A control method for a cleaning robot system

Abstract

A control method of a cleaning robot system, comprising: a cleaning robot, an integrated station, the integrated station being used at least for docking dust collection and / or cleaning of the cleaning robot, and a dirt collection tank being arranged on the integrated station and being used at least for collecting cleaning liquid after cleaning of the cleaning component and part of garbage particles in the docking dust collection; and further comprising the following steps: step S02: the cleaning robot is parked on the integrated station, and the dirt collection tank contains cleaning liquid with a certain height of liquid level; step S03: at least the docking dust collection is started, a power mechanism is started to generate air flow suction to suck garbage particles in a garbage chamber in the cleaning robot, so that the garbage particles are moved into the dirt collection tank under the action of the air flow and mixed with the cleaning liquid. The present scheme solves the problems of complex structure of the existing base station, poor effect, high maintenance cost of the base station structure, and serious dust raising caused by the one-time cloth bag or multi-step hierarchical filtering structure of the filtering system of the base station.

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 particles 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 particles 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 absorbs garbage particles, 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. Due to the large suction force of the airflow generated by the large suction fan, 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 absorb the garbage particles 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 particles in the garbage particles will be adsorbed on the cloth bag under the action of the high-suction fan, and then block the filter holes of the cloth bag, causing the suction force of the high-suction fan to absorb the garbage particles to be lost, and then resulting in the failure of the garbage particles in the dust box 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 particles, 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 particles in the garbage particles are filtered at the initial level, and then the medium-volume garbage particles are filtered, and the smaller-volume garbage particles are further filtered. Finally, a precision filter layer is set to adsorb the tiny garbage particles. It can be seen that in order to solve the problem of filtering the air flow 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 particles and fail, causing the large suction fan to fail to absorb the garbage particles 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 after docking, is used to collect dust and / or clean the cleaning element of the cleaning robot; the integrated station is provided with a dirt collection box, and the dirt collection box is used to collect at least cleaning liquid after cleaning the cleaning element and some garbage particles in the docking dust collection;

[0009] The following steps are also included:

[0010] Step S02: The cleaning robot is docked at the integrated station, and a cleaning liquid having a certain liquid level is contained in the dirt collecting tank;

[0011] Step S03: At least start the docking dust collection, and start the power mechanism to generate airflow suction to absorb the garbage particles in the garbage cavity of the cleaning robot, so that the garbage particles move into the garbage collection box under the action of the airflow and mix with the cleaning liquid.

[0012] The aforementioned control method of a cleaning robot system further includes, in step S03, when starting the docking dust collection, the power mechanism synchronously sucking the cleaning liquid after cleaning the cleaning parts into the dirt collection box so that the cleaning liquid is mixed with the garbage particles.

[0013] The aforementioned control method of a cleaning robot system further includes, in step S03, synchronously starting a liquid discharge mechanism to transfer the cleaning liquid after cleaning the cleaning parts into a dirt collection box when starting the docking dust collection to mix the cleaning liquid with the garbage particles.

[0014] The aforementioned control method of a cleaning robot system is that the cleaning liquid after cleaning the cleaning parts enters the dirt collecting box through the first channel, and the garbage particles enter the dirt collecting box through the second channel, and the first channel is located on one side of the second channel so that the cleaning liquid after cleaning the cleaning parts sprays and mixes the garbage particles entering the dirt collecting box at the same time.

[0015] The aforementioned control method of a cleaning robot system further includes, before step S02, step S01: the integrated station detects the liquid level in the dirt collection box before starting the docking dust collection to detect whether the liquid level in the dirt collection box meets a preset threshold A.

[0016] The aforementioned control method of a cleaning robot system further includes in step S01 entering step S02 when the liquid level in the dirt collecting box meets the preset threshold A; if the liquid level in the dirt collecting box does not meet the preset threshold A, docking dust collection is not started.

[0017] The aforementioned control method of a cleaning robot system further includes, in step S01, starting a liquid supply mechanism to supply cleaning liquid to the cleaning elements to perform spray cleaning or immersion cleaning on the cleaning elements if the liquid level in the dirt collecting tank does not meet a preset threshold value A.

[0018] The control method of the aforementioned cleaning robot system is that when the cleaning time of the cleaning element reaches a first preset time, the drainage mechanism is started to transfer the cleaning liquid after cleaning the cleaning element to the dirt collection box, or the power mechanism is started to absorb the cleaning liquid after cleaning the cleaning element into the dirt collection box.

[0019] The control method of the aforementioned cleaning robot system detects the number N of times the power mechanism is started to absorb the cleaning liquid after cleaning the cleaning parts into the dirt collection box. When N meets the preset threshold value B, step S02 is entered; or detects the number M of times the discharge mechanism is started to transfer the cleaning liquid after cleaning the cleaning parts into the dirt collection box. When M meets the preset threshold value C, step S02 is entered.

[0020] The aforementioned control method of a cleaning robot system synchronously detects whether the dirt collecting box is in place continuously. If the dirt collecting box is not in place continuously, step S01 is repeated.

[0021] In the aforementioned control method of a cleaning robot system, the dirt detection module detects the dirtiness of the cleaning parts. When the dirtiness of the cleaning parts meets a preset threshold value D, the cleaning of the cleaning parts ends; when the dirtiness of the cleaning parts does not meet the preset threshold value D, the cleaning of the cleaning parts continues.

[0022] The aforementioned control method of a cleaning robot system also includes in step S01 starting the liquid supply mechanism to supply cleaning liquid to the dirt collecting tank if the liquid level in the dirt collecting tank does not meet the preset threshold A, until the liquid level in the dirt collecting tank meets the preset threshold A, then entering step S02.

