Cleaning apparatus

Abstract

The application provides a cleaning device with an underwater cleaning mode, which comprises a sensor, a buoyancy device and a control assembly. The sensor detects the submersion of the cleaning device and the submersion posture. The buoyancy device comprises a water tank and a gas valve, the water tank has a floating cavity, a water inlet and a gas inlet, the water inlet and the gas inlet are communicated with the floating cavity, and the gas valve is arranged at the gas inlet. The control assembly is electrically connected with the sensor and the gas valve, and controls the gas valve according to the detection signal of the sensor. In the underwater cleaning mode, when the sensor detects that the cleaning device is submerged and in a first preset submersion posture, the control assembly controls the gas valve to open the gas inlet, so as to allow water to enter the floating cavity through the water inlet and discharge the gas in the floating cavity through the gas inlet, thereby making the cleaning device sink, ensuring that the cleaning device sinks to the bottom of the water in the correct first preset submersion posture after being confirmed to be submerged, and further making the cleaning device normally complete the cleaning operation, avoiding the abnormality of the cleaning device, and improving the reliability of the cleaning device.

Description

Technical Field

[0001] This application relates to the field of cleaning robots, specifically a cleaning device. Background Technology

[0002] When using current underwater cleaning equipment, after the user turns on the equipment and puts it into the water, the equipment usually defaults to sinking directly to the bottom for cleaning. However, this method can cause the equipment to sink even when the entry posture is incorrect, leading to equipment malfunctions. For example, the cleaning equipment may fail to complete the cleaning operation properly because it sinks in the wrong entry posture, which reduces the reliability of the cleaning equipment. Utility Model Content

[0003] Therefore, it is necessary to provide a cleaning device that can determine whether the device has entered water and whether the water entry posture is correct.

[0004] One embodiment of this application provides a cleaning device, which has an underwater cleaning mode, and the cleaning device includes:

[0005] Sensors detect the water entering the cleaning equipment and its attitude during water entry;

[0006] A buoyancy device includes a water tank and an air valve. The water tank has a float cavity, a water inlet, and an air inlet. The water inlet and air inlet are connected to the float cavity, and the air valve is located at the air inlet.

[0007] The control component electrically connects the sensor and the air valve, and controls the air valve based on the detection signal from the sensor.

[0008] In underwater cleaning mode, when the sensor detects that the cleaning equipment has entered the water and is in the first preset water entry posture, the control component controls the air valve to open the air port, so that the water can enter the float cavity through the water port and the gas in the float cavity can be discharged through the air port, causing the cleaning equipment to sink.

[0009] When the aforementioned cleaning equipment is in use, sensors can detect whether the cleaning equipment has entered water and whether its water entry posture is the first preset water entry posture. The control component electrically connects the sensor and the air valve, so that in the underwater cleaning mode, when the sensor detects that the cleaning equipment has entered water and is in the first preset water entry posture, the control component controls the air valve to open the air port, allowing water to enter the float chamber through the water port and expelling the gas in the float chamber through the air port, causing the cleaning equipment to sink. This ensures that after confirming water entry and meeting the first preset water entry posture, the air valve can be automatically opened, allowing the cleaning equipment to sink to the bottom in the preset posture, thereby enabling the cleaning equipment to complete the cleaning operation normally, avoiding malfunctions, and improving the reliability of the cleaning equipment.

[0010] In some embodiments, the cleaning device also has a water surface cleaning mode, in which when the sensor detects that the cleaning device has entered water and is in a second preset water entry posture, the control component controls the air valve to keep the air port closed.

[0011] In some embodiments, the cleaning device has a top and a bottom, wherein when the cleaning device is in a first preset water immersion posture, the top is on top and the bottom is on the bottom; and when the cleaning device is in a second preset water immersion posture, the top is on the bottom and the bottom is on top.

[0012] In some embodiments, the cleaning device further includes a flipping component electrically connected to a control component. In underwater cleaning mode, when the sensor detects that the cleaning device has entered the water and is in a second preset water entry posture, the control component controls the air valve to open and activates the flipping component to flip the cleaning device, so that the cleaning device is in a working posture.

[0013] In some embodiments, the sensor also detects the cleaning equipment leaving the water, and when the sensor detects that the cleaning equipment is leaving the water, the control component controls the cleaning equipment to stop.

[0014] In some embodiments, the cleaning device further includes a delay module electrically connected to the control component. When the sensor detects that the cleaning device is out of water, the delay module starts timing and, after a preset time is reached, the control component cuts off the power to the cleaning device.

