Sideways movement method for pool cleaning apparatus and corresponding pool cleaning apparatus

A pool cleaning apparatus comprising:

• at least one sensor configured to detect whether a condition for the pool cleaning apparatus to move sideways is satisfied, wherein the condition comprises at least one of the pool cleaning apparatus being within a preset range of a waterline, the pool cleaning apparatus arriving at a predetermined location, the pool cleaning apparatus detecting an obstacle, or the pool cleaning apparatus receiving a specific task;
• a discharging pump configured to discharge water on at least one side;
• driving wheels arranged on both sides of a body of the pool cleaning apparatus;
• and
• a controller comprising hardware, the controller being configured to control the discharging pump and the driving wheels to enter a sideways movement operating mode based on a detection result of the at least one sensor, so that the pool cleaning apparatus moves to one side,
• wherein, in the sideways movement operating mode, the discharging pump is controlled to provide a thrust to an opposite side of the one side, and
• the driving wheels are driven at a rotational speed difference so that the pool cleaning apparatus is tilted towards the one side;
• wherein during the sideways movement operating mode, in response to a posture of the pool cleaning apparatus being detected as abnormal, the controller is further configured to adjust the posture of the pool cleaning apparatus, stop sideways movement of the pool cleaning apparatus, control the pool cleaning apparatus to climb down a sidewall of a pool, or turn off the discharging pump of the pool cleaning apparatus.