storage Medium and Cleaning Robot", respectively, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the field of robots, in particular to a cleaning robot, a water entry control method of the cleaning robot, a control device and a computer readable storage medium. BACKGROUND

[0003] A pool cleaning robot is used for cleaning garbage in water, which can greatly reduce the difficulty of underwater cleaning and labor cost. Before the pool cleaning robot performs underwater garbage cleaning, the user usually opens the exhaust port of the pool cleaning robot and then puts it into the water, and then gradually sinks to the bottom of the pool for cleaning. However, the existing pool cleaning robot needs to be put into the water in a specific posture. When the pool cleaning robot is not put into the water in a specific posture, the pool cleaning robot may not be able to recover to an underwater cleaning state when it touches the bottom due to a too large inclination angle, or even overturn, which seriously affects the normal use of the pool cleaning robot. SUMMARY

[0004] The present application provides a cleaning robot, a water entry control method, a control device and a readable storage medium, wherein the automatic opening and closing device of the cleaning robot can be opened only when the cleaning robot meets the preset posture, so that the process of the cleaning robot entering the water is more stable, and the cleaning robot has a smaller included angle when it touches the bottom, and can better recover to a horizontal state.

[0005] The first aspect of the present application provides a cleaning robot, the cleaning robot has a first cleaning mode and a second cleaning mode, in the first cleaning mode, the cleaning robot is placed in a to-be-cleaned area, in the second cleaning mode, the cleaning robot is placed in a to-be-cleaned area; the cleaning robot includes a body, a buoyancy device and an automatic opening and closing device, the buoyancy device includes a first floating cavity, a water inlet and an air inlet, the water inlet and the air inlet are in communication with the first floating cavity, and the automatic opening and closing device is arranged at the air inlet and used for opening or closing the air inlet.

[0006] In an embodiment of the first aspect, the cleaning robot is thrown into water by a user when performing underwater cleaning. Before being thrown into water, the cleaning robot controls the automatic opening and closing device to close the air port of the buoyancy device. Since the air port is closed, only part of the water will enter the first floating cavity from the water port, and the buoyancy device can still generate a corresponding amount of buoyancy to make the cleaning robot float on the water surface. That is, before the automatic opening and closing device opens the air port, the cleaning robot will always float on the water surface until the posture of the cleaning robot on the water surface meets the preset posture, and then the automatic opening and closing device opens the air port to make the water enter the first floating cavity from the water port and fill it, so that the cleaning robot sinks into the underwater in the preset posture, and in this preset posture, the cleaning robot can automatically recover to a state parallel to the bottom wall. In this way, it can be prevented that the user throws the cleaning robot into water in an incorrect posture, for example, vertically into water, which causes the cleaning robot to sink into the underwater in a direction perpendicular to the water surface, and finally causes the cleaning robot to fail to recover to a working state parallel to the bottom wall after touching the bottom.

[0007] The second aspect of the present application provides a cleaning robot water entry control method. The cleaning robot includes a buoyancy device, and the buoyancy device includes a buoyancy device and an automatic opening and closing device. The buoyancy device has a first floating cavity, an air port, and a water port. The air port and the water port are both in communication with the first floating cavity. The automatic opening and closing device is arranged at the air port and is used to control the opening and closing of the air port. The cleaning robot water entry control method includes the following steps:

[0008] controlling the automatic opening and closing device to close the air port;

[0009] detecting the water entry posture of the cleaning robot;

[0010] judging whether the water entry posture of the cleaning robot meets a preset posture, wherein the preset posture is a state in which the cleaning robot keeps balance on the water surface without external force interference and with the air port closed;

[0011] when the water entry posture of the cleaning robot meets the preset posture, controlling the automatic opening and closing device to open the air port, so that water enters the first floating cavity from the water port, and the gas in the first floating cavity is discharged from the air port.

[0012] The third aspect of the present application further provides a cleaning robot water entry control device. The cleaning robot includes a buoyancy device, and the buoyancy device includes a buoyancy device and an automatic opening and closing device. The buoyancy device has a first floating cavity, an air port, and a water port. The air port and the water port are both in communication with the first floating cavity. The automatic opening and closing device is arranged at the air port and is used to control the opening and closing of the air port. The cleaning robot water entry control device includes the following components:

[0013] a processor configured to control the automatic opening and closing device to close the air port;

[0014] a posture sensor configured to detect an entry posture of the cleaning robot;

[0015] the processor is further configured to determine whether the entry posture of the cleaning robot conforms to a preset posture, wherein the preset posture is a state in which the cleaning robot is balanced on the water surface without external force interference and with the air port closed;

[0016] when the processor determines that the entry posture of the cleaning robot conforms to the preset posture, the processor controls the automatic opening and closing device to open the air port, so that water enters the first floating cavity from the water port, and the gas in the first floating cavity is discharged from the air port.

[0017] The fourth aspect of the present application further provides a computer readable storage medium, which stores computer executable program code, and the computer executable program code is configured to cause a computer to execute the entry control method according to the embodiments of the present application.

[0018] The fifth aspect of the present application further provides a cleaning robot, which comprises a processor and a memory, and the memory stores program code executable by the processor, and when the program code is invoked and executed by the processor, the entry control method according to the embodiments of the present application is executed.

[0019] In the embodiments mentioned in the second aspect to the fifth aspect, when the cleaning robot is thrown into the water, although the water port is open, because the air port is closed, the first floating cavity will not enter water at other positions except for a small amount of water near the water port, and the floating device can still provide the cleaning robot with buoyancy to make it float on the water surface. No matter how the cleaning robot is placed on the water surface, the cleaning robot will gradually return to the preset posture (i.e., the balanced posture) under the action of the buoyancy before the air port is opened; the automatic opening and closing device is controlled to open the air port only when the entry posture conforms to the preset posture, so that the cleaning robot can enter the water in the preset posture, so that the cleaning robot can return to the upright state (i.e., the state parallel to the bottom surface of the cleaning area) under its own gravity when it contacts the bottom surface of the cleaning area, so that it will not be unable to return to the upright state due to a too large inclination angle, or even be overturned, thereby affecting the normal operation of the cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative effort based on these drawings.

[0021] Fig. 1 is a structural schematic diagram of a cleaning robot according to an embodiment of the present application, wherein the cleaning robot is in an upright state.

[0022] Fig. 2 is a structural schematic diagram of a cleaning robot according to an embodiment of the present application, wherein a part of the body is omitted.

[0023] Fig. 3 is a partially exploded structural schematic diagram of a cleaning robot according to an embodiment of the present application, wherein a part of the body is omitted.

[0024] Fig. 4 is a structural schematic diagram of a cleaning robot according to an embodiment of the present application, wherein the cleaning robot is in an inverted state.

[0025] Fig. 5 is a structural schematic diagram of a buoyancy device according to an embodiment of the present application.

[0026] Fig. 6 is a sectional view of the buoyancy device along the direction of A-A in Fig. 5 according to an embodiment of the present application.

[0027] Fig. 7 is an enlarged view of the dashed box I in Fig. 2.

[0028] Fig. 8 is a structural schematic diagram of an automatic opening and closing device according to an embodiment of the present application.

[0029] Fig. 9 is a partially exploded structural schematic diagram of a cleaning robot according to an embodiment of the present application, wherein the cleaning robot is in an inverted state.

[0030] Fig. 10 is an enlarged view of the dashed box II in Fig. 3.

[0031] Fig. 11 is a side view of a cleaning robot according to an embodiment of the present application, wherein the cleaning robot is in an upright state.

[0032] Fig. 12 is a side view of a cleaning robot according to an embodiment of the present application, wherein the cleaning robot is in an inverted state.

[0033] Fig. 13 is a structural schematic diagram of a buoyancy member according to an embodiment of the present application.

[0034] Fig. 14 is a flowchart of a method for controlling a cleaning robot to enter water according to a first embodiment of the present application.

[0035] Fig. 15 is a flowchart of a method for controlling a cleaning robot to enter water according to a second embodiment of the present application.

[0036] Fig. 16 is a flow chart of a method for controlling a cleaning robot to enter water according to a third embodiment of the present application.

[0037] Fig. 17 is a flow chart of a method for controlling a cleaning robot to enter water according to a fourth embodiment of the present application.

[0038] Fig. 18 is a flow chart of a method for controlling a cleaning robot to enter water according to a fifth embodiment of the present application.

[0039] Fig. 19 is a flow chart of a method for controlling a cleaning robot to enter water according to a sixth embodiment of the present application.

[0040] Fig. 20 is a flow chart of a method for controlling a cleaning robot to enter water according to a seventh embodiment of the present application.

[0041] Fig. 21 is a flow chart of a method for determining whether a cleaning robot has entered water according to an embodiment of the present application.

[0042] Fig. 22 is a block diagram of a device for controlling a cleaning robot to enter water according to a first embodiment of the present application.

[0043] Fig. 23 is a block diagram of a device for controlling a cleaning robot to enter water according to a second embodiment of the present application.

[0044] Fig. 24 is a block diagram of a device for controlling a cleaning robot to enter water according to a third embodiment of the present application.

[0045] Fig. 25 is a block diagram of a device for controlling a cleaning robot to enter water according to a fourth embodiment of the present application.

[0046] Fig. 26 is a block diagram of a device for controlling a cleaning robot to enter water according to a fifth embodiment of the present application.

[0047] Fig. 27 is a block diagram of a cleaning robot according to an embodiment of the present application.

[0048] Explanation of reference signs: 100 - cleaning robot, 10 - body, 11 - accommodating cavity, 10a - front end, 10b - rear end, 12 - containing cavity, 13 - receiving part, 14 - support part, 141 - filter hole, 110 - second processor, 120 - memory, 2 - buoyancy device, 20 - buoyancy device, 20a - first buoyancy device, 20b - second buoyancy device, 21 - first floating cavity, 22 - water port, 23 - gas port, 24 - first buoyancy part, 241 - first sub-float cavity, 25 - second buoyancy part, 251 - second sub-float cavity, 26 - third buoyancy part, 261 - third sub-float cavity, 30 - automatic opening and closing device, 31 - first pipe body, 32 - automatic opening and closing piece, 33 - second pipe body, 34 - tee, 341 - first flow channel port, 342 - second flow channel port, 343 - third flow channel port, 40 - first detection device, 50 - second detection device, 60 - motor box, 70 - buoyancy piece, 80 - traveling wheel, 80a - first traveling wheel, 80b - second traveling wheel, 800 - water entry control device, 810 - first processor, 820 - attitude sensor, 830 - flow sensor, 840 - angle sensor, 850 - detection unit, 851 - detection subunit, 852 - processing subunit, 91 - garbage collection device, 92 - identification assembly, 921 - detection element, 922 - detected element, 93 - cleaning brush, 94 - driving paddle. DETAILED DESCRIPTION

[0049] In order to enable persons skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0050] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or device.

[0051] The technical solutions in the embodiments of the present application will be described below in combination with the drawings.

[0052] It should be noted that, for the convenience of description, in the embodiments of the present application, the same reference signs represent the same components, and for the sake of brevity, detailed description of the same components is omitted in different embodiments.

[0053] The pool cleaning robot is used for garbage cleaning in water, which can greatly reduce the difficulty of underwater cleaning and labor cost. Before the pool cleaning robot performs underwater garbage cleaning, the user usually opens the exhaust port of the pool cleaning robot and then puts it into the water, and then gradually sinks to the bottom of the pool for cleaning. However, the existing pool cleaning robot needs to be put into the water in a specific posture. When the pool cleaning robot is not put into the water in a specific posture, the pool cleaning robot is prone to tilt too much when it touches the bottom and cannot recover to the underwater cleaning state, or even overturn, which seriously affects the normal use of the pool cleaning robot. In addition, even if the pool cleaning robot is put into the water in a specific posture, the pool cleaning robot is prone to swing during sinking, which makes one end of the pool robot tilt or even overturn, so that the pool robot cannot recover to the underwater cleaning state after touching the bottom, affecting the normal use of the pool cleaning robot.