[0023] The aforementioned control method of a cleaning robot system further includes, after step S03, step S04: closing the docking dust collector, starting the drainage mechanism to transfer the cleaning liquid after cleaning the cleaning parts into the dirt collection box, or starting the power mechanism to absorb the cleaning liquid after cleaning the cleaning parts into the dirt collection box.

[0024] In the aforementioned control method for a cleaning robot system, in step S03, the working power of the power mechanism includes P1, and in step S04, the working power of the power mechanism includes P2, and P1>P2.

[0025] In the aforementioned control method of a cleaning robot system, in step S03, the garbage particles entering the dirt collecting box are directed toward the liquid surface of the cleaning liquid under the action of the airflow, and at least part of the garbage particles are mixed with the cleaning liquid.

[0026] In the aforementioned control method of a cleaning robot system, in step S03, a sewage collecting channel for at least one garbage particle to pass through is provided in the sewage collecting box, and the end of the sewage collecting channel is oriented toward the liquid surface of the cleaning liquid, so that the garbage particles entering the sewage collecting channel enter the sewage collecting box toward the liquid surface of the cleaning liquid.

[0027] In the aforementioned control method for a cleaning robot system, the end of the sewage collecting channel is located below the liquid level of the cleaning liquid, so that the garbage particles entering the sewage collecting channel directly enter the cleaning liquid for mixing.

[0028] In the aforementioned control method of a cleaning robot system, in step S03, a sewage collecting channel for at least the passage of garbage particles is provided in the sewage collecting box, and the end of the sewage collecting channel is located below the liquid level of the cleaning liquid and toward the side and / or upper part of the sewage collecting box, so that the cleaning liquid enters the sewage collecting channel, and the garbage particles entering the sewage collecting channel are first mixed with the cleaning liquid before entering the sewage collecting box.

[0029] In the aforementioned control method for a cleaning robot system, the dirt collecting channel is configured as a floating structure, so that the dirt collecting channel rises and falls synchronously with the liquid level of the cleaning liquid in the dirt collecting tank.

[0030] The aforementioned control method of a cleaning robot system also includes a spray channel provided in the dirt collection box for spraying garbage particles entering the dirt collection box, one end of the spray channel is located below the liquid level of the cleaning liquid, and the other end is located above the liquid level of the cleaning liquid.

[0031] The aforementioned control method of a cleaning robot system also includes a liquid blocking structure provided in the dirt collecting box, which is used to block the cleaning liquid that surges upward under the suction of the airflow and makes the cleaning liquid form a blockage at the liquid blocking structure and fall back downward.

[0032] The aforementioned control method of a cleaning robot system also includes setting a power mechanism to be connected to the dirt collecting box at least for providing suction to the dirt collecting box to generate airflow, setting the dirt collecting box to be connected to at least the garbage chamber so that the airflow can pass through to suck the garbage particles into the dirt collecting box, and the liquid supply mechanism is connected to the dirt collecting box and / or the cleaning area on the integrated station where cleaning parts are placed for cleaning.

[0033] The aforementioned control method of a cleaning robot system also includes a power mechanism connected to the cleaning area, and a valve with an openable and closable structure is provided between the garbage collecting box and the garbage chamber. When the valve is opened, the power mechanism can simultaneously absorb the garbage particles in the garbage chamber and the cleaning liquid in the cleaning area into the garbage collecting box; when the valve is closed, the power mechanism can only absorb the cleaning liquid in the cleaning area into the garbage collecting box.

[0034] The aforementioned control method of a cleaning robot system also includes a filter structure provided in the dirt collecting box, so that at least part of the garbage particles entering the dirt collecting box are located in the filter structure; or the dirt collecting box is equipped with a filter net so that when the cleaning liquid in the dirt collecting box is poured out, the garbage particles are blocked by the filter net and cannot pass through.

[0035] The aforementioned control method of a cleaning robot system also includes, in step S03, starting a power mechanism to use a first working power to absorb small-volume garbage particles or small-weight garbage particles in the garbage chamber into a garbage collection box. When the power mechanism uses the first working power for a second preset time, the power mechanism switches to using a second working power to absorb large-volume garbage particles or large-weight garbage particles in the garbage chamber into the garbage collection box. The first working power is less than the second working power.

[0036] The aforementioned control method of a cleaning robot system replaces step S02 as follows: the cleaning robot docks on the integrated station, the power mechanism is started to generate airflow suction to absorb the garbage particles in the garbage chamber of the cleaning robot and at the same time absorb the cleaning liquid after cleaning the cleaning parts into the garbage collection box to form a mixture.

[0037] The aforementioned control method of a cleaning robot system further includes, after step S02 and before step S03, step S0201: when the working time of the power mechanism reaches a third preset time, the power mechanism is shut down, and the cleaning robot leaves the integrated station to mop the floor, and when the mopping time reaches a fourth preset time, the cleaning robot walks to the integrated station and docks.

[0038] In the aforementioned control method of a cleaning robot system, in step S0201, when the cleaning robot walks to the integrated station and stops, the process returns to step S02 or proceeds to step S03;

[0039] Or when the cleaning robot walks to the integrated station and docks, it first enters step S0202: the power mechanism starts to absorb the cleaning liquid after cleaning the cleaning parts into the dirt collection box, and detects the number of times Q that the power mechanism starts to absorb the cleaning liquid after cleaning the cleaning parts into the dirt collection box. When Q meets the pre-set threshold E, it enters step S03.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The control method of the cleaning robot of this scheme is mainly to realize the docking and suction of the cleaning robot to collect garbage and collect the cleaning liquid of the cleaning parts, and combine the collection and matching into the dirt collection box to realize the mixing of garbage particles and cleaning liquid. The user only needs to dump the dirt collection box separately, which is convenient for user use and improves the user experience.

