Patent Description:
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.

Some cleaning devices used in water can be seen from the prior arts documents <CIT>, <CIT>, <CIT>, <CIT>, <CIT>.

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 invention provides a moving device used in liquid.

One embodiment of the present invention provides a pool cleaning robot. The pool cleaning robot includes a dust box including a dust box opening configured to clean liquid that enters the dust box; a moving device as described in the above embodiment; and a control member configured to control the pool cleaning robot to perform a water surface cleaning of a pool or an underwater cleaning of the pool.

One embodiment of the present invention provides a liquid cleaning control method. The liquid cleaning control method is applied to a pool cleaning robot as described in the above embodiment, and performed by a control member. The liquid cleaning control method includes obtaining a target task for cleaning a target pool, wherein the target task includes a water surface cleaning and/or an underwater cleaning; determining an adjustment parameter of the moving device based on the target task and a current position of the pool cleaning robot; and controlling, based on the adjustment parameter, the moving device to drive the pool cleaning robot to move to a target position to accomplish the target task.

Technical advantages: by arranging a first sensor to sense the position of the moving device, or a second sensor to detect whether a position of an air inlet of the buoyancy cavity is located in air, it facilitates the switch from below the liquid surface to above the liquid surface, and improves the position switching of the moving device.

The present invention is further described in terms of exemplary embodiments. These embodiments are not limiting, and in these embodiments the same numbering indicates the same structure where:.

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

In order to more clearly illustrate technical solutions of the embodiments of the present invention, 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 invention. Those skilled in the art, without further creative efforts, may apply the present invention 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 invention. 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 invention 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 invention to illustrate operations performed by the system according to the embodiment of the present invention. 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 invention 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.

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

A moving device <NUM> may be configured to move in a target region <NUM> containing liquid and may switch a position above a liquid surface and below the liquid surface. The target region <NUM> may be a region containing the liquid in which the moving device <NUM> performs its movement. The target region <NUM> may include a pool. For example, the moving device <NUM> may 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 region <NUM> may also be other regions. For example, the target region <NUM> may also include an oil well, a sewer, etc. The target region <NUM> may include a bottom wall <NUM> and a side wall <NUM>. In some embodiments, the moving device <NUM> may also move on the bottom wall <NUM> of the target region <NUM> and on the side wall <NUM> of the target region <NUM>. For example, the moving device <NUM> may move on the bottom wall <NUM> of the pool and on the side wall <NUM> of the pool. For more information about the movement of the moving device <NUM> on the bottom wall <NUM> of the target region <NUM> and on the side wall <NUM> of the target region <NUM>, please refer to the following part of the present invention.

In some embodiments, the moving device <NUM> may include a mode switching member <NUM>. The mode switching member <NUM> may be configured to achieve a position switching of the moving device <NUM> above the liquid surface and below the liquid surface. The mode switching member <NUM> may move in a vertical direction of the target region <NUM>, thus enabling the position switching of the moving device <NUM> above the liquid surface and below the liquid surface. When the moving device <NUM> is below the liquid surface <NUM>, all of the moving device <NUM> is submerged below the liquid surface <NUM>, and when the moving device <NUM> is above the liquid surface <NUM>, at least a portion of the moving device <NUM> is above the liquid surface <NUM>.

In some embodiments, the mode switching member <NUM> may adjust an action force received by the moving device <NUM> in the vertical direction to move the moving device <NUM> in the vertical direction, thereby enabling the position switching of the moving device <NUM> above the liquid surface and below the liquid surface. The aforementioned vertical direction may be the vertical direction of the target region <NUM>. 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 <NUM>, e.g., the horizontal direction of the pool (i.e., the direction perpendicular to the gravity direction).

In some embodiments of the present invention, by providing the mode switching member <NUM>, the moving device <NUM> may achieve the position switching above the liquid surface and below the liquid surface so that the moving device <NUM> may 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 device <NUM> in the vertical direction may include a buoyancy force to which the moving device <NUM> is subjected in the vertical direction.

When the aforementioned action force includes a buoyancy force to which the moving device <NUM> is subjected in the vertical direction, the mode switching member <NUM> includes a buoyancy force adjustment assembly <NUM>. The buoyancy force adjustment assembly <NUM> is configured to adjust the magnitude of the buoyancy force to which the moving device <NUM> is subjected in the vertical direction. In some embodiments, the buoyancy force adjustment assembly <NUM> includes a buoyancy cavity <NUM> and a buoyancy force adjustment member.