[0054] Please refer to FIGS. 1 to 6, the cleaning robot 100 provided by the embodiments of the present application has a first cleaning mode (as shown in FIG. 1) and a second cleaning mode (as shown in FIG. 4), in the first cleaning mode, the cleaning robot 100 is placed in the to-be-cleaned area, in the second cleaning mode, the cleaning robot 100 is placed upside down in the to-be-cleaned area; the cleaning robot 100 comprises a body 10, a buoyancy device 20 and an automatic opening and closing device 30, the buoyancy device 20 comprises a first floating cavity 21, a water inlet 22 and an air inlet 23, the water inlet 22 and the air inlet 23 are both in communication with the first floating cavity 21, and the automatic opening and closing device 30 is arranged at the air inlet 23 and is used for opening or closing the air inlet 23.

[0055] The cleaning robot 100 of the embodiments of the present application can be applied to garbage cleaning of a pool, a water tank and the like. The cleaning robot 100 can clean the garbage on the water surface, and can also sink underwater to clean the garbage underwater and clean the surface of the bottom and the side wall of the pool.

[0056] It can be understood that the first cleaning mode is a cleaning mode in which the cleaning robot 100 is in a normal posture, which is used for underwater cleaning, and the second cleaning mode is a cleaning mode in which the cleaning robot 100 is in an upside-down posture, which is used for surface cleaning. The normal posture of the cleaning robot 100 is opposite to the upside-down posture.

[0057] It should be noted that when the cleaning robot 100 is in the upside-down posture and performs water surface cleaning (i.e., the cleaning robot 100 is in the second cleaning mode), the automatic opening and closing device 30 closes the air port 23, and the first floating cavity 21 is not filled with water except for a small amount of water near the water port 22. The first floating cavity 21 can provide buoyancy for the cleaning robot 100, so that the cleaning robot 100 can float on the water surface, thereby performing water surface cleaning work. When the cleaning robot 100 is in the upright posture (i.e., the cleaning robot 100 is in the first cleaning mode) and the air port 23 is opened, water gradually enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 gradually discharges from the air port 23, and finally the first floating cavity 21 is filled with water, and the cleaning robot 100 gradually sinks to the bottom surface of the cleaning area (such as the bottom of a swimming pool or a water pool).

[0058] Optionally, when the cleaning robot 100 is in the upside-down posture, the water port 22 is closer to the bottom surface of the cleaning area than the air port 23, and when the cleaning robot 100 is in the upright posture, the water port 22 is farther away from the bottom surface of the cleaning area than the air port 23. It can also be understood that when the cleaning robot 100 is upright, the air port 23 is closer to the top of the cleaning robot 100, and the water port 22 is closer to the bottom of the cleaning robot 100.

[0059] Optionally, when the cleaning robot 100 is upside down and performs water surface cleaning, the cleaning robot 100 is mostly submerged in water. Optionally, the cleaning robot 100 is 80% to 95% submerged in water in the height direction, such as 80%, 83%, 85%, 88%, 90%, 82%, 95%, etc. When the cleaning robot 100 performs water surface cleaning, the cleaning robot 100 is mostly submerged in water as a whole, which can make the cleaning robot 100 more stable as a whole and less likely to sway during movement.

[0060] It should be noted that the automatic opening and closing device 30 is used to automatically control the opening of the air port 23 when the water entry posture of the cleaning robot 100 meets the preset posture, and if the water entry posture of the cleaning robot 100 does not meet the preset posture, the automatic opening and closing device 30 keeps the air port 23 closed.

[0061] It should be noted that the preset posture is the balance state of the cleaning robot 100 on the water surface when the cleaning robot 100 is in the upright posture, the air port 23 is closed, and there is no external force interference. When the cleaning robot 100 is in the balance state, the cleaning robot 100 can have a certain angle with respect to the water surface, i.e., the cleaning robot 100 can be in an inclined state. In addition, the cleaning robot 100 can also be in a parallel or substantially parallel state with the water surface.

[0062] It should be noted that due to the shaking of water, the cleaning robot 100 cannot be completely stationary when located on the water surface, and thus the balanced state is relative, referring to the relatively stable state of the cleaning robot 100 on the water surface, for example, the change in the tilt angle is within a preset range, for example, the change in the tilt angle is less than or equal to 3°.

[0063] Optionally, the buoyancy device 20 is arranged on one side of the body 10 along the width direction of the cleaning robot 100. It should be noted that the width direction refers to the direction perpendicular to the running direction of the cleaning robot 100 and perpendicular to the height direction of the cleaning robot 100.

[0064] In the present embodiment, when the cleaning robot 100 is thrown into water in the upright posture, although the water port 22 is open, the gas port 23 is closed, and except for a small amount of water near the water port 22, no other part of the first floating cavity 21 enters water, the buoyancy device 20 can still provide buoyancy for the cleaning robot 100 to float on the water surface. No matter how the cleaning robot 100 is thrown into the water, before the gas port 23 is opened, the cleaning robot 100 will gradually return to the preset posture (i.e., the balanced posture) under the action of the buoyancy.

[0065] In the related art, the cleaning robot 100 is not provided with the automatic opening and closing device 30, and before the cleaning robot 100 is thrown into water, the gas port 23 is opened, and then the cleaning robot 100 is thrown into water. When the cleaning robot 100 enters water, water quickly enters from the water port 22, and gas is discharged from the gas port 23; if the tilt angle of the cleaning robot 100 is too large when it enters water, it is easy to make the cleaning robot 100 unable to recover to the upright posture when it touches the bottom due to the too large tilt angle, or even make the cleaning robot 100 overturn, affecting the normal work of the cleaning robot 100.

[0066] In this embodiment, when the cleaning robot 100 is used for underwater cleaning, the user first throws the cleaning robot 100 into the water. Before being thrown into the water, the cleaning robot 100 controls the automatic opening and closing device 30 to close the air port 23 of the buoyancy device 20. Since the air port 23 is closed, only part of the water will enter the first floating cavity 21 from the water port 22, and the buoyancy device 20 can still generate a corresponding size of buoyancy to make the cleaning robot 100 float on the water surface. That is, before the automatic opening and closing device 30 opens the air port 23, the cleaning robot 100 will always float on the water surface until the posture of the cleaning robot 100 on the water surface meets the preset posture, and then the automatic opening and closing device 30 opens the air port 23 to make the water enter the first floating cavity 21 from the water port 22 and fill it, so that the cleaning robot 100 sinks into the water bottom with the preset water entry posture, and the cleaning robot 100 can automatically recover to the state parallel to the bottom wall under the preset posture. In this way, it can be prevented that the user throws the cleaning robot 100 into the water with an incorrect posture, for example, vertically into the water, which causes the cleaning robot 100 to sink into the water bottom in the direction perpendicular to the water surface, and finally causes the cleaning robot 100 to fail to recover to the working state parallel to the bottom wall after touching the bottom.

[0067] Referring again to FIG. 3, in some embodiments, the cleaning robot 100 further comprises a first detection device 40. In the first cleaning mode, the first detection device 40 is used to detect whether the cleaning robot 100 is in a preset posture, to control the automatic opening and closing device 30 to open the air port 23 when the cleaning robot 100 is in the preset posture, wherein the preset posture is the state in which the cleaning robot 100 keeps balance on the water surface without external force interference and the air port 23 is closed.

[0068] Optionally, the first detection device 40 can be one of, but not limited to, a gyroscope sensor, a liquid level sensor, etc.

[0069] It can be understood that when the motor box of the cleaning robot 100 receives the water entry posture of the cleaning robot 100 detected by the first detection device 40 and determines that the water entry posture is in the preset posture, the motor box sends a control signal to control the automatic opening and closing device 30 to open the air port 23, so that the water enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 is discharged from the air port 23, and the cleaning robot 100 gradually sinks, and finally the water fills the entire floating cavity.

[0070] In the embodiment, the first detection device 40 is arranged to detect the water entry posture of the cleaning robot 100. Through cooperation of the first detection device 40 and the automatic opening and closing device 30, the water entry posture of the cleaning robot 100 can be more accurately detected and judged, so that the cleaning robot 100 has a smaller angle when touching the bottom, and can be restored to a horizontal position under its own gravity. The probability that the cleaning robot 100 cannot be restored to a normal posture due to a too large angle when touching the bottom is reduced, and the working efficiency of the cleaning robot 100 is improved.

[0071] In some embodiments, the cleaning robot 100 further comprises a second detection device 50, which is arranged to detect the normal or inverted posture of the cleaning robot 100, so as to determine whether the current posture of the cleaning robot 100 corresponds to the current cleaning mode thereof according to the detection result.

[0072] Optionally, the second detection device 50 can be, but is not limited to, one of a gyroscope sensor, a Hall sensor and the like.

[0073] It should be noted that the second detection device 50 can be arranged to detect whether the posture of the cleaning robot 100 is in a normal posture or an inverted posture, and feed back the detection result to the motor box of the cleaning robot 100, so that the motor box compares the posture of the cleaning robot 100 with the cleaning mode of the cleaning robot 100, and determines whether the current posture of the cleaning robot 100 corresponds to the current cleaning mode.

[0074] Optionally, the first detection device 40 and the second detection device 50 can be different detection devices, or can be the same detection device. When the first detection device 40 and the second detection device 50 are both gyroscope sensors, the first detection device 40 and the second detection device 50 can be the same detection device.

[0075] In the embodiment, the second detection device 50 is arranged to detect the normal or inverted posture of the cleaning robot 100, and determine whether the current posture of the cleaning robot 100 corresponds to the current cleaning mode thereof according to the detection result. In this way, the normal working of the cleaning robot 100 can be better avoided when the current state of the cleaning robot 100 does not match the current cleaning mode (for example, the cleaning robot 100 is in a normal posture and is in a second cleaning mode; or for example, the cleaning robot 100 is in an inverted posture and is in a first cleaning mode).

[0076] Please refer to FIG. 2, FIG. 3 and FIG. 7 again, in some embodiments, the air port 23 is arranged near the top of the cleaning robot 100, and the water port 22 is arranged near the bottom of the cleaning robot 100; the automatic opening and closing device 30 comprises a first pipe body 31, an automatic opening and closing member 32 and a second pipe body 33 connected in sequence, one end of the first pipe body 31 away from the automatic opening and closing member 32 is communicated with the air port 23, the automatic opening and closing member 32 is used for controlling the opening or closing of the passage between the first pipe body 31 and the second pipe body 33, and the second pipe body 33 is communicated with the external environment.

[0077] Optionally, the automatic opening and closing member 32 can be, but is not limited to, a solenoid valve or other electrically controlled valve.

[0078] Optionally, the water port 22 is arranged on the bottom wall of the buoyancy device 20 near the bottom of the cleaning robot 100, and the air port 23 is arranged on the side wall of the buoyancy device 20 facing the body 10 and near the top of the cleaning robot 100.

[0079] Optionally, the automatic opening and closing device 30 is arranged above the body 10, i.e. on the top of the body 10.

[0080] It can be understood that the first pipe body 31, the automatic opening and closing member 32 and the second pipe body 33 are connected in sequence.

[0081] It should be noted that the top of the cleaning robot 100 refers to the side of the cleaning robot 100 away from the placement surface when the cleaning robot 100 is placed on the placement surface, and the bottom of the cleaning robot 100 refers to the side of the cleaning robot 100 facing the placement surface when the cleaning robot 100 is placed on the placement surface.

[0082] In this embodiment, the opening and closing of the air port 23 are controlled through the cooperation of the first pipe body 31, the automatic opening and closing member 32 and the second pipe body 33, so that only when the water entry posture of the cleaning robot 100 meets the preset posture, the automatic opening and closing member 32 controls the conduction of the first pipe body 31 and the second pipe body 33 to be opened, so that the cleaning robot 100 enters the water in the preset posture, so that the cleaning robot 100 has a small inclination angle when contacting the bottom surface of the area to be cleaned, so that the cleaning robot 100 can be restored to the upright posture (i.e. the state of being parallel to the bottom surface of the area to be cleaned) under its own gravity, and will not be unable to restore to the upright posture due to the inclination angle being too large, or even be overturned, thereby affecting the normal operation of the cleaning robot 100.