[0042] In this solution, when there is a certain liquid level of cleaning liquid in the garbage collecting box, the garbage particles in the cleaning robot can be sucked into the garbage collecting box, so that the garbage particles enter the cleaning liquid for mixing. The cleaning liquid mixes the garbage particles so that the small particles in the garbage particles that are easy to raise dust are fully mixed into the water. The garbage collecting box no longer has the problem of raising dust, and the serious dust problem in existing base stations is solved.

[0043] At the same time, the garbage particles in this solution are mixed with the cleaning liquid, and under the action of the airflow, the garbage particles directly enter the cleaning liquid, and the cleaning liquid indirectly filters the mixed garbage particles, so that there is no need to set up a filtering system between the power mechanism and the sewage collection box. The cleaning liquid has a filtering effect, and there will be no problem of smaller garbage particles entering the power mechanism with the airflow and then being discharged into the room to affect the environment; after the garbage particles in this solution are mixed with the cleaning liquid, the garbage particles or dust in the airflow will be mixed with the cleaning liquid to achieve a filtering effect.

[0044] In this solution, the garbage particles enter the garbage collection box and are mixed with the cleaning liquid. The garbage collection box not only collects the garbage particles and the cleaning liquid, but also makes full use of the cleaning liquid collected after cleaning the cleaning parts and collects it into the garbage collection box to form a filtering effect on the garbage particles, thereby achieving a mixed filtration effect. Since it replaces the multiple filtration 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 filtration system or disposable dust collection bags configured in the existing base station. There is no problem of filter system consumables or bags that need to be replaced regularly. The maintenance cost is extremely low and it is easy for users to use.

[0045] 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 particles and the 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 particles. Because the cleaning liquid after cleaning the cleaning parts must be collected, this solution uses the cleaning liquid to achieve mixed filtration of garbage particles while collecting, so that the integrated station has a simple structure, low cost, and is easy for users to use.

[0046] This solution sets up a power mechanism to absorb garbage particles and the cleaning liquid after cleaning the cleaning parts. The power mechanism can be controlled separately to absorb garbage particles, or to absorb cleaning liquid separately, or to absorb garbage particles and cleaning liquid at the same time. At the same time, the power mechanism can absorb the cleaning liquid in the cleaning area and the garbage particles separated from the cleaning parts into the cleaning liquid. There is no need for manual cleaning of the garbage particles in the cleaning area, thereby improving the user experience.

[0047] The control method of this solution can ensure that there is a certain amount of cleaning liquid in the collection box before the garbage particles are sucked into the collection box, thereby ensuring that the cleaning liquid can mix the garbage particles and have a filtering effect, preventing the problem of mixing failure caused by abnormalities.

[0048] The control method of this scheme can also ensure that the cleaning liquid is sucked in and mixed at the same time as the garbage particles are sucked in, and the filtering effect of the garbage particles is achieved during the mixing process. There will be no problem that there is no cleaning liquid in the garbage collection box or the garbage particles are not mixed with the cleaning liquid in time when the garbage particles enter the garbage collection box, ensuring the effective mixing of the cleaning liquid and the garbage particles to achieve a filtering effect.

[0049] For the mixture of garbage particles and cleaning fluid in the sewage collection box, users can directly dump it into the sewer for disposal. Since most of the garbage particles sucked up by the cleaning robot are dust garbage particles or flocculent garbage particles, the garbage particles mixed with the cleaning fluid can be dumped into the sewer, which is convenient for users to handle. At the same time, this solution can be equipped with a filtering structure or filter net to filter the mixture of cleaning fluid and garbage particles, which is also convenient for users to dump the sewage collection box. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the structure of the cleaning robot's cleaning parts configured to rotate and roll;

[0051] Figure 2 This is a schematic diagram of the structure of the cleaning robot's cleaning parts arranged to rotate horizontally in contact with the ground;

[0052] Figure 3 is a schematic diagram of electrical connections;

[0053] Figure 4 This is an overall schematic diagram of the cleaning robot located on the integration station;

[0054] Figure 5 A schematic diagram of a liquid blocking structure preventing the surging of cleaning liquid when the power mechanism of the cleaning robot located on the integration station is working;

[0055] Figure 6 A schematic diagram of spraying formed in the spray channel when the power mechanism of the cleaning robot located on the integration station is working;

[0056] Figure 7 The present invention is a flowchart of the control method steps of the cleaning robot system.

[0057] Figure markings: 1-integrated station, 100-control module, 101-sewage collecting tank, 1011-sewage collecting channel, 102-power mechanism, 103-liquid drainage mechanism, 104-clean water tank, 105-liquid supply mechanism, 106-spray channel, 107-liquid blocking structure, 108-valve, 109-cleaning area, 2-cleaning robot, 201-cleaning part, 202-garbage chamber. DETAILED DESCRIPTION

[0058] 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.

[0059] Example: A control method of a cleaning robot 2 system of the present invention, such as Figures 1 to 7 As shown in the structure, it includes: a cleaning robot 2 and an integrated station 1, and the integrated station 1 is set as an independent part relative to the cleaning robot 2; the cleaning robot 2 is at least used for vacuuming and mopping the ground, and the cleaning robot 2 is provided with at least a cleaning part 201 to mop the ground; the cleaning robot 2 is provided with driving wheels for walking, and a garbage chamber 202 is provided in the cleaning robot 2, and the garbage chamber 202 is connected to the vacuum port at the bottom of the cleaning robot 2, and a fan is provided on one side of the garbage chamber 202, thereby realizing the absorption of garbage particles on the ground. This belongs to the existing technology and will not be described in detail.