The buoyancy cavity <NUM> is configured to accommodate liquid and/or gas. The buoyancy cavity <NUM> may 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 cavity <NUM> may be preset. The buoyancy cavity <NUM> may 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 cavity <NUM> may 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 cavity <NUM> may be provided at a front end position and/or a rear end position of the moving device <NUM>. In some embodiments, the moving device <NUM> may include a buoyancy cavity <NUM> within the moving device <NUM>. When there is only one buoyancy cavity <NUM> within the moving device <NUM>, the buoyancy cavity <NUM> may be provided in a center position of the moving device <NUM> to keep the moving device <NUM> stable when the volume of liquid and/or gas in that buoyancy cavity <NUM> changes. In some embodiments, the moving device <NUM> may include multiple buoyancy cavities <NUM> within the moving device <NUM>. As shown in <FIG>, the moving device <NUM> may have two buoyancy cavities <NUM> within the moving device <NUM>, and the two buoyancy cavities <NUM> may be provided symmetrically on each of a left side and a right side of a front end of the moving device <NUM>. It can be understood that the symmetrical setting of the two buoyancy cavities <NUM> contributes to their stability when providing a buoyancy force to the moving device <NUM>, avoiding the phenomenon of the moving device <NUM> tipping 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 cavity <NUM> may be adjusted according to a weight and a position of each member of the moving device <NUM>, to ensure that the moving device <NUM> is in a preset state of the moving device <NUM> when the volume of liquid and/or gas contained therein is different.

The buoyancy force adjustment member is configured to adjust the volume of gas in the buoyancy cavity <NUM>. The volume of the gas in the buoyancy cavity <NUM> is adjusted by the buoyancy force adjustment member of the moving device <NUM> to change a magnitude of the buoyancy force on the moving device <NUM> in the vertical direction. For example, when the buoyancy cavity <NUM> made of a flexible material is deflated, the buoyancy force adjustment member may inject air into the buoyancy cavity <NUM> through an air inlet <NUM>, thereby increasing the volume of the gas in the buoyancy cavity <NUM> and increasing the magnitude of the buoyancy force to which the moving device <NUM> is subjected in the vertical direction. It can be understood that the moving device <NUM> as 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 <NUM>. The buoyancy force adjustment member is configured to adjust the volume of liquid in the buoyancy cavity <NUM>. The moving device <NUM> may adjust the volume of the liquid in the buoyancy cavity <NUM> by the buoyancy force adjustment member to adjust the volume of the gas in the buoyancy cavity <NUM>, thereby changing the magnitude of the buoyancy force to which the moving device <NUM> is subjected in the liquid. For example, when the buoyancy cavity <NUM> made of a rigid material contains liquid, the buoyancy force adjustment member may pump out the liquid in the buoyancy cavity <NUM> and the gas may enter the buoyancy cavity <NUM> through the air inlet <NUM>, thereby increasing the volume of the gas in the buoyancy cavity <NUM> and increasing the magnitude of the buoyancy force to which the moving device <NUM> is subjected in the vertical direction. It can be understood that the moving device <NUM> as 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 <NUM>.

The buoyancy force adjustment member may be any structure that can adjust gas in the buoyancy cavity <NUM>. As shown in <FIG>, the buoyancy force adjustment member may include a buoyancy cavity pump <NUM>. The buoyancy cavity pump <NUM> may drive the buoyancy cavity <NUM> to discharge the liquid therein. The buoyancy cavity pump <NUM> may 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 <NUM>, and the volume of gas and/or liquid inside the buoyancy cavity <NUM> can be adjusted by a movement of the piston assembly inside the buoyancy cavity <NUM>.

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

In some embodiments, the buoyancy force adjustment assembly <NUM> may also include a connection pipeline <NUM>. The connection pipeline <NUM> is configured to transport gas or liquid. The connection pipeline <NUM> may connect one or more of the buoyancy cavity <NUM>, the buoyancy force adjustment member, and the air inlet <NUM>. As shown in <FIG>, the moving device <NUM> may include two buoyancy cavities <NUM>, the buoyancy cavity pump <NUM>, the air inlet <NUM>, and the connection pipeline <NUM>. The buoyancy cavity <NUM> may be connected to the buoyancy cavity pump <NUM> through the connection pipeline <NUM>, and the buoyancy cavity pump <NUM> may be connected to the air inlet <NUM> through the connection pipeline <NUM>.

Based on the moving device <NUM> as shown in <FIG> and <FIG>, when the moving device <NUM> needs to be switched from below the liquid surface to above the liquid surface, the moving device <NUM> may move to a position close to the liquid surface <NUM> and determine when to control the buoyancy cavity pump <NUM> to inject gas into the buoyancy cavity <NUM>. For more information about when the moving device <NUM> needs to be switched from below the liquid surface to above the liquid surface, please refer to <FIG> and its related description. As shown in <FIG>, when the moving device <NUM> needs to be switched from below the liquid surface to above the liquid surface, the moving device <NUM> may move against the side wall <NUM> of the target region <NUM> to a position close to the liquid surface <NUM> and determine when it is necessary to control the buoyancy force adjustment member to increase the volume of gas in the buoyancy cavity <NUM>. For more information about the movement of the moving device <NUM> against the side wall <NUM> of the target region <NUM>, please refer to the following part of the present invention. In some embodiments, when the moving device <NUM> needs to be switched from below the liquid surface to above the liquid surface, the moving device <NUM> may also move to a position close to the liquid surface <NUM> based on a first drive force generated by a first propeller <NUM> and 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 propeller <NUM> and the first drive force, please refer to the following part of the present invention.

