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.

Disclosed are a method for a pool cleaning apparatus to move sideways and a corresponding pool cleaning apparatus. The method may include: if the condition for the pool cleaning apparatus to move sideways is satisfied, controlling the pool cleaning apparatus to enter a sideways movement operating mode, so that the pool cleaning apparatus moves towards one side, and in the sideways movement operating mode, controlling a discharging pump to provide a thrust to a side opposite the one side; in the sideways movement operating mode, controlling the pool cleaning apparatus to drive the driving wheels on both sides at a target rotational speed difference, so that the pool cleaning apparatus is tilted towards the one side.

A self-propelled pool cleaner may be operable in a swimming pool or spa. Systems and methods may allow for the pool cleaner to find or locate a docking station within the swimming pool or spa, may allow the pool cleaner to properly dock with the docking station, and/or may allow for the pool cleaner to navigate to a docking station from anywhere within the pool. Docking of the pool cleaner with the docking station may not require physical handling by a user or pool owner.

A pool robot control method and apparatus, a storage medium, and an electronic device are provided. The control method includes: obtaining a start position of a pool robot existing when the pool robot executes a current task, where the start position is a water entering position or a pool bottom position of the pool robot in a target map at which the pool robot executes the current task, and the target map is a map established by identifying a target pool (S202); and when the pool robot needs to be recalled during execution of the current task or after the current task is executed, controlling the pool robot to move to a target stop position in the water of the target pool, where the target stop position is a position on a side wall of the target pool, where the position corresponds to the start position (S204).

Disclosed are a pool cleaning device and a method for controlling the pool cleaning device. The method includes: controlling the device to move by a main path in a pool; obtaining at least one image about a current environment within an angle of view of at least one image sensor of the device; determining at least one cleaning target in the current environment based on the at least one image; controlling the device to leave the main path in the main route to clean the at least one cleaning target; and controlling the device to return to the main path to continue moving by the main path after cleaning the at least one cleaning target.

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 application provides an automatic pool cleaning device and a control method thereof. The method comprises: controlling the device to move from a first position on a pool bottom to a second position on the bottom surface of the pool and performing positioning there to obtain first positioning information, wherein at least a first part of the movement path from the first position to the second position is along an edge of the pool; controlling the device to move from the second position to a third position on the bottom surface and performing a cleaning operation on the bottom surface; controlling the device to move from the third position to a fourth position on the bottom surface and performing positioning there to obtain second positioning information; and controlling the device to move from the fourth position back to the first position based on the first and second positioning information.

Embodiments of this application provide a method for controlling a robot to move. The method includes: constructing a contour map of a bottom of a target pool based on edge information of the bottom of the target pool; performing path planning on the bottom of the target pool based on the contour map to obtain a planned path for the bottom of the target pool, where the planned path for the bottom of the target pool includes a plurality of round-trip parallel paths, and the planned path for the bottom of the target pool covers the bottom of the target pool; and controlling the robot to move along the planned path and clean the bottom of the target pool in a moving process. According to this application, a problem of low efficiency in manually cleaning a pool can be resolved, and pool cleaning efficiency can be improved.

The present disclosure provides an automatic pool cleaning apparatus, a control method and a computer storage medium. The control method includes: obtaining predetermined information required for the automatic pool cleaning apparatus to perform repositioning; and determining whether the predetermined information satisfies a predetermined condition for the automatic pool cleaning apparatus to perform the repositioning, in a case where the predetermined condition is satisfied, controlling the automatic pool cleaning apparatus to perform the repositioning.