[0060] The integrated station 1 of the present solution is at least used for docking the cleaning robot 2, and after docking, it is used for docking dust collection and / or cleaning the cleaning part 201 of the cleaning robot 2. At the same time, the cleaning robot 2 can also be charged when docked on the integrated station 1, so that the power module in the cleaning robot 2 can be charged in time; a dirt collecting box 101 is provided on the integrated station 1, and the dirt collecting box 101 is at least used to collect the cleaning liquid after cleaning the cleaning part 201 and some garbage particles in the docking dust collection. The dirt collecting box 101 not only collects garbage particles and cleaning liquid, but also makes full use of the cleaning liquid after cleaning the cleaning part 201 to be collected in the dirt collecting box 101 to form a filtering effect on garbage particles, thereby achieving a mixed filtration effect, and solving the problem that the existing base station needs to set up disposable dust collection bags or set up multi-layer filtration systems, which brings high maintenance costs and the need to replace consumables regularly.

[0061] The cleaning robot 2 is provided with a cleaning part 201, which is used for mopping the floor for cleaning. Preferably, the cleaning part 201 is provided with a movable structure, and a motor is provided to drive the cleaning part 201 to rotate horizontally or rotate and roll, so that the cleaning robot 2 can use the self-movement of the cleaning part 201 to clean the cleaning part 201 when it is located on the integrated station 1; the integrated station 1 only needs to provide cleaning liquid, i.e., clean water, to the cleaning part 201, and does not need to provide a power structure for cleaning the cleaning part 201.

[0062] The components of the integrated station 1 include a dirt collecting tank 101, a clean water tank 104, a cleaning area 109, a power mechanism 102, and a liquid supply mechanism 105. An electrical control board is provided in the integrated station 1, and a control module 100 is installed on the electrical control board. The control module 100 is electrically connected to the power mechanism 102 and the liquid supply mechanism 105 to control the start and stop of the work and the working time.

[0063] The dirt collecting box 101 is used to collect the garbage particles in the garbage cavity 202 in the cleaning robot 2 and the cleaning liquid after cleaning the cleaning part 201. The cleaning liquid after cleaning the cleaning part 201 is sewage, which mainly contains dirt and some garbage particles separated by cleaning the cleaning part 201.

[0064] The power mechanism 102 generates suction for the airflow, which can be a fan. Compared with the fan on the cleaning robot 2, it is a larger-power, high-suction fan. Due to its high suction force, it can be used to suck the garbage particles in the garbage cavity 202 in the cleaning robot 2 into the garbage collecting box 101.

[0065] The power mechanism 102 is in communication with the dirt collecting box 101 , and the power mechanism 102 provides suction force to generate airflow to the dirt collecting box 101 , so that the dirt collecting box 101 is formed to collect garbage particles and cleaning liquid.

[0066] The cleaning area 109 is arranged on the bottom shell of the integrated station 1. The cleaning area 109 is used to place the cleaning parts 201. When the cleaning robot 2 is docked on the integrated station 1, the cleaning parts 201 are located in the cleaning area 109. At this time, the cleaning parts 201 can be used to clean in the cleaning area 109.

[0067] The clean water tank 104 contains cleaning liquid, and the cleaning liquid in the clean water tank 104 is clean water; the liquid supply mechanism 105 is used to supply the clean water in the clean water tank 104 to the cleaning area 109 for cleaning the cleaning parts 201, and the liquid supply mechanism 105 can be a water pump.

[0068] The integrated station 1 may further include a drainage mechanism 103 , which may be a water pump, for transferring the cleaning liquid, ie, sewage, in the cleaning area 109 to the sewage collecting tank 101 for collection.

[0069] The control method of the cleaning robot 2 further includes the following steps:

[0070] Step S02: The cleaning robot 2 docks on the integrated station 1, and the dirt collecting box 101 is filled with cleaning liquid at a certain liquid level; in step S02, when the cleaning robot 2 docks on the integrated station 1, the dirt collecting box 101 is already filled with cleaning liquid at a certain liquid level, and the cleaning liquid can be clean water or sewage, which can be set according to needs.

[0071] Step S03: At least start the docking dust collection, and the power mechanism 102 is started to generate the suction force of the airflow to absorb the garbage particles in the garbage chamber 202 in the cleaning robot 2, so that the garbage particles move into the garbage collecting box 101 under the action of the airflow and mix with the cleaning liquid; the garbage particles in the garbage chamber 202 of the cleaning robot 2 are mainly sucked into the garbage collecting box 101 by the power mechanism 102 for mixing, so as to achieve the mixed filtering effect of the cleaning liquid on the garbage particles.

[0072] In step S03, it also includes that when the docking dust collection is started, the power mechanism 102 synchronously absorbs the cleaning liquid after cleaning the cleaning element 201 into the dirt collecting box 101 so that the cleaning liquid is mixed with the garbage particles; that is, when the power mechanism 102 starts working, it can simultaneously absorb the garbage particles and the cleaning liquid after cleaning the cleaning element 201 into the dirt collecting box 101, and the power mechanism 102 can achieve a synchronous suction effect; the dirt collecting box 101 can be respectively connected to the garbage cavity 202 and the cleaning area 109 where the cleaning element 201 is placed, thereby achieving a synchronous suction effect of the power mechanism 102.

[0073] In step S03, it also includes starting the drainage mechanism 103 synchronously when starting the docking dust collection to transfer the cleaning liquid after cleaning the cleaning component 201 to the dirt collection box 101 so that the cleaning liquid and the garbage particles are mixed; it is mainly because the power mechanism 102 plays the role of docking the dust collection to absorb the garbage particles in the garbage cavity 202 into the dirt collection box 101, and at the same time plays the role of the drainage mechanism 103 to separately transfer the cleaning liquid after cleaning the cleaning component 201, that is, sewage, to the dirt collection box 101, so that the garbage particles in the dirt collection box 101 are mixed with the sewage.