[0083] Please refer to FIG. 2 and FIG. 3 again, in some embodiments, the body 10 has a receiving cavity 11, and the cleaning robot 100 further comprises a motor box 60 electrically connected to the automatic opening and closing member 32 for controlling the opening and closing of the automatic opening and closing member 32 to control the opening and closing of the air port 23, the motor box 60 is arranged in the receiving cavity 11, the air port 23 is located on the side of the buoyancy device 20 close to the motor box 60, and the automatic opening and closing device 30 is arranged on the motor box 60.

[0084] It can be understood that the air port 23 is located on the side of the buoyancy device 20 close to the motor box 60 and is arranged close to the top of the motor box 60. It can be understood that the air port 23 is arranged above the motor box 60.

[0085] It can be understood that the automatic opening and closing device 30 is located on the side of the motor box 60 away from the body 10.

[0086] Optionally, the motor box 60 is further electrically connected to the first detection device 40 for controlling the first detection device 40 to detect the water entry posture of the cleaning robot 100, and judging whether the cleaning robot 100 is in a preset posture according to the water entry posture, and controlling the automatic opening and closing device 30 to open the air port 23 when the cleaning robot 100 is in the preset posture.

[0087] Optionally, the motor box 60 is further electrically connected to the second detection device 50 for controlling the second detection device 50 to detect the right posture or the reverse posture of the cleaning robot 100, and judging whether the current posture of the cleaning robot 100 corresponds to the current cleaning mode according to the detection result.

[0088] In the embodiment, the air port 23 is located on the side of the buoyancy device 20 close to the motor box 60, and the automatic opening and closing device 30 is arranged on the motor box 60, so that the air port 23 and the automatic opening and closing device 30 are arranged close to the motor box 60, which can simplify the connection line arrangement of the automatic opening and closing member 32 and the motor box 60, and make the structure of the cleaning robot 100 more compact.

[0089] In some embodiments, the cleaning robot 100 has a front end 10a and a rear end 10b arranged opposite to each other along the traveling direction, the motor box 60 is arranged at the front end 10a of the cleaning robot 100, the motor box 60 has a second floating cavity (not shown in the figure), and / or the body 10 is provided with a plurality of buoyancy members 70 close to the front end 10a, so that the air port 23 is always located above the water surface before the cleaning robot 100 is completely submerged in water.

[0090] In some embodiments, the motor box 60 has a second floating cavity, and the machine body 10 is not provided with the floating member 70. In other embodiments, the motor box 60 is not provided with the second floating cavity, and the machine body 10 is provided with a plurality of floating members 70. In yet other embodiments, the motor box 60 has the second floating cavity, and the machine body 10 is provided with a plurality of floating members 70.

[0091] Optionally, the air port 23 is arranged close to the front end 10a of the cleaning robot 100. In other words, the air port 23 is arranged closer to the front end 10a than to the rear end 10b.

[0092] The motor box 60 accounts for a relatively large proportion of the weight of the entire cleaning robot 100 (e.g., 0.25 to 0.4). Therefore, arranging the motor box 60 close to the front end 10a of the cleaning robot 100 causes the center of gravity of the cleaning robot 100 to be close to the front end 10a. When the cleaning robot 100 enters water, the rear end 10b is raised due to the center of gravity being close to the front end 10a. However, in order to avoid the air port 23 being submerged, the air port 23 is arranged at the front end 10a, and a floating block capable of providing buoyancy and / or a second floating cavity of the motor box 60 is arranged at the front end 10a, so that the cleaning robot 100 gradually changes from the rear end 10b being raised to the front end 10a being raised, until the gas in the first floating cavity 21 is completely exhausted.

[0093] Optionally, the number of floating members 70 can be one or more. When there are a plurality of floating members 70, the plurality of floating members 70 can be arranged around the motor box 60 or arranged close to the motor box 60 at intervals. It can be understood that "several" means one or more.

[0094] In the present embodiment, the second floating cavity or the floating member 70 is arranged, so that the air port 23 is always above the water surface before the cleaning robot 100 is completely submerged in water, so as to better exhaust the gas in the first floating cavity 21. This avoids the air port 23 being submerged in water before the gas in the first floating cavity 21 is completely exhausted, affecting the exhaust of the air port 23, so that the gas in the first floating cavity 21 is not completely exhausted, thereby affecting the sinking of the cleaning robot 100.

[0095] Referring to FIGS. 2, 3 and 6, in some embodiments, the cleaning robot 100 further includes a first travel wheel 80a and a second travel wheel 80b, the first travel wheel 80a and the second travel wheel 80b are arranged at intervals along the travel direction of the cleaning robot 100 and rotatably arranged on the same side of the machine body 10; the floating device 20 includes a first floating part 24, the first travel wheel 80a and the second travel wheel 80b are located outside the first floating part 24, the first floating part 24 has a first sub-floating cavity 241, and the water port 22 is arranged at one end of the first floating part 24 and is arranged in an open manner.

[0096] It can be understood that in the embodiment, the first floating cavity 21 comprises a first sub-floating cavity 241.

[0097] It can be understood that the number of the first travel wheels 80a and the second travel wheels 80b can be two, one set of the first travel wheels 80a and the second travel wheels 80b are arranged on one side of the cleaning robot 100 along the width direction of the cleaning robot 100, and another set of the first travel wheels 80a and the second travel wheels 80b are arranged on the other side of the cleaning robot 100 along the width direction of the cleaning robot 100. In a specific embodiment, two first travel wheels 80a are arranged at the front end 10a of the cleaning robot 100, and two second travel wheels 80b are arranged at the rear end 10b of the cleaning robot 100.

[0098] It can be understood that along the travel direction of the cleaning robot 100, the first floating force part 24 is located between the first travel wheels 80a and the second travel wheels 80b, and along the width direction of the cleaning robot 100, the first floating force part 24 is located between the first travel wheels 80a and the body 10 and between the second travel wheels 80b and the body 10 (i.e. the first floating force part 24 is located inside the first travel wheels 80a and the second travel wheels 80b). The first sub-floating cavity 241 extends along the height direction and the travel direction of the cleaning robot 100.

[0099] Optionally, the water port 22 is arranged on a side wall of the first floating force part 24 close to the bottom of the cleaning robot 100. The air port 23 is arranged at a position of the first floating force part 24 close to the top of the cleaning robot 100.

[0100] It should be noted that the water port 22 is arranged as an open port, and it can be understood that the water port 22 is an open straight-through port, and there is no filter screen, barrier or the like at the position of the water port 22.

[0101] In the embodiment, by arranging the positions of the first floating force part 24 and the first travel wheels 80a and the second travel wheels 80b, the space inside the first travel wheels 80a and the second travel wheels 80b of the cleaning robot 100 is fully utilized, which can make the structural arrangement of the cleaning robot 100 more compact and make the cleaning robot 100 more miniaturized.

[0102] Please refer to FIG. 2, FIG. 3 and FIG. 6, in some embodiments, the floating force device 20 further comprises a second floating force part 25, the second floating force part 25 is arranged on a side of the first floating force part 24 away from the body 10 and between the first travel wheels 80a and the second travel wheels 80b, the second floating force part 25 has a second sub-floating cavity 251, and the second sub-floating cavity 251 communicates with the first sub-floating cavity 241.

[0103] It can be understood that, in the embodiment, the first floating cavity 21 comprises a first sub-floating cavity 241 and a second sub-floating cavity 251.

[0104] It should be noted that, compared with the air port 23, the second buoyancy part 25 is closer to the water port 22. In other words, the second buoyancy part 25 is arranged close to the water port 22 and away from the air port 23.

[0105] Optionally, the first buoyancy part 24 and the second buoyancy part 25 are an integral structure, the first buoyancy part 24 and the second buoyancy part 25 are different parts of the same component, and the first buoyancy part 24 and the second buoyancy part 25 can be formed by an integral forming process, such as an injection molding process (suitable for resin materials), a casting process (suitable for metal materials), etc.

[0106] In the embodiment, by arranging the second buoyancy part 25 between the first traveling wheel 80a and the second traveling wheel 80b, the space between the first traveling wheel 80a and the second traveling wheel 80b can be better utilized, the structural arrangement of the cleaning robot 100 can be more compact, and the cleaning robot 100 can be more miniaturized. In addition, the size of the first floating cavity 21 of the buoyancy device 20 can be increased, so that when the cleaning robot 100 is inverted for underwater cleaning, the buoyancy device 20 can provide greater buoyancy for the cleaning robot 100, thereby making the cleaning robot 100 more stable and floating on the water surface.

[0107] Please refer to FIG. 2, FIG. 3 and FIG. 6, in some embodiments, the buoyancy device 20 further comprises a third buoyancy part 26, the third buoyancy part 26 is arranged on the side of the first buoyancy part 24 away from the body 10, the second buoyancy part 25 and the third buoyancy part 26 are arranged along the height direction of the cleaning robot 100, the third buoyancy part 26 has a third sub-floating cavity 261, and the third sub-floating cavity 261 is communicated with the first sub-floating cavity 241.

[0108] It can be understood that, in the embodiment, the first floating cavity 21 comprises a first sub-floating cavity 241, a second sub-floating cavity 251 and a third sub-floating cavity 261.

[0109] Optionally, the third buoyancy part 26 is located between the first traveling wheel 80a and the second traveling wheel 80b.

[0110] It can be understood that the third buoyancy part 26 is arranged away from the water port 22 and close to the air port 23.

[0111] Optionally, the air port 23 is arranged on the side wall of the first buoyancy part 24 away from the second buoyancy part 25 and the third buoyancy part 26, and is arranged closer to the third buoyancy part 26.

[0112] In the embodiment, the third buoyancy part 26 is additionally arranged between the first traveling wheel 80a and the second traveling wheel 80b and along the height direction of the cleaning robot 100, the space between the first traveling wheel 80a and the second traveling wheel 80b is more fully utilized, the structure of the cleaning robot 100 is more compact, and the cleaning robot 100 is more miniaturized. In addition, the size of the first floating cavity 21 of the buoyancy device 20 can be increased, so that when the cleaning robot 100 is inverted for underwater cleaning, the buoyancy device 20 can provide greater buoyancy for the cleaning robot 100, thereby making the cleaning robot 100 more stable and floating on the water surface.

[0113] Please refer to FIG. 2 and FIG. 8, in some embodiments, the buoyancy device 20 includes two, and the two buoyancy devices 20 are arranged on opposite sides of the body 10, respectively. The automatic opening and closing device 30 includes a tee pipe 34 and an automatic opening and closing member 32. The tee pipe 34 has a first flow passage opening 341, a second flow passage opening 342 and a third flow passage opening 343 which are in communication with each other. The first flow passage opening 341 and the second flow passage opening 342 are in communication with the air ports 23 of the two buoyancy devices 20, respectively. The automatic opening and closing member 32 is arranged at the third flow passage opening 343 and is used to open or close the third flow passage opening 343. The third flow passage opening 343 is in communication with the outside.

[0114] It should be noted that the two buoyancy devices 20 are arranged on opposite sides of the body 10 along the width direction of the cleaning robot 100.

[0115] It can be understood that in the embodiment, the two buoyancy devices 20 share one automatic opening and closing member 32.

[0116] Optionally, the automatic opening and closing member 32 can be, but is not limited to, a solenoid valve or other electrically controlled valve.

[0117] It can be understood that the air ports 23 of the two buoyancy devices 20 are oppositely arranged, and the automatic opening and closing device 30 is arranged between the two buoyancy devices 20.

[0118] In the embodiment, through the cooperation of the tee pipe 34 and the automatic opening and closing member 32, one automatic opening and closing member 32 can simultaneously control the opening and closing of the air ports 23 of the two buoyancy devices 20, which can better simplify the structure of the cleaning robot 100 and save the cost of the cleaning robot 100. In addition, through the automatic opening and closing member 32, the air ports 23 of the two buoyancy devices 20 can be opened and closed simultaneously, so that the two buoyancy devices 20 can be simultaneously exhausted, the exhaust amount of the two buoyancy devices 20 tends to be consistent, and the sinking speed along the width direction of the cleaning robot 100 during submerging in water is close, so that the cleaning robot 100 is not easy to tilt.

