Moving devices used in liquid and pool cleaning robots

This application is a continuation of U.S. Patent Application No. U.S. Ser. No. 18/430,645, filed on Feb. 1, 2024, which is a continuation-in-part of U.S. Patent Application No. U.S. Ser. No. 18/353,263, filed on Jul. 17, 2023, which is a continuation of International Application No. PCT/CN2023/091116, filed on Apr. 27, 2023, which is hereby incorporated by reference herein.

The present disclosure relates to the field of water cleaning, and in particular, to a moving device used in liquid and a pool cleaning robot.

Cleaning and maintenance of a pool is essential to keep the water clean and the pool sanitary. Pool cleaning robots on the market can be divided into three types. The first type of cleaning robot can only clean the bottom of the water. The second type of cleaning robot can clean both the bottom and the vertical wall surface but shall be below the surface of the water. The third type of cleaning robot needs to be floating on the surface of the water, and can only clean the surface of the water. Each of the three types of pool cleaning robots has its own characteristics, but they all lack effective position adjustment in the liquid environment and cannot adjust the depth according to the actual need for all-round cleaning of the bottom, wall surface and water surface of the pool, which limits their application scope and work efficiency.

Therefore, it is desirable to provide a moving device used in liquid and a pool cleaning robot that can flexibly switch positions between above and below the liquid surface to improve the efficiency and application range of water body cleaning in water and reduce cleaning costs.

One embodiment of the present disclosure provides a pool cleaning robot. The pool cleaning robot includes: a dust box including a dust box opening and configured to filter liquid that enters the dust box, where the dust box opening includes: an in-water dust box opening provided on a bottom of the dust box and configured as an entrance for trash or impurities in pool water to enter the dust box, where the pool cleaning robot is able to be switched from moving on a bottom wall of a pool to floating on a liquid surface, and a process of switching the pool cleaning robot from moving on the bottom wall of the pool to floating on the liquid surface includes at least the following: the pool cleaning robot is first switched from moving on the bottom wall of the pool to moving on a side wall of the pool, and the pool cleaning robot subsequently moves on the side wall of the pool toward the liquid surface; and when the pool cleaning robot moves close to the liquid surface or at least partially above the liquid surface, the pool cleaning robot is switched from being against the side wall of the pool to floating on the liquid surface; and when the pool cleaning robot floats on the liquid surface, the in-water dust box opening faces the bottom wall of the pool, and when the pool cleaning robot moves on the bottom wall of the pool, the in-water dust box opening faces the bottom wall of the pool.

One embodiment of the present disclosure provides a pool cleaning robot. The pool cleaning robot includes: a dust box including a dust box opening and configured to filter liquid that enters the dust box, where the dust box opening includes: an in-water dust box opening provided on a bottom of the dust box and configured as an entrance for trash or impurities in pool water to enter the dust box, where the pool cleaning robot is able to be switched from moving on a bottom wall of a pool to floating on a liquid surface, and a process of switching the pool cleaning robot from moving on the bottom wall of the pool to floating on the liquid surface includes at least the following: the pool cleaning robot first moves from the bottom wall of the pool to a side wall of the pool and is subsequently switched from being against the side wall of the pool to floating on the liquid surface; and a liquid surface operation posture of the pool cleaning robot is substantially identical to a bottom operation posture of the pool cleaning robot.

One embodiment of the present disclosure provides a method for controlling a pool cleaning robot. The pool cleaning robot includes: a mode switching member, where the mode switching member includes: a buoyancy cavity configured to accommodate at least gas; a buoyancy force adjustment member configured to adjust a volume of the gas in the buoyancy cavity; and an air inlet configured to at least allow gas to enter the buoyancy cavity. The method includes: controlling the pool cleaning robot to move from a current position to a side wall of a pool and subsequently move on the side wall of the pool toward a liquid surface; and when the air inlet is above the liquid surface or located in air, controlling the buoyancy force adjustment member to increase the volume of the gas in the buoyancy cavity, so that the pool cleaning robot is switched from being against the side wall of the pool to floating on the liquid surface.