In some embodiments, the moving device <NUM> may include a first sensor (not shown). The first sensor may be configured to determine the position of the moving device <NUM> in real time. The aforementioned position may include a vertical position (or depth) of the moving device <NUM> in 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 device <NUM> in the liquid. The first sensor may include, but is not limited to, a pressure sensor, an ultrasonic sensor, an optical sensor, etc..

The moving device <NUM> also includes 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 device <NUM> and analyze and process the data information to control the various components in the moving device <NUM>. When the moving device <NUM> needs to be switched from below the liquid surface to above the liquid surface, the processor may obtain the position of the moving device <NUM> in real time from the first sensor, and when the position of the moving device <NUM> meets a preset condition, the processor may control the buoyancy force adjustment member to increase the volume of the gas in the buoyancy cavity <NUM>. The preset condition may include a position of the moving device <NUM> above a preset height. When the depth of the liquid in the target region <NUM> is fixed, the processor may determine whether the air inlet <NUM> in the moving device <NUM> is above the liquid surface <NUM> by determining whether the position of the moving device <NUM> meets the preset condition. When the position of the moving device <NUM> shown in <FIG> meets the preset condition, the processor may determine that the air inlet <NUM> on the moving device <NUM> is above the liquid surface <NUM>, and the processor may control the buoyancy cavity pump <NUM> to discharge the liquid in the buoyancy cavity <NUM>, and the air may enter the buoyancy cavity <NUM> through the air inlet <NUM>, so that the volume of the gas in the buoyancy cavity <NUM> can be increased and the buoyancy force of the moving device <NUM> can be increased. When the buoyancy force of the moving device <NUM> in the vertical direction is greater than the gravity of the moving device <NUM>, the moving device <NUM> as shown in <FIG> may be switched to the moving device <NUM> as shown in <FIG>.

In some embodiments, the moving device <NUM> may 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 cavity <NUM> is 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 <NUM>. In some embodiments, the second sensor may also be provided at other positions of the moving device <NUM> and obtain a detection result of whether the air inlet is located in the air by a position transition. In some embodiments, when the moving device <NUM> needs 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 cavity <NUM> is 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 cavity <NUM> to achieve the switching of the moving device <NUM> from 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 cavity <NUM> to enable the moving device <NUM> to be switched from below the liquid surface to above the liquid surface, please refer to the above section of the present invention.

When the moving device <NUM> needs 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 <NUM>. For more information about when the moving device <NUM> needs to be switched from above the liquid surface to below the liquid surface, please refer to <FIG> and its related description. As shown in <FIG> and <FIG>, the processor may discharge gas from the buoyancy cavity <NUM> via the connection pipeline <NUM>, thereby reducing the volume of the gas in the buoyancy cavity <NUM> to reduce the buoyancy force to allow the moving device <NUM> to be switched from above the liquid surface to below the liquid surface.

In some embodiments of the present invention, the buoyancy force adjustment component <NUM> may be provided to adjust the magnitude of the buoyancy force to which the moving device <NUM> is subjected in the vertical direction, thereby achieving flexible switching of the moving device <NUM> above the liquid surface and below the liquid surface, and improving the efficiency and reliability of the moving device <NUM> in the liquid environment. By providing the first sensor or the second sensor, the moving device <NUM> can automatically determine the environment in which the air inlet <NUM> is located, which improves the efficiency of the use of the moving device <NUM>.

In some embodiments, the mode switching member <NUM> may also include a power adjustment assembly. The power adjustment assembly may be configured to adjust the first drive force to which the moving device <NUM> is 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 <NUM>, and by rotating the aforementioned propeller, the moving device <NUM> may 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 device <NUM> may move upward or downward in the vertical direction, or be suspended in a certain position in the liquid.

In some embodiments, as shown in <FIG>, the power adjustment assembly may include the first propeller <NUM>. The first propeller <NUM> may be configured to propel the liquid in a first preset direction. The first preset direction may be a direction in which the first propeller <NUM> discharges the liquid. When the first propeller <NUM> propels the liquid in the first preset direction, the moving device <NUM> may 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 device <NUM> needs 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 [<NUM>°, <NUM>°).

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 device <NUM> opposite 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 device <NUM> in the vertical direction is. As shown in <FIG>, when the angle between the first preset direction and the vertical direction is <NUM>°, the aforementioned reaction force on the moving device <NUM> may be completely converted to the first drive force in the vertical direction.