[0119] Please refer to FIG. 4 and FIG. 9 again, in some embodiments, the cleaning robot 100 further comprises a garbage collecting device 91 and an identification assembly 92, the identification assembly 92 comprises a detection element 921 and a detected element 922, the detection element 921 is arranged in the body 10, the detected element 922 is arranged on the garbage collecting device 91, when the garbage collecting device 91 is installed on the body 10, the detection element 921 can cooperate with the detected element 922 to identify the cleaning mode of the cleaning robot 100.

[0120] Optionally, the body 10 further has a containing cavity 12, the containing cavity 12 is arranged away from the accommodating cavity 11, the garbage collecting device 91 is arranged in the containing cavity 12. It can be understood that the accommodating cavity 11 and the containing cavity 12 are arranged along the height direction of the cleaning robot 100. It can also be understood that the motor box 60 and the garbage collecting device 91 are arranged along the height direction of the cleaning robot 100.

[0121] Optionally, the detection element 921 is electrically connected to the motor box 60 and detects the signal of the detected element 922 under the control of the motor box 60.

[0122] Optionally, the garbage collecting device 91 comprises a first garbage collecting device (not shown in the figure) and a second garbage collecting device (not shown in the figure), when the cleaning robot 100 works in the first cleaning mode (i.e. underwater cleaning), the first garbage collecting device is used; when the cleaning robot 100 works in the second cleaning mode (i.e. water surface cleaning), the second garbage collecting device is used; the detected element 922 comprises a first detected element (not shown in the figure) and a second detected element (not shown in the figure), the first detected element is arranged on the first garbage collecting device, the second detected element is arranged on the second garbage collecting device, when the detection element 921 detects the first signal of the first detected element, it is determined that the cleaning robot 100 is in the first cleaning mode; when the detection element 921 detects the second signal of the second detected element, it is determined that the cleaning robot 100 is in the second cleaning mode.

[0123] It should be noted that the motor box 60 controls the automatic opening and closing device 30 to open the air port 23, and it also needs to meet that the cleaning robot 100 is in the first cleaning mode. If the cleaning robot 100 is not in the first cleaning mode, at this time, even if the water entry posture of the cleaning robot 100 meets the preset posture, the automatic opening and closing device 30 will not open the air port 23.

[0124] It can be understood that the automatic opening and closing device 30 will automatically open only when the cleaning robot 100 is in the first cleaning mode, when the cleaning robot 100 is in the second cleaning mode, the automatic opening and closing device 30 will not open.

[0125] Optionally, the recognition component 92 can be, but is not limited to, a Hall sensor. The detection element 921 can be, but is not limited to, a Hall element, and the detected element 922 can be, but is not limited to, a magnet.

[0126] In the embodiment, the detection element 921 cooperates with the detected element 922 to detect the garbage collection device 91 to determine the current cleaning mode of the cleaning robot 100, so that it can be determined whether the current cleaning mode of the cleaning robot 100 matches the current normal or reverse posture, and when underwater cleaning is performed, the detection element 921 cooperates with the detected element 922 to serve as one of the judgment conditions for the automatic opening and closing device 30 to be opened, so that the use of the cleaning robot 100 is more intelligent and convenient.

[0127] Please refer to FIG. 10. In some embodiments, the body 10 includes a receiving portion 13 and two support portions 14. The receiving portion 13 has the accommodating cavity 11 and the containing cavity 12. The two support portions 14 are respectively arranged on opposite sides of the receiving portion 13 along the width direction of the cleaning robot 100 to carry the buoyancy device 20. The support portion 14 has a plurality of filter holes 141. The water inlet 22 of the buoyancy device 20 is arranged to face the support portion 14 and correspond to the plurality of filter holes 141.

[0128] In the embodiment, the support portion 14 is arranged at both ends of the receiving portion 13 to better install and support the buoyancy device 20. In addition, the plurality of filter holes 141 are arranged on the support portion 14 to better prevent garbage from entering the first floating cavity 21 and blocking the air inlet 23 after a period of use, thereby affecting the normal work of the cleaning robot 100.

[0129] Please refer to FIG. 9 again. Optionally, the cleaning robot 100 further includes a cleaning brush 93 and a driving paddle 94. The cleaning brush 93 and the driving paddle 94 are arranged on the same side of the body as the garbage treatment device. The cleaning brush 93 and the driving paddle 94 are respectively located on opposite sides of the garbage collection device 91. The cleaning brush 93 is rotatably arranged on the body. The cleaning brush 93 is connected to the motor box 60 to rotate relative to the body under the driving of the motor box 60 to clean and push garbage toward the garbage collection device 91. The driving paddle 94 is rotatably connected to the body. The driving paddle 94 is connected to the motor box 60 to rotate relative to the body under the driving of the motor box 60 to drive the cleaning robot 100 to walk on the water surface.

[0130] Please refer to FIG. 1 to FIG. 27, the cleaning robot 100 of the embodiment of the present application comprises a buoyancy device 2, the buoyancy device 2 comprises a buoyancy device 20 and an automatic opening and closing device 30; the buoyancy device 20 has a first floating cavity 21, a gas port 23 and a water port 22, the gas port 23 and the water port 22 are both communicated with the first floating cavity 21, and the automatic opening and closing device 30 is arranged at the gas port 23 and is used for controlling the opening and closing of the gas port 23.

[0131] The cleaning robot 100 of the embodiment of the present application can be applied to garbage cleaning of a swimming pool, a water pool and the like. The cleaning robot 100 can clean garbage on the water surface, and can also sink into water to clean garbage under water and clean the surface of the bottom and the side wall of the pool.

[0132] The cleaning robot 100 of the embodiment of the present application has a normal state (as shown in FIG. 1) and an inverted state (as shown in FIG. 4). The normal state is used for underwater cleaning, and the inverted state is used for water surface cleaning. It can be understood that the normal state is opposite to the inverted state.

[0133] It should be noted that when the cleaning robot 100 is in the inverted state and performs water surface cleaning, the automatic opening and closing device 30 closes the gas port 23, the first floating cavity 21 will not enter water except for a small amount of water near the water port 22, the first floating cavity 21 can provide buoyancy for the cleaning robot 100, so that the cleaning robot 100 can float on the water surface, thereby the water surface cleaning operation can be performed. When the cleaning robot 100 is in the normal state and enters water and the gas port 23 is opened, water gradually enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 gradually discharges from the gas port 23, finally the first floating cavity 21 is filled with water, and the cleaning robot 100 gradually sinks to the bottom surface of the area to be cleaned (such as the bottom of a swimming pool or a water pool).

[0134] Optionally, when the cleaning robot 100 is in the inverted state, the water port 22 is closer to the bottom surface of the area to be cleaned than the gas port 23, and when the cleaning robot 100 is in the normal state, the water port 22 is farther away from the bottom surface of the area to be cleaned than the gas port 23.

[0135] Optionally, the automatic opening and closing device 30 can be, but is not limited to, a solenoid valve.

[0136] Optionally, the cleaning robot 100 further comprises the body 10, the garbage collecting device 91, the cleaning brush 93, the driving paddle 94, the motor box 60 and the traveling wheel 80. The garbage collecting device 91 is embedded on one side of the body 10, the cleaning brush 93 and the driving paddle 94 are respectively located on the opposite sides of the garbage collecting device 91, the cleaning brush 93 is rotatably arranged on the body 10 and used for cleaning and pushing garbage towards the garbage collecting device 91, the driving paddle 94 is rotatably connected to the body 10 and used for driving the cleaning robot 100 to walk on the water surface, the traveling wheel 80 is rotatably arranged on the body 10 and used for driving the cleaning robot 100 to walk underwater, and the motor box 60 is connected to the traveling wheel 80, the cleaning brush 93 and the driving paddle 94 respectively and used for driving the traveling wheel 80, the cleaning brush 93 and the driving paddle 94 to rotate respectively.

[0137] It should be noted that the cleaning brush 93, the garbage collecting device 91 and the driving paddle 94 are arranged in sequence along the direction of travel of the cleaning robot 100. The garbage collecting device 91 and the motor box 60 are arranged along the height direction of the cleaning robot 100. The buoyancy device 2 is arranged on one side of the body 10 along the width direction of the cleaning robot 100, and the water port 22 is arranged closer to the cleaning brush 93 and the driving paddle 94 than the air port 23.

[0138] Referring to FIG. 21, the water entry control method of the cleaning robot 100 of the first embodiment of the present application comprises the following steps:

[0139] S101, controlling the automatic opening and closing device 30 to close the air port 23;

[0140] Optionally, before the cleaning robot 100 enters the water, the automatic opening and closing device 30 is controlled to close the air port 23, and the cleaning robot 100 is thrown into the water surface of the area to be cleaned. It can be understood that if the air port 23 is in the closed state, the air port 23 remains in the closed state, and if the air port 23 is in the open state, the automatic opening and closing device 30 is controlled to close the air port 23.

[0141] Optionally, the automatic opening and closing device 30 can be electrically or automatically controlled by a processor or a controller without manual operation.

[0142] S102, detecting the water entry posture of the cleaning robot 100;

[0143] Optionally, when the cleaning robot 100 is thrown into the water surface of the area to be cleaned, the posture sensor (such as a gyroscope sensor) of the cleaning robot 100 detects the water entry posture of the cleaning robot 100, so as to determine whether to open the air port 23 according to the water entry posture of the cleaning robot 100.

[0144] Optionally, the water entry posture is a posture of the cleaning robot 100 on the water surface or just entering the water.

[0145] S103, judging whether the water entry posture of the cleaning robot 100 meets a preset posture, wherein the preset posture is a state in which the cleaning robot 100 is balanced on the water surface without external force interference and with the air port 23 closed.

[0146] Optionally, the processor matches or compares the water entry posture of the cleaning robot 100 with the preset posture stored in the cleaning robot 100, so as to judge whether to open the air port 23 according to the matching or comparison result.

[0147] It should be noted that the preset posture is a balanced state of the cleaning robot 100 on the water surface in a normal position, with the air port 23 closed and without external force interference. When the cleaning robot 100 is in the balanced state, the cleaning robot 100 and the water surface can each have a certain angle, i.e. the cleaning robot 100 can be in an inclined state. In addition, the cleaning robot 100 can also be in a parallel or substantially parallel state with the water surface.

[0148] It should be noted that due to the shaking of the water, the cleaning robot 100 cannot be completely stationary when located on the water surface. Therefore, the balanced state is relative, which refers to the relatively stable state of the cleaning robot 100 on the water surface, for example, the change of the inclination angle is within a preset range, for example, the change of the inclination angle is less than or equal to 3°.

[0149] S104, when the water entry posture of the cleaning robot 100 meets the preset posture, controlling the automatic opening and closing device 30 to open the air port 23, so that water enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 is discharged from the air port 23.

[0150] Optionally, when the processor determines that the water entry posture of the cleaning robot 100 matches the preset posture, the processor controls the automatic opening and closing device 30 to open the air port 23. When the air port 23 is opened, water gradually enters the first floating cavity 21 of the buoyancy device 20 from the water port 22, gas gradually discharges from the air port 23, the cleaning robot 100 gradually sinks, and finally the water fills the entire first floating cavity 21.

[0151] It can be understood that when the water entry posture does not meet the preset posture, the automatic opening and closing device 30 keeps the air port 23 closed. The posture of the cleaning robot 100 on the water surface is continuously or intermittently detected until the posture meets the preset posture, and then the automatic opening and closing device 30 is controlled to open the air port 23.

[0152] Optionally, when it is determined that the water entry posture of the cleaning robot does not conform to the preset posture, the automatic opening and closing device 30 is controlled to keep the air outlet 23 closed.

[0153] When it is determined that the water entry posture of the cleaning robot 100 does not conform to the preset posture, the automatic opening and closing device 30 is controlled to keep the air outlet 23 closed, so that the cleaning robot 100 can be better prevented from opening the air outlet 23 in an unstable state and gradually sinking, so that the cleaning robot 100 cannot be restored to the upright state when contacting the bottom surface of the to-be-cleaned area, and even overturns, affecting the normal operation of the cleaning robot 100. Understandably, when the cleaning robot 100 enters the water, the air outlet 23 is opened only when the water entry posture conforms to the preset posture, and the air outlet 23 is kept closed when it does not conform.