Description of the attached markings:, moving device;, mode switching member;, buoyancy force adjustment assembly;, buoyancy cavity;, buoyancy cavity pump;, air inlet;, connection pipeline;, first propeller;, impeller;, motor assembly;, opening;, second propeller;, track;, main water pump;, main water pump inlet;, main water pump outlet;, liquid surface;, target region;, bottom wall;, side wall;, pool cleaning robot;, dust box;, water surface dust box opening;, in-water dust box opening;, dust box roller brush assembly;, cover plate of the water surface dust box opening;, cover plate of the in-water dust box opening;, trash guiding member;, first end;, second end;, main roller brush.

In order to more clearly illustrate technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings that need to be used in the description of the embodiments. Obviously, drawings described below are only some examples or embodiments of the present disclosure. Those skilled in the art, without further creative efforts, may apply the present disclosure to other similar scenarios according to these drawings. It should be understood that the purposes of these illustrated embodiments are only provided to those skilled in the art to practice the application, and not intended to limit the scope of the present disclosure. Unless obviously obtained from the context or the context illustrates otherwise, the same numeral in the drawings refers to the same structure or operation.

It will be understood that the terms “system,” “device,” “unit,” and/or “module” used herein are one method to distinguish different components, elements, parts, sections, or assemblies of different levels. However, the words may be replaced by other expressions if other words can achieve the same purpose.

As shown in the present disclosure and the claims, unless the context clearly suggests exceptional circumstances, the words “a,” “an,” and/or “the” do not specifically refer to the singular, but may also include the plural. In general, the terms “comprise,” “comprises,” “comprising,” “include,” “includes,” and/or “including” merely prompt to include operations and elements that have been clearly identified, and these operations and elements do not constitute an exclusive listing. The methods or devices may also include other operations or elements.

The flowchart is used in the present disclosure to illustrate operations performed by the system according to the embodiment of the present disclosure. It should be understood that the foregoing or following operations may be not necessarily performed exactly in order. Instead, the operations may be processed in opposite order or simultaneously. At the same time, other operations may be added to these procedures, or a certain step or steps may be removed from these procedures.

The pool cleaning robots on the market all lack effective position adjustment in the liquid environment and are unable to adjust the depth to the actual need for all-round cleaning of the bottom, wall surface and water surface of the pool, limiting their application scope and efficiency. Some embodiments of the present disclosure provide a moving device used in liquid that can flexibly switch positions between above the liquid surface and below the liquid surface, thereby enabling a pool cleaning robot incorporating the aforementioned moving device to clean the pool in all directions, improving the efficiency and application of water body cleaning in the pool, and reducing the cost of cleaning the pool.

is a block diagram illustrating an exemplary moving device used in liquid according to some embodiments of the present disclosure.

A moving devicemay be configured to move in a target regioncontaining liquid and may switch a position above a liquid surface and below the liquid surface. The target regionmay be a region containing the liquid in which the moving deviceperforms its movement. The target regionmay include a pool. For example, the moving devicemay move in a water body of the pool and switch a position on a water surface of the pool and in the water of the pool. In some embodiments, the target regionmay also be other regions. For example, the target regionmay also include an oil well, a sewer, etc. The target regionmay include a bottom walland a side wall. In some embodiments, the moving devicemay also move on the bottom wallof the target regionand on the side wallof the target region. For example, the moving devicemay move on the bottom wallof the pool and on the side wallof the pool. For more information about the movement of the moving deviceon the bottom wallof the target regionand on the side wallof the target region, please refer to the following part of the present disclosure.

In some embodiments, the moving devicemay include a mode switching member. The mode switching membermay be configured to achieve a position switching of the moving deviceabove the liquid surface and below the liquid surface. The mode switching membermay move in a vertical direction of the target region, thus enabling the position switching of the moving deviceabove the liquid surface and below the liquid surface. When the moving deviceis below the liquid surface, all of the moving deviceis submerged below the liquid surface, and when the moving deviceis above the liquid surface, at least a portion of the moving deviceis above the liquid surface. In combination with, and, when the moving deviceis moving on the bottom wallor the main direction of the moving deviceas a whole is at an angle less than 90° from the bottom wall and away from the liquid surface, etc., it is defined as the first motion mode, as shown in, the term ‘away from the liquid surface’ can be understood as the distance between the top of the moving deviceand the liquid surface is more than a first threshold value, or the moving deviceat the position cleaning the bottom of the pool, or performing actions below and away from the liquid surface, etc. When the moving devicemoves on the side wallor the moving deviceas a whole is substantially parallel to the side wall, etc., it is defined as the second motion mode, as shown in; When the moving devicemoves on the liquid surface, or when the moving deviceat least partially emerges from the liquid surface, or when the moving deviceis located integrally below and near the liquid surface, etc., it is defined as the third mode of motion. The term ‘near the liquid surface’ can be understood as the distance between the top of the moving deviceand the liquid surface is less than a second threshold value, or the moving devicecan execute liquid surface cleaning tasks, etc.; the moving mechanism of the moving device, such as the engaging plane of the trackor the walking wheel contacting the surface to be cleaned, can be defined as the main direction of the moving deviceas a whole.