The moving device <NUM> may include one or more first propellers <NUM>. The first propeller <NUM> may be provided at various positions in the moving device <NUM>. As shown in <FIG> and <FIG>, the first propeller <NUM> may be vertically provided in the central position of the moving device <NUM> to ensure the balance during the movement of the moving device <NUM>. The first propeller <NUM> may include an impeller <NUM> and a motor assembly <NUM>. The impeller <NUM> may drive the liquid in the first preset direction by rotation, and when the liquid moves in the first preset direction, the moving device <NUM> is subjected to the first drive force in the vertical direction. The motor assembly <NUM> may power the aforementioned impeller <NUM>. As shown in <FIG>, the first propeller <NUM> in the moving device <NUM> may include two openings <NUM>. One opening <NUM> of the first propeller <NUM> may be located at a top of the moving device <NUM>, and another opening <NUM> of the first propeller <NUM> may be located at a bottom of the moving device <NUM>. The impeller <NUM> may be driven by the motor assembly <NUM> to absorb the liquid from one of the two openings <NUM> and discharge the liquid from the other opening <NUM>, thereby giving the moving device <NUM> the first drive force in the vertical direction. When the moving device <NUM> is located in the liquid, the moving device <NUM> may also adjust the rotation direction of the impeller <NUM> (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 device <NUM> above the liquid surface and below the liquid surface may be switched.

Some embodiments of the present invention, by providing the first propeller <NUM>, can make it possible for the moving device <NUM> to quickly and easily switch the position of the moving device <NUM> above the liquid surface and below the liquid surface.

In some embodiments, the moving device <NUM> may also move in a horizontal direction of the target region <NUM>. As shown in <FIG> and <FIG>, the moving device <NUM> may also include a second propeller <NUM>. The second propeller <NUM> may propel the liquid in a second preset direction to generate a second drive force in the horizontal direction. The moving device <NUM> may 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 propeller <NUM> discharges the liquid. Similarly to the first propeller <NUM>, since the moving device <NUM> needs 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 [<NUM>°, - <NUM>°).

Similar to the first propeller <NUM>, 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 device <NUM> opposite 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 device <NUM> in the horizontal direction is when the liquid is moving at the same speed along the second preset direction. As shown in <FIG>, when the angle between the second preset direction and the horizontal direction is <NUM>°, the aforementioned reaction force on the moving device <NUM> may completely switch the second drive force on the moving device <NUM> in the horizontal direction.

Similar to the first propeller <NUM>, the second propeller <NUM> may 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 invention.

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

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

In some embodiments, the moving device <NUM> may also include a track <NUM>. The operation of the track <NUM> may drive the movement of the moving device <NUM>.

The track <NUM> may drive the moving device <NUM> in the horizontal direction. As shown in <FIG>, when the moving device <NUM> is located on the bottom wall <NUM> of the target region <NUM>, the operation of the track <NUM> may drive the moving device <NUM> on the bottom wall <NUM>.

The track <NUM> may also drive the moving device <NUM> in the vertical direction. As shown in <FIG> and <FIG>, the operation of the track <NUM> also drives the moving device <NUM> on the side wall <NUM> of the target region <NUM> when the moving device <NUM> is pressed against the side wall <NUM>. For more information about how the moving device <NUM> is achieved by pressing against the side wall <NUM> of the target region <NUM>, please refer to the following part of the present invention.

In some embodiments, the track <NUM> may also enable a transition of a moving region of the moving device <NUM> from the bottom wall <NUM> to the side wall <NUM>. As shown in <FIG>, when the track <NUM> moves to a point where the bottom wall <NUM> meets the side wall <NUM>, a portion of the track <NUM> moves on the side wall <NUM> and a portion moves on the bottom wall <NUM>. A portion of the track <NUM> at the side wall <NUM> may drive the moving device <NUM> upward until the moving region of the moving device <NUM> transitions from the bottom wall <NUM> to the side wall <NUM>. When the moving region of the moving device <NUM> is converted from the bottom wall <NUM> to the side wall <NUM>, the moving device <NUM> may move on the side wall <NUM> driven by the track <NUM>, the moving device <NUM> may also move on the side wall <NUM> under the action of the second drive force provided by the second propeller <NUM> after steering, and the moving device <NUM> may also move on the side wall <NUM> based on the action of a third drive force provided by a main water pump <NUM>. For more information about the main water pump <NUM> and the third drive force, please refer to the following part of the present invention.

Some embodiments of the present invention can facilitate the movement of the moving device <NUM> in various positions in the liquid by providing the track <NUM> and enable the transition of the moving region of the moving device <NUM> from the bottom wall <NUM> to the side wall <NUM>.

In some embodiments, the moving device <NUM> may also include the main water pump <NUM>. The main water pump <NUM> may be configured to drive the moving device <NUM> to 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 <NUM>. As shown in <FIG>, <FIG>, <FIG>, and <FIG>, the main water pump inlet <NUM> in the moving device <NUM> may serve as an inlet (i.e., a water inlet) for the liquid to enter the inside of the moving device <NUM>. The water outlet may include one or more outlets in the moving device <NUM> where the liquid leaves the moving device <NUM> and enters the target region <NUM>. As shown in <FIG>, <FIG>, <FIG>, and <FIG>, the main water pump outlet <NUM> in the moving device <NUM> may serve as an outlet (i.e., a water outlet) for the liquid in the moving device <NUM> to leave the moving device <NUM> and enter the target region <NUM>.

