A control method for a cleaning robot system

Abstract

A control method of a cleaning robot system, comprising a cleaning robot and an integrated station, the method comprising: the cleaning robot walking to the integrated station and parking; a dust discharge port on the cleaning robot corresponding to a dust collection port on the integrated station, the dust discharge port being connected to a garbage chamber on the cleaning robot, the dust collection port being connected to a dust collection tank, and a cleaning element being located in a cleaning area; when a power mechanism is started, the garbage chamber is connected to the dust collection tank and garbage in the garbage chamber is sucked into the dust collection tank under the suction of airflow to be collected and stored, or when the power mechanism is started, the cleaning area is connected to the dust collection tank and cleaning liquid in the cleaning area is sucked into the dust collection tank under the suction of airflow to be collected and stored; and when the power mechanism works for a first preset time length, the power mechanism stops working. The present scheme solves the problems of complex structure, high cost and serious dust raising of the existing base station caused by the one-time cloth bag or multi-step hierarchical filtering structure of the filtering system.

Description

Technical Field

[0001] The present invention relates to the field of intelligent cleaning robots, and in particular to a control method for a cleaning robot system. Background Art

[0002] The existing cleaning robots mainly have a vacuuming function, which mainly sucks the garbage on the ground into the dust box inside it, and the dust box collects the garbage. However, due to the limitation of the overall structure of the cleaning robot, the dust box needs to be emptied frequently, and even requires users to dump it every day. Therefore, there are base stations on the market. The base stations are mainly equipped with large-suction fans and large-volume garbage boxes. The large-suction fan works to dock and suck the garbage in the dust box of the cleaning robot into the garbage box, so that users can dump the garbage box regularly or periodically, which relatively improves the user experience.

[0003] Because the large suction fan on the base station is in the process of sucking garbage, a filtering structure must be set between the large suction fan and the garbage box to filter the airflow. Only after filtering can the airflow generated by the large suction fan be discharged into the indoor environment. If the filtration is not sufficient, the discharged airflow will pollute the indoor environment and fail to meet the standard requirements. Because the airflow generated by the large suction fan has a large suction force, the filtering structure between the large suction fan and the garbage box is very complicated, resulting in the following main problems in the base station:

[0004] (1) In order to solve the complex difficulties of the filtering structure, some base stations set the garbage box as a disposable cloth bag. The cloth bag is made of a specific material to achieve a filtering effect. The high-suction fan generates suction to suck the garbage in the dust box into the cloth bag, and at the same time achieves the filtering effect. The airflow passing through the cloth bag can be discharged normally into the indoor environment. However, the cost of the cloth bag is high, and users need to purchase and replace the cloth bag regularly. The cloth bag can only be used once and cannot be reused, resulting in high overall cost of the base station and low user acceptance. At the same time, the tiny garbage in the garbage will be adsorbed on the cloth bag under the action of the high-suction fan, and then the filter holes of the cloth bag will be blocked, causing the suction force of the high-suction fan to absorb the garbage to be lost, and then the garbage in the dust box will fail to be absorbed. This also directly leads to the need for users to frequently replace the cloth bag to enable the base station to absorb and collect garbage, resulting in very high maintenance costs for the base station.

[0005] (2) In order to solve the complex and difficult problems of filtering, some base stations set up a multi-step and layered filtering system in the trash box. First, the large-volume garbage in the garbage is filtered at the initial level, and then the medium-volume garbage is filtered, and the smaller-volume garbage is further filtered. Finally, a precision filter layer is set to adsorb the tiny garbage. It can be seen that in order to solve the problem of filtering the airflow under the large suction fan, a multi-layer filtering system needs to be set up, and each filter layer needs to be cleaned regularly. The precision filter layer needs to be replaced regularly. If it is not cleaned and replaced in time, the filter system will be blocked by garbage and fail, causing the large suction fan to fail to absorb the garbage in the dust box. The construction cost of the filtering system is high, and the filter layer needs to be cleaned and replaced regularly. The filter layer is a consumable that needs to be replaced regularly, resulting in poor user experience and low acceptance. The maintenance cost of the base station in the later stage is also high. At the same time, when dumping the garbage in the trash box, there will be serious dust problems, resulting in a poor user experience when dumping the trash box. Summary of the Invention

[0006] The present invention aims to solve one of the technical problems in the above-mentioned related art at least to a certain extent.

[0007] To this end, the purpose of the present invention is to provide a control method for a cleaning robot system, which mainly solves the problems of complex base station structure and high cost caused by the existing base station setting up disposable cloth bags or multi-step hierarchical filtering structures for the filtering system, as well as the need to regularly clean and replace the filtering system, resulting in poor experience, high base station structure maintenance costs, and serious dust.

[0008] An embodiment of the present invention provides a control method for a cleaning robot system, comprising: a cleaning robot and an integrated station, wherein the integrated station is provided as an independent part relative to the cleaning robot; the cleaning robot is at least used to vacuum and mop the floor, and the cleaning robot is provided with at least a cleaning element for mopping the floor; the integrated station is at least used to dock the cleaning robot, and the integrated station is provided with a dirt collection box, which is used to collect garbage in the cleaning robot and / or cleaning liquid in a cleaning area on the integrated station;

[0009] The method includes: the cleaning robot walks to the integration station and docks;

[0010] The dust discharge port on the cleaning robot corresponds to the dust collection port on the integrated station. The dust discharge port is connected to the garbage chamber on the cleaning robot, and the dust collection port is connected to the garbage collection box. At the same time, the cleaning parts are located in the cleaning area.

[0011] When the power mechanism is started, the garbage cavity is connected to the dirt collecting box and the garbage in the garbage cavity is sucked into the dirt collecting box for collection and storage under the suction of the airflow; or when the power mechanism is started, the cleaning area is connected to the dirt collecting box and the cleaning liquid in the cleaning area is sucked into the dirt collecting box for collection and storage under the suction of the airflow;

[0012] When the operating time of the power mechanism reaches a first preset time, the power mechanism stops operating.

[0013] The aforementioned control method of a cleaning robot system also includes, if the power mechanism starts working to suck the garbage in the garbage chamber into the garbage collection box for collection, then before the power mechanism starts working, first detect whether there is cleaning liquid in the garbage collection box and detect whether the liquid level of the cleaning liquid meets the pre-set threshold A.

[0014] In the aforementioned control method of a cleaning robot system, if it is detected that there is cleaning liquid in the garbage collection box and the liquid level of the cleaning liquid meets the preset threshold A, the power mechanism is started to suck the garbage in the garbage cavity into the garbage collection box and mix it with the cleaning liquid in the garbage collection box.

[0015] In the aforementioned control method of a cleaning robot system, if there is no cleaning liquid in the dirt collecting box, the power mechanism starts working to suck the cleaning liquid in the cleaning area into the dirt collecting box for collection and storage.