In some embodiments, the mode switching membermay adjust an action force received by the moving devicein the vertical direction to move the moving devicein the vertical direction, thereby enabling the position switching of the moving deviceabove the liquid surface and below the liquid surface. The aforementioned vertical direction may be the vertical direction of the target region. For example, the vertical direction of the target is the vertical direction of the pool, i.e., the gravity direction. A horizontal direction may be a horizontal direction of the target region, e.g., the horizontal direction of the pool (i.e., the direction perpendicular to the gravity direction).

In some embodiments of the present disclosure, by providing the mode switching member, the moving devicemay achieve the position switching above the liquid surface and below the liquid surface so that the moving devicemay adjust its position above the liquid surface and below the liquid surface according to different liquid environments and needs, and be able to perform corresponding operations in different positions in the liquid more flexibly.

In some embodiments, the action force received by the moving devicein the vertical direction may include a buoyancy force to which the moving deviceis subjected in the vertical direction.

When the aforementioned action force includes a buoyancy force to which the moving deviceis subjected in the vertical direction, the mode switching membermay include a buoyancy force adjustment assembly. The buoyancy force adjustment assemblymay be configured to adjust the magnitude of the buoyancy force to which the moving deviceis subjected in the vertical direction. In some embodiments, the buoyancy force adjustment assemblymay include a buoyancy cavityand a buoyancy force adjustment member.

The buoyancy cavitymay be configured to accommodate liquid and/or gas. The buoyancy cavitymay also include, but is not limited to, an inflatable buoyancy cavity, a liquid container type buoyancy cavity, a separated buoyancy cavity, etc. A volume of the buoyancy cavitymay be preset. The buoyancy cavitymay be made of a flexible material and/or a rigid material. The aforementioned flexible material may include, but is not limited to, polyvinyl alcohol resin, polyethylene terephthalate, rubber, etc. The rigid material may include but is not limited to, glass, ceramics, phenolic plastics, polyurethane plastics, epoxy plastics, unsaturated polyester plastics, etc. For example, the buoyancy cavitymay include a double structured buoyancy cavity containing an inner layer and an outer layer. The inner layer may be made of a flexible material for loading gas and/or liquid, and the outer layer may be a rigid protective housing that provides protection and stability for the inner layer. In some embodiments, the buoyancy cavitymay be provided at a front end and/or a rear end of the moving device. As used herein, the front end and the rear end of the moving devicerefer to two ends of the moving devicealong a moving direction of the moving devicerespectively, and a direction from the rear end to the front end is consistent with the moving direction of the moving device. In some embodiments, the moving devicemay include a buoyancy cavitywithin the moving device. When there is only one buoyancy cavitywithin the moving device, the buoyancy cavitymay be provided in a center position of the moving deviceto keep the moving devicestable when the volume of liquid and/or gas in that buoyancy cavitychanges. In some embodiments, the moving devicemay include multiple buoyancy cavitieswithin the moving device. As shown in, the moving devicemay have two buoyancy cavitieswithin the moving device, and the two buoyancy cavitiesmay be provided symmetrically on each of a left side and a right side of the front end of the moving device. As used herein, the left side and the right side of the front end of the moving devicerefer to the left side and the right side of the front end along the moving direction of the moving devicerespectively. It can be understood that the symmetrical setting of the two buoyancy cavitiescontributes to their stability when providing a buoyancy force to the moving device, avoiding the phenomenon of the moving devicetipping and deflecting under or on the liquid surface due to the uneven buoyancy force.