[0015] In some embodiments, the cleaning device further includes a handle, and the sensor is located on the same side of the cleaning device as the handle, with the sensor positioned near the handle.

[0016] In some embodiments, the center of gravity of the cleaning device is located near the handle.

[0017] In some embodiments, the height of the cleaning device is greater than or equal to 200 mm and less than or equal to 300 mm, and the distance between the sensor and the top of the cleaning device is greater than or equal to 50 mm and less than or equal to 200 mm.

[0018] In some embodiments, the sensor is provided with multiple sensors, each of which is electrically connected to the control component. The control component responds when the detection results of the multiple sensors are consistent, or when any of the multiple sensors detects that the cleaning device has entered water and is in a first preset water entry posture. Attached Figure Description

[0019] Figure 1 This is a perspective view of a cleaning device according to an embodiment of this application.

[0020] Figure 2 Figure 1 A three-dimensional view of the cleaning equipment from another perspective.

[0021] Figure 3 for Figure 1 Internal structure diagram of the cleaning equipment.

[0022] Figure 4 for Figure 3 A three-dimensional view of the middle water tank.

[0023] Figure 5 for Figure 4 Cross-sectional view of the middle water tank.

[0024] Figure 6 for Figure 1 A bottom view of the cleaning equipment.

[0025] Figure 7 for Figure 1 Side view of the cleaning equipment in underwater cleaning mode.

[0026] Figure 8 for Figure 1 Side view of the cleaning equipment in water surface cleaning mode.

[0027] Figure 9 This is a schematic diagram of the structure of a cleaning device in one embodiment of this application.

[0028] Explanation of main component symbols

[0029] 100. Cleaning equipment; 101. Top; 102. Bottom; 10. Sensor; 20. Buoyancy device; 21. Water tank; 211. Float cavity; 212. Water inlet; 213. Air inlet; 22. Air valve; 30. Control component; 40. Roller brush; 50. Drive propeller; 60. Tilting component; 70. Handle; 80. Walking component; 90. Delay module. Detailed Implementation

[0030] The technical solution of this application will now be described with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0031] It should be noted that when a component is referred to as being "located" on another component, it can be directly on top of the other component or it can be located in the middle of the component. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "above" includes directly above and diagonally above, or simply indicates a higher horizontal level; the term "below" includes directly below and diagonally below, or simply indicates a lower horizontal level.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] When using current underwater cleaning equipment, after the user turns on the equipment and puts it into the water, the equipment usually defaults to sinking directly to the bottom for cleaning. However, this method can cause the equipment to sink even when the entry posture is incorrect, leading to equipment malfunctions. For example, the cleaning equipment may fail to complete the cleaning operation properly because it sinks in the wrong entry posture, which reduces the reliability of the cleaning equipment.

[0034] In view of this, it is necessary to provide a cleaning device capable of determining whether the device has entered water and whether its entry posture is correct. The cleaning device has an underwater cleaning mode and includes sensors, a buoyancy device, and control components. The sensors detect the water entry and posture of the cleaning device. The buoyancy device includes a water chamber and an air valve. The water chamber has a float cavity, a water inlet, and an air inlet, which are connected to the float cavity. The air valve is located at the air inlet. The control components are electrically connected to the sensors and the air valve and control the air valve based on the sensor's detection signal. In the underwater cleaning mode, when the sensors detect that the cleaning device has entered water and is in a first preset water entry posture, the control components control the air valve to open the air inlet, allowing water to enter the float cavity through the water inlet and expelling gas from the float cavity through the air inlet, causing the cleaning device to sink.

[0035] When the aforementioned cleaning equipment is in use, sensors can detect whether the cleaning equipment has entered water and whether its water entry posture is the first preset water entry posture. The control component electrically connects the sensor and the air valve, so that in the underwater cleaning mode, when the sensor detects that the cleaning equipment has entered water and is in the first preset water entry posture, the control component controls the air valve to open the air port, allowing water to enter the float chamber through the water port and expelling the gas in the float chamber through the air port, causing the cleaning equipment to sink. This ensures that after confirming water entry and meeting the first preset water entry posture, the air valve can be automatically opened, allowing the cleaning equipment to sink to the bottom in the preset posture, thereby enabling the cleaning equipment to complete the cleaning operation normally, avoiding malfunctions, and improving the reliability of the cleaning equipment.