[0016] The aforementioned control method of a cleaning robot system also includes: if the power mechanism starts working to absorb the cleaning liquid in the cleaning area into the dirt collection box for collection and storage, then before the power mechanism starts working, the liquid supply mechanism is first controlled to start working to transfer the cleaning liquid in the clean water tank to the cleaning area; when the working time of the liquid supply mechanism reaches a second preset time, the liquid supply mechanism stops working.

[0017] The aforementioned control method of a cleaning robot system controls the cleaning element to perform rotational cleaning in the cleaning area. When the rotational cleaning reaches a third preset time, the power mechanism starts to suck the cleaning liquid in the cleaning area into the dirt collecting box for collection, or the drainage mechanism starts to discharge the cleaning liquid in the cleaning area into the dirt collecting box for collection.

[0018] In the aforementioned control method of a cleaning robot system, when the time that the cleaning liquid in the cleaning area enters the dirt collecting box reaches a fourth preset time, the cleaning liquid in the cleaning area is separated from the cleaning elements, and the cleaning elements are controlled to rotate to spin off water.

[0019] In the aforementioned control method for a cleaning robot system, the rotation direction of the cleaning element for rotating and cleaning in the cleaning area is controlled to be at least opposite to the rotation direction of the cleaning element for rotating and spinning water in the cleaning area.

[0020] The aforementioned control method of a cleaning robot system is characterized in that a sewage collecting channel is provided on the sewage collecting box, and the sewage collecting channel is connected to the dust collecting port. When the power mechanism starts working to suck the garbage in the garbage cavity into the sewage collecting box for collection, the garbage enters the sewage collecting channel through the dust collecting port, and enters the sewage collecting box through the sewage collecting channel.

[0021] The aforementioned control method of the cleaning robot system is that a dust box is provided on the integrated station, and the dust box is respectively connected to the dust collecting port and the sewage collecting channel, and the dust box is connected to the internal space of the sewage collecting box through the sewage collecting channel. When the power mechanism starts to work and sucks the garbage in the garbage cavity into the sewage collecting box for collection, the garbage first enters the dust collecting box through the dust collecting port for separation. After the garbage is separated, small garbage or light garbage enters the sewage collecting channel and enters the sewage collecting box through the sewage collecting channel, and large garbage or heavy garbage is collected in the dust box.

[0022] In the aforementioned control method for a cleaning robot system, the end of the dirt collecting channel faces the bottom or side of the dirt collecting tank, and when cleaning liquid exists in the dirt collecting tank, the end of the dirt collecting channel is located below the liquid level of the cleaning liquid.

[0023] The aforementioned control method of a cleaning robot system also includes: if the power mechanism starts to work and sucks the garbage in the garbage chamber into the garbage collection box for collection, then before the power mechanism starts to work, the switching mechanism is first controlled to start working so that the dust collection port is connected to the garbage collection box to form a passage through which the garbage can pass; if the power mechanism starts to work and sucks the cleaning liquid in the cleaning area into the garbage collection box for collection and storage, then before the power mechanism starts to work, the switching mechanism is first controlled to start working so that the cleaning area is connected to the garbage collection box to form a passage through which the cleaning liquid can pass.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] In the cleaning robot system of this solution, the integrated station can clean the cleaning parts of the cleaning robot, and after cleaning, suck the sewage into the sewage collection box for collection. At the same time, it can also suck the garbage collected by the cleaning robot and collect it into the sewage collection box for collection, realizing the multifunctional effect of the integrated station.

[0026] This solution sets up a power mechanism to absorb garbage and the cleaning liquid after cleaning the cleaning parts. The power mechanism can be controlled separately to absorb garbage, or to absorb the cleaning liquid separately. At the same time, the power mechanism can absorb the cleaning liquid in the cleaning area and the garbage separated from the cleaning parts into the cleaning liquid. There is no need for manual cleaning of the garbage in the cleaning area, thereby improving the user experience.

[0027] The control method of the cleaning robot of this scheme is mainly to realize the docking of the cleaning robot to suck up garbage for collection and the collection of cleaning liquid for cleaning cleaning parts, and combine the collection into the garbage collection box to realize the mixing of garbage and cleaning liquid. The user only needs to dump the garbage collection box, which is convenient for user use and improves the user experience.

[0028] The garbage in the cleaning robot of this solution enters the dirt collection box and is mixed with the cleaning liquid. The dirt collection box not only collects garbage and cleaning liquid, but also makes full use of the cleaning liquid after cleaning the cleaning parts and collects it in the dirt collection box to form a filtering effect on the garbage, thereby achieving a mixed filtration effect. Since it replaces the multiple filtering systems on the existing base station, the overall structure is simple and the subsequent maintenance cost is low. There is no need to set up the filtering system or disposable dust collection bags configured in the existing base station. There is no problem of filtering system consumables or bags that need to be replaced regularly. The maintenance cost is extremely low and it is easy for users to use.

[0029] Because this solution uses the cleaning liquid in the dirt collection box to replace the filtering system or disposable dust collection bags configured on the existing base station, the overall structure of the integrated station is simple. Setting up a dirt collection box can solve the problem of mixed collection of garbage and cleaning liquid after cleaning the cleaning parts, and make full use of the cleaning liquid after cleaning the cleaning parts of the integrated station to mix and filter the garbage. Because the cleaning liquid after cleaning the cleaning parts must be collected, this solution uses the cleaning liquid to achieve mixed filtration of garbage while collecting, so that the integrated station has a simple structure, low cost, and is easy for users to use.

[0030] The control method of this scheme can also ensure that the garbage can be mixed with the cleaning liquid when it is sucked into the garbage collection box, and the filtering effect of the garbage can be achieved during the mixing process. There will be no problem of no cleaning liquid in the garbage collection box or no mixing with the cleaning liquid in time when the garbage enters the garbage collection box, ensuring the effective mixing of the cleaning liquid and the garbage to achieve a filtering effect.

[0031] The method of this scheme can also pre-filter the garbage by setting up a dust collection box, so that smaller garbage that is easy to raise dust can enter the dust collection box and be mixed with the cleaning, thereby filtering the garbage during the mixing process, effectively eliminating the problem of dust raising from the dust collection box, and solving the problem of the existing base station needing to set up multiple filtering systems.

[0032] The dust box of this solution can realize pre-filtration of garbage. Heavy or large garbage is collected in the dust box, and light or small garbage is sucked into the dirt box and mixed with the cleaning liquid. There will be no dust problem in the dirt box and the dust box. At the same time, there is no need to set up a filtering system between the power mechanism and the dirt box. The overall structure is simple. Users can dump the dust box to deal with heavy or large garbage separately, which is convenient for separate treatment of garbage.