It should be noted that a size and a position of the buoyancy cavitymay be adjusted according to a weight and a position of each member of the moving device, to ensure that the moving deviceis in a preset state of the moving devicewhen the volume of liquid and/or gas contained therein is different.

The buoyancy force adjustment member may be configured to adjust the volume of gas in the buoyancy cavity. The volume of the gas in the buoyancy cavitymay be adjusted by the buoyancy force adjustment member of the moving deviceto change a magnitude of the buoyancy force on the moving devicein the vertical direction. For example, when the buoyancy cavitymade of a flexible material is deflated, the buoyancy force adjustment member may inject air into the buoyancy cavitythrough an air inlet, thereby increasing the volume of the gas in the buoyancy cavityand increasing the magnitude of the buoyancy force to which the moving deviceis subjected in the vertical direction. It can be understood that the moving deviceas a whole is subjected to an upward buoyancy force in the vertical direction that is positively correlated with the volume of the gas in the buoyancy cavity. The buoyancy force adjustment member may also be configured to adjust the volume of liquid in the buoyancy cavity. The moving devicemay adjust the volume of the liquid in the buoyancy cavityby the buoyancy force adjustment member to adjust the volume of the gas in the buoyancy cavity, thereby changing the magnitude of the buoyancy force to which the moving deviceis subjected in the liquid. For example, when the buoyancy cavitymade of a rigid material contains liquid, the buoyancy force adjustment member may pump out the liquid in the buoyancy cavityand the gas may enter the buoyancy cavitythrough the air inlet, thereby increasing the volume of the gas in the buoyancy cavityand increasing the magnitude of the buoyancy force to which the moving deviceis subjected in the vertical direction. It can be understood that the moving deviceas a whole is subjected to the upward buoyancy force in the vertical direction negatively correlated with the volume of the liquid in the buoyancy cavity.

The buoyancy force adjustment member may be any structure that can adjust gas in the buoyancy cavity. As shown in, the buoyancy force adjustment member may include a buoyancy cavity pump. The buoyancy cavity pumpmay drive the buoyancy cavityto discharge the liquid therein. The buoyancy cavity pumpmay include, but is not limited to, a pneumatic pump, a hydraulic pump, an electric pump, etc. The buoyancy force adjustment member may also be other structures. For example, the buoyancy force adjustment member may also be a piston assembly provided inside the buoyancy cavity, and the volume of gas and/or liquid inside the buoyancy cavitycan be adjusted by a movement of the piston assembly inside the buoyancy cavity.

In some embodiments, the buoyancy force adjustment assemblymay also include an air inlet. The aforementioned air inletis configured to supply gas into the buoyancy cavity. In some embodiments, the aforementioned air inletmay also be configured for the gas to leave the buoyancy cavity, or for the liquid to enter or leave the buoyancy cavity. In some embodiments, the buoyancy force adjustment assemblymay also include other inlets and outlets for the exit of the gas or the entry or exit of the liquid. The air inletmay be provided directly on the buoyancy cavityor may also be independent of the buoyancy cavity. The air inletmay be provided on a housing of the moving deviceto facilitate connection to an external (e.g., external liquid or external air) for the exchange of gas and/or liquid. As shown in, the air inletmay be provided at a point above an end of a front section of the moving device, so that the air inletcan connect the external air on the liquid surface more quickly during the uplifting of the moving device.

In some embodiments, the buoyancy force adjustment assemblymay also include a connection pipeline. The connection pipelineis configured to transport gas or liquid. The connection pipelinemay connect one or more of the buoyancy cavity, the buoyancy force adjustment member, and the air inlet. As shown in, the moving devicemay include two buoyancy cavities, the buoyancy cavity pump, the air inlet, and the connection pipeline. The buoyancy cavitymay be connected to the buoyancy cavity pumpthrough the connection pipeline, and the buoyancy cavity pumpmay be connected to the air inletthrough the connection pipeline.

