A path planning method for a pool cleaning robot is provided. The method includes: controlling a pool cleaning robot to move to a first position on a pool wall of a pool, the first position being a position corresponding to a waterline of the pool; controlling the pool cleaning robot to turn a first angle, so as to adjust a moving direction of the pool cleaning robot to be a first direction; controlling the pool cleaning robot to move in the first direction on the pool wall; when the pool cleaning robot has moved a first distance in the first direction, controlling the pool cleaning robot to turn a second angle, so as to adjust the moving direction of the pool cleaning robot to be downward along the pool wall; and controlling the pool cleaning robot to move downwards along the pool wall.

A method for obtaining waterline information is disclosed. The method includes: obtaining waterline information by means of a detection unit of a pool cleaning robot, the pool cleaning robot moving on a pool wall or pool bottom of a pool, and the waterline information being used for representing a relative position between the pool cleaning robot and the waterline; determining a distance between the pool cleaning robot and the waterline on the basis of the waterline information; and controlling the pool cleaning robot on the basis of the distance between the pool cleaning robot and the waterline.

A control method for a pool cleaning robot includes: controlling the pool cleaning robot to move to a first position on a pool wall of a pool, in which the first position is a position where a water level line of the pool is located; controlling the pool cleaning robot to rotate by a first angle to adjust an included angle between an orientation of a top of the pool cleaning robot and a vertical direction to a target angle; and controlling the pool cleaning robot to move in a horizontal direction starting from the first position to clean the pool wall, in which the included angle between the orientation of the top of the pool cleaning robot and the vertical direction is maintained at the target angle during the horizontal movement of the pool cleaning robot.

The present disclosure provides a cleaning device, including a cleaning device body, a liquid inlet portion, a liquid outlet portion, a filtering mechanism, and a mode switching member. The filtering mechanism includes at least a filtering box. The filtering box includes at least a filtering box opening for water surface cleaning, a filtering box roller brush assembly, and a drive gear. The filtering box roller brush assembly is disposed at the filtering box opening for water surface cleaning. The drive gear is configured to drive the filtering box roller brush assembly to rotate. The mode switching member is configured for the cleaning device to be switched from a first motion state to a third motion state via a second motion state. A posture of the cleaning device in the first motion state is substantially identical to a posture of the cleaning device in the third motion state.

The present application discloses a sweeping method of a swimming pool cleaning robot and a cleaning robot, the method including: acquiring map information about an area to be cleaned; planning a first sweeping path based on the map information, the first sweeping path meeting pre-set cleaning parameter requirements; controlling the cleaning robot to travel and perform a cleaning operation based on the first sweeping path; determining whether the cleaning operation is ended, and if so, controlling the cleaning robot to travel to a missed area so as to perform supplementary sweeping. This application can improve sweeping coverage rate and sweeping efficiency.

The present disclosure provides a cleaning robot comprising one or more motors and a controller configured to control the one or more motors to generate acoustic signals indicative of content. The controller is configured to control at least one of a frequency of the acoustic signals and a pulse width of acoustic pulses generated by the one or more motors. The controller may be configured to control the one or more motors to generate an ascending sequence of frequencies and to use a frequency of a pulse generated by the one or more motors to validate a pulse width of the pulse. The one or more motors are configured to transmit frequency tones that indicate bits of a first value within the content. The one or more motors comprise at least one of a pump motor and a drive motor, wherein the controller is configured to control electric power within a motor coil using pulse width modulation to generate the acoustic signals.

Disclosed are an apparatus for cleaning a pool and a method for controlling the apparatus. The method includes rotating the apparatus by a first angle in response to an arrival of the apparatus at a corner formed by edges of walls of a pool, determining a plurality of distances between the apparatus and the edges of the walls in front of the apparatus during rotating by the first angle, determining a second angle based on the plurality of distances, and rotating the apparatus by the second angle.

The present application discloses a water surface obstacle avoidance movement method of a cleaning apparatus, which is applied to a cleaning apparatus, the cleaning apparatus including a detection unit for detecting obstacles in a first direction, a second direction and a third direction of the cleaning apparatus, the method including the following steps: detecting obstacles in the three directions in real time; when the detection unit detects the obstacle in at least one direction, generating a steering decision according to detection results of the other two directions and performing the steering decision. Based on the obstacle avoidance strategy, the cleaning apparatus can effectively avoid the obstacle and achieve collision-free driving.

A method for controlling a steering apparatus of a pool cleaning robot is provided. The method includes: determining a motion state of the pool cleaning robot by obtaining a detection signal output by the steering apparatus; and based on the motion state of the pool cleaning robot, controlling the pool cleaning robot to perform a steering operation or confirm steering completion. Also provided are an apparatus for controlling a steering apparatus of a pool cleaning robot, a steering device for a pool cleaning robot, and a computer-readable storage medium. In the controlling method, the current motion state of the pool cleaning robot is adjusted by controlling the steering apparatus, avoiding the robot from being in the same motion state for a long time, thereby improving the cleaning efficiency.

The present application provides a pool automatic cleaning device, including: a main body; a moving mechanism which is located on a side of the main body and enables the pool automatic cleaning device to move; and a guiding structure which is disposed on the moving mechanism or the main body and protrudes from the moving mechanism or the main body; wherein during a movement of the pool automatic cleaning device, in a case where the guiding structure touches a pool wall, a friction force caused by the touch is able to cause the guiding structure to rotate. The present application may control the pool automatic cleaning device to keep the main body closely attached to the pool wall when moving along a pool edge through the guiding structure, thereby improving the mapping quality and the cleaning coverage rate in the pool edge region.