[0036] The following is in conjunction with the appendix Figures 1 to 9 This application provides a detailed description of some embodiments. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0037] like Figure 1 and Figure 8As shown, one embodiment of this application provides a cleaning device 100, which has an underwater cleaning mode and a surface cleaning mode. In underwater cleaning mode, the cleaning device 100 can submerge to the bottom of the water and perform cleaning operations on the bottom (e.g., ...). Figure 7 As shown), the cleaning device 100 in water surface cleaning mode can float on the water surface and perform cleaning operations (such as...). Figure 8 (As shown).

[0038] In some embodiments, the cleaning device 100 includes a sensor 10, a buoyancy device 20, and a control component 30. The sensor 10 detects whether the cleaning device 100 is submerged in water and detects its submerged attitude. The buoyancy device 20 drives the cleaning device 100 to sink or float in the water. The control component 30 is electrically connected to the sensor 10 and the buoyancy device 20. The control component 30 receives the detection signal from the sensor 10 and sends corresponding commands to the buoyancy device 20 to control the buoyancy device 20 based on the detection signal. In underwater cleaning mode, the sensor 10 detects whether the cleaning device 100 is submerged in water and whether it is in a first preset submerged attitude. If the sensor 10 detects that the cleaning device 100 is submerged in water and in the first preset submerged attitude, the control component 30 controls the buoyancy device 20 to drive the cleaning device 100 to sink; if the sensor 10 detects that the cleaning device 100 is submerged in water but not in the first preset submerged attitude, the control component 30 does not respond, and the cleaning device 100 does not sink.

[0039] Since the cleaning equipment 100 can detect whether it has entered the water and whether the water entry posture is the first preset water entry posture through the sensor 10, the cleaning equipment 100 will perform the sinking operation after confirming that it has entered the water, and can sink to the bottom of the water in the correct first preset water entry posture, thereby enabling the cleaning equipment 100 to complete the cleaning operation normally, avoiding the malfunction of the cleaning equipment 100, and improving the reliability of the cleaning equipment 100.

[0040] It should be noted that the first preset water entry posture is the posture of the cleaning device 100 after entering the water and maintaining balance without external force. In the first preset water entry posture, the cleaning device 100 takes in water and then sinks. Only when it sinks to the bottom of the pool and is level with the bottom can the cleaning operation be completed normally. Figure 7 As shown. If the cleaning device 100 does not sink in the first preset water entry posture, it may tilt during the sinking process. If the tilt angle is greater than the limit tilt angle of the cleaning device 100, it may be difficult for the cleaning device 100 to automatically return to the state of being horizontal with the bottom of the pool under the action of its own weight and buoyancy, causing the cleaning device 100 to be unable to complete the cleaning operation normally after sinking. However, if the tilt angle during the sinking process is less than the limit tilt angle, the cleaning device 100 may automatically return to the first preset water entry posture.

[0041] For example, sensor 10 may include a liquid level sensor for detecting whether the cleaning device 100 is submerged in water. The liquid level sensor is positioned at a specific location on the cleaning device 100, corresponding to a first preset submerged posture of the cleaning device 100. Thus, a single liquid level sensor can simultaneously detect both the submersion and posture of the cleaning device 100. In other embodiments, sensor 10 may include a liquid level sensor and a posture sensor, where the liquid level sensor detects whether the cleaning device 100 is submerged in water, and the posture sensor detects the posture of the cleaning device 100 when submerged in water.

[0042] In some embodiments, such as Figures 3 to 5 and Figure 7 As shown, the buoyancy device 20 includes a water tank 21 and an air valve 22. The water tank 21 has a float cavity 211, a water inlet 212, and an air inlet 213. The water inlet 212 and the air inlet 213 are connected to the float cavity 211, and the air valve 22 is located at the air inlet 213. The control component 30 is electrically connected to the sensor 10 and the air valve 22, and controls the opening and closing of the air valve 22 according to the detection signal of the sensor 10. In the underwater cleaning mode, when the sensor 10 detects that the cleaning device 100 has entered the water and is in the first preset water entry posture, the control component 30 controls the air valve 22 to open the air inlet 213, so as to allow the liquid to enter the float cavity 211 through the water inlet 212 and discharge the gas in the float cavity 211 through the air inlet 213, thereby increasing the weight of the cleaning device 100 and causing the cleaning device 100 to sink.