Similar to the first propeller <NUM>, the main water pump <NUM> may 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 region <NUM> from the water inlet and discharge the liquid in the moving device <NUM> to the target region <NUM> through the water outlet. In some embodiments, the moving device <NUM> may switch the function of the main water pump inlet <NUM> and the main water pump outlet <NUM> by adjusting a rotation direction of the impeller in the main water pump <NUM>. For example, when the impeller in the main water pump <NUM> is counter-rotating, the main water pump inlet <NUM> may be configured for the liquid to discharge and the main water pump outlet <NUM> may be configured for the liquid to enter.

In some embodiments, when the moving device <NUM> is located on the side wall <NUM>, the water outlet (e.g., the main pump outlet <NUM>) may be oriented at least within the target region <NUM> and parallel to a horizontal direction or with a downward slope in a vertical direction, thereby guaranteeing that when the main water pump <NUM> is in operation and the liquid is discharged from the main pump outlet <NUM>, the moving device <NUM> may receive the third drive force to drive the moving device <NUM> to press against the side wall <NUM>. The third drive force may include a reaction force obtained by the moving device <NUM> when the main water pump <NUM> discharges the liquid from the main water pump outlet <NUM>. When the main pump outlet <NUM> is oriented inside the target region <NUM> and parallel to the horizontal direction, the third drive force obtained by the moving device <NUM> is oriented vertically towards the side wall <NUM>, so that the moving device <NUM> may be made to press against the side wall <NUM>. In some embodiments, when the moving device <NUM> needs to move on the side wall <NUM>, the main water pump outlet <NUM> may be directed within the target region <NUM>. When there is a downward slope in the vertical direction, on the one hand, the third drive force obtained by the moving device <NUM> may exist a component force in the horizontal direction towards the side wall <NUM>, which may cause the moving device <NUM> to press against the side wall <NUM>; on the other hand, the aforementioned third drive force may also exist a component force in the vertical direction with an upward division force, thereby also allowing the moving device <NUM> to move upwardly along the side wall <NUM>. When the moving device <NUM> is located on the bottom wall <NUM>, the third drive force obtained by the main water pump <NUM> discharging through the aforementioned main water pump outlet <NUM> may also exist a component force in the horizontal direction, thereby also allowing the moving device <NUM> to move on the bottom wall <NUM>.

In some embodiments, the main water pump inlet <NUM> may be provided at the bottom of the moving device <NUM>. When the moving device <NUM> needs to move on the side wall <NUM>, the main water pump <NUM> may absorb the liquid from the main water pump inlet <NUM> to obtain a fourth drive force to drive the moving device <NUM> to press against the side wall <NUM>. The fourth drive force may include an absorption force generated by the main water pump <NUM> from the main water pump inlet <NUM>, and the aforementioned absorption force may drive the moving device <NUM> to press against the side wall <NUM>.

In some embodiments, when the moving device <NUM> needs to move on the side wall <NUM>, the main water pump <NUM> in the moving device <NUM> may drive the moving device <NUM> to press against the side wall <NUM>. At least one of the track <NUM>, the second propeller <NUM>, and the main water pump <NUM> in the moving device <NUM> may provide a driving force upward in the vertical direction to drive the moving device <NUM> move upward on the side wall, and at least one of the track <NUM> and the second propeller <NUM> may provide a driving force downward in the vertical direction to drive the moving device <NUM> to move downward on the side wall.

Some embodiments of the present invention can make the moving device <NUM> presses against the side wall <NUM> by providing the main water pump <NUM>, thus limiting the moving device <NUM>, facilitating the moving of the moving device <NUM> on the side wall <NUM>, and completing the position change of the moving device <NUM> from below the liquid surface to above the liquid surface.

It should be noted that the above description of the moving device <NUM> and its individual components is for descriptive convenience only. It can be understood that it is possible for those skilled in the art, with an understanding of the principle of the device, to make any combination of the individual members or to form subcomponents to connect to other members without departing from this principle.

<FIG> is a schematic diagram illustrating a pool cleaning robot according to some embodiments of the present invention.

The pool cleaning robot <NUM> may be configured to clean the pool. In some embodiments, the pool cleaning robot <NUM> may include a moving device <NUM>, a dust box <NUM>, and a control member. The dust box <NUM> may be configured for a water surface cleaning and an in-water cleaning of the pool. The control member in the aforementioned pool cleaning robot <NUM> controls the moving device <NUM> to switch positions in the water surface of the pool and underwater to achieve the water surface cleaning or underwater cleaning.

As shown in <FIG> and <FIG>, the dust box <NUM> may include one or more dust box openings. The dust box opening may be configured for an entrance of trash or other impurities from the pool into the pool cleaning robot <NUM>.