[0033] As for the dirt and dust boxes, since the dust boxes collect heavy or large garbage, users can dump them into the trash can separately without the problem of dust. At the same time, the dust boxes can be dumped regularly or periodically. Since there is no light or small garbage that is easy to adhere to the dust boxes, the dust boxes are relatively dry and easy to dump. There is no need to flush the dust boxes, which is convenient for users. The dirt box collects the cleaning fluid after cleaning the cleaning parts and light or small garbage and mixes them. The dirt box can be dumped directly into the sewer without clogging the sewer, and there is no problem of dust. The key point is that there is no need to set up a power mechanism and a filtration system for the dirt box, and there is no problem of replacing filter consumables. It is convenient for users to use, and the maintenance cost of the integrated station is extremely low. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the overall structure of the cleaning robot;

[0035] Figure 2 Schematic diagram of the dust exhaust port of the cleaning robot opening;

[0036] Figure 3 A schematic diagram of the cleaning robot docking on the integration station;

[0037] Figure 4 A schematic diagram of a cleaning robot docked on an integrated station with a dust collection box provided on the integrated station;

[0038] Figure markings: 1-cleaning robot, 101-garbage chamber, 102-cleaning parts, 103-dust exhaust port, 2-integrated station, 201-dust collection port, 202-dirt collection box, 203-cleaning area, 204-dust collection box, 205-power mechanism, 206-liquid supply mechanism, 207-liquid discharge mechanism, 208-dirt collection channel, 209-clean water tank, 210-switching mechanism. DETAILED DESCRIPTION

[0039] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific embodiments.

[0040] Embodiment: A control method of a cleaning robot system of the present invention, such as Figures 1 to 4As shown in the structure, it includes: a cleaning robot 1, an integrated station 2, and the integrated station 2 is set as an independent part relative to the cleaning robot 1; the cleaning robot 1 is at least used for vacuuming and mopping the ground, and the cleaning robot 1 is provided with at least a cleaning part 102 to mop the ground; the cleaning robot 1 is provided with driving wheels for walking, and a garbage chamber 101 is provided in the cleaning robot 1, and the garbage chamber 101 is connected to the vacuum port at the bottom of the cleaning robot 1 to collect the garbage on the ground into the garbage chamber 101 for collection. A fan is mainly provided on one side of the garbage chamber 101, and the fan generates suction to achieve the suction of the garbage on the ground. This belongs to the existing technology and will not be described in detail.

[0041] With respect to the cleaning member 102 of the cleaning robot 1, a motor is provided in the cleaning robot 1, and the motor works to drive the cleaning member 102 to rotate. The cleaning member 102 can rotate horizontally in contact with the ground, or rotate and roll relative to the ground. It is only necessary to satisfy that the cleaning member 102 can achieve a large friction movement relative to the ground to achieve mopping and cleaning, because the movement of the cleaning member 102 can achieve a better mopping and cleaning effect; at the same time, the self-motion of the cleaning member 102 can be utilized to make it possible for the cleaning robot 1 to be located in the cleaning area 2 when it is docked on the integrated station 2. 03, and the integrated station 2 does not need to set up any separate mechanism to clean the cleaning part 102; when there is cleaning liquid, that is, clean water, in the cleaning area 203 in the integrated station 2, the cleaning part 102 is located in the cleaning area 203 and the motor is started to make the cleaning part 102 rotate in the clean water in the cleaning area 203 for cleaning. After cleaning is completed, sewage is formed in the cleaning area 203, and the sewage can be collected separately in the sewage collecting box 202 on the integrated station 2 for collection. The cleaning part 102 rotates to throw away water, and the cleaning and water throwing effects of the cleaning part 102 are completed in the whole process.

[0042] One movement mode of the cleaning member 102 of the present solution is that it can be set to a structure that can rotate horizontally in contact with the ground to perform mopping and cleaning. When the cleaning member 102 contacts the ground, the contact portion forms a planar structure. The cleaning member 102 includes a first rotating member and a second rotating member. The first rotating member and the second rotating member are respectively located on both sides of the rear side of the bottom of the cleaning robot 1 or on both sides of the front side of the bottom, and the horizontal rotation directions of the first rotating member and the second rotating member are opposite to each other to perform mopping and cleaning of the ground.

[0043] Among them, the first rotating member and the second rotating member can be respectively located on both sides of the bottom front side of the cleaning robot 1 to ensure a large single cleaning area and sufficiently large friction between the ground, and to gather garbage to the suction port, which can achieve a better mopping cleaning effect; the first rotating member and the second rotating member can also be located on both sides of the bottom rear side of the cleaning robot 1 to achieve an increased mopping cleaning area coverage effect.

[0044] In order to achieve a better mopping effect, the first rotating member and the second rotating member are respectively located on both sides of the front side of the bottom of the cleaning robot 1; the corresponding first rotating member and the second rotating member are set to realize left and right mopping cleaning of the ground, which can realize driving and guiding the garbage on the ground to gather backward to the dust suction port. The first rotating member and the second rotating member are mainly set to have opposite horizontal rotation directions, and are set to rotate horizontally along the outer side toward the inner side of the bottom of the cleaning robot 1 and along the front side toward the rear side of the bottom of the cleaning robot 1. The opposite horizontal rotation directions of the first rotating member and the second rotating member can realize the offset of the rotational force generated by the two, and avoid the resistance caused by horizontal rotation affecting the normal walking of the cleaning robot 1; by setting the first rotating member and the second rotating member to rotate horizontally along the front side toward the rear side of the bottom of the cleaning robot 1, the first rotating member and the second rotating member can both drive the garbage on the ground from front to back to gather near the dust suction port position area, thereby realizing the concentrated collection and suction effect of garbage, and at the same time realizing the mutual offset of the rotational forces.

[0045] Another movement mode of the cleaning member 102 of the present embodiment is that it can be set to a structure that can rotate and roll relative to the ground to perform mopping and cleaning. When the cleaning member 102 contacts the ground, the contact portion forms a planar structure. The cleaning member 102 includes at least one rotary drag member, and the number of rotary drag members is one or more. The rotary drag member rolls on the ground to mop and clean, or when the number of the rotary drag members is two, the rotary drag member includes a first rotary drag member and a second rotary drag member, and the first rotary drag member and the second rotary drag member are in a parallel distribution structure.

[0046] Among them, the first rotary drag member and the second rotary drag member can be set to a cylindrical structure, and are set to include at least a soft deformable structure; the first rotary drag member and the second rotary drag member are arranged in parallel and side by side, and the first rotary drag member and the second rotary drag member are both in contact with the ground and form a planar structure, the first rotary drag member and the second rotary drag member have opposite rotation and rolling directions, and the forces acting on the cleaning robot 1 offset each other, ensuring that the first rotary drag member or the second rotary drag member does not affect the normal walking of the cleaning robot 1, and ensuring the stability of the walking route; if only the first rotary drag member or the second rotary drag member is set, although the rotary rolling mopping effect of the ground can be achieved at this time, there will be a problem of affecting the normal walking of the cleaning robot 1; at the same time, the first rotary drag member and the second rotary drag member are at least set to a structure that interferes with each other so that the particulate garbage thereon is scraped off to the ground by mutual interference, which is beneficial to improving its ability to absorb dirt and garbage, extending the cleaning time of mopping and achieving better mopping effect.