[0074] Among them, the cleaning liquid after cleaning the cleaning part 201 enters the dirt collecting box 101 through the first channel, and the garbage particles enter the dirt collecting box 101 through the second channel, and the first channel is located on one side of the second channel so that the cleaning liquid after cleaning the cleaning part 201 sprays and mixes the garbage particles entering the dirt collecting box 101 at the same time as entering the dirt collecting box 101; the main purpose is that the cleaning liquid after cleaning the cleaning part 201 can form a spray mixing effect on the garbage particles entering the dirt collecting box 101 when entering the dirt collecting box 101, which is conducive to improving the mixed filtration of the cleaning liquid on the garbage particles.

[0075] Before step S02, it also includes step S01: the integrated station 1 first detects the liquid level in the dirt collecting box 101 before starting the docking dust collection to detect whether the liquid level in the dirt collecting box 101 meets the preset threshold value A; it mainly ensures that there is a certain liquid level height of cleaning liquid in the dirt collecting box 101 after entering step S02, so as to achieve the effect of the garbage particles entering the dirt collecting box 101 and being mixed and filtered with the cleaning liquid in the subsequent step S03; a liquid level sensor can be set to detect the liquid level height in the dirt collecting box 101, and the liquid level sensor is electrically connected to the control module 100. The threshold A is set in the control module 100. For example, the threshold A corresponds to a liquid level height of 10-50 mm in the dirt collecting box 101. When the liquid level height reaches the threshold value A, it means that the cleaning liquid can mix and filter the garbage particles at this time, and the integrated station 1 can execute the starting power mechanism 102 to absorb the garbage particles into the dirt collecting box 101.

[0076] In step S01, when the liquid level in the garbage collecting box 101 meets the preset threshold value A, step S02 is entered. Step S02 is entered only after ensuring that the liquid level height in the garbage collecting box 101 meets the requirement. This can ensure that when the garbage particles are subsequently sucked into the garbage collecting box 101, there is cleaning liquid in the garbage collecting box 101 and it can be mixed and filtered with the cleaning liquid to achieve a sufficient mixing and filtering effect of the cleaning liquid on the garbage particles; if the liquid level in the garbage collecting box 101 does not meet the preset threshold value A, the docking dust collection will not be started to prevent the problem of sucking garbage particles when the liquid level of the cleaning liquid in the garbage collecting box 101 does not meet the threshold value A.

[0077] Step S01 also includes starting the liquid supply mechanism 105 to supply cleaning liquid to the cleaning element 201 to form spray cleaning or immersion cleaning of the cleaning element 201 if the liquid level in the dirt collecting tank 101 does not meet the preset threshold value A, and starting the liquid supply mechanism 105 to supply the cleaning liquid in the clean water tank 104, that is, clean water, to the cleaning area 109 for cleaning the cleaning element 201. After the cleaning of the cleaning element 201 is completed, the cleaning liquid, that is, sewage, formed in the cleaning area 109 can be collected into the dirt collecting tank 101. In this way, the liquid level height in the dirt collecting tank 101 can meet the threshold value A once or multiple times.

[0078] Among them, when the cleaning time of the cleaning part 201 reaches a first preset time, the first preset time can be set to 0.5-5 minutes, and the cleaning part 201 is rinsed or immersed in the first preset time, so that the dirt or adsorbed garbage particles on the cleaning part 201 are separated into the cleaning liquid, that is, clean water. The cleaning liquid after cleaning is completed forms sewage, and then the drainage mechanism 103 is started to transfer the cleaning liquid after cleaning the cleaning part 201 to the sewage collection box 101, or the power mechanism 102 is started to absorb the cleaning liquid after cleaning the cleaning part 201 into the sewage collection box 101; the execution power mechanism 102 can be set to absorb sewage into the sewage collection box 101, or the drainage mechanism 103 transfers sewage to the sewage collection box 101 as needed.

[0079] Among them, the control module 100 controls the detection power mechanism 102 to start the number N of times the cleaning liquid after cleaning the cleaning part 201 is sucked into the dirt collecting box 101. When N meets the pre-set threshold value B, step S02 is entered; as long as the number of times the power mechanism 102 sucks the cleaning liquid in the cleaning area 109 into the dirt collecting box 101 is detected, the number N can be set accordingly according to the volume of the cleaning liquid in the cleaning area 109 sucked into the dirt collecting box 101 in a single time. If the threshold value B is set to be greater than 5, then N is expressed as greater than 5 times. At this time, it means that after the power mechanism 102 completes N times of sucking the cleaning liquid into the dirt collecting box 101, the liquid level height of the cleaning liquid in the dirt collecting box 101 meets the threshold value A, then step S02 can be entered to prevent the problem of sucking garbage particles when the liquid level height of the cleaning liquid in the dirt collecting box 101 does not meet the threshold value A.

[0080] Alternatively, the number M of times the drainage mechanism 103 is started to transfer the cleaning liquid after cleaning the cleaning element 201 to the dirt collecting box 101 is detected. When M meets the preset threshold value C, step S02 is entered, that is, the number M of times the drainage mechanism 103 transfers the cleaning liquid in the cleaning area 109 to the dirt collecting box 101 is detected. If the threshold value C is set to be greater than 5, M is represented as greater than 5 times. At this time, it means that after the liquid supply mechanism 105 completes M times of transferring the cleaning liquid to the dirt collecting box 101, the liquid level height of the cleaning liquid in the dirt collecting box 101 meets the threshold value A, then step S02 can be entered to prevent the problem of absorbing garbage particles when the liquid level height of the cleaning liquid in the dirt collecting box 101 does not meet the threshold value A.

