Moving devices used in liquid and pool cleaning robots

Abstract

The present disclosure provides a moving device used in liquid. The moving device includes a mode switching member configured to achieve a position switching of the moving device between a first motion mode and a third motion mode by adjusting the buoyancy or drive force of the moving device; the said first motion mode is that the moving device moving on the bottom wall or the main direction of the moving device as a whole at an angle less than 90° from the bottom wall and away from the liquid surface; the said third motion mode is that moving device moving on the liquid surface, or the moving device at least partially emerging from the liquid surface, or the moving device located integrally below and near the liquid surface. And further provides a cleaning robot comprises the mentioned moving device to improve the cleaning efficiency.

What is claimed is: 
     
         1 . A moving device used in liquid, comprising:
 a mode switching member configured to achieve a position switching of the moving device between a first motion mode and a third motion mode by adjusting the buoyancy or drive force of the moving device;   the said first motion mode is that the moving device moving on the bottom wall or the main direction of the moving device as a whole at an angle less than 90° from the bottom wall and away from the liquid surface; the said third motion mode is that moving device moving on the liquid surface, or the moving device at least partially emerging from the liquid surface, or the moving device located integrally below and near the liquid surface.   
     
     
         2 . The moving device of  claim 1 , the moving of the moving device in the liquid includes a second motion mode, the second motion mode is that the moving device moving on the side wall or the main direction of the moving device as a whole substantially parallel to the side wall. 
     
     
         3 . The moving device of  claim 2 , the process of the position switching of the moving device between the first motion mode and the third motion mode includes a second motion mode. 
     
     
         4 . The moving device of  claim 2 , the process of the position switching of the moving device between the first motion mode and the third motion mode does not include a second motion mode. 
     
     
         5 . The moving device of  claim 3 , the mode switching member further comprises a buoyancy cavity; the said buoyancy cavity includes an air inlet; the buoyancy of the moving device is adjusted by the volume of gas in the buoyancy cavity. 
     
     
         6 . The moving device of  claim 5 , the said air inlet is provided at a point above an end of a front section of the moving device; and a second sensor is provided near the position of the air inlet of the buoyancy cavity for detecting whether the air inlet of the buoyancy cavity is positioned in air. 
     
     
         7 . The moving device of  claim 4 , the mode switching member further comprises buoyancy cavity; the buoyancy cavity is made of rigid material for accommodating liquid, the buoyancy of the moving device is adjusted by the volume of liquid in the buoyancy cavity. 
     
     
         8 . The moving device of  claim 1 , further comprising a power adjustment assembly, the power adjustment assembly is configured to adjust the first drive force to which the moving device is subjected in the vertical direction. 
     
     
         9 . The moving device of  claim 8 , the power adjustment assembly further comprises at least a propeller for providing drive force which is opposite to a first preset direction or a second preset direction; the first preset direction is substantially perpendicular to the contacting plane between the moving device and the surface to be cleaned; the second preset direction is substantially parallel to the contacting plane of the moving device and the surface to be cleaned, and opposite to the moving direction of the moving device. 
     
     
         10 . A pool cleaning robot, comprising a dust box and a moving device;
 the moving device includes a mode switching member configured to achieve a position switching of the cleaning robot between a first motion mode and a third motion mode by adjusting the buoyancy or the drive force of the moving device;   the said first motion mode is that the moving device moving on the bottom wall or the main direction of the moving device as a whole at an angle less than 90° from the bottom wall and away from the liquid surface; the said third motion mode is that moving device moving on the liquid surface, or the moving device at least partially emerging from the liquid surface, or the moving device located integrally below and near the liquid surface;   the said dust box includes a water surface dust box opening;   when the robot is in the third motion mode, at least part of the water surface dust box opening is located above the liquid surface, or below and near the liquid surface.   
     
     
         11 . The cleaning robot of  claim 10 , further comprising an in-water dust box opening, and a cover plate of the water surface dust box opening and a cover plate of the in-water dust box opening; the cover plate of the in-water dust box opening opens the in-water dust box opening when the robot is in the first motion mode; the cover plate of the water surface dust box opening opens the water surface dust box opening when the robot is in the third motion mode. 
     
     
         12 . The cleaning robot of  claim 10 , the moving of the cleaning robot in the liquid includes a second motion mode, the second motion mode is that the cleaning robot moving on the side wall or the main direction of the cleaning robot as a whole substantially parallel to the side wall. 
     
     
         13 . The cleaning robot of  claim 12 , the process of the position switching of the cleaning robot between the first motion mode and the third motion mode includes a second motion mode. 
     
     
         14 . The cleaning robot of  claim 12 , the process of the position switching of the cleaning robot between the first motion mode and the third motion mode does not include a second motion mode. 
     
     
         15 . The cleaning robot of  claim 10 , the mode switching member further comprises a buoyancy cavity for accommodating gas or liquid; the buoyancy of the cleaning robot is adjusted by the volume of gas or liquid in the buoyancy cavity. 
     
     
         16 . The cleaning robot of  claim 10 , further comprising at least a propeller for providing drive force which is opposite to a first preset direction or a second preset direction; the first preset direction is substantially perpendicular to the contacting plane between the cleaning robot and the surface to be cleaned; the second preset direction is substantially parallel to the contacting plane of the cleaning robot and the surface to be cleaned, and opposite to the moving direction of the cleaning robot. 
     
     
         17 . The cleaning robot of  claim 10 , further comprising a trash guiding member drives the trash in the liquid surface of the pool into the water surface dust box opening. 
     
     
         18 . The cleaning robot of  claim 10 , further comprising at least a main roller brush provided on the bottom or side of the pool cleaning robot. 
     
     
         19 . A liquid cleaning control method, applied to a pool cleaning robot as claimed in  claim 10 , and performed by a control member, comprising:
 obtaining a target task for cleaning a target pool, wherein the target task includes a first motion mode cleaning and a third motion mode cleaning;   determining an adjustment parameter of the cleaning robot based on the target task and a current position of the cleaning robot; and   controlling, based on the adjustment parameter, the moving device to drive the pool cleaning robot to move and clean to accomplish the target task.   
     
     
         20 . The liquid cleaning control method of  claim 19 , the said adjustment parameter includes route information for moving from the current position to a position of the target pool where the target task needs to be performed and route information required to complete the target task.