[0047] In order to achieve a better mopping effect, the rotation and rolling direction of the first rotary drag member is along the front side toward the rear side of the cleaning robot 1 and is opposite to the forward direction of the cleaning robot 1; at this time, the first rotary drag member can push the larger garbage on the ground to the suction port position during the rotation and rolling process, and form an effect of throwing the larger garbage forward, and the larger garbage can be sucked into the garbage chamber 101 by the suction port in time; the rotation and rolling direction of the second rotary drag member is along the rear side toward the front side of the cleaning robot 1 and is the same as the forward direction of the cleaning robot 1. At this time, the second rotary drag member scrapes and cuts the garbage on the ground backwards, and cooperates with the first rotary drag member to pre-clean and deep-clean the garbage on the ground, thereby achieving a better mopping cleaning effect.

[0048] The integrated station 2 part of this solution is at least used for the docking of the cleaning robot 1. The integrated station 2 is provided with a dirt collecting box 202, which is used to collect garbage in the cleaning robot 1 and / or cleaning liquid in the cleaning area 203 on the integrated station 2; the dirt collecting box 202 is connected to the power mechanism 205, and the power mechanism 205 provides suction to generate airflow to the dirt collecting box 202. The power mechanism 205 is mainly configured as a fan with high suction force. The fan generates a large airflow suction force when it works. The garbage and cleaning liquid, i.e., sewage, are sucked into the dirt collecting box 202 for collection through the suction force of the airflow, thereby realizing the multifunctional use effect of the integrated station 2.

[0049] The structural part of the integrated station 2, the power mechanism 205 is connected to the dirt collecting box 202, the dirt collecting box 202 is connected to the dust collecting port 201 through a pipe, and the dirt collecting box 202 is connected to the cleaning area 203 through a pipe, so that the power mechanism 205 can simultaneously suck garbage and sewage into the dirt collecting box 202 for collection when generating the suction force of the airflow.

[0050] The integrated station 2 of this solution can collect garbage in the cleaning robot 1 and can also collect the cleaning liquid, that is, sewage, in the cleaning area 203, thereby realizing the multifunctional effect of the integrated station 2; when the cleaning robot 1 is docked on the integrated station 2, it can not only realize docking and sucking garbage into the sewage collecting box 202 on the integrated station 2 for collection and storage, but also can realize cleaning of the cleaning part 102 on the cleaning robot 1 for mopping and cleaning. The cleaning part 102 is located in the cleaning area 203 and rotates for cleaning. After cleaning is completed, the cleaning liquid, that is, sewage, in the cleaning area 203 can be sucked into the sewage collecting box 202 for collection and storage. For cleaning the cleaning part 102, a clean water tank 209 is provided to supply cleaning liquid, that is, clean water, to the cleaning area 203 to clean the cleaning part 102, thereby realizing the multifunctional use effect of the integrated station 2, and solving the problem that the existing base station can only suck garbage for collection or clean the cleaning part 102 and collect sewage, and the existing base station cannot realize integrated treatment of garbage and sewage.

[0051] The control method of the cleaning robot system includes:

[0052] The cleaning robot 1 walks to the integration station 2 and docks;

[0053] The dust discharge port 103 on the cleaning robot 1 corresponds to the dust collection port 201 on the integrated station 2. The dust discharge port 103 is connected to the garbage chamber 101 on the cleaning robot 1, and the dust collection port 201 is connected to the garbage collection box 202. At the same time, the cleaning unit 102 is located in the cleaning area 203;

[0054] When the power mechanism 205 is started, the garbage chamber 101 is connected to the dirt collecting box 202 and, under the suction of the airflow, the garbage in the garbage chamber 101 is sucked into the dirt collecting box 202 for collection and storage. Alternatively, when the power mechanism 205 is started, the cleaning area 203 is connected to the dirt collecting box 202 and, under the suction of the airflow, the cleaning liquid in the cleaning area 203 is sucked into the dirt collecting box 202 for collection and storage.

[0055] When the operating time of the power mechanism 205 reaches a first preset time, the power mechanism 205 stops operating.

[0056] Mainly, the cleaning robot 1 walks on the indoor floor to perform vacuuming and mopping. After completing the cleaning task, the cleaning robot 1 is controlled to walk to the integrated station 2 for docking. The infrared sensor can be used to guide the cleaning robot 1 to enter the integrated station 2 for docking. After docking, the integrated station 2 senses that the cleaning robot 1 is located on the integrated station 2. At this time, the integrated station 2 can be started to work to clean the cleaning part 102, or to dock to absorb garbage and sewage.

[0057] When the cleaning robot 1 walks and docks on the integrated station 2, the dust discharge port 103 on the cleaning robot 1 corresponds to the dust collection port 201 on the integrated station 2, which can be corresponding in the vertical direction, or in the horizontal direction, The corresponding position of the dust discharge port 103 and the dust collection port 201 can be connected to each other for garbage to pass through; because the garbage chamber 101 and the dust discharge port 103 on the cleaning robot 1 are connected structures, when the dust discharge port 103 and the dust collection port 201 achieve position correspondence, the garbage in the garbage chamber 101 can be discharged outward through the dust discharge port 103 and into the dust collection port 201. At the same time, because the dust collection port 201 in the integrated station 2 is connected to the sewage collection box 202 through a pipe, the garbage can be sucked into the sewage collection box 202 through the dust collection port 201, forming a passage structure through which garbage can pass through the garbage chamber 101, the dust discharge port 103, the dust collection port 201 and the sewage collection box 202.

[0058] For the dust exhaust port 103 of the cleaning robot 1, a valve cover is mainly set to realize the opening and closing effect of the dust exhaust port 103. The valve cover can be set to a soft silicone structure, and use its own deformation structure to deform under the suction of the airflow to open the dust exhaust port 103, and close the dust exhaust port 103 under normal conditions; it can also be set to a valve cover installed on the main body of the cleaning robot 1 through a rotating shaft, and the dust exhaust port 103 can be opened and closed by rotating the rotating shaft.

[0059] At the same time, when the cleaning robot 1 is docked on the integrated station 2, the cleaning member 102 is located in the cleaning area 203. At this time, the cleaning area 203 can be supplied with cleaning liquid, i.e., clean water, to clean the cleaning member 102, and the cleaning member 102 can be cleaned by its own movement.