[0154] In the embodiment, when the cleaning robot 100 is thrown into the water, although the water outlet 22 is opened, because the air outlet 23 is closed, the first floating cavity 21 will not enter water at other positions except for the position close to the water outlet 22, and the floating device 20 can still provide the cleaning robot 100 with buoyancy to make it float on the water surface. No matter how the cleaning robot 100 is placed on the water surface, the cleaning robot 100 will gradually recover to the preset posture (i.e., the balanced posture) under the action of the buoyancy before the air outlet 23 is opened; the automatic opening and closing device 30 is controlled to open the air outlet 23 only when the water entry posture conforms to the preset posture, so that the cleaning robot 100 can enter the water in the preset posture, so that the cleaning robot 100 can have a smaller inclination angle when contacting the bottom surface of the to-be-cleaned area, so that the cleaning robot 100 can be restored to the upright state (i.e., the state of being parallel to the bottom surface of the to-be-cleaned area) under its own gravity, and will not be unable to be restored to the upright state due to the too large inclination angle, and even overturn, affecting the normal operation of the cleaning robot 100.

[0155] Please refer to FIG. 22, the water entry control method of the cleaning robot 100 of the second embodiment of the present application includes:

[0156] S201, the automatic opening and closing device 30 is controlled to close the air outlet 23;

[0157] S202, the water entry posture of the cleaning robot 100 is detected;

[0158] S203, it is determined whether the water entry posture of the cleaning robot 100 conforms to the preset posture, wherein the preset posture is the state in which the cleaning robot 100 keeps balance on the water surface without external force interference and with the air outlet 23 closed;

[0159] For detailed description of S201 to S203, please refer to the description of the corresponding parts of S101 to S103 in the above embodiment, which will not be repeated here.

[0160] S204, when the water entry posture of the cleaning robot 100 meets the preset posture, determining whether the duration that the cleaning robot 100 keeps the preset posture meets a preset duration;

[0161] Optionally, when the processor determines that the water entry posture of the cleaning robot 100 meets the preset posture, the duration that the cleaning robot 100 keeps the preset posture is detected, and it is determined whether the duration that the cleaning robot 100 keeps the preset posture meets a preset duration.

[0162] Optionally, the preset duration can be 1s to 10s. Specifically, the preset duration can be, but is not limited to, 1s, 2s, 3s, 4s, 5s, 6s, 7s, 8s, 9s, 10s, etc. The preset duration can be designed according to actual conditions, and the application does not make specific limitations.

[0163] S205, when the duration that the cleaning robot 100 keeps the preset posture meets the preset duration, the automatic opening and closing device 30 is controlled to open the air port 23.

[0164] Optionally, when the duration that the cleaning robot 100 keeps the preset posture meets the preset duration, it is determined that the water entry posture of the cleaning robot 100 has been stably kept at the preset posture, rather than a false triggering condition, and at this time the processor controls the automatic opening and closing device 30 to open the air port 23.

[0165] When the cleaning robot 100 is put into water, the cleaning robot 100 will swing due to the flow of water and the shaking of the water surface. During the swinging of the cleaning robot 100, it is possible to reach the preset posture at a certain moment, but at this time the cleaning robot 100 has not stabilized and its posture is still changing. Therefore, when the water entry posture meets the preset posture, adding the determination condition of the duration that the water entry posture keeps the preset posture can better prevent the cleaning robot 100 from mistakenly considering that it has reached a balanced state before it stabilizes, and can better prevent the false triggering of the cleaning robot 100, and better improve the user experience.

[0166] Please refer to FIG. 2 again. Optionally, the buoyancy device 2 includes a first buoyancy device 20a and a second buoyancy device 20b, and the first buoyancy device 20a and the second buoyancy device 20b are symmetrically arranged on the left and right sides of the cleaning robot 100. It can be understood that the first buoyancy device 20a and the second buoyancy device 20b are symmetrically arranged on the left and right sides of the body 10 along the width direction of the cleaning robot 100.

[0167] Please refer to FIG. 23. The water entry control method of the cleaning robot 100 of the third embodiment of the application includes:

[0168] S301, controlling the automatic opening and closing device 30 to close the air port 23;

[0169] S302, detecting the water entry posture of the cleaning robot 100;

[0170] S303, judging whether the water entry posture of the cleaning robot 100 conforms to a preset posture, wherein the preset posture is a state in which the cleaning robot 100 keeps balance on the water surface without external force interference and with the air port 23 closed;

[0171] S304, when the water entry posture of the cleaning robot 100 conforms to the preset posture, controlling the automatic opening and closing device 30 to open the air port 23, so that water enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 is discharged from the air port 23;

[0172] For detailed description of S301 to S304, please refer to the description of the corresponding parts of S101 to S104 in the above embodiments, which will not be repeated here.

[0173] Optionally, after judging that the water entry posture of the cleaning robot 100 conforms to the preset posture, before controlling the automatic opening and closing device 30 to open the air port 23, it can also be judged whether the duration for which the cleaning robot 100 keeps the preset posture conforms to a preset duration, and if so, the automatic opening and closing device 30 is controlled to open the air port 23.

[0174] S305, detecting the exhaust rate of the first floating device 20a and the second floating device 20b;

[0175] Optionally, an air flow sensor or an air pressure sensor can be used to detect the exhaust rate of the first floating device 20a and the exhaust rate of the second floating device 20b, respectively.

[0176] S306, judging whether the absolute value of the difference between the exhaust rate of the first floating device 20a and the exhaust rate of the second floating device 20b is greater than a first value;

[0177] Optionally, the absolute value of the difference between the exhaust rate of the first buoyancy device 20a and the exhaust rate of the second buoyancy device 20b is monitored in real time. When the absolute value of the difference between the exhaust rate of the first buoyancy device 20a and the exhaust rate of the second buoyancy device 20b is greater than a first value, it is considered that the exhaust difference between the exhaust rate of the first buoyancy device 20a and the exhaust rate of the second buoyancy device 20b is too large. At this time, the cleaning robot 100 sinks deeper on the side close to the larger exhaust rate and sinks shallower on the side close to the smaller exhaust rate, and the cleaning robot 100 will tilt. When the cleaning robot 100 tilts too much, if it is not corrected, it may not be able to return to the upright state by its own gravity when the cleaning robot 100 touches the bottom, which will affect the normal use of the cleaning robot 100.

[0178] Optionally, the first value can be designed according to the size of the first floating cavity 21 and the size of the air port 23, which is not limited in the present application.

[0179] Optionally, the first value is in the range of 30 ml / s to 50 ml / s. Specifically, the first value can be, but is not limited to, 30 ml / s, 33 ml / s, 35 ml / s, 38 ml / s, 40 ml / s, 43 ml / s, 45 ml / s, 48 ml / s, 50 ml / s, etc. If the first value is too small, when the difference between the exhaust rate of the first buoyancy device 20a and the exhaust rate of the second buoyancy device 20b reaches the first value, the tilt of the first buoyancy device 20a and the second buoyancy device 20b is not very large, and at this time there is no need to close the air port 23 of the one with the larger exhaust rate. If the first value is too large, when the difference between the exhaust rate of the first buoyancy device 20a and the exhaust rate of the second buoyancy device 20b reaches the first value, the tilt of the first buoyancy device 20a and the second buoyancy device 20b is too large. Even if the air port 23 of the one with the larger exhaust rate is closed, it may be difficult to make the first buoyancy device 20a and the second buoyancy device 20b return to the same sinking depth.

[0180] In some embodiments, the volume of the first floating cavity 21 of the first buoyancy device 20a and the second buoyancy device 20b is 2500 ml. During the process of the cleaning robot 100 sinking into the water, the exhaust rate of the first buoyancy device 20a is in the range of 120 ml / s to 180 ml / s; the exhaust rate of the second buoyancy device 20b is in the range of 120 ml / s to 180 ml / s. The time for the air port 23 to be opened to the cleaning robot 100 completely sinking into the water is about 13.8 s to 20.8 s.

[0181] S307, if yes, the automatic opening and closing device 30 of the one with the larger exhaust rate of the first buoyancy device 20a and the second buoyancy device 20b closes the air port 23.

[0182] Optionally, when it is determined that the difference between the exhaust rate of the first buoyancy device 20a and the exhaust rate of the second buoyancy device 20b is greater than the first value, at this time, one end of the cleaning robot 100 sinks faster and the other end sinks slower, the inclination angle is too large, and it needs to be corrected. Then the automatic opening and closing device 30 of the one with larger exhaust rate of the first buoyancy device 20a and the second buoyancy device 20b closes the air port 23, so that the exhaust amount of the cleaning robot 100 left and right slowly approaches equal, so that the inclination angle of the cleaning robot 100 in the width direction gradually decreases, and the cleaning robot 100 again recovers to the state that the sinking depth of the first buoyancy device 20a and the second buoyancy device 20b compared to the water surface is basically equal.

[0183] In a specific embodiment, the exhaust rate of the first buoyancy device 20a is greater than the exhaust rate of the second buoyancy device 20b, and when the difference between the exhaust rate of the first buoyancy device 20a and the exhaust rate of the second buoyancy device 20b is greater than the first value, the automatic opening and closing device 30 of the first buoyancy device 20a is controlled to close the air port 23 of the first buoyancy device 20a.

[0184] In the process of the cleaning robot 100 entering the water, the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b may be different, so that the exhaust rate of one of the first buoyancy device 20a and the second buoyancy device 20b is faster and the sinking depth is deeper, and the exhaust rate of the other is slower and the sinking depth is shallower, and the cleaning robot 100 is inclined along the center line of the first buoyancy device 20a and the second buoyancy device 20b. At this time, if the exhaust of the first buoyancy device 20a and the second buoyancy device 20b is not controlled, it will be more difficult for the buoyancy device 2 with shallower sinking depth to exhaust, and even gas will be trapped, so that the inclination angle of the cleaning robot 100 is further increased, thereby being not conducive to the sinking of the cleaning robot 100, and even the cleaning robot 100 cannot sink, which seriously affects the normal work of the cleaning robot 100 and reduces the user experience. In this embodiment, by detecting the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b, when the difference between the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b reaches a certain degree, the one with larger exhaust rate is closed, which can better avoid the further widening of the difference between the exhaust rates of the two buoyancy devices 2, and can better avoid the inclination of the cleaning robot 100 during the water entering process, so that the cleaning robot 100 can enter the water more stably, and improve the user experience.

[0185] Optionally, the buoyancy device 2 comprises a first buoyancy device 20a and a second buoyancy device 20b, which are symmetrically arranged on the left and right sides of the cleaning robot 100. It can be understood that the first buoyancy device 20a and the second buoyancy device 20b are symmetrically arranged on the left and right sides of the body 10 along the width direction of the cleaning robot 100.

[0186] Referring to FIG. 24, the water entry control method of the cleaning robot 100 of the fourth embodiment of the present application comprises:

[0187] S401, controlling the automatic opening and closing device 30 to close the air port 23;

[0188] S402, detecting the water entry posture of the cleaning robot 100;

[0189] S403, judging whether the water entry posture of the cleaning robot 100 conforms to a preset posture, wherein the preset posture is a state in which the cleaning robot 100 is balanced on the water surface without external force interference and the air port 23 is closed;

[0190] S404, when the water entry posture of the cleaning robot 100 conforms to the preset posture, controlling the automatic opening and closing device 30 to open the air port 23, so that water enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 is discharged from the air port 23;

[0191] For detailed description of S401 to S404, please refer to the description of the corresponding parts of S101 to S104 in the above embodiments, which will not be repeated here.

[0192] S405, detecting the exhaust rate of the first buoyancy device 20a and the second buoyancy device 20b;

[0193] S406, judging whether the absolute value of the difference between the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b is greater than a first value;

[0194] S407, if yes, controlling the automatic opening and closing device 30 of the one of the first buoyancy device 20a and the second buoyancy device 20b with the greater exhaust rate to close the air port 23;

[0195] For detailed description of S405 to S407, please refer to the description of the corresponding parts of S305 to S307 in the above embodiments, which will not be repeated here.