Based on the moving deviceas shown in, when the moving deviceneeds to be switched from below the liquid surface to above the liquid surface, the moving devicemay move to a position close to the liquid surfaceand determine when to control the buoyancy cavity pumpto inject gas into the buoyancy cavity. For more information about when the moving deviceneeds to be switched from below the liquid surface to above the liquid surface, please refer toand its related description. As shown in, when the moving deviceneeds to be switched from below the liquid surface to above the liquid surface, the moving devicemay move against the side wallof the target regionto a position close to the liquid surfaceand determine when it is necessary to control the buoyancy force adjustment member to increase the volume of gas in the buoyancy cavity. For more information about the movement of the moving deviceagainst the side wallof the target region, please refer to the following part of the present disclosure. In some embodiments, when the moving deviceneeds to be switched from below the liquid surface to above the liquid surface, the moving devicemay also move to a position close to the liquid surfacebased on a first drive force generated by a first propellerand determine when the buoyancy force adjustment member needs to be controlled to increase the volume of gas in the buoyancy cavity. For more information about the first propellerand the first drive force, please refer to the following part of the present disclosure.

In some embodiments, the moving devicemay include a first sensor (not shown). The first sensor may be configured to determine the position of the moving devicein real time. The aforementioned position may include a vertical position (or depth) of the moving devicein the liquid. For example, the first sensor may be provided at a central position of the moving device, and the aforementioned position may be a depth of the central position of the moving devicein the liquid. The first sensor may include, but is not limited to, a pressure sensor, an ultrasonic sensor, an optical sensor, etc. Through the first sensor and the mode switching member, the moving devicecan also be controlled to move at a preset depth, such as liquid cleaning at a preset depth, or heading for the charging device that set at the side wall at a preset depth, etc.

In some embodiments, the moving devicemay also include a processor (not shown). The processor may be a microcontroller, an embedded processor, or an application-specific integrated circuit (ASIC), etc. The processor may obtain various data information of the moving deviceand analyze and process the data information to control the various components in the moving device. When the moving deviceneeds to be switched from below the liquid surface to above the liquid surface, the processor may obtain the position of the moving devicein real time from the first sensor, and when the position of the moving devicemeets a preset condition, the processor may control the buoyancy force adjustment member to increase the volume of the gas in the buoyancy cavity. The preset condition may include a position of the moving deviceabove a preset height. When the depth of the liquid in the target regionis fixed, the processor may determine whether the air inletin the moving deviceis above the liquid surfaceby determining whether the position of the moving devicemeets the preset condition. When the position of the moving deviceshown inmeets the preset condition, the processor may determine that the air inleton the moving deviceis above the liquid surface, and the processor may control the buoyancy cavity pumpto discharge the liquid in the buoyancy cavity, and the air may enter the buoyancy cavitythrough the air inlet, so that the volume of the gas in the buoyancy cavitycan be increased and the buoyancy force of the moving devicecan be increased. When the buoyancy force of the moving devicein the vertical direction is greater than the gravity of the moving device, the moving deviceas shown inmay be switched to the moving deviceas shown in.

In some embodiments, the moving devicemay also include a second sensor (not shown). The second sensor may be configured to detect in real time whether the air inlet of the buoyancy cavityis positioned in air. For example, the second sensor may include an ultrasonic sensor. The second sensor may be provided at the position of the air inlet of the buoyancy cavity. In some embodiments, the second sensor may also be provided at other positions of the moving deviceand obtain a detection result of whether the air inlet is located in the air by a position transition. In some embodiments, when the moving deviceneeds to be switched from below the liquid surface to above the liquid surface, the processor may obtain a detection result of whether the air inlet of the buoyancy cavityis located in the air, and when the detection result characterizes that the aforementioned air inlet is located in the air, the buoyancy force adjustment member is controlled to increase the volume of the gas in the buoyancy cavityto achieve the switching of the moving devicefrom below the liquid surface to above the liquid surface. For more information about the processor controlling the buoyancy force adjustment member to increase the volume of gas in the buoyancy cavityto enable the moving deviceto be switched from below the liquid surface to above the liquid surface, please refer to the above section of the present disclosure.

When the moving deviceneeds to be switched from above the liquid surface to below the liquid surface, the processor may control the buoyancy force adjustment member to reduce the volume of gas in the buoyancy cavity. For more information about when the moving deviceneeds to be switched from above the liquid surface to below the liquid surface, please refer toand its related description. As shown in, the processor may discharge gas from the buoyancy cavityvia the connection pipeline, thereby reducing the volume of the gas in the buoyancy cavityto reduce the buoyancy force to allow the moving deviceto be switched from above the liquid surface to below the liquid surface.