[0060] After the cleaning robot 1 docks on the integrated station 2, the power mechanism 205 starts working to suck the garbage in the garbage cavity 101 into the garbage collecting box 202 for collection, or suck the cleaning liquid in the cleaning area 203, that is, sewage, into the garbage collecting box 202 for collection.

[0061] Optionally, the first preset duration can be set to 10-60 seconds, and the working duration of the power mechanism 205 can be set accordingly according to the volume of the garbage chamber 101 and the volume of the cleaning area 203.

[0062] In order to ensure that there is cleaning liquid, i.e., sewage, in the garbage collecting box 202 and that the garbage can be mixed and filtered better and more fully, the method also includes: if the power mechanism 205 starts to work and sucks the garbage in the garbage chamber 101 into the garbage collecting box 202 for collection, then before the power mechanism 205 starts to work, it is first detected whether there is cleaning liquid in the garbage collecting box 202 and whether the liquid level of the cleaning liquid meets the pre-set threshold A, mainly by detecting whether there is cleaning liquid, i.e., sewage in the garbage collecting box 202, because if there is no cleaning liquid in the garbage collecting box 202, the garbage may enter the garbage collecting box 202 and cannot be mixed and filtered; by detecting the liquid level of the cleaning liquid in the garbage collecting box 202, it is realized that if the power mechanism 205 starts to suck garbage, it must be sucked under the premise that there is cleaning liquid in the garbage collecting box 202, so that the garbage can be mixed with the cleaning liquid as soon as it enters the garbage collecting box 202.

[0063] Among them, if it is detected that there is cleaning liquid in the dirt collecting box 202 and the liquid level of the cleaning liquid meets the preset threshold value A, the power mechanism 205 is started to suck the garbage in the garbage chamber 101 into the dirt collecting box 202 and mix it with the cleaning liquid in the dirt collecting box 202. At this time, the garbage is sucked into the dirt collecting box 202 and can be fully mixed with the cleaning liquid to achieve a mixed filtering effect; if it is not satisfied, that is, if there is no cleaning liquid in the dirt collecting box 202, the power mechanism 205 can be started to suck the cleaning liquid in the cleaning area 203 into the dirt collecting box 202 for collection and storage. Of course, it will be detected whether there is cleaning liquid in the cleaning area 203. If there is no cleaning liquid, the cleaning area 203 is first supplied with cleaning liquid by starting the liquid supply mechanism 206, and then the cleaning element 102 is cleaned. After cleaning is completed, the power mechanism 205 is started again to suck the cleaning liquid into the dirt collecting box 202, or after cleaning is completed, the sewage is directly discharged into the dirt collecting box 202 by using the drain mechanism 207 alone.

[0064] The threshold value A can be set to a numerical value. The threshold value A can be set to a liquid level height of 5-10 mm. When it is detected that the liquid level height in the dirt collecting box 202 meets the numerical value, it means that the power mechanism 205 can be started to suck garbage into the dirt collecting box 202.

[0065] For detecting the liquid level of the cleaning liquid in the dirt collecting box 202 , a liquid level sensor may be provided to detect the liquid level of the cleaning liquid through the liquid level sensor, and the liquid level sensor is electrically connected to the control module.

[0066] In the aforementioned method, in order to ensure a better mixing effect in the garbage collecting box 202, a certain height of cleaning liquid can be first made in the garbage collecting box 202, and then the power mechanism 205 is started to suck the garbage and sewage, so that the garbage and sewage can be better mixed in the garbage collecting box 202.

[0067] The sewage collecting box 202 of this solution can realize the mixed filtration and collection of garbage and sewage. The user can clean the sewage collecting box 202 by dumping it alone. Since most of the dust particles or flocculent particles are sucked in by the cleaning robot 1 during vacuuming and cleaning indoors, the garbage and sewage are mixed to form sewage with higher concentration. Dumping it alone generally will not clog the user's indoor sewer, which is convenient for users to use.

[0068] When the cleaning robot 1 is docked on the integrated station 2, if there is sewage in the cleaning area 203, the power mechanism 205 can be directly started to suck the sewage in the cleaning area 203 into the sewage collecting box 202. When the working time of the power mechanism 205 reaches a pre-set first preset time, it can stop working, indicating that the cleaning liquid in the cleaning area 203 has been completely sucked and collected in the sewage collecting box 202. If there is no sewage in the cleaning area 203, the control method further includes: if the power mechanism 205 is activated to draw the cleaning liquid in the cleaning area 203 into the dirt collection tank 202 for collection, then before the power mechanism 205 is activated, the liquid supply mechanism 206 is controlled to be activated to transfer the cleaning liquid in the clean water tank 209 to the cleaning area 203. When the operating time of the liquid supply mechanism 206 reaches a second preset time, the liquid supply mechanism 206 stops operating. At this time, the supply of cleaning liquid to the cleaning area 203 is completed, that is, clean water can be used to clean the cleaning element 102. Then, the control unit in the cleaning robot 1 controls the cleaning element 102 to rotate and clean in the cleaning area 203. When the rotational cleaning reaches a third preset time, the power mechanism 205 is activated to draw the cleaning liquid in the cleaning area 203 into the dirt collection tank 202 for collection, or the liquid discharge mechanism 207 is activated to discharge the cleaning liquid in the cleaning area 203 into the dirt collection tank 202 for collection.

[0069] Optionally, the second preset time length can be set to 10-180 seconds, and can be specifically set according to the capacity of the cleaning area 203. The liquid supply mechanism 206 can be set to a water pump or an electromagnetic pump to generate power for the water in the clean water tank 209 to achieve the water supply effect.

[0070] Optionally, the third preset time length can be set to 10-250 seconds, and the time length for the cleaning member 102 to rotate and clean can be set according to the outer diameter of the cleaning member 102 and the degree of dirtiness, as long as the cleaning member 102 is ensured to be clean.

[0071] Optionally, a water level sensor is set in the cleaning area 203 to detect whether there is sewage in the cleaning area 203, or whether there is cleaning liquid in the cleaning area 203 is determined by judging whether the liquid supply mechanism 206 is started, both of which can realize the detection of whether there is cleaning liquid in the cleaning area 203.

[0072] Optionally, the liquid discharge mechanism 207 can be configured as a water pump or an electromagnetic pump to achieve the effect of discharging the cleaning liquid.

[0073] When the drainage mechanism 207 starts working and discharges the cleaning liquid in the cleaning area 203 into the dirt collecting box 202 for a period of time that reaches a fourth preset period of time, the cleaning liquid in the cleaning area 203 is separated from the cleaning element 102, and the cleaning element 102 is controlled to rotate to spin out water, so that the drainage mechanism 207 can discharge most of the sewage or all of the sewage into the dirt collecting box 202 and separate the cleaning element 102 from the sewage. After separation, the cleaning element 102 can be spin-dried to enable the cleaning element 102 to spin out the sewage adsorbed during the cleaning process so that the cleaning element 102 can remain in a slightly wet state, or the cleaning element 102 can be supplied with water for cleaning again.