[0081] It also includes synchronously detecting whether the time the dirt collecting box 101 is in place is continuous. If the dirt collecting box 101 is not in place for a long time, step S01 is repeated, mainly to detect whether the dirt collecting box 101 is taken out and dumped by the user. If it is taken out and dumped by the user, step S01 is repeated to prevent the problem of absorbing garbage particles when the liquid level of the cleaning liquid in the dirt collecting box 101 does not meet the threshold A; a Hall sensor or an infrared sensor can be set to detect whether the dirt collecting box 101 is in place.

[0082] Among them, a dirt detection module can also be set to detect the dirtiness of the cleaning member 201. When the dirtiness of the cleaning member 201 meets a preset threshold value D, the cleaning of the cleaning member 201 is completed; when the dirtiness of the cleaning member 201 does not meet the preset threshold value D, the cleaning of the cleaning member 201 continues; for example, a threshold value A is set in the control module 100, and the threshold value A corresponds to the dirtiness or a numerical value representing the dirtiness. When the threshold value A is met, it means that the cleaning member 201 has been cleaned, and the cleaning is completed at this time. If the threshold value A is not met, it means that the cleaning member 201 has not been completely cleaned and needs to be continuously cleaned or cleaned again. When cleaning again, the cleaning liquid in the cleaning area 109, that is, the sewage, can be collected into the dirt collecting box 101 first, and then the liquid supply mechanism 105 can be controlled to supply cleaning liquid, that is, clean water to the cleaning area 109 for cleaning the cleaning member 201. This is repeated until the cleaning member 201 is clean.

[0083] A dirt detection sensor may be directly installed on one side of the cleaning member 201 to detect the degree of dirtiness of the cleaning member 201 .

[0084] The time for the cleaning robot 2 to return to the integrated station 1 for cleaning can be determined based on the degree of dirtiness of the cleaning part 201 , that is, when the degree of dirtiness of the cleaning part 201 reaches a certain preset condition, the cleaning robot 2 returns to the integrated station 1 to clean the cleaning part 201 .

[0085] In step S01, it is also included that if the liquid level in the sewage collecting tank 101 does not meet the preset threshold value A, the liquid supply mechanism 105 is started to supply cleaning liquid to the sewage collecting tank 101 until the liquid level in the sewage collecting tank 101 meets the preset threshold value A, and then enters step S02; mainly if the cleaning liquid level in the sewage collecting tank 101 is low or there is no cleaning liquid, the clean water in the clean water tank 104 can be supplied to the sewage collecting tank 101 through the liquid supply mechanism 105, so that the cleaning liquid in the sewage collecting tank 101 meets the preset threshold value A, so that the integrated station 1 can enter step S02 to ensure that the garbage particles can be mixed and filtered with the cleaning liquid when the garbage particles are subsequently sucked into the sewage collecting tank 101.

[0086] After step S03, step S04 is also included: closing the docking dust collection, starting the drainage mechanism 103 to transfer the cleaning liquid after cleaning the cleaning part 201 to the dirt collection box 101, or the power mechanism 102 is started to absorb the cleaning liquid after cleaning the cleaning part 201 into the dirt collection box 101. In step S04, only the transfer or absorption of the cleaning liquid in the cleaning area 109 is performed. The power mechanism 102 can be used to absorb the cleaning area 109 in the cleaning area 109 into the dirt collection box 101, or a separate drainage mechanism 103 can be set to transfer the cleaning liquid in the cleaning area 109 to the dirt collection box 101. Because the drainage mechanism 103 can be set as a water pump or an electromagnetic pump, the drainage mechanism 103 has very little noise compared to the power mechanism 102, and will not affect the user experience. The use of the drainage mechanism 103 is more suitable for the working state where the cleaning part 201 needs to be cleaned frequently, and the cleaning liquid in the cleaning area 109 can be transferred to the dirt collection box 101 in time without affecting the user experience.

[0087] In step S04, the cleaning robot 2 can frequently travel back and forth between the ground and the integrated station 1. After completing mopping and cleaning for a certain time or a certain area, the cleaning robot 2 returns to the integrated station 1 in time, and then the liquid supply mechanism 105 supplies the clean water in the clean water tank 104 to the cleaning area 109. At this time, the cleaning part 201 can be cleaned in the cleaning area 109. After the cleaning is completed, the cleaning robot 2 leaves the integrated station 1 and returns to the ground to continue mopping and cleaning. In this way, the mopping of the ground and the timely cleaning of the cleaning part 201 can be achieved.

[0088] In step S03, the working power of the power mechanism 102 includes P1, and in step S04, the working power of the power mechanism 102 includes P2, P1>P2; because in step S03, it can be set that the power mechanism 102 mainly absorbs garbage particles, the absorption of garbage particles requires the power mechanism 102 to have a larger working power, but a larger working power will produce a larger noise, affecting the user experience; for the cleaning robot 2, the cleaning part 201 of the cleaning robot 2 needs to be cleaned more frequently than the frequency at which garbage particles need to be absorbed, because it can be set at a high power of P1 to absorb garbage particles, ensuring that the garbage can be sucked into the garbage collecting box 101 by a large suction force, and then the low power of P2 is set to absorb the cleaning liquid in the cleaning area 109 into the garbage collecting box In the box 101, because the cleaning liquid has good fluidity, it can be sucked into the dirt collecting box 101 under the suction of a smaller airflow, so this setting can further enhance the user experience; because the frequency of sucking the cleaning liquid into the dirt collecting box 101 is higher than the frequency of sucking the garbage particles into the dirt collecting box 101, the frequent sucking of the cleaning liquid into the dirt collecting box 101 will not affect the user experience due to excessive noise; for example, the frequency of sucking the garbage particles into the dirt collecting box 101 can be set to 1-2 times a day, and the frequency of sucking the cleaning liquid in the cleaning area 109 into the dirt collecting box 101 can be set to once every 5-10 minutes, because the cleaning part 201 needs to be cleaned frequently during the mopping cleaning process, which is conducive to reducing the impact of the working noise of the power mechanism 102 on the user.