In some embodiments of the present disclosure, the buoyancy force adjustment componentmay be provided to adjust the magnitude of the buoyancy force to which the moving deviceis subjected in the vertical direction, thereby achieving flexible switching of the moving deviceabove the liquid surface and below the liquid surface, and improving the efficiency and reliability of the moving devicein the liquid environment. By providing the first sensor or the second sensor, the moving devicecan automatically determine the environment in which the air inletis located, which improves the efficiency of the use of the moving device. In some embodiments, the moving devicemoves between above the liquid surface and below the liquid surface includes moving from the first motion mode to the third motion mode, and moving from the third mode to the first motion mode. It can be understood that, during the switching process between the first motion mode and the third motion mode, the moving devicecan rely on the mode switching memberand the first and second sensors provided therein. For the case wherein the buoyancy cavityusing gas to adjust the buoyancy, when the air inletor the exhaust port of the buoyancy cavitylocated above the liquid surface, the buoyancy cavity pumpstarts to adjust the amount of gas in the buoyancy cavity. In this case, the mode switching of the moving deviceincludes switching from the first motion mode to the second motion mode until the air inletemerges from the liquid surface, and then adjusting the posture of the moving deviceto the third motion mode, thereby completing the switch from below the liquid surface to above the liquid surface. After the moving devicecompletes the cleaning of the liquid surface or the cleaning of the dust boxor the completion of charging on the liquid surface, it will return from the third motion mode to the first motion mode to continue to clean the bottom of the pool. At this moment, it starts the buoyancy cavity pumpto adjust the amount of gas in the buoyancy cavityto reduce its buoyancy in the third motion mode. The moving deviceswitches from the third motion mode to the first motion mode under the gravity. At the same time, the sensors provided on the moving devicecan be combined with the controller to control the posture and stability of the moving deviceduring the switching process. For the case wherein the buoyancy cavityusing liquid to adjust the buoyancy, the buoyancy cavitycan be a hard closed container, and water is injected into or drained from the buoyancy cavityusing a water pump. When the water is injected into the buoyancy cavity, the gas in the buoyancy cavityis discharged, thereby helping the moving deviceto submerge into the liquid. When the liquid is drained from the buoyancy cavity, so that the overall gravity of the moving deviceis reduced, thereby helping the moving deviceto float. When the moving deviceswitches from the first motion mode to the third motion mode, the moving devicecan use the drainage operation of the buoyancy cavityand other kind of upward power or forces. At this time, the moving devicedoes not need to pass through the second motion mode. When the moving deviceswitches from the third motion mode to the first motion mode, it can rely on the liquid injection operation and other downward power or forces.

In some embodiments, the mode switching membermay also include a power adjustment assembly. The power adjustment assembly may be configured to adjust the first drive force to which the moving deviceis subjected in the vertical direction. The power adjustment assembly may be a variety of structures that can provide the first drive force. For example, the power adjustment assembly may include a propeller, and the aforementioned propeller may be provided vertically on the moving device, and by rotating the aforementioned propeller, the moving devicemay be made to obtain the first drive force in the vertical direction. The first drive force in the vertical direction may be upward or downward, and under the action of the first drive force, the moving devicemay move upward or downward in the vertical direction, or be suspended in a certain position in the liquid.

In some embodiments, as shown in, the power adjustment assembly may include the first propeller. The first propellermay be configured to propel the liquid in a first preset direction. The first preset direction may be a direction in which the first propellerdischarges the liquid. When the first propellerpropels the liquid in the first preset direction, the moving devicemay be subjected to a reaction force opposite to the first preset direction, and the aforementioned reaction force may include the first drive force. It should be understood that since the moving deviceneeds to obtain the first drive force in the vertical direction, the first preset direction includes at least an inclination in the vertical direction to ensure that the obtained reaction force as mentioned before has a division force in the vertical direction (i.e., the first drive force). Accordingly, an angle between the first preset direction and the vertical direction may be [0°, 90°).

The magnitude of the first drive force may be positively correlated with the speed of the liquid moving along the first preset direction. The greater the speed of the liquid moving in the first preset direction is, the greater the reaction force on the moving deviceopposite to the first preset direction is, and the greater the first drive force in the vertical direction is.