[0074] Optionally, the fourth preset time length can be set to 10-250 seconds, and can be set according to the second preset time length of the operation of the liquid supply mechanism 206, or set according to the volume of the cleaning area 203. It only needs to satisfy the requirement that the drainage mechanism 207 discharges the water in the cleaning area 203 into the sewage collecting tank 202 so that the cleaning element 102 is separated from the sewage in the cleaning area 203.

[0075] In the above, the cleaning liquid in the cleaning area 203, that is, the sewage, is collected into the dirt collecting box 202. It can be sucked and collected by the power mechanism 205, or it can be discharged and collected by setting a separate liquid discharge mechanism 207. One method of implementation is that as long as the cleaning robot 1 is docked on the integrated station 2, the power mechanism 205 can be started to suck the cleaning liquid in the cleaning area 203 into the dirt collecting box 202 for mixing. Of course, before the power mechanism 205 is started, the liquid supply mechanism 206 is started first to supply the cleaning liquid in the clean water tank 209, that is, clean water, into the cleaning area 203 to clean the cleaning parts 102. The cleaning parts 10 After cleaning is completed, sewage is found in the cleaning area 203, and the power mechanism 205 can be started to work. Another method of achieving this is to start the drainage mechanism 207 to discharge the sewage in the cleaning area 203 into the sewage collection tank 202 for collection, without starting the power mechanism 205 to work. In this way, the power mechanism 205 and the drainage mechanism 207 cooperate with each other to collect the cleaning liquid, i.e., sewage, in the cleaning area 203 by the sewage collection tank 202. The main reason is that the noise generated by the power mechanism 205 during operation is relatively large, so it is necessary to reduce the operating frequency of the power mechanism 205, and the power mechanism 205 can be mainly used to absorb garbage.

[0076] Among them, regarding the power machine being started to absorb the cleaning liquid into the dirt collecting box 202 for collection, since the frequency of the cleaning robot 1 cleaning the cleaning part 102 by the integrated station 2 is higher than the frequency of sucking up garbage for collection, it can be set to start the power mechanism 205 regularly, such as once or twice a day, to suck up garbage or the cleaning liquid in the cleaning area 203, that is, the frequency of the power mechanism 205 starting to suck up garbage or the cleaning liquid is 1-2 times, and the garbage and cleaning liquid are sucked into the dirt collecting box 202 and mixed with the cleaning liquid in the dirt collecting box 202 during the startup of the power mechanism 205. Before starting, the liquid supply mechanism 206 can be started first to supply clean water to the cleaning area 203 to complete the rotational cleaning of the cleaning element 102, and then the power mechanism 205 can be started; because the integrated station 2 cleans the cleaning element 102 frequently, the cleaning robot 1 can be set to return to the integrated station 2 to clean the cleaning element 102 after 4-10 minutes of mopping cleaning. At this time, due to the high frequency of cleaning the cleaning element 102, the drainage mechanism 207 can be directly started to discharge the cleaning liquid in the cleaning area 203 into the dirt collecting box 202 for collection, thereby realizing the coordinated work of the power mechanism 205 and the drainage mechanism 207.

[0077] Because the drainage mechanism 207 is unable to discharge larger garbage into the sewage collection box 202, this solution can effectively solve this problem by using the power mechanism 205 to absorb the sewage in the cleaning area 203 into the sewage collection box 202. Because the cleaning element 102 is cleaned in the cleaning area 203, the garbage adsorbed on the cleaning element 102 will be separated and mixed with the cleaning liquid, that is, clean water, to form sewage. There may be a large volume of garbage in the sewage, and the large volume of garbage cannot be discharged into the sewage collection box 202 by the drainage mechanism 207. However, the power mechanism 205 can be used to absorb the large volume of garbage into the sewage collection box 202 for collection; the power mechanism 205 can be started regularly, such as 1-2 times a day, to absorb the cleaning liquid in the cleaning area 203. At this time, it is beneficial for the power mechanism 205 to absorb the garbage in the cleaning liquid in the cleaning area 203 and the cleaning liquid together into the sewage collection box 202 for collection.

[0078] During the process of the cleaning element 102 performing rotational cleaning and rotational water rejection in the cleaning area 203, the rotation direction of the cleaning element 102 for rotational cleaning in the cleaning area 203 and the rotation direction of the cleaning element 102 for rotational water rejection in the cleaning area 203 can be controlled to be at least opposite to each other, and alternating directions can be used to reject water, which is more conducive to rejecting the sewage in the cleaning element 102 and keeping it in a slightly wet state. This is mainly because the cleaning element 102 is prone to forming a film pressing state when it rotates in the same direction for a long time. At this time, the film pressing forms a coating film structure, which is not conducive to rejecting the sewage in the cleaning element 102. Switching the rotation direction of the cleaning element 102 is conducive to breaking the film pressing, so that the outer surface of the cleaning element 102 is dispersed, thereby facilitating the rejection of the sewage in the cleaning element 102 and ensuring a better water rejection effect.

[0079] In order to collect the garbage and cleaning liquid, i.e., sewage, in the garbage collecting box 202, a garbage collecting channel 208 is provided on the garbage collecting box 202, and the garbage collecting channel 208 is connected to the dust collecting port 201. When the power mechanism 205 starts working to suck the garbage in the garbage cavity 101 into the garbage collecting box 202 for collection, the garbage enters the garbage collecting channel 208 through the dust collecting port 201 and enters the garbage collecting box 202 through the garbage collecting channel 208; the garbage collecting channel 208 can be located on the side of the interior of the garbage collecting box 202, and the garbage collecting channel 208 is connected to the internal space of the garbage collecting box 202. At the same time, the garbage collecting channel 208 is connected to the dust collecting port 201, so that the dust collecting port 201 is connected to the garbage passage in the garbage collecting box 202 through the garbage collecting channel 208, so that the garbage can be fully mixed with the cleaning liquid when it enters the garbage collecting box 202 through the garbage collecting channel 208.

[0080] With regard to the specific defined structure of the sewage collecting channel 208, the end of the sewage collecting channel 208 is toward the bottom or side of the sewage collecting box 202, so that when the garbage and cleaning liquid, i.e., sewage, enter the sewage collecting channel 208, they can be concentrated into the sewage collecting box 202 and enter the sewage collecting box 202 in the direction of the cleaning liquid, so as to achieve a complete mixing and filtering effect of the garbage and the cleaning liquid. When there is cleaning liquid in the sewage collecting box 202, the end of the sewage collecting channel 208 is below the liquid level of the cleaning liquid, so that the garbage can be mixed with the cleaning liquid as soon as it enters the sewage collecting box 202, thereby achieving a better mixing and filtering effect.