[0089] In step S03, the garbage particles entering the garbage collecting box 101 are moved toward the liquid surface of the cleaning liquid under the action of the airflow and at least part of the garbage particles are mixed with the cleaning liquid; the garbage particles can move toward the liquid surface of the cleaning liquid after entering the garbage collecting box 101 and mix with the cleaning liquid in time, thereby improving the mixed filtration effect.

[0090] In step S03, a sewage collecting channel 1011 is provided in the sewage collecting box 101 for at least passing garbage particles, and the end of the sewage collecting channel 1011 is directed toward the liquid surface of the cleaning liquid, so that the garbage particles entering the sewage collecting channel 1011 enter the sewage collecting box 101 toward the liquid surface of the cleaning liquid; the end of the sewage collecting channel 1011 can be directed toward the liquid surface of the cleaning liquid, so that the garbage particles can be in contact with and mixed with the cleaning liquid in a timely manner.

[0091] The outlet of the sewage collecting channel 1011 connected to the internal space of the sewage collecting box 101 can be oriented toward the liquid surface of the cleaning liquid, so that the garbage particles enter the internal space of the sewage collecting box 101 from the sewage collecting channel 1011 directly toward the liquid surface of the cleaning liquid, which is conducive to the timely mixing of the garbage particles and the cleaning liquid.

[0092] Among them, the end of the sewage collecting channel 1011 can also be located below the liquid level of the cleaning liquid, so that the garbage particles entering the sewage collecting channel 1011 can directly enter the cleaning liquid for mixing; the cleaning liquid can submerge the end or part of the end of the sewage collecting channel 1011, so that the garbage particles can be mixed with the cleaning liquid as soon as they enter the sewage collecting box 101, which is conducive to improving the mixing effect and can effectively prevent the problem that the garbage particles and the cleaning liquid cannot be mixed in time.

[0093] In step S03, a sewage collecting channel 1011 is provided in the sewage collecting box 101 for at least passing garbage particles. The end of the sewage collecting channel 1011 is located below the liquid level of the cleaning liquid and faces the side and / or upper part of the sewage collecting box 101, so that the cleaning liquid enters the sewage collecting channel 1011, and the garbage particles enter the sewage collecting channel 1011 and are first mixed with the cleaning liquid before entering the sewage collecting box 101; the end of the sewage collecting channel 1011 is located below the liquid level, and at the same time, the cleaning liquid enters the sewage collecting channel 1011, so that the garbage particles can be pre-mixed in the sewage collecting channel 1011 before entering the sewage collecting box 101, thereby further improving the mixing effect of the garbage particles and the cleaning liquid.

[0094] In the sewage collecting box 101 in this scheme, a sewage collecting channel 1011 is set in the sewage collecting box 101, and the sewage collecting channel 1011 is set to a floating structure, so that the sewage collecting channel 1011 rises and falls synchronously with the liquid level of the cleaning liquid in the sewage collecting box 101; the floating structure of the sewage collecting channel 1011 makes the sewage collecting channel 1011 always rise synchronously with the increase of the liquid level in the sewage collecting box 101, preventing the sewage collecting channel 1011 from being flooded with too much cleaning liquid due to being located at the bottom of the sewage collecting box 101, resulting in the weakening of the airflow through the sewage collecting channel 1011, because after the cleaning liquid floods a part of the sewage collecting channel 1011, a certain liquid level pressure will be formed, resulting in the weakening of the ability of the airflow through the sewage collecting channel 1011.

[0095] Specifically, the floating structure can be a float set on the sewage collecting channel 1011. The float has a certain area. The float can drive the sewage collecting channel 1011 to float on the liquid surface in the sewage collecting box 101. The corresponding sewage collecting channel 1011 is set to a soft structure or a retractable structure to achieve the floating structure of the sewage collecting channel 1011; or a sliding mechanism can be installed on the sewage collecting channel 1011, and the sliding mechanism is installed with a motor, and the sewage collecting channel 1011 is driven to float and rise and fall by the motor.

[0096] The sewage collection box 101 of this scheme also includes a spray channel 106 provided in the sewage collection box 101 for spraying the garbage particles entering the sewage collection box 101. One end of the spray channel 106 is located below the liquid level of the cleaning liquid, and the other end is located above the liquid level of the cleaning liquid. Under the action of the suction force of the airflow, the cleaning liquid in the sewage collection box 101 will surge to a certain extent. The surging cleaning liquid enters the spray channel 106 through one end of the spray channel 106, and then gushes out through the other end of the spray channel 106 to form an effect similar to a spray or waterfall, which can accelerate the fall of the cleaning liquid and make the cleaning liquid spray the garbage particles entering the sewage collection box 101. The spray mixing effect of the particles is beneficial to the full mixing of the garbage particles and the cleaning liquid; at the same time, it can also play a multi-layer mixed filtration effect, that is, when the garbage particles enter the garbage collecting box 101, they are first mixed with the cleaning liquid that is not surging at the bottom, and then the cleaning liquid sprayed out by the spray channel 106 performs secondary mixing and filtration on the airflow. Because the airflow will eventually return to the motor mechanism through the cleaning liquid and then be discharged into the indoor environment, the spray channel 106 achieves a better mixing and filtration effect; at the same time, it is beneficial to form a stirring effect on the garbage particles and the cleaning liquid in the garbage collecting box 101, preventing the garbage particles from gathering and settling at a certain position in the garbage collecting box 101.