[0043] In some embodiments, during the surface cleaning mode, when the sensor 10 detects that the cleaning device 100 has entered the water and is in a second preset water entry posture, the control component 30 controls the air valve 22 to close the air port 213, so that the gas in the float cavity 211 remains in the float cavity 211 and water cannot enter the float cavity 211, thereby allowing the cleaning device 100 to float on the water surface. The second preset water entry posture is the correct water entry posture required for the cleaning device 100 in the surface cleaning mode.

[0044] In some embodiments, such as Figure 1 and Figure 8 As shown, the cleaning device 100 has a top 101 and a bottom 102. When the cleaning device 100 is in a first preset water immersion posture, the top 101 is on top and the bottom 102 is on the bottom, that is, the cleaning device 100 in underwater cleaning mode is placed in the water; when the cleaning device 100 is in a second preset water immersion posture, the top 101 is on the bottom and the bottom 102 is on top, that is, the cleaning device 100 in water surface cleaning mode is upside down on the water surface.

[0045] In some embodiments, such as Figure 1 , Figure 2 and Figures 6 to 8As shown, the cleaning device 100 also includes a roller brush 40, a drive paddle 50, and a walking assembly 80. The roller brush 40 and the drive paddle 50 are located at the bottom 102 of the cleaning device 100, and the walking assembly 80 is located on the left and right sides of the cleaning device 100 and partially located at the bottom 102. In underwater cleaning mode, since the top 101 is on top and the bottom 102 is on the bottom, after the cleaning device 100 sinks to the bottom, the roller brush 40 can contact the bottom to clean it, and the walking assembly 80 contacts the bottom surface to drive the cleaning device 100 to move on the bottom. The drive paddle 50 can assist the cleaning device 100 in moving. In surface cleaning mode, since the top 101 is on the bottom and the bottom 102 is on top, the roller brush 40 can contact the surface to clean it, and the cleaning device 100 moves on the surface via the drive paddle 50. For example, the walking assembly 80 can be wheels or tracks, etc.

[0046] Further optional, such as Figure 1 , Figure 2 and Figure 7 As shown, the roller brush 40, drive paddle 50, and walking assembly 80 are linked by a single motor. Whether in surface cleaning mode or underwater cleaning mode, the control component 30 controls the roller brush 40, drive paddle 50, and walking assembly 80 to operate synchronously. Alternatively, the roller brush 40, drive paddle 50, and walking assembly 80 can each be driven independently by a motor. When the sensor 10 detects that the cleaning device 100 has entered the water and is in a first preset water entry posture, the control component 30 controls the roller brush 40 and walking assembly 80 to operate after the cleaning device 100 sinks to the bottom, while the drive paddle 50 may or may not operate. When the sensor 10 detects that the cleaning device 100 has entered the water and is in a second preset water entry posture, the control component 30 controls the roller brush 40 and drive paddle 50 to operate after the cleaning device 100 floats on the water surface, while the walking assembly 80 may or may not operate.

[0047] The surface cleaning mode cannot be achieved with the first preset water entry posture, and the underwater cleaning mode cannot be achieved with the second preset water entry posture. If the cleaning device 100 is mistakenly placed in the water with the second preset water entry posture when using the underwater cleaning mode, it needs to be corrected from the second preset water entry posture to the first preset water entry posture; conversely, if the cleaning device 100 is mistakenly placed in the water with the first preset water entry posture when using the surface cleaning mode, it needs to be corrected from the first preset water entry posture to the second preset water entry posture.

[0048] In some embodiments, if the water immersion posture of the cleaning device 100 is incorrect, the cleaning device 100 will issue a prompt message to remind the user to correct the posture. For example, the cleaning device 100 may issue prompt signals such as sound or light, or the cleaning device 100 may issue prompt signals through the app software of a mobile terminal, as long as it can serve the purpose of reminding the user.

[0049] To make it easier for users to correct the posture of the cleaning device 100, in some embodiments, such as Figure 1 , Figure 2 and Figure 7 As shown, the cleaning device 100 also includes a flipping component 60, which is electrically connected to the control component 30. The flipping component 60 can flip the cleaning device 100 in water, so that the cleaning device 100 can automatically correct its posture without the need for manual correction by the user, thus improving convenience.

