Moving devices used in liquid and pool cleaning robots

Abstract

The present disclosure provides a pool cleaning robot, including: a dust box including a dust box opening. The dust box opening includes: an in-water dust box opening provided on a bottom of the dust box. A process of switching the pool cleaning robot from moving on a bottom wall of a pool to floating on a 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.

1 . A pool cleaning robot, comprising:
 a dust box comprising a dust box opening and configured to filter liquid that enters the dust box, wherein the dust box opening further comprises an in-water dust box opening, wherein the in-water dust box opening is provided on a bottom of the dust box and is configured as an entrance for trash or impurities in pool water to enter the dust box;   wherein 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 comprises 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.   
     
     
         2 . The pool cleaning robot according to  claim 1 , wherein the dust box opening further comprises a water surface dust box opening configured as an entrance for trash or impurities on the liquid surface to enter the dust box, wherein when the pool cleaning robot performs water surface cleaning, the water surface dust box opening is partially located above the liquid surface and partially located below the liquid surface. 
     
     
         3 . The pool cleaning robot according to  claim 2 , wherein the water surface dust box opening is provided on a side of the pool cleaning robot. 
     
     
         4 . The pool cleaning robot according to  claim 1 , further comprising a mode switching member, wherein the mode switching member further comprises:
 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, wherein the pool cleaning robot moves on the side wall of the pool until the air inlet is above the liquid surface or located in air, and the buoyancy force adjustment member subsequently increases 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.   
     
     
         5 . The pool cleaning robot according to  claim 4 , wherein the air inlet is provided at an end of a front section of the pool cleaning robot. 
     
     
         6 . The pool cleaning robot according to  claim 4 , wherein when the buoyancy cavity is made of a flexible material, the buoyancy force adjustment member injects or inputs the gas into the buoyancy cavity through the air inlet 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. 
     
     
         7 . The pool cleaning robot according to  claim 4 , wherein when the buoyancy cavity is made of a rigid material, the buoyancy force adjustment member pumps out liquid in the buoyancy cavity, enabling the gas to enter the buoyancy cavity through the air inlet 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. 
     
     
         8 . The pool cleaning robot according to  claim 4 , wherein the buoyancy force adjustment member adjusts a volume of liquid in the buoyancy cavity to adjust the volume of the gas in the buoyancy cavity. 
     
     
         9 . The pool cleaning robot according to  claim 4 , wherein the buoyancy force adjustment member is a buoyancy cavity pump, the buoyancy cavity is connected to the buoyancy cavity pump through a connection pipeline, and the buoyancy cavity pump is connected to the air inlet through a connection pipeline. 
     
     
         10 . The pool cleaning robot according to  claim 4 , wherein the air inlet is further configured for the gas to leave the buoyancy cavity, or when the pool cleaning robot needs to be switched from above the liquid surface to below the liquid surface, the buoyancy force adjustment member is configured to reduce the volume of the gas in the buoyancy cavity. 
     
     
         11 . The pool cleaning robot according to  claim 1 , wherein the dust box further comprises:
 a cover plate of a water surface dust box opening provided on the water surface dust box opening and configured to adjust opening and closing of the water surface dust box opening; and   a cover plate of the in-water dust box opening provided on the in-water dust box opening and configured to adjust opening and closing of the in-water dust box opening, wherein   when the pool cleaning robot performs underwater cleaning, the water surface dust box opening is closed, and the in-water dust box opening is open; and   when the pool cleaning robot performs water surface cleaning, the water surface dust box opening is open.   
     
     
         12 . The pool cleaning robot according to  claim 1 , further comprising:
 a track configured to drive the pool cleaning robot to move on the bottom wall or the side wall;   a water inlet;   a water outlet; and   a main water pump configured to drive liquid to be absorbed into the pool cleaning robot through the water inlet and liquid to be discharged from the pool cleaning robot through the water outlet, wherein under operation of the main water pump, the liquid discharged through the water outlet applies an action force to the pool cleaning robot, so that the pool cleaning robot is against the side wall.   
     
     
         13 . The pool cleaning robot according to  claim 1 , further comprising:
 a second propeller, wherein when the pool cleaning robot floats on the liquid surface, the second propeller is configured to at least drive the pool cleaning robot to move on the liquid surface.   
     
     
         14 . The pool cleaning robot according to  claim 1 , further comprising:
 a main water pump configured to drive liquid to be absorbed into the pool cleaning robot through a water inlet of the pool cleaning robot and liquid to be discharged from the pool cleaning robot through a water outlet of the pool cleaning robot; and   a second propeller, wherein when the pool cleaning robot floats on the liquid surface, the second propeller is configured to at least drive the pool cleaning robot to move on the liquid surface, wherein when the pool cleaning robot moves on the side wall of the pool, at least one of the second propeller and the main water pump provides a driving force in a vertical direction for the pool cleaning robot to drive the pool cleaning robot to move on the side wall of the pool.   
     
     
         15 . The pool cleaning robot according to  claim 1 , wherein the dust box further comprises a dust box roller brush assembly that is provided inside, outside or on the water surface dust box opening and is configured to roll the trash or impurities from the water surface into the dust box when water surface cleaning is performed. 
     
     
         16 . A pool cleaning robot, comprising:
 a dust box comprising a dust box opening and configured to filter liquid that enters the dust box, wherein the dust box opening comprises an in-water dust box opening that is provided on a bottom of the dust box and is configured as an entrance for trash or impurities in pool water to enter the dust box;   wherein 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 comprises 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.   
     
     
         17 . The pool cleaning robot according to  claim 16 , wherein the dust box opening further comprises a water surface dust box opening provided on a side of the pool cleaning robot, and when the pool cleaning robot performs water surface cleaning, the water surface dust box opening is partially located above the liquid surface and partially located below the liquid surface. 
     
     
         18 . The pool cleaning robot according to  claim 16 , further comprising a mode switching member, wherein the mode switching member comprises:
 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, wherein the pool cleaning robot moves on the side wall of the pool until the air inlet is above the liquid surface, and when the air inlet is above the liquid surface, the buoyancy force adjustment member is configured 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.   
     
     
         19 . A method for controlling a pool cleaning robot, wherein the pool cleaning robot comprises:
 a mode switching member, wherein the mode switching member comprises:
 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, wherein the method comprises: 
   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.   
     
     
         20 . The method according to  claim 19 , wherein the pool cleaning robot further comprises:
 a processor;   a first sensor configured to detect a position of the pool cleaning robot, wherein the processor obtains a detection result of the first sensor, and when the processor determines that the air inlet of the pool cleaning robot is above the liquid surface or located in the air, the processor controls the buoyancy force adjustment member to increase the volume of the gas in the buoyancy cavity; and/or   a second sensor configured to detect whether the air inlet is located in the air, wherein when the second sensor detects that the air inlet is located in the air, the processor controls the buoyancy force adjustment member to increase the volume of the gas in the buoyancy cavity.