In some embodiments, the dust box opening may include a water surface dust box opening <NUM>. The water surface dust box opening <NUM> may be configured as an entrance for the trash or impurities from the pool water surface to enter the dust box <NUM>. The water surface dust box opening <NUM> may be provided on a side (e.g., front side) of the pool cleaning robot <NUM> and contain a floating position of the pool cleaning robot <NUM> when the pool cleaning robot <NUM> floats on the water surface, so that the trash or other impurities on the pool water surface may pass through the water surface dust box opening <NUM> into the dust box <NUM> with the liquid. For example, the floating position of the pool cleaning robot <NUM> while the pool cleaning robot <NUM> floats on the water surface may be located at a midline position or a <NUM>/<NUM> position of the water surface dust box opening <NUM>.

In some embodiments, the dust box opening may also include a in-water dust box opening <NUM>. The in-water dust box opening <NUM> may be configured as an entrance for the trash or impurities in the pool water to enter the dust box <NUM>. The in-water dust box opening <NUM> may be provided below the floating position of the pool cleaning robot <NUM> at the water surface. For example, the in-water dust box opening <NUM> may be provided on a bottom of the pool cleaning robot <NUM>. As another example, the in-water dust box opening <NUM> may also be provided on a side edge of the pool cleaning robot <NUM> below the floating position on the water surface.

Some embodiments of the present invention extend the use scenarios of the pool cleaning robot <NUM> and enhance the user experience by providing the water surface dust box opening <NUM> and the in-water dust box opening <NUM> to enable the pool cleaning robot <NUM> to perform the water surface cleaning and the in-water cleaning.

The dust box <NUM> may also include a dust box roller brush assembly <NUM>. The dust box <NUM> may include one or more dust box roller brush assemblies <NUM>. The dust box roller brush assembly <NUM> may be configured to improve the efficiency of the water surface cleaning by entraining the trash or impurities from the water surface into the dust box <NUM> when performing pool water surface cleaning. The dust box roller brush assembly <NUM> may be provided in the water surface dust box opening <NUM>. As shown in <FIG>, the dust box roller brush assembly <NUM> may be provided on an inside of the water surface dust box opening <NUM>. In some embodiments, the dust box roller brush assembly <NUM> may also be provided outside of or on the water surface dust box opening <NUM>.

In some embodiments, the dust box <NUM> may also include a cover plate <NUM> of the water surface dust box opening and a cover plate <NUM> of the in-water dust box opening. The cover plate <NUM> of the water surface dust box opening is configured to adjust an opening and closing state of the water surface dust box opening <NUM>. When the water surface dust box opening <NUM> is open, the liquid on the water surface of the pool may enter the dust box <NUM> through the water surface dust box opening <NUM>; when the water surface dust box opening <NUM> is closed, the liquid on the pool water cannot enter the dust box <NUM> through the water surface dust box opening <NUM>. The cover plate <NUM> of the water surface dust box opening is provided on the water surface dust box opening <NUM>. As shown in <FIG>, the cover plate <NUM> of the water surface dust box opening may be provided in the water surface dust box opening <NUM>. The cover plate <NUM> of the water surface dust box opening may also be provided on the inside of the water surface dust box opening <NUM>, or on the outside of the water surface dust box opening <NUM>. Similar to the cover plate <NUM> of the water dust box opening, the cover plate <NUM> of the in-water dust box opening is configured to adjust an opening and closing state of the in-water dust box opening <NUM>. The cover plate <NUM> of the in-water dust box opening is provided on the in-water dust box opening <NUM>. The cover plate <NUM> of the in-water dust box opening is provided in the in-water dust box opening <NUM>, on an inside of the in-water dust box opening <NUM>, or on an outside of the in-water dust box opening <NUM>.

The cover plate <NUM> of the water surface dust box opening and the cover plate <NUM> of the in-water dust box opening may be movable members. The control member may allow the corresponding dust box opening or closing by adjusting the water dust box opening cover <NUM> and/or the in-water dust box opening cover <NUM>. For example, the water surface dust box opening cover <NUM> may be a rotatable member, and the control member may convert the water surface dust box opening <NUM> from a closing state to an opening state by rotation of the water surface dust box opening cover <NUM>.

In some embodiments, when the pool cleaning robot <NUM> needs to perform the underwater cleaning, the control member may keep the surface dust box mouth <NUM> closed through the cover plate <NUM> of the water dust box opening and keep the in-water dust box opening <NUM> open through the cover plate <NUM> of the in-water dust box opening, which avoids the diversion of liquid by the water surface dust box opening <NUM> and ensures the absorption of the in-water dust box opening <NUM>, thereby improving the cleaning efficiency of the pool cleaning robot <NUM> in the water.

In some embodiments, the dust box <NUM> may also include other structures. For example, the dust box <NUM> may also include a filter. The aforementioned filter may be configured to filter the liquid entering the dust box <NUM>.

The control member may be configured to control the pool cleaning robot <NUM> for the water surface cleaning or underwater cleaning of the pool. In some embodiments, the control member may obtain a target task for cleaning a target pool, the target task including a water surface cleaning and an underwater cleaning; determine an adjustment parameter of the moving device <NUM> based on the target task and a current position of the pool cleaning robot <NUM>; control the moving device <NUM> to move, based on the adjustment parameter, the pool cleaning robot <NUM> to a target position to complete the target task. For more information about the above embodiments, please refer to <FIG> and its related description.