[0050] Specifically, in the underwater cleaning mode, when the sensor 10 detects that the cleaning device 100 has entered the water and is in an incorrect second preset water entry posture, the control component 30 controls the air valve 22 to open so that the cleaning device 100 sinks to the bottom. After the cleaning device 100 sinks to the bottom, the flipping component 60 is activated to flip the cleaning device 100 so that the cleaning device 100 is in the working posture. The working posture refers to the posture in which the bottom 102 of the cleaning device 100 contacts the bottom surface of the water so that the cleaning device 100 can clean the bottom of the water. When the bottom surface is horizontal, the working posture is the horizontal posture.

[0051] For example, the flipping component 60 is a water pump respectively installed on the top 101. After the water pump is started, it generates an impact force on the cleaning device 100, causing the cleaning device 100 to flip in the water.

[0052] In some embodiments, the sensor 10 is also used to detect whether the cleaning device 100 is out of water. When the sensor 10 detects that the cleaning device 100 is out of water, the control component 30 controls the cleaning device 100 to stop working. Here, "cleaning device 100 out of water" can refer to the user removing the cleaning device 100 from the water. Regardless of whether the cleaning device 100 is in underwater cleaning mode or surface cleaning mode, as long as the sensor 10 detects that the cleaning device 100 is out of water, the control component 30 will control the cleaning device 100 to stop working.

[0053] In some embodiments, the cleaning device 100 further includes a delay module 90, which is electrically connected to the control component 30. When the sensor 10 detects that the cleaning device 100 is removed from the water, the delay module 90 starts timing, and after a preset time is reached, the control component 30 cuts off the power to the cleaning device 100 to save power. Exemplarily, the control component 30 includes a circuit board, and the delay module 90 is a circuit module integrated into the circuit board. The preset time of the delay module 90 can be 1 minute, 2 minutes, or 3 minutes, etc.

[0054] In some embodiments, such as Figure 1 and Figure 2 As shown, the cleaning device 100 also includes a handle 70, which is located on one side of the cleaning device 100 and is used by the user to hold it so as to carry or move the cleaning device 100.

[0055] Since users usually put the cleaning device 100 into the water by holding the handle 70, the cleaning device 100 generally enters the water as follows: the end of the cleaning device 100 away from the handle 70 enters the water first, and the end with the handle 70 enters the water after the user lets go. When the end of the cleaning device 100 closest to the handle 70 enters the water, it means that the cleaning device 100 is basically submerged.

[0056] Therefore, in order to improve the detection accuracy of sensor 10, in some embodiments, such as Figure 1 As shown, the sensor 10 and the handle 70 are located on the same side of the cleaning device 100. The sensor 10 is located near the handle 70, so that the sensor 10 can detect the water immersion and attitude after the cleaning device 100 is basically submerged in water, making the detection results of the sensor 10 more accurate and improving the reliability of the cleaning device 100.

[0057] Conversely, if the sensor 10 is located at the end of the cleaning device 100 away from the handle 70, the sensor 10 will enter the water first, causing the sensor 10 to detect the water immersion and attitude before the cleaning device 100 is fully submerged. However, the attitude of the cleaning device 100 is unstable at this time, which can easily lead to inaccurate detection results from the sensor 10, thus causing the cleaning device 100 to malfunction.

[0058] In some embodiments, the center of gravity of the cleaning device 100 is located near the handle 70, so that when the user holds the handle 70, the center of gravity of the cleaning device 100 is closer to the user's point of force application, thereby making the user's grip on the cleaning device 100 more stable and improving the grip feel.

[0059] For example, a handle 70 is provided on the top 101 of the cleaning device 100 for easy gripping by the user.

[0060] In some embodiments, the height of the cleaning device 100 is greater than or equal to 200 mm and less than or equal to 300 mm, and the distance between the sensor 10 and the top of the cleaning device 100 is greater than or equal to 50 mm and less than or equal to 200 mm. Further optionally, the height of the cleaning device 100 can be 255 mm, 257 mm, 260 mm, 261 mm, 263 mm, or 265 mm, etc., and the distance between the sensor 10 and the top of the cleaning device 100 can be 50 mm, 55 mm, 75 mm, 100 mm, 150 mm, or 200 mm, etc.

[0061] In some embodiments, multiple sensors 10 are provided, and each sensor 10 is electrically connected to the control component 30. The control component 30 responds when the detection results of the multiple sensors 10 are consistent, thereby improving detection accuracy. For example, in the underwater cleaning mode, if multiple sensors 10 detect that the cleaning device 100 has entered the water and is in a first preset water entry posture, the control component 30 will control the air valve 22 in the buoyancy device 20 to open, allowing water to enter the float cavity 211 from the water inlet 212, thereby increasing the weight of the cleaning device 100 and causing it to sink. However, if only one sensor 10 detects that the cleaning device 100 has entered the water but is not in the first preset water entry posture, the control component 30 will not respond, and the cleaning device 100 will not sink.