[0196] S408, detecting the inclination angle of the center connecting line of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface;

[0197] Optionally, a posture sensor or an angle sensor is used to detect the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface. In other words, the angle between the line connecting the first buoyancy device 20a and the second buoyancy device 20b and the water surface is detected.

[0198] S409, determining whether the absolute value of the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface is less than a second value.

[0199] Optionally, the processor determines whether the angle between the line connecting the first buoyancy device 20a and the second buoyancy device 20b and the water surface is less than a second value, so as to determine whether to open the closed gas port 23 again according to the determination result.

[0200] Optionally, the second value ranges from 0° to 10°. Specifically, the second value can be, but is not limited to, 0°, 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc. Further, the second value ranges from 1° to 8°. Still further, the second value ranges from 1° to 5°.

[0201] S410, if yes, the automatic opening and closing device 30 of the one of the first buoyancy device 20a and the second buoyancy device 20b in which the gas port 23 is closed opens the gas port 23.

[0202] It can be understood that when the absolute value of the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface is less than the second value, the sinking depths of the first buoyancy device 20a and the second buoyancy device 20b are relatively small at this time. At this time, the previously closed gas port 23 can be opened again, so that the gas in the first floating cavity 21 corresponding to the gas port 23 can continue to be discharged. The sinking depth of the one of the first buoyancy device 20a and the second buoyancy device 20b in which the gas port 23 is opened is deeper, and the sinking depth of the one of the first buoyancy device 20a and the second buoyancy device 20b in which the gas port 23 is closed is shallower, so that the cleaning robot 100 tilts to the other side (i.e., the side in which the gas port 23 is opened tilts), and even cannot sink to the bottom.

[0203] Specifically, when S407 is performed, if the gas port 23 of the first buoyancy device 20a is closed, the gas port 23 of the first buoyancy device 20a is opened again at this time.

[0204] It can be understood that when the automatic opening and closing device 30 of the air port 23 of one of the first buoyancy device 20a and the second buoyancy device 20b, which is closed, opens the air port 23 again, if the cleaning robot 100 has not completely submerged in the water, the steps of S405 to S410 can be repeatedly executed until the gas in the first floating cavity 21 of the first buoyancy device 20a and the second buoyancy device 20b is completely discharged, and the cleaning robot 100 is completely submerged in the water.

[0205] In this embodiment, by detecting the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b, when the difference between the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b reaches a certain degree, the one with the larger exhaust rate is closed, and when the absolute value of the inclination angle of the center line connecting the first buoyancy device 20a and the second buoyancy device 20b to the water surface is less than the second value, the closed air port 23 is opened again, so that during the process of the cleaning robot 100 submerging in the water, the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b are always close, and will not differ too much, and the cleaning robot 100 will not tilt too much towards the direction of the first buoyancy device 20a or the second buoyancy device 20b, so that the cleaning robot 100 can submerge in the water more stably, and improve the user experience.

[0206] Please refer to FIG. 25, the water entry control method of the cleaning robot 100 of the fifth embodiment of the present application includes:

[0207] S501, controlling the automatic opening and closing device 30 to close the air port 23;

[0208] S502, detecting the water entry posture of the cleaning robot 100;

[0209] S503, judging whether the water entry posture of the cleaning robot 100 conforms to a preset posture, wherein the preset posture is a state that the cleaning robot 100 keeps balance on the water surface without external force interference and the air port 23 is closed;

[0210] S504, when the water entry posture of the cleaning robot 100 conforms to the preset posture, controlling the automatic opening and closing device 30 to open the air port 23, so that water enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 is discharged from the air port 23;

[0211] For detailed description of S501 to S504, please refer to the description of the corresponding parts of S101 to S104 in the above embodiments, which will not be repeated here.

[0212] S505, detecting the inclination angle of the center line connecting the first buoyancy device 20a and the second buoyancy device 20b to the water surface;

[0213] For detailed description of S505, please refer to the description of the corresponding part of the above embodiment S408, which will not be repeated here.

[0214] S506, determining whether the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface is greater than a third value.

[0215] Optionally, the processor determines whether the angle between the line connecting the first buoyancy device 20a and the second buoyancy device 20b and the water surface is greater than a third value, so as to determine whether to close the air port 23 of the one with deeper sinking depth among the first buoyancy device 20a and the second buoyancy device 20b according to the determination result.

[0216] Optionally, the third value ranges from 2° to 20°. Specifically, the third value can be, but is not limited to, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 12°, 14°, 16°, 18°, 20°, etc.

[0217] S507, if yes, controlling the automatic opening and closing device 30 of the one on the lower side among the first buoyancy device 20a and the second buoyancy device 20b to close the air port 23.

[0218] Optionally, when the processor determines that the angle between the line connecting the first buoyancy device 20a and the second buoyancy device 20b and the water surface is greater than the third value, it indicates that the inclination angle of the cleaning robot 100 in the width direction is too large, and the balance of the two sides of the cleaning robot 100 in the width direction needs to be adjusted through the opening and closing of the air ports 23 of the first buoyancy device 20a and the second buoyancy device 20b. When it is determined that the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface is greater than the third value, the air port 23 of the one with deeper sinking depth among the first buoyancy device 20a and the second buoyancy device 20b is closed, and the air port 23 of the one with shallower sinking depth among the first buoyancy device 20a and the second buoyancy device 20b remains open.

[0219] In this embodiment, by detecting the absolute value of the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface, when the absolute value of the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface reaches a certain value (the third value), the air port 23 of the one with deeper sinking depth among the first buoyancy device 20a and the second buoyancy device 20b is closed, which can better avoid the further difference in sinking depth of the two buoyancy devices 2, even make the cleaning robot 100 stand on one side; it can better avoid the inclination of the cleaning robot 100 in the process of sinking into the water, so that the cleaning robot 100 can sink into the water more stably, and improve the user experience.

[0220] Referring to FIG. 26, the water entry control method of the cleaning robot 100 of the sixth embodiment of the present application comprises:

[0221] S601, controlling the automatic opening and closing device 30 to close the air port 23;

[0222] S602, detecting the water entry posture of the cleaning robot 100;

[0223] S603, judging whether the water entry posture of the cleaning robot 100 conforms to a preset posture, wherein the preset posture is a state in which the cleaning robot 100 keeps balance on the water surface without external force interference and with the air port 23 closed;

[0224] S604, when the water entry posture of the cleaning robot 100 conforms to the preset posture, controlling the automatic opening and closing device 30 to open the air port 23, so that water enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 is discharged from the air port 23;

[0225] For detailed description of S601 to S604, please refer to the description of the corresponding parts of S101 to S104 in the above embodiments, which will not be repeated here.

[0226] S605, detecting the inclination angle of the line connecting the centers of the first floating device 20a and the second floating device 20b relative to the water surface;

[0227] For detailed description of S605, please refer to the description of the corresponding part of S408 in the above embodiments, which will not be repeated here.

[0228] S606, judging whether the inclination angle of the line connecting the centers of the first floating device 20a and the second floating device 20b relative to the water surface is greater than a third value;

[0229] S607, if yes, controlling the automatic opening and closing device 30 of the lower one of the first floating device 20a and the second floating device 20b to close the air port 23;

[0230] For detailed description of S606 to S607, please refer to the description of the corresponding parts of S506 to S507 in the above embodiments, which will not be repeated here.

[0231] S608, continuously detecting the inclination angle of the line connecting the centers of the first floating device 20a and the second floating device 20b relative to the water surface;

[0232] Optionally, a posture sensor or an angle sensor is used to detect the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface. In other words, the angle between the line connecting the first buoyancy device 20a and the second buoyancy device 20b and the water surface is detected.

[0233] S609, determining whether the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface is less than a fourth value.

[0234] Optionally, the processor determines whether the angle between the line connecting the first buoyancy device 20a and the second buoyancy device 20b and the water surface is less than a fourth value, so as to determine whether to open the closed air port 23 again according to the determination result.

[0235] Optionally, the fourth value ranges from 0° to 10°. Specifically, the fourth value can be, but is not limited to, 0°, 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc. Further, the fourth value ranges from 1° to 8°. Yet further, the fourth value ranges from 1° to 5°.

[0236] Optionally, the fourth value is less than or equal to the third value.

[0237] S610, if yes, the automatic opening and closing device 30 of the one of the first buoyancy device 20a and the second buoyancy device 20b with the closed air port 23 is controlled to open the air port 23.

[0238] It can be understood that when the absolute value of the inclination angle of the line connecting the centers of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface is less than the fourth value, the sinking depths of the first buoyancy device 20a and the second buoyancy device 20b are relatively small at this time. At this time, the previously closed air port 23 can be opened again, so that the gas in the first floating cavity 21 corresponding to the air port 23 can continue to be discharged. The sinking depth of the one of the first buoyancy device 20a and the second buoyancy device 20b with the opened air port 23 is deeper, and the sinking depth of the one of the first buoyancy device 20a and the second buoyancy device 20b with the closed air port 23 is shallower, so that the cleaning robot 100 tilts to the other side (i.e., the side with the opened air port 23 tilts), and even cannot sink to the bottom.

[0239] Specifically, when S507 is performed, if the air port 23 of the first buoyancy device 20a is closed, the air port 23 of the first buoyancy device 20a is opened again at this time.

[0240] It can be understood that when the automatic opening and closing device 30 of the air port 23 of one of the first buoyancy device 20a and the second buoyancy device 20b, which is closed, opens the air port 23 again, if the cleaning robot 100 has not completely submerged in the water, the steps of S505 to S510 can be repeatedly executed until the gas in the first floating cavity 21 of the first buoyancy device 20a and the second buoyancy device 20b is completely discharged, and the cleaning robot 100 is completely submerged in the water.

[0241] In this embodiment, by detecting the inclination angle of the center line of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface, when the inclination angle of the center line of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface reaches a certain degree, the air port 23 of the one with deeper sinking depth among the first buoyancy device 20a and the second buoyancy device 20b is closed, and when the absolute value of the inclination angle of the center line of the first buoyancy device 20a and the second buoyancy device 20b relative to the water surface is less than the fourth value, the closed air port 23 is opened again, so that during the process of the cleaning robot 100 submerging in the water, the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b are always close, and the cleaning robot 100 will not tilt too much towards the direction of the first buoyancy device 20a or the second buoyancy device 20b, so that the cleaning robot 100 can submerge in the water more stably, and the user experience is improved.

[0242] Please refer to FIG. 27, the water entry control method of the cleaning robot 100 of the seventh embodiment of the present application comprises:

[0243] S701, controlling the automatic opening and closing device 30 to close the air port 23;

[0244] S702, detecting the water entry posture of the cleaning robot 100;

[0245] S703, judging whether the water entry posture of the cleaning robot 100 conforms to the preset posture, wherein the preset posture is the state that the cleaning robot 100 keeps balance on the water surface when the air port 23 is closed without external force interference;

[0246] S704, when the water entry posture of the cleaning robot 100 conforms to the preset posture, controlling the automatic opening and closing device 30 to open the air port 23, so that water enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 is discharged from the air port 23;

[0247] For detailed description of S701 to S704, please refer to the description of the corresponding parts of the above-mentioned embodiments S101 to S104, which will not be repeated here.

[0248] S705, detecting whether the cleaning robot 100 is completely immersed in water;

[0249] Optionally, a liquid level sensor or the like can be used to detect whether the cleaning robot 100 is completely immersed in water. For example, a liquid level sensor is installed on the top of the cleaning robot 100, and when the liquid level sensor touches water, it indicates that the cleaning robot 100 has been immersed in water.

[0250] Please refer to FIG. 21, in some embodiments, the cleaning robot 100 further comprises a water pump, the water pump comprises a water pump motor and an impeller, the impeller is located on the top of the cleaning robot 100, and the water pump motor is used to drive the impeller to rotate; the step of detecting whether the cleaning robot 100 is completely immersed in water comprises:

[0251] S7051, controlling the water pump to run and acquiring the current or voltage value of the water pump motor;

[0252] It should be noted that the motor box 60 comprises the water pump.