Some embodiments of the present invention ensure a comprehensive pool cleaning by providing the pool cleaning robot <NUM> with the moving device <NUM> to clean the pool in multiple positions such as the bottom, the water, and the surface of the pool in an all-round manner.

In some embodiments, the pool cleaning robot <NUM> may also include a trash guiding member <NUM>. The trash guiding member <NUM> may drive the trash in the liquid surface of the pool into the water surface dust box opening <NUM>. As shown in <FIG> and <FIG>, the trash guiding member <NUM> may be located on an outside of the water surface dust box opening <NUM> and be hollow inside. The trash guiding member <NUM> may be with a size of a first end <NUM> away from the water surface dust box opening <NUM> that is larger than a size of the water surface dust box opening <NUM>, and a size of a second end <NUM> connected to the water surface dust box opening <NUM> that is not smaller than the size of the water surface dust box opening <NUM>. The trash guiding member <NUM> may include, but is not limited to, structures such as a truncated cone, a trapezoid, etc., whose interior are hollow.

In some embodiments, the size of the first end <NUM> may be provided in proportion to the water surface dust box opening <NUM>. For example, a size ratio of the first end <NUM> to the water surface dust box opening <NUM> may be set no more than <NUM>:<NUM> to avoid too much trash or impurities entering the water surface dust box opening <NUM> at the same time to cause the water surface dust box opening <NUM> to clog.

Some embodiments of the present invention, by providing the trash guiding member <NUM>, can collect the trash on the wider water surface to enter the water surface dust box opening <NUM>, which avoids reducing the efficiency of the water surface cleaning of the pool cleaning robot <NUM> caused by the water surface dust box opening <NUM> being too small.

As shown in <FIG> and <FIG>, the pool cleaning robot <NUM> may also include a main roller brush <NUM>. The main roller brush <NUM> may be configured to clean the bottom wall <NUM> and the side wall <NUM> of the pool. The pool cleaning robot <NUM> may include one or more main roller brushes <NUM>. The main roller brush <NUM> may be provided on the bottom and/or side of the pool cleaning robot <NUM>. As shown in <FIG>, the pool cleaning robot <NUM> may be provided with one main roller brush <NUM> at each of a front and rear end of the bottom of the pool cleaning robot <NUM>. When the pool cleaning robot <NUM> moves across the bottom of the pool, the main roller brush <NUM> may clean the bottom of the pool (e.g., sweep for impurities or algae); when the pool cleaning robot <NUM> moves over the walls of the pool, the main roller brush <NUM> may also clean the walls of the pool.

It should be noted that the above description of the pool cleaning robot <NUM> and its individual components is for descriptive convenience only. It can be understood that it is possible for those skilled in the art, with an understanding of the principle of the device, to make any combination of the individual members or to form subcomponents to connect to other members without departing from this principle.

<FIG> is a flowchart illustrating an exemplary liquid cleaning control method according to some embodiments of the present invention. The process <NUM> may be applied to the pool cleaning robot <NUM> and executed by the control member. As shown in <FIG>, the process <NUM> may include the following steps.

In <NUM>, a target task for cleaning a target pool may be obtained.

The target pool may be a pool that needs to be cleaned. The target task may be a cleaning task that needs to be performed on the target pool. The target task may include a water surface cleaning and/or an underwater cleaning. The water surface cleaning may refer to cleaning the water surface of the target pool, and the underwater cleaning may refer to cleaning the underwater (e.g., the water body, the walls of the pool, etc.) of the target pool. In some embodiments, the target task may also include a specific cleaning site. For example, the underwater cleaning may also include, but is not limited to, a water body cleaning, a pool bottom cleaning, an individual pool wall cleaning, etc..

The control member may obtain the target task in a variety of ways. For example, the control member may obtain a target task input by a user. As another example, the control member can be set to perform the target task at regular intervals, e.g., once every <NUM> days for the water surface cleaning and once every <NUM> days for the underwater cleaning. As another example, the pool cleaning robot <NUM> may also include a detection member, and the aforementioned detection member may test the water quality of the target pool and obtain water quality data of the target pool. The control member may obtain the aforementioned water quality data, and determine the target task based on the water quality data. The water quality data may be data that reflect a water quality condition of the target pool. The water quality data includes, but is not limited to, a picture of the water surface of the target pool, a picture of the water, a picture of the individual pool walls, etc. The control member may input the water quality data into a task determination model, and an output of the task determination model may include the target task. The task determination model may analyze the water quality data of the target pool to determine the cleanliness (e.g., clarity, algae distribution, impurities, etc.) of each region (e.g., water surface, water, individual pool walls, etc.) and thus determine the corresponding target task. The task determination model may include a convolutional neural network model, a graph neural network, or any other machine learning model that can implement this function. The task determination model may be obtained by training based on multiple sets of training samples with labels. The training samples may include sample water quality data from a sample pool, and the labels may include a sample task. The sample task may be obtained by manually labeling the sample water quality data.

