A robot based on origami principles, includes: linkage components, central panels, and a plurality of sector-shaped panels, wherein: two ends of the linkage components are connected to a same number of the sector-shaped panels, with every two adjacent sector-shaped panels connected by a respective one of connecting elements; the central panels are located in a middle of the linkage components, and the central panels are configured for placement of a control assembly, the control assembly comprising a folding/unfolding motor and a motion control system; the folding/unfolding motor is configured to drive the connecting elements to control the robot to switch to any one of a multirotor configuration, a wheel configuration, or a waterborne motion configuration.

This application provides a swimming pool robot, including a robot body, a filter, a control unit, and a moving mechanism. Operating environments of the swimming pool robot at least include a first operating environment and a second operating environment. The moving mechanism at least includes a first moving mechanism configured to drive the swimming pool robot to move in the first operating environment and a second moving mechanism configured to drive the swimming pool robot to move in the second operating environment. The first operating environment is an underwater environment. The second operating environment is a non-underwater environment. The control unit is capable of controlling, based on a current operating environment of the swimming pool robot, a moving mechanism corresponding to the current operating environment of the swimming pool robot to drive the swimming pool robot to move. According to this application, operating efficiency of the robot can be improved.

The present disclosure provides a locomotion apparatus used in liquid. The moving apparatus includes a buoyancy cavity disposed in the locomotion apparatus, and is configured to accommodate gas or liquid; and a first regulation part disposed in the locomotion apparatus, and is configured to regulate a volume of the gas or the liquid in the buoyancy cavity; when the locomotion apparatus is switched from the sidewall of a swimming pool to the liquid surface, the volume of the gas or the liquid in the buoyancy cavity is regulated by the first regulation part to increase the buoyancy force applied to the locomotion apparatus.

The present disclosure provides a cleaning device, including: a cleaning device body; a filtering mechanism; a cleaning cavity disposed at a front portion of the cleaning device body and configured to accommodate at least one first cleaning part; a liquid inlet portion; a mode switching member configured to adjust a pose of the cleaning device, enabling the cleaning device to be switched between a first motion state and a third motion state, where when the cleaning device is in the first motion state, the liquid inlet portion is located under a water surface, and the cleaning device performs underwater cleaning, and when the cleaning device is in the third motion state, the liquid inlet portion is at least partially located above the water surface, and the cleaning device performs water surface cleaning; and a main water pump configured to generate a suction force.