[0253] Optionally, the water pump is turned on, and the current or voltage value of the water pump motor is detected. Since the impeller is located on the top of the cleaning robot 100, when the cleaning robot 100 has not been completely immersed in water, the impeller is exposed to air, and after the water pump is turned on, the resistance of the rotating impeller is small; when the cleaning robot 100 is completely immersed in water, the resistance of the rotating impeller in water increases, and the current or voltage value of the water pump motor changes, so that whether the cleaning robot 100 is completely immersed in water can be determined according to the current or voltage value of the water pump motor.

[0254] S7052, judging whether the current or voltage value of the water pump motor meets a fifth value;

[0255] Optionally, the fifth value is the current or voltage value of the water pump when it is completely immersed in water and works in water.

[0256] Optionally, whether the current or voltage value of the water pump motor matches the current or voltage value after the cleaning robot 100 is completely immersed in water, or whether the difference between the current or voltage value of the water pump motor and the current or voltage value after the cleaning robot 100 is completely immersed in water is within a preset range is determined, and when the difference between the current or voltage value of the water pump motor and the current or voltage value after the cleaning robot 100 is completely immersed in water is within the preset range, it is determined that the cleaning robot 100 is completely immersed in water.

[0257] In this embodiment, whether the cleaning robot 100 is completely immersed in water is determined by the change of the current or voltage value of the water pump motor of the cleaning robot 100 itself, without the need to additionally set a detection element or sensor, which simplifies the structure of the cleaning robot 100 and reduces the cost of the cleaning robot 100.

[0258] S7053, if yes, it is determined that the cleaning robot 100 is completely immersed in water.

[0259] When the current or voltage value of the water pump motor meets the current or voltage value after the cleaning robot 100 is completely immersed in water, it is determined that the cleaning robot 100 is completely immersed in water.

[0260] S706, if yes, the automatic opening and closing device 30 is controlled to close the air port 23.

[0261] When the cleaning robot 100 is completely immersed in water, at this time, the gas in the first floating cavity 21 of the floating device 2 has been completely removed, at this time, the automatic opening and closing device 30 can be controlled to close the air port 23. In order to avoid the air port 23 exposed when the cleaning robot 100 cleans the wall, which affects the normal work of the cleaning robot 100.

[0262] In this embodiment, when the cleaning robot 100 is completely immersed in water, the automatic opening and closing device 30 is controlled to close the air port 23 again, which can avoid the air port 23 exposed when the cleaning robot 100 cleans the wall, the gas enters the first floating cavity 21, thereby increasing the buoyancy of the cleaning robot 100, even floating, which affects the normal work of the cleaning robot 100.

[0263] Please refer to FIG. 22, the embodiment of the application also provides a cleaning robot water entry control device 800, the cleaning robot 100 includes a floating device 2, the floating device 2 includes a floating device 20 and an automatic opening and closing device 30; the floating device 20 has a first floating cavity 21, an air port 23 and a water port 22, the air port 23 and the water port 22 are in communication with the first floating cavity 21, the automatic opening and closing device 30 is arranged at the air port 23, and is used for controlling opening and closing of the air port 23; the cleaning robot 100 water entry control device 800 includes:

[0264] A first processor 810 is used for controlling the automatic opening and closing device 30 to close the air port 23.

[0265] A posture sensor 820 is used for detecting the water entry posture of the cleaning robot 100.

[0266] The first processor 810 is also used for judging whether the water entry posture of the cleaning robot 100 meets a preset posture, wherein the preset posture is a state that the cleaning robot 100 keeps balance on the water surface without external force interference and with the air port 23 closed.

[0267] When the first processor 810 determines that the water entry posture of the cleaning robot 100 meets the preset posture, the automatic opening and closing device 30 is controlled to open the air port 23, so that water enters the first floating cavity 21 from the water port 22, and the gas in the first floating cavity 21 is discharged from the air port 23.

[0268] Optionally, the first processor 810 comprises one or more general processors, wherein the general processor can be any type of device capable of processing electronic instructions, including a central processing unit (CPU), a microprocessor, a microcontroller, a main processor, a controller, an ASIC, and the like. The processor is used to execute various types of digital storage instructions, such as software or firmware programs stored in the memory, which can enable the computing device to provide a wide variety of services.

[0269] Optionally, the posture sensor 820 can be, but is not limited to, at least one of a gyroscope, a liquid level sensor, an angle detector, and the like.

[0270] Optionally, the first processor 810 is further configured to control the automatic opening and closing device 30 to keep the air port 23 closed when the water entry posture of the cleaning robot 100 does not meet the preset posture.

[0271] In this embodiment, when the cleaning robot 100 is thrown into the water, although the water port 22 is open, because the air port 23 is closed, the first floating cavity 21 will not enter water at other positions except for a small amount of water near the water port 22, and the floating device 20 can still provide the cleaning robot 100 with buoyancy to make it float on the water surface. No matter how the cleaning robot 100 is placed on the water surface, it will gradually return to the preset posture (i.e., the balanced posture) under the action of the buoyancy before the air port 23 is opened. The first processor 810 controls the automatic opening and closing device 30 to open the air port 23 only when it determines that the water entry posture meets the preset posture, so that the cleaning robot 100 can enter the water in the preset posture, so that the cleaning robot 100 can return to the upright state (i.e., the state parallel to the bottom surface of the cleaning area) when it contacts the bottom surface of the cleaning area, and will not be unable to return to the upright state due to a too large inclination angle, or even be overturned, thereby affecting the normal operation of the cleaning robot 100.

[0272] In some embodiments, after the first processor 810 determines that the water entry posture of the cleaning robot 100 meets the preset posture, and before the first processor 810 controls the automatic opening and closing device 30 to open the air port 23, the first processor 810 is further configured to determine whether a duration for which the cleaning robot 100 maintains the preset posture meets a preset duration; and when the first processor 810 determines that the duration for which the cleaning robot 100 maintains the preset posture meets the preset duration, the first processor 810 is further configured to control the automatic opening and closing device 30 to open the air port 23.

[0273] For details of other aspects of the present embodiment, please refer to the description of the corresponding part of the above embodiment, which will not be repeated here.

[0274] Please refer to FIG. 23. In some embodiments, the buoyancy device 2 includes a first buoyancy device 20a and a second buoyancy device 20b, and the first buoyancy device 20a and the second buoyancy device 20b are symmetrically arranged on the left and right sides of the cleaning robot 100; after the step of controlling the automatic opening and closing device 30 to open the air port 23 when the water entry posture of the cleaning robot 100 meets the preset posture, the water entry control device 800 of the cleaning robot 100 further includes:

[0275] A flow sensor 830 is configured to detect the exhaust rate of the first buoyancy device 20a and the second buoyancy device 20b.

[0276] The first processor 810 is further configured to determine whether the absolute value of the difference between the exhaust rates of the first buoyancy device 20a and the second buoyancy device 20b is greater than a first value.

[0277] If yes, the first processor 810 is further configured to control the automatic opening and closing device 30 of the one of the first buoyancy device 20a and the second buoyancy device 20b with the greater exhaust rate to close the air port 23.

[0278] Optionally, the flow sensor 830 can be, but is not limited to, at least one of a flow meter, a flow detector, etc.

[0279] For details of other aspects of the present embodiment, please refer to the description of the corresponding part of the above embodiment, which will not be repeated here.

[0280] Please refer to FIG. 24. In some embodiments, after the first processor 810 controls the automatic opening and closing device 30 of the one of the first buoyancy device 20a and the second buoyancy device 20b with the greater exhaust rate to close the air port 23, the water entry control device 800 of the cleaning robot 100 further includes:

[0281] an angle sensor 840 configured to detect an angle of inclination of a line connecting centers of the first buoyant device 20a and the second buoyant device 20b relative to a water surface;

[0282] The first processor 810 is further configured to determine whether an absolute value of the angle of inclination of the line connecting the centers of the first buoyant device 20a and the second buoyant device 20b relative to the water surface is less than a second value.

[0283] If yes, the first processor 810 is further configured to control the automatic opening and closing device 30 of the one of the first buoyant device 20a and the second buoyant device 20b in which the air port 23 is closed to open the air port 23.

[0284] Optionally, the angle sensor 840 can be, but is not limited to, at least one of a rotation angle sensor 840, a gyroscope, etc.

[0285] For detailed descriptions of other aspects of the present embodiment, please refer to the descriptions of the corresponding parts of the above-described embodiments, which will not be repeated here.

[0286] In some embodiments, the buoyant device 2 includes the first buoyant device 20a and the second buoyant device 20b, and the first buoyant device 20a and the second buoyant device 20b are symmetrically arranged on left and right sides of the cleaning robot 100.

[0287] When the first processor 810 determines that the water entry posture of the cleaning robot 100 meets the preset posture, and after the first processor 810 controls the automatic opening and closing device 30 to open the air port 23,

[0288] The angle sensor 840 is further configured to detect an angle of inclination of a line connecting centers of the first buoyant device 20a and the second buoyant device 20b relative to a water surface.

[0289] The first processor 810 is further configured to determine whether the angle of inclination of the line connecting the centers of the first buoyant device 20a and the second buoyant device 20b relative to the water surface is greater than a third value.

[0290] If yes, the first processor 810 is further configured to control the automatic opening and closing device 30 of the one of the first buoyant device 20a and the second buoyant device 20b located on the lower side to close the air port 23.

[0291] For detailed descriptions of other aspects of the present embodiment, please refer to the descriptions of the corresponding parts of the above-described embodiments, which will not be repeated here.

[0292] In some embodiments, after the first processor 810 controls the automatic opening and closing device 30 of the one of the first buoyant device 20a and the second buoyant device 20b located on the lower side to close the air port 23,

[0293] The angle sensor 840 is further configured to continuously detect the inclination angle of the line connecting the centers of the first buoyant device 20a and the second buoyant device 20b relative to the water surface.

[0294] The first processor 810 is further configured to determine whether the inclination angle of the line connecting the centers of the first buoyant device 20a and the second buoyant device 20b relative to the water surface is less than a fourth value.

[0295] If yes, the first processor 810 is further configured to control the automatic opening and closing device 30 of the first buoyant device 20a or the second buoyant device 20b in which the air port 23 is closed to open the air port 23.

[0296] For the detailed description of other aspects of the present embodiment, please refer to the description of the corresponding part of the above embodiment, which will not be repeated here.

[0297] Please refer to FIG. 25. In some embodiments, after the first processor 810 controls the automatic opening and closing device 30 to open the air port 23 when the water entry posture of the cleaning robot 100 meets the preset posture, the water entry control device 800 of the cleaning robot 100 further comprises:

[0298] A detection unit 850 is configured to detect whether the cleaning robot 100 is completely submerged in water. If yes, the first processor 810 is further configured to control the automatic opening and closing device 30 to close the air port 23.

[0299] Please refer to FIG. 26. In some embodiments, the cleaning robot 100 further comprises a water pump, the water pump comprising a water pump motor and an impeller, the impeller being located at the top of the cleaning robot 100; the detection unit 850 comprises a detection subunit 851 and a processing subunit 852, the processing subunit 852 being configured to control the water pump to operate, and the detection subunit 851 being configured to obtain the current or voltage value of the water pump motor; the processing subunit 852 is further configured to determine whether the current or voltage value of the water pump motor meets a fifth value; if yes, the processing subunit 852 is further configured to determine that the cleaning robot 100 is completely submerged in water.

[0300] The present embodiment further provides a computer readable storage medium, which stores computer executable program code for causing a computer to execute the control method of the present embodiment.

[0301] Referring to FIG. 27, the cleaning robot 100 according to an embodiment of the present application comprises a second processor 110 and a memory 120, and the memory 120 stores program codes executable by the second processor 110, and when the program codes are invoked and executed by the second processor 110, the control method according to an embodiment of the present application is executed.

[0302] The cleaning robot 100 according to an embodiment of the present application can be applied to garbage cleaning of a swimming pool, a water pool and the like. It can clean garbage on the water surface, and can also sink into the water to clean garbage under the water and clean the surface of the pool bottom and the side wall.