In <NUM>, an adjustment parameter of the moving device may be determined based on the target task and a current position of the pool cleaning robot.

The control member may obtain the current position of the pool cleaning robot <NUM>, and for more information about obtaining the current position of the pool cleaning robot <NUM>, please refer to the first sensor above in the present invention.

The adjustment parameter may include 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.

The control member may determine a starting position in the target pool where the target task needs to be performed based on the target task, determine the route information for the pool cleaning robot <NUM> to move from the current position to the position of the target pool where the target task needs to be performed based on the aforementioned starting position and the current position, and then determine the route information required to complete the target task based on the target task of the target pool, thereby determining the adjustment parameter of the moving device <NUM>.

In <NUM>, the moving device may be controlled, based on the adjustment parameter, to drive the pool cleaning robot to move and clean to accomplish the target task.

The control member may control the moving device <NUM> to drive the pool cleaning robot <NUM> to move from the current position to the starting position where the target task needs to be performed based on the route information in the adjustment parameter for moving from the current position to the position of the target pool where the target task needs to be performed, and then open the dust box <NUM> in the pool cleaning robot <NUM> and the main roller brush <NUM> for cleaning to complete the target task based on the route information in the adjustment parameter, thereby completing the target task. The pool cleaning robot <NUM> may stay at an ending position, return to the starting position before moving, or a preset default position after completing the target task.

Some embodiments of the present invention enable control of the pool cleaning robot <NUM> to clean all parts of the pool through the aforementioned liquid cleaning control method to improve pool cleaning efficiency while ensuring the comprehensive pool cleaning.

It should be noted that the above description of the process <NUM> is merely provided for the purpose of illustration, and is not intended to limit the scope of the present invention.

Some embodiments of the present invention also provide a non-transitory computer-readable storage medium. The storage medium may include a set of instructions. When the set of instructions are executed by a processor, a liquid cleaning control method as described above is implemented.

Meanwhile, the present invention uses specific words to describe the embodiments of the present invention. For example, "one embodiment," "an embodiment," and/or "some embodiments" mean that a certain feature, structure, or characteristic is connected with at least one embodiment of the present invention. Therefore, it should be emphasized and noted that two or more references of "an embodiment" or "one embodiment" or "an alternative embodiment" in various places in the present invention do not necessarily refer to the same embodiment. Further, certain features, structures, or features of one or more embodiments of the present invention may be combined.

Furthremore, unless expressly stated in the claims, the order or elements and sequences of treatment, the use of alphanumeric numbers, or other names described in this description shall not be configured to define the order of processes and methods in the present invention Although the above disclosure discusses through various examples what is currently considered to be a variety of useful embodiments of the disclosure, it is to be understood that such detail is solely for that purpose of description. For example, although the implementation of various components described above may be embodied in a hardware device, it may also be implemented as a software only solution, e.g., an installation on an existing server or mobile device.

Similarly, it should be noted that to simplify the expressions disclosed in the present invention and thus help the understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of this specification, various features may sometimes be combined into one embodiment, drawings or descriptions thereof. However, this approach of disclosure does not imply that the features required by the present invention are more than the features recited in the claims. Rather, claimed subject matter may lie in less than all features of a single foregoing disclosed embodiment.

Claim 1:
A moving device (<NUM>) used in liquid, comprising:
a mode switching member (<NUM>) configured to achieve a position switching of the moving device (<NUM>) above a liquid surface and below the liquid surface, wherein when the moving device (<NUM>) is below the liquid surface, the moving device (<NUM>) is fully submerged below the liquid surface, and when the moving device (<NUM>) is above the liquid surface, at least a portion of the moving device (<NUM>) is above the liquid surface;
wherein the mode switching member (<NUM>) includes a buoyancy force adjustment assembly (<NUM>), and
the buoyancy force adjustment assembly (<NUM>) includes:
a buoyancy cavity (<NUM>) configured to accommodate gas;
a buoyancy force adjustment member configured to adjust a volume of the gas in the buoyancy cavity (<NUM>);
the moving device (<NUM>) comprises a processor,
characterized in that
the moving device (<NUM>) further comprises a first sensor or a second sensor;
the first sensor is configured to sense a position of the moving device (<NUM>),
the second sensor is configured to detect whether a position of an air inlet (<NUM>) of the buoyancy cavity (<NUM>) is located in air;
when the moving device (<NUM>) is to be switched from below the liquid surface to above the liquid surface, the processor is configured to obtain from the first sensor the position of the moving device (<NUM>), or to obtain from the second sensor a detection result of whether the air inlet (<NUM>) is located in air,
when the position of the moving device (<NUM>) meets a preset condition or the detection result indicates that the air inlet (<NUM>) is located in air, the processor is configured to control the buoyancy force adjustment member to increase the volume of the gas in the buoyancy cavity (<NUM>).