[0081] There are still defects in the method of starting the power mechanism 205 to suck the garbage in the garbage chamber 101 directly into the sewage collection box 202 to mix with the sewage and the structure of the integrated station 2. The main defect is that if there is large garbage in the user's room, the cleaning robot 1 will suck the large garbage into the garbage chamber 101, and then when the cleaning robot 1 docks on the integrated station 2, the large garbage in this part will be sucked into the sewage collection box 202 for collection. If the user directly dumps the mixture of garbage and sewage in the sewage collection box 202 into the sewer, there may be a problem of sewer blockage. Of course, this problem can be solved by configuring a filter net for the user, but this will make it inconvenient to use the user to dump the sewage collection box 202, and the filter net needs to be cleaned separately, which is ineffective. The result deviation is that the integrated station 2 of this scheme proposes an improved solution to this defect. The main solution is to provide a dust box 204 on the integrated station 2, and the dust box 204 is respectively connected to the dust collecting port 201 and the sewage collecting channel 208, and the dust box 204 is connected to the internal space of the sewage collecting box 202 through the sewage collecting channel 208. When the power mechanism 205 starts to work and sucks the garbage in the garbage cavity 101 into the sewage collecting box 202 for collection, the garbage first enters the dust collecting box 204 through the dust collecting port 201 for separation. After the garbage is separated, small garbage or light garbage enters the sewage collecting channel 208 and enters the sewage collecting box 202 through the sewage collecting channel 208, and large garbage or heavy garbage is collected in the dust box 204.

[0082] Among them, the garbage is pre-filtered through the dust box 204, so that smaller garbage that is easy to raise dust can enter the garbage box 202 and be mixed with the cleaning liquid, i.e. sewage. The mixing process has a filtering effect on the garbage, effectively eliminating the problem of dust in the garbage box 202. At the same time, the dust box 204 does not have the problem of raising dust because there is only particulate garbage that is easy to raise dust, which solves the serious dust problem of existing base stations and the problem that existing base stations need to set up multiple filtering systems.

[0083] A filter can be set in the dust box 204 to separate and filter the garbage; the dust box 204 can also be set to a concave structure to separate and filter the garbage through the gravity of the garbage. The heavy garbage falls down and is collected in the bottom area of ​​the dust box 204, and the light garbage enters the garbage box 202 with the air flow for collection.

[0084] The dust box 204 of this solution can achieve pre-filtration of garbage. Garbage of large weight or volume is collected in the dust box 204, and garbage of small weight or volume is sucked into the garbage box 202 to be mixed with the cleaning liquid. There will be no dust problem in the garbage box 202 and the dust box 204. At the same time, there is no need to set up a filtering system between the power mechanism 205 and the garbage box 202. The overall structure is simple. The user can dump the dust box 204 to separately deal with garbage of large weight or volume, which is convenient for separate treatment of garbage.

[0085] As for the dirt box 202 and the dust box 204, since the dust box 204 collects garbage of large weight or volume, the user can dump it into the trash can separately without the problem of dust. At the same time, the dust box 204 can be dumped regularly or periodically. Since there is no light or small garbage that is easy to adhere to the dust box 204, the dust box 204 is relatively dry and easy to dump. There is no need to flush the dust box 204, which is convenient for users to use. The dirt box 202 collects the cleaning liquid after cleaning the cleaning part 102 and the light or small garbage and mixes them. The dirt box 202 can be directly dumped into the sewer without clogging the sewer, and there is no problem of dust. The key point is that there is no need to set up a power mechanism 205 and a filtering system for the dirt box 202, and there is no problem of replacing filtering consumables, which is convenient for users to use.

[0086] In the circuit part of this solution, a control module is set on the integrated station 2. The control module is electrically connected to the power mechanism 205, the liquid supply mechanism 206, the liquid discharge mechanism 207, the liquid level detection module, and the switching mechanism 210. The control module is used to control the start or stop, the working time, etc., and can be specifically set according to needs.

[0087] When the power mechanism 205 is started, the garbage in the garbage chamber 101 can be sucked into the sewage collecting box 202 for collection, or the cleaning liquid, i.e., sewage, in the cleaning area 203 can be sucked into the sewage collecting box 202 for collection. The method also includes: if the power mechanism 205 is started to suck the garbage in the garbage chamber 101 into the sewage collecting box 202 for collection, then before the power mechanism 205 is started, the switching mechanism 210 is first controlled to start working so that the dust collection port 201 is connected to the sewage collecting box 202 to form a passage through which the garbage can pass; if the power mechanism 205 is started to suck the cleaning liquid in the cleaning area 203 into the sewage collecting box 202 for collection, then before the power mechanism 205 is started, the switching mechanism 210 is first controlled to start working so that the cleaning area 203 is connected to the sewage collecting box 202 to form a passage through which the cleaning liquid can pass.

[0088] Among them, the switching effect of the airflow is mainly achieved by setting a switching mechanism 210, that is, the provision of switching airflow, so that the airflow generated when the power mechanism 205 is working can be switched to realize the airflow through the garbage chamber 101 into the dirt collecting box 202, or the airflow enters the dirt collecting box 202 through the cleaning area 203, thereby realizing that a single power mechanism 205 can absorb garbage or absorb cleaning liquid by switching the airflow, thereby realizing the multi-functional use effect of the power mechanism 205.

[0089] The switching mechanism 210 is electrically connected to the control module, and the control module is used to control the start, stop and working time of the switching mechanism 210, and to control the switching mechanism 210 to cooperate with the power mechanism 205 to absorb garbage or absorb cleaning liquid.

[0090] Specifically, the switching mechanism 210 can be set as a three-way valve; the switching mechanism 210 can also be set to include a motor, and the motor drives the valve core to move to achieve the switching effect of the airflow; when the valve core moves to one side, it can be realized that the garbage chamber 101 and the sewage collecting box 202 are connected to each other for airflow, and the power mechanism 205 starts to work to suck garbage into the sewage collecting box 202 for collection; when the valve core moves to the other side, it can be realized that the cleaning area 203 and the sewage collecting box 202 are connected to each other for airflow, and the power mechanism 205 starts to work to suck cleaning liquid into the sewage collecting box 202 for collection.

[0091] Regarding the cleaning liquid mentioned in this solution, the cleaning liquid in the clean water tank 209 is clean water, and the cleaning area 203 is mainly clean water that enters the cleaning area 203 and contacts with the cleaning element 102 to clean the cleaning element 102 to form sewage. The cleaning liquid in the sewage collection tank 202 is sewage, realizing the mixed collection of sewage and garbage.