[0303] Optionally, the second processor 110 comprises one or more general-purpose processors, wherein the general-purpose processor can be any type of device capable of processing electronic instructions, including a central processing unit (CPU), a microprocessor, a microcontroller, a main processor, a controller and an ASIC, etc. The processor 110 is used to execute various types of digital storage instructions, such as software or firmware programs stored in the memory 120, which can enable the computing device to provide a wide variety of services.

[0304] The memory 120 is a non-volatile computer readable storage medium, which can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the control method according to an embodiment of the present application. The second processor 110 executes various functions of the server and data processing by running the non-volatile software programs, instructions and modules stored in the memory 120, i.e. implements the control method according to the above method embodiment.

[0305] The memory 120 can include a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical storage, magnetic storage media, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray® disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0306] In this application, the term "example" or "implementation" means that a particular feature, structure, or characteristic described in connection with the example can be included in at least one implementation of the application. The appearances of the phrase that the phrase in various places in the specification are not necessarily all referring to the same example, nor are they necessarily mutually exclusive of other examples. It is explicitly understood that the described examples of the application can be combined with each other, in their various permutations and combinations, without necessarily excluding other examples from the scope of the application. Furthermore, it is intended that features, structures, or characteristics described in relation to one example can be combined in any manner to create additional example of the application, where such a combination does not necessarily result in a conflict or elimination of any technical effect described in the specification.

[0307] Finally, it should be noted that the above-mentioned implementations are only used to illustrate the technical solutions of the present application but not to limit the present application. Even though the present application has been described in detail with reference to the above preferred implementations, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application.

Claims

A cleaning robot characterized by, The cleaning robot has a first cleaning mode and a second cleaning mode, in the first cleaning mode, the cleaning robot is placed in a to-be-cleaned area, in the second cleaning mode, the cleaning robot is placed in the to-be-cleaned area in reverse; the cleaning robot comprises a body, a buoyancy device and an automatic opening and closing device, the buoyancy device comprises a first floating cavity, a water port and an air port, the water port and the air port are in communication with the first floating cavity, and the automatic opening and closing device is arranged at the air port and used for opening or closing the air port. The cleaning robot according to claim 1, wherein, The cleaning robot further comprises a first detection device, in the first cleaning mode, the first detection device is used for detecting whether the cleaning robot is in a preset posture, so as to control the automatic opening and closing device to open the air port when the cleaning robot is in the preset posture, and the preset posture is a state in which the cleaning robot keeps balance on the water surface without external force interference and the air port is closed. The cleaning robot according to claim 1, wherein, The cleaning robot further comprises a second detection device, the second detection device is used for detecting a forward or reverse posture of the cleaning robot, so as to determine whether the current posture of the cleaning robot corresponds to the current cleaning mode of the cleaning robot according to a detection result. The cleaning robot according to claim 1, wherein, The air port is arranged close to the top of the cleaning robot, and the water port is arranged close to the bottom of the cleaning robot; the automatic opening and closing device comprises a first pipe body, an automatic opening and closing member and a second pipe body which are sequentially in communication, one end of the first pipe body away from the automatic opening and closing member is in communication with the air port, the automatic opening and closing member is used for controlling opening or closing of a passage between the first pipe body and the second pipe body, and the second pipe body is in communication with an external environment. The cleaning robot according to claim 4, wherein The body has a containing cavity, the cleaning robot further comprises a motor box, the motor box is electrically connected with the automatic opening and closing member and is used for controlling opening and closing of the automatic opening and closing member, so as to control opening and closing of the air port, the motor box is arranged in the containing cavity, the air port is located on a side of the buoyancy device close to the motor box, and the automatic opening and closing device is arranged on the motor box. The cleaning robot according to claim 5, wherein, The cleaning robot has a front end and a rear end arranged in opposite directions along a traveling direction, the motor box is arranged at the front end of the cleaning robot, the motor box has a second floating cavity, and / or the body has a plurality of buoyancy members arranged close to the front end, so that the air port is always located above the water surface before the cleaning robot is completely immersed in the water. The cleaning robot according to claim 1, wherein, The cleaning robot further comprises a first traveling wheel and a second traveling wheel, the first traveling wheel and the second traveling wheel are arranged in a spaced manner along the traveling direction of the cleaning robot and are rotatably arranged on the same side of the body; the buoyancy device comprises a first buoyancy part, the first traveling wheel and the second traveling wheel are located outside the first buoyancy part, the first buoyancy part has a first sub-floating cavity, and the water port is arranged at one end of the first buoyancy part and is arranged in an open manner. The cleaning robot according to claim 7, wherein, The buoyancy device further comprises a second buoyancy part arranged on the side of the first buoyancy part away from the machine body and between the first and second traveling wheels, the second buoyancy part having a second sub-buoyancy cavity in communication with the first sub-buoyancy cavity. The cleaning robot according to claim 8, wherein, The buoyancy device further comprises a third buoyancy part arranged on the side of the first buoyancy part away from the machine body, the second and third buoyancy parts arranged along the height direction of the cleaning robot, the third buoyancy part having a third sub-buoyancy cavity in communication with the first sub-buoyancy cavity. The cleaning robot according to claim 1, wherein, The buoyancy device comprises two, two of the buoyancy devices arranged on opposite sides of the machine body, the automatic opening and closing device comprising a tee joint and an automatic opening and closing member, the tee joint having a first flow passage opening, a second flow passage opening and a third flow passage opening in communication with each other, the first and second flow passage openings in communication with the air inlets of the two buoyancy devices respectively, the automatic opening and closing member arranged at the third flow passage opening for opening or closing the third flow passage opening, the third flow passage opening in communication with the outside. The cleaning robot according to claim 1, wherein, The cleaning robot further comprises a garbage collecting device and an identification assembly, the identification assembly comprising a detection element and a detected element, the detection element arranged in the machine body, the detected element arranged on the garbage collecting device, the detection element and the detected element cooperating to identify the cleaning mode of the cleaning robot when the garbage collecting device is mounted on the machine body. A method for controlling entry of a cleaning robot into water, characterized by The cleaning robot comprises a buoyancy device, the buoyancy device comprising a buoyancy device and an automatic opening and closing device; the buoyancy device having a first buoyancy cavity, an air inlet and a water inlet, the air inlet and the water inlet in communication with the first buoyancy cavity, the automatic opening and closing device arranged at the air inlet for controlling the opening and closing of the air inlet; The water entry control method of the cleaning robot comprises: controlling the automatic opening and closing device to close the air inlet; detecting the water entry posture of the cleaning robot; judging whether the water entry posture of the cleaning robot conforms to a preset posture, wherein the preset posture is the state that the cleaning robot keeps balance on the water surface without external force interference and with the air inlet closed; when the water entry posture of the cleaning robot conforms to the preset posture, controlling the automatic opening and closing device to open the air inlet, so that water enters the first buoyancy cavity from the water inlet and the gas in the first buoyancy cavity is discharged from the air inlet. The water entry control method of the cleaning robot according to claim 12, wherein After the water entry posture of the cleaning robot conforms to the preset posture and before the automatic opening and closing device is controlled to open the air inlet, the water entry control method further comprises: when the water entry posture of the cleaning robot conforms to the preset posture, judging whether the duration that the cleaning robot keeps the preset posture conforms to a preset duration; if yes, controlling the automatic opening and closing device to open the air inlet. The water entry control method of the cleaning robot according to claim 12, wherein The buoyancy device includes a first buoyancy device and a second buoyancy device, which are symmetrically arranged on the left and right sides of the cleaning robot; after the step of controlling the automatic opening and closing device to open the air port when the water entry posture of the cleaning robot meets the preset posture, the water entry control method of the cleaning robot further includes: detecting the exhaust rates of the first buoyancy device and the second buoyancy device; judging whether the absolute value of the difference between the exhaust rates of the first buoyancy device and the second buoyancy device is greater than a first value; if yes, controlling the automatic opening and closing device of the one of the first buoyancy device and the second buoyancy device with the greater exhaust rate to close the air port. The water entry control method of the cleaning robot according to claim 14, wherein after the step of controlling the automatic opening and closing device of the one of the first buoyancy device and the second buoyancy device with the greater exhaust rate to close the air port, the water entry control method of the cleaning robot further includes: detecting the inclination angle of the center line of the first buoyancy device and the second buoyancy device relative to the water surface; judging whether the absolute value of the inclination angle of the center line of the first buoyancy device and the second buoyancy device relative to the water surface is less than a second value; if yes, controlling the automatic opening and closing device of the one of the first buoyancy device and the second buoyancy device with the closed air port to open the air port. The water entry control method of the cleaning robot according to claim 12, wherein The buoyancy device includes a first buoyancy device and a second buoyancy device, which are symmetrically arranged on the left and right sides of the cleaning robot; after the step of controlling the automatic opening and closing device to open the air port when the water entry posture of the cleaning robot meets the preset posture, the water entry control method of the cleaning robot further includes: detecting the inclination angle of the center line of the first buoyancy device and the second buoyancy device relative to the water surface; judging whether the inclination angle of the center line of the first buoyancy device and the second buoyancy device relative to the water surface is greater than a third value; if yes, controlling the automatic opening and closing device of the one of the first buoyancy device and the second buoyancy device located on the lower side to close the air port. The water entry control method of the cleaning robot according to claim 16, wherein after the step of controlling the automatic opening and closing device of the one of the first buoyancy device and the second buoyancy device located on the lower side to close the air port, the water entry control method of the cleaning robot further includes: continuously detecting the inclination angle of the center line of the first buoyancy device and the second buoyancy device relative to the water surface; judging whether the inclination angle of the center line of the first buoyancy device and the second buoyancy device relative to the water surface is less than a fourth value; if yes, controlling the automatic opening and closing device of the one of the first buoyancy device and the second buoyancy device with the closed air port to open the air port. The water entry control method of the cleaning robot according to claim 12, wherein after the step of controlling the automatic opening and closing device to open the air port when the water entry posture of the cleaning robot meets the preset posture, the water entry control method of the cleaning robot further includes: detecting whether the cleaning robot is completely submerged in water; if yes, controlling the automatic opening and closing device to close the air port. The water entry control method of the cleaning robot according to claim 18, wherein The cleaning robot further comprises a water pump, the water pump comprising a water pump motor and an impeller, the impeller being located at the top of the cleaning robot; the step of detecting whether the cleaning robot is completely immersed in water comprises: controlling the water pump to operate and obtaining a current or voltage value of the water pump motor; determining whether the current or voltage value of the water pump motor meets a fifth value; if yes, determining that the cleaning robot is completely immersed in water. The water entry control method of the cleaning robot according to any one of claims 12-19, wherein, The water entry control method of the cleaning robot further comprises: when the water entry posture of the cleaning robot does not meet the preset posture, controlling the automatic opening and closing device to keep the air port closed. A cleaning robot water entry control device characterized by The cleaning robot comprises a buoyancy device, the buoyancy device comprising a buoyancy device and an automatic opening and closing device; the buoyancy device has a first floating cavity, an air port and a water port, the air port and the water port both being in communication with the first floating cavity, the automatic opening and closing device being arranged at the air port and being used for controlling the opening and closing of the air port; The water entry control device of the cleaning robot comprises: a processor, used for controlling the automatic opening and closing device to close the air port; a posture sensor, used for detecting the water entry posture of the cleaning robot; the processor is further used for determining whether the water entry posture of the cleaning robot meets a preset posture, wherein the preset posture is a state in which the cleaning robot keeps balance on the water surface without external force interference and with the air port closed; when the processor determines that the water entry posture of the cleaning robot meets the preset posture, controlling the automatic opening and closing device to open the air port, so that water enters the first floating cavity from the water port and gas in the first floating cavity is discharged from the air port. A computer-readable storage medium, characterized by, The computer readable storage medium stores executable program codes, the computer executable program codes being used for causing a computer to execute the water entry control method of any one of claims 12-20. A cleaning robot characterized by, The cleaning robot comprises a processor and a memory, the memory storing program codes executable by the processor, when the program codes are called and executed by the processor, the water entry control method of any one of claims 12-20 is executed.

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