The magnitude of the first drive force may also be negatively correlated with the angle between the first preset direction and the vertical direction. When the liquid moves along the first preset direction with the same speed, the greater the angle between the first preset direction and the vertical direction is, the smaller the first drive force of the moving devicein the vertical direction is. As shown in, when the angle between the first preset direction and the vertical direction is 0°, the aforementioned reaction force on the moving devicemay be completely converted to the first drive force in the vertical direction.

The moving devicemay include one or more first propellers. The first propellermay be provided at various positions in the moving device. As shown inand, the first propellermay be vertically provided in the central position of the moving deviceto ensure the balance during the movement of the moving device. The first propellermay include an impellerand a motor assembly. The impellermay drive the liquid in the first preset direction by rotation, and when the liquid moves in the first preset direction, the moving deviceis subjected to the first drive force in the vertical direction. The motor assemblymay power the aforementioned impeller. As shown in, the first propellerin the moving devicemay include two openings. One openingof the first propellermay be located at a top of the moving device, and another openingof the first propellermay be located at a bottom of the moving device. As used herein, the bottom of the moving devicerefer refers to an end of the moving deviceclose to the bottom of the pool; and the top of the moving devicerefers to an end of the moving device opposite to the bottom of the moving device. The impellermay be driven by the motor assemblyto absorb the liquid from one of the two openingsand discharge the liquid from the other opening, thereby giving the moving devicethe first drive force in the vertical direction. When the moving deviceis located in the liquid, the moving devicemay also adjust the rotation direction of the impeller(e.g., forward rotation, counter rotation) to adjust the first preset direction, thereby adjusting the direction of the first drive force, so that the position of the moving deviceabove the liquid surface and below the liquid surface may be switched.

Some embodiments of the present disclosure, by providing the first propeller, can make it possible for the moving deviceto quickly and easily switch the position of the moving deviceabove the liquid surface and below the liquid surface.

In some embodiments, the moving devicemay also move in a horizontal direction of the target region. As shown inand, the moving devicemay also include a second propeller. The second propellermay propel the liquid in a second preset direction to generate a second drive force in the horizontal direction. The moving devicemay achieve a movement in the horizontal direction under the action of the second drive force. The second preset direction may include a direction in which the second propellerdischarges the liquid. Similarly to the first propeller, since the moving deviceneeds to obtain the second drive force in the horizontal direction, the second preset direction includes at least an inclination in the horizontal direction to ensure that the obtained reaction force as mentioned before has a division force in the horizontal direction (i.e., the second drive force). Accordingly, an angle between the second preset direction and the horizontal direction may [0°, −90°).

Similar to the first propeller, the magnitude of the second drive force may be positively correlated with a speed of the liquid moving in the second preset direction. The greater the speed of the liquid moving in the second preset direction is, the greater the reaction force on the moving deviceopposite to the second preset direction is, and the greater the second drive force in the horizontal direction is. The magnitude of the second drive force may also be negatively correlated with the angle between the second preset direction and the horizontal direction. The greater the angle between the second preset direction and the horizontal direction is, the smaller the second drive force of the moving devicein the horizontal direction is when the liquid is moving at the same speed along the second preset direction. As shown in, when the angle between the second preset direction and the horizontal direction is 0°, the aforementioned reaction force on the moving devicemay completely switch the second drive force on the moving devicein the horizontal direction.

Similar to the first propeller, the second propellermay include an impeller and a motor assembly. For more information about the impeller and the motor assembly, please refer to the above section of the present disclosure. From the above description, in terms of the direction of the moving deviceas a whole, the first preset direction is substantially perpendicular to the direction of the moving deviceas a whole, that is, perpendicular to the contacting plane between the moving deviceand the surface to be cleaned; the second preset direction is substantially parallel to the direction of the moving deviceas a whole, that is, parallel to the contacting plane of the moving deviceand the surface to be cleaned, and opposite to the moving direction of the moving device.

