Moving devices used in liquid and pool cleaning robots

A pool cleaning robot, comprising:

• a dust box including a dust box opening configured to clean liquid that enters the dust box;
• a moving device including a mode switching member configured to achieve a position switching of the moving device above a liquid surface and below the liquid surface, wherein when the moving device is below the liquid surface, the moving device is fully submerged below the liquid surface, and when the moving device is above the liquid surface, at least a portion of the moving device is above the liquid surface, wherein
• an action force received by the moving device in a vertical direction includes a buoyancy force to which the moving device is subjected in the vertical direction, and the mode switching member includes:
• a buoyancy force adjustment assembly configured to adjust a magnitude of the buoyancy force to which the moving device is subjected in the vertical direction;
• or
• the action force received by the moving device in the vertical direction includes a first drive force to which the moving device is subjected in the vertical direction, and the mode switching member includes:
• a power adjustment assembly configured to adjust the first drive force to which the moving device is subjected in the vertical direction;
• 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.

A liquid cleaning control method, applied to a pool cleaning robot, and performed by a control member, wherein the pool cleaning robot comprises:

• a dust box including a dust box opening configured to clean liquid that enters the dust box;
• a moving device including a mode switching member configured to achieve a position switching of the moving device above a liquid surface and below the liquid surface, wherein when the moving device is below the liquid surface, the moving device is fully submerged below the liquid surface, and when the moving device is above the liquid surface, at least a portion of the moving device is above the liquid surface, wherein
• an action force received by the moving device in a vertical direction includes a buoyancy force to which the moving device is subjected in the vertical direction, and the mode switching member includes:
• a buoyancy force adjustment assembly configured to adjust a magnitude of the buoyancy force to which the moving device is subjected in the vertical direction;
• or
• the action force received by the moving device in the vertical direction includes a first drive force to which the moving device is subjected in the vertical direction, and the mode switching member includes:
• a power adjustment assembly configured to adjust the first drive force to which the moving device is subjected in the vertical direction;
• the 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;
• the liquid cleaning control method comprising:
• obtaining a target task for cleaning a target pool, wherein the target task includes the water surface cleaning of the pool or the underwater cleaning of the pool;
• 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 and clean to accomplish the target task.