A method for extricating a pool cleaning robot from a stuck state and a corresponding pool cleaning robot. The method includes: controlling the pool cleaning robot to travel in a pool to perform a cleaning operation; acquiring an operating parameter or posture information of the pool cleaning robot during the traveling, and determining whether the pool cleaning robot is stuck due to being sucked according to the operating parameter or posture information; if it is determined that the pool cleaning robot is stuck due to being sucked, performing an extrication action; as example, the extrication action includes adjusting a magnitude and/or direction of the driving force of the pool cleaning robot.

Disclosed are a method for extricating a pool cleaning robot from a stuck state and a pool cleaning robot. The method includes: controlling the pool cleaning robot to travel in a pool to perform a cleaning operation; acquiring an operating parameter of the pool cleaning robot during the traveling, and determining whether the pool cleaning robot is stuck due to being suspended according to the operating parameter; if it is determined that the pool cleaning robot is stuck due to being suspended, performing an extrication action; as example, the extrication action includes adjusting a magnitude and/or direction of the driving force of the pool cleaning robot. It can be detected the situation in which the pool cleaning robot is stuck due to being suspended, thus improving the ability of the extrication.

A wall climbing method for an underwater cleaning device and an underwater cleaning device are disclosed. When the underwater cleaning device is about to start or has started wall climbing, a forward end of the device is caused to be slightly lifted or tend to be slightly lifted.