[0092] Working principle: The cleaning robot system of this scheme includes a cleaning robot 1 and an integrated station 2. The cleaning robot 1 performs mopping and vacuuming on the ground. When the cleaning robot 1 completes the cleaning task of the ground, the cleaning robot 1 walks to the integrated station 2 for docking. At the same time, the cleaning member 102 of the cleaning robot 1 is located in the cleaning area 203 on the integrated station 2. The integrated station 2 works to supply the cleaning liquid in the clean water tank 209, that is, clean water, into the cleaning area 203. Then the cleaning member 102 rotates in the cleaning area 203 for cleaning. After cleaning is completed, the power mechanism 205 or the drainage mechanism 207 can be started to collect the cleaning liquid after cleaning the cleaning member 102 into the dirt collecting tank 202, completing the cleaning process of the cleaning member 102. During the operation of the integrated station 2, the power mechanism 205 or the drainage mechanism 207 can be started to collect the cleaning liquid after cleaning the cleaning member 102 into the dirt collecting tank 202, completing the cleaning process of the cleaning member 102. The power mechanism 205 can be used to separately absorb garbage into the sewage collection box 202 for collection, mainly to mix the garbage into the sewage in the sewage collection box 202 and achieve the filtering effect of sewage on garbage. The garbage and sewage form a mixture, so that the airflow can be discharged outward through the power mechanism 205 without polluting the indoor environment. There is no need to set up any filtering system for the airflow between the power mechanism 205 and the sewage collection box 202. The garbage can be fully filtered through the sewage. Driven by the airflow, the garbage follows the airflow through the sewage, and the garbage and sewage are mixed. After the airflow passes through the sewage, the airflow no longer contains garbage or fine particles, and the sewage formed by the cleaning component 102 is fully utilized to achieve the filtering effect of the airflow. The cost is low, the overall structure of the integrated station 2 is simple, and the method is reliable.

[0093] Those skilled in the art will understand that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present invention, and all are within the scope of protection of the present invention.

Claims

1. A control method for a cleaning robot system, comprising: Cleaning robot, integration station, the integration station is set as an independent part relative to the cleaning robot; The cleaning robot is at least used for vacuuming and mopping the floor, and is provided with at least a cleaning element for mopping the floor; the cleaning robot is characterized in that the integrated station is at least used for docking the cleaning robot, and the integrated station is provided with a dirt collection box for collecting garbage in the cleaning robot and / or cleaning liquid in the cleaning area of ​​the integrated station; Methods include: The cleaning robot walks to the integration station and docks; The dust discharge port on the cleaning robot corresponds to the dust collection port on the integrated station. The dust discharge port is connected to the garbage chamber on the cleaning robot, and the dust collection port is connected to the garbage collection box. At the same time, the cleaning parts are located in the cleaning area. When the power mechanism is started, the garbage cavity is connected to the dirt collecting box and the garbage in the garbage cavity is sucked into the dirt collecting box for collection and storage under the suction of the airflow; or when the power mechanism is started, the cleaning area is connected to the dirt collecting box and the cleaning liquid in the cleaning area is sucked into the dirt collecting box for collection and storage under the suction of the airflow; When the working time of the power mechanism reaches a first preset time, the power mechanism stops working; The method further includes, if the power mechanism is started to suck the garbage in the garbage cavity into the garbage collection box for collection, then before the power mechanism is started, first detecting whether there is cleaning liquid in the garbage collection box and detecting whether the liquid level of the cleaning liquid meets a preset threshold value A; if it is detected that there is cleaning liquid in the garbage collection box and the liquid level of the cleaning liquid meets the preset threshold value A, then starting the power mechanism to suck the garbage in the garbage cavity into the garbage collection box and mix it with the cleaning liquid in the garbage collection box; Among them, a sewage collecting box is provided with a sewage collecting channel, which is connected to the dust collecting port. When the power mechanism starts to work and sucks the garbage in the garbage cavity into the sewage collecting box for collection, the garbage enters the sewage collecting channel through the dust collecting port and enters the sewage collecting box through the sewage collecting channel.

2. The control method of a cleaning robot system according to claim 1, characterized in that: If there is no cleaning liquid in the dirt collecting tank, the power mechanism starts working to absorb the cleaning liquid in the cleaning area into the dirt collecting tank for collection and storage.

3. A control method for a cleaning robot system according to claim 1 or 2, characterized in that: The method also includes that if the power mechanism starts to work and absorbs the cleaning liquid in the cleaning area into the dirt collection tank for collection and storage, then before the power mechanism starts to work, the liquid supply mechanism is controlled to start working to transfer the cleaning liquid in the clean water tank to the cleaning area. When the working time of the liquid supply mechanism reaches a second preset time, the liquid supply mechanism stops working.

4. The control method of a cleaning robot system according to claim 3, characterized in that: The cleaning element is controlled to perform rotational cleaning in the cleaning area. When the rotational cleaning reaches a third preset time, the power mechanism starts to suck the cleaning liquid in the cleaning area into the dirt collecting box for collection, or the drainage mechanism starts to discharge the cleaning liquid in the cleaning area into the dirt collecting box for collection.

5. The control method of a cleaning robot system according to claim 4, characterized in that: When the time that the cleaning liquid in the cleaning area enters the dirt collecting box reaches a fourth preset time, the cleaning liquid in the cleaning area is separated from the cleaning element, and the cleaning element is controlled to rotate to spin off water.

6. The control method of a cleaning robot system according to claim 5, characterized in that: The rotation direction of the cleaning element for rotating and cleaning in the cleaning area is controlled to be at least opposite to the rotation direction of the cleaning element for rotating and spinning water in the cleaning area.

7. The control method of a cleaning robot system according to claim 6, characterized in that: The integrated station is provided with a dust box, which is connected to the dust collecting port and the sewage collecting channel respectively, and the dust box is connected to the internal space of the sewage collecting box through the sewage collecting channel. When the power mechanism starts to work and sucks the garbage in the garbage cavity into the sewage collecting box for collection, the garbage first enters the dust collecting box through the dust collecting port for separation. After the garbage is separated, small garbage or light garbage enters the sewage collecting channel and enters the sewage collecting box through the sewage collecting channel, and large garbage or heavy garbage is collected in the dust box.

8. The control method of a cleaning robot system according to claim 6, characterized in that: The end of the dirt collecting channel faces the bottom or side of the dirt collecting tank. When cleaning liquid exists in the dirt collecting tank, the end of the dirt collecting channel is located below the liquid level of the cleaning liquid.

9. The control method of a cleaning robot system according to claim 1, characterized in that: The method also includes: if the power mechanism starts to suck the garbage in the garbage cavity into the garbage collection box for collection, then before the power mechanism starts to work, the switching mechanism is controlled to start working so that the dust collection port is connected to the garbage collection box to form a passage through which the garbage can pass; if the power mechanism starts to suck the cleaning liquid in the cleaning area into the garbage collection box for collection and storage, then before the power mechanism starts to work, the switching mechanism is controlled to start working so that the cleaning area is connected to the garbage collection box to form a passage through which the cleaning liquid can pass.

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