The moving devicemay include one or more second propellers. The second propellermay be provided at a bottom of the moving device. For example, when only one second propelleris included in the moving device, the second propellermay be provided horizontally at a central position at the bottom of the moving deviceto ensure the balance of the moving device. In some embodiments, the second propellermay also be provided on a side of the moving device. It should be noted that when the second propelleris provided on the side of the moving device, its setting position should be at least partially below a floating position of the moving deviceon the liquid surface to ensure that when the moving deviceis floating on the liquid surface, the impeller rotation in the second propellercan propel the liquid in the second preset direction, to provide the second drive force in the horizontal direction for the moving device. In some embodiments, when the second propelleris provided on the side of the moving device, the setting position of the second propellermay be all below the floating position of the moving deviceon the liquid surface. In some embodiments, at least one second propellermay be provided on each of a left side and a right side of the moving device. As shown in, one second propellermay be provided on each of the left and right side of the moving device. When the moving devicemoves in the liquid, the moving devicemay adjust the power of the motor assembly of each of the second propellerson the left side and the right side, respectively, to adjust a movement speed of each of the second propellerson the left side and the right side to push the liquid along the second preset direction, to achieve a turn of the moving device. For example, when the movement speed of the second propelleron the left side propelling the liquid in the second preset direction is greater than the movement speed of the second propelleron the right side propelling the liquid in the second preset direction, the moving devicemay turn toward the right side under the action of the second propelleron the left side.

In some embodiments of the present disclosure, by providing the second propeller, it is possible to switch the position of the moving devicein the horizontal direction, for example, to go straight or turn in the horizontal direction, so that the function of the moving devicecan be expanded to make it suitable for more use scenarios.

In some embodiments, the moving devicemay also include a track. The operation of the trackmay drive the movement of the moving device.

The trackmay drive the moving devicein the horizontal direction. As shown in, when the moving deviceis located on the bottom wallof the target region, the operation of the trackmay drive the moving deviceon the bottom wall.

The trackmay also drive the moving devicein the vertical direction. As shown in, the operation of the trackalso drives the moving deviceon the side wallof the target regionwhen the moving deviceis pressed against the side wall. For more information about how the moving deviceis achieved by pressing against the side wallof the target region, please refer to the following part of the present disclosure.

In some embodiments, the trackmay also enable a transition of a moving region of the moving devicefrom the bottom wallto the side wall. As shown in, when the trackmoves to a point where the bottom wallmeets the side wall, a portion of the trackmoves on the side walland a portion moves on the bottom wall. A portion of the trackat the side wallmay drive the moving deviceupward until the moving region of the moving devicetransitions from the bottom wallto the side wall. When the moving region of the moving deviceis converted from the bottom wallto the side wall, the moving devicemay move on the side walldriven by the track, the moving devicemay also move on the side wallunder the action of the second drive force provided by the second propellerafter steering, and the moving devicemay also move on the side wallbased on the action of a third drive force provided by a main water pump. For more information about the main water pumpand the third drive force, please refer to the following part of the present disclosure.

Some embodiments of the present disclosure can facilitate the movement of the moving devicein various positions in the liquid by providing the trackand enable the transition of the moving region of the moving devicefrom the bottom wallto the side wall.

In some embodiments, the moving devicemay also include the main water pump. The main water pumpmay be configured to drive the moving deviceto absorb the liquid from a water inlet and discharge it from a water outlet. The water inlet may include one or more inlets for the liquid to enter the moving device. As shown in,,, and, the main water pump inletin the moving devicemay serve as an inlet (i.e., a water inlet) for the liquid to enter the inside of the moving device. The water outlet may include one or more outlets in the moving devicewhere the liquid leaves the moving deviceand enters the target region. As shown in,,, and, the main water pump outletin the moving devicemay serve as an outlet (i.e., a water outlet) for the liquid in the moving deviceto leave the moving deviceand enter the target region.

Similar to the first propeller, the main water pumpmay also include an impeller with a motor assembly, and the impeller may be driven by the motor assembly to rotate, to absorb the liquid in the target regionfrom the water inlet and discharge the liquid in the moving deviceto the target regionthrough the water outlet. In some embodiments, the moving devicemay switch the function of the main water pump inletand the main water pump outletby adjusting a rotation direction of the impeller in the main water pump. For example, when the impeller in the main water pumpis counter-rotating, the main water pump inletmay be configured for the liquid to discharge and the main water pump outletmay be configured for the liquid to enter.