[0062] In some embodiments, multiple sensors 10 are provided, and each sensor 10 is electrically connected to the control component 30. The control component 30 responds when any one of the multiple sensors 10 detects that the cleaning device 100 has entered the water and is in a first preset water entry posture, thereby improving the detection sensitivity of the sensor 10. For example, in underwater cleaning mode, if any one of the multiple sensors 10 detects that the cleaning device 100 has entered the water and is in the first preset water entry posture, the control component 30 will control the buoyancy device 20 to drive the cleaning device 100 to sink; however, if none of the sensors 10 detects that the cleaning device 100 has entered the water or is in the first preset water entry posture, the control component 30 will not respond, and the cleaning device 100 will not sink.

[0063] In some embodiments, the water inlet 212 is located on the side of the buoyancy device 20 facing the bottom 102 of the cleaning device 100, so that when the air valve 22 opens the air inlet 213, the water enters the float cavity 211 more quickly from the water inlet 212, rapidly increasing the weight of the cleaning device 100 and causing the cleaning device 100 to sink quickly.

[0064] In some embodiments, the cleaning equipment 100 is used for cleaning swimming pools.

[0065] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A cleaning device, characterized in that, The cleaning equipment has an underwater cleaning mode, and the cleaning equipment includes: Sensors detect the water entry and attitude of the cleaning equipment. A buoyancy device includes a water tank and an air valve. The water tank has a float cavity, a water inlet, and an air inlet. The water inlet and the air inlet are connected to the float cavity, and the air valve is located at the air inlet. A control component is electrically connected to the sensor and the air valve, and controls the air valve according to the detection signal from the sensor; In the underwater cleaning mode, when the sensor detects that the cleaning device has entered the water and is in a first preset water entry posture, the control component controls the air valve to open the air port, so as to allow water to enter the float cavity through the water port and discharge the gas in the float cavity through the air port, causing the cleaning device to sink.

2. The cleaning equipment as described in claim 1, characterized in that: The cleaning device also has a water surface cleaning mode. In the water surface cleaning mode, when the sensor detects that the cleaning device has entered water and is in a second preset water entry posture, the control component controls the air valve to keep the air port closed.

3. The cleaning equipment as described in claim 2, characterized in that: The cleaning device has a top and a bottom. When the cleaning device is in the first preset water immersion posture, the top is on top and the bottom is on the bottom; when the cleaning device is in the second preset water immersion posture, the top is on the bottom and the bottom is on top.

4. The cleaning equipment as described in claim 2, characterized in that: The cleaning device also includes a flipping component, which is electrically connected to the control component. In the underwater cleaning mode, when the sensor detects that the cleaning device has entered the water and is in the second preset water entry posture, the control component controls the air valve to open and activates the flipping component to flip the cleaning device, so that the cleaning device is in the working posture.

5. The cleaning equipment according to any one of claims 1 to 4, characterized in that: The sensor also detects when the cleaning equipment is out of water, and when the sensor detects that the cleaning equipment is out of water, the control component controls the cleaning equipment to stop.

6. The cleaning equipment as described in claim 5, characterized in that: The cleaning device also includes a delay module, which is electrically connected to the control component. When the sensor detects that the cleaning device is out of water, the delay module starts timing, and after a preset time is reached, the control component cuts off the power to the cleaning device.

7. The cleaning equipment according to any one of claims 1 to 4, characterized in that: The cleaning device also includes a handle, and the sensor and the handle are located on the same side of the cleaning device, with the sensor located near the handle.

8. The cleaning equipment as described in claim 7, characterized in that: The center of gravity of the cleaning equipment is located near the handle.

9. The cleaning equipment according to any one of claims 1 to 4, characterized in that: The height of the cleaning device is greater than or equal to 200 mm and less than or equal to 300 mm, and the distance between the sensor and the top of the cleaning device is greater than or equal to 50 mm and less than or equal to 200 mm.

10. The cleaning equipment according to any one of claims 1 to 4, characterized in that: The sensor is provided in multiple ways, and all of the multiple sensors are electrically connected to the control component. The control component responds when the detection results of the multiple sensors are consistent, or when any of the multiple sensors detects that the cleaning device has entered water and is in the first preset water entry posture.

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