[0097] The dirt collecting box 101 of the present solution also includes a liquid blocking structure 107 provided in the dirt collecting box 101. The liquid blocking structure 107 is used to block the cleaning liquid that surges upward under the suction of the airflow and makes the cleaning liquid form a barrier at the liquid blocking structure 107 and fall back downward. The liquid blocking structure 107 is mainly arranged in the upper part of the dirt collecting box 101. When the power mechanism 102 is working, the cleaning liquid in the dirt collecting box 101 will surge to a certain extent under the suction of the airflow. By providing the liquid blocking structure 107, the surging cleaning liquid can be effectively blocked, so that the cleaning liquid falls back to the lower area of ​​the dirt collecting box 101 in time, thereby achieving timely and sufficient mixing of the garbage particles entering the dirt collecting box 101 with the cleaning liquid.

[0098] The liquid blocking structure 107 can be configured as a sheet structure or a mesh structure to form a rectifying effect. The liquid blocking structure 107 can change the direction of the airflow, but cannot block the airflow path between the power mechanism 102 and the dirt collecting box 101 .

[0099] The integrated station 1 and cleaning robot 2 of this scheme also include a power mechanism 102 connected to the dirt collecting box 101 for at least providing suction to generate airflow to the dirt collecting box 101, an independent mechanism generates suction to generate airflow to the dirt collecting box 101, and the dirt collecting box 101 is at least connected to the garbage cavity 202 for the passage of airflow to absorb garbage particles into the dirt collecting box 101. Under the action of the suction of the airflow, the garbage in the garbage cavity 202 in the cleaning robot 2 will be sucked into the dirt collecting box 101 along with the airflow, thereby realizing the absorption and collection of garbage particles by the integrated station 1; the liquid supply mechanism 105 is connected to the dirt collecting box 101 and / or the cleaning area 109 on which the cleaning part 201 is placed for cleaning, and the liquid supply mechanism 105 is mainly used to supply the cleaning liquid in the clean water tank 104, that is, clean water, to the cleaning area The cleaning area 109 or the dirt collecting box 101 mainly supplies clean water to the cleaning area 109 to clean the cleaning element 201. After the cleaning element 201 completes cleaning in the cleaning area 109, sewage is formed, and then the sewage can be sucked into the dirt collecting box 101 for collection; the liquid supply mechanism 105 can also supply clean water to the dirt collecting box 101 for cleaning the dirt collecting box 101, or when the liquid level of the cleaning liquid in the dirt collecting box 101 does not meet the preset threshold value A in step S01, the liquid supply mechanism 105 supplies clean water to the dirt collecting box 101 to make the liquid level in the dirt collecting box 101 meet the preset threshold value A, and then the power mechanism 102 can be started to suck garbage particles into the dirt collecting box 101 to mix with clean water, so as to achieve a mixed filtering effect of clean water on garbage particles.

[0100] The liquid supply mechanism 105 can be configured as a water pump or an electromagnetic pump, and only needs to supply the cleaning liquid.

[0101] In this solution, the power mechanism 102 is also connected to the cleaning area 109. When the power mechanism 102 is started, the cleaning liquid in the cleaning area 109, i.e., the sewage, and the garbage particles remaining in the cleaning area 109 can be sucked into the sewage collecting box 101. A valve member 108 with an openable and closable structure is provided between the sewage collecting box 101 and the garbage cavity 202. The opening and closing structure between the sewage collecting box 101 and the garbage cavity 202 is realized by providing the valve member 108. When the valve member 108 is opened, the garbage particles in the garbage cavity 202 can be sucked into the sewage collecting box 101. When the valve member 108 is closed, the power mechanism 102 cannot suck the garbage particles in the garbage cavity 202, or when the valve member 108 is closed, the power mechanism 102 cannot suck the garbage particles in the garbage cavity 202. When valve 08 is open, the power mechanism 102 can simultaneously absorb the garbage particles in the garbage chamber 202 and the cleaning liquid in the cleaning area 109 into the dirt collecting box 101; when valve 08 is closed, the power mechanism 102 can only absorb the cleaning liquid in the cleaning area 109 into the dirt collecting box 101; the installation position of the valve member 108 can be set as needed. The valve member 108 can be installed on the cleaning robot 2, or on the outside of the garbage chamber 202, or can be installed between an independent pipe or channel connecting the dirt collecting box 101 and the garbage chamber 202. It can be set as needed. The valve member 108 can be a solenoid valve that can control the opening and closing of the solenoid valve, or it can be other valves with an opening and closing structure.

[0102] The integrated station 1 of the present scheme also includes a filtering structure provided in the sewage collecting box 101, so that at least part of the garbage particles entering the sewage collecting box 101 are located in the filtering structure. Since the garbage particles and the cleaning liquid are mixed in the sewage collecting box 101, the filtering structure can be set as needed. The garbage particles enter the filtering structure at the same time as entering the sewage collecting box 101, and then the cleaning liquid, that is, sewage, enters the sewage collecting box 101 and can be mixed with the garbage particles through the filtering structure. In this way, when dumping the sewage collecting box 101, only the cleaning liquid, that is, sewage, can be dumped into the sewer, and the garbage particles can be dumped into the trash can separately in the filtering structure, which can effectively prevent the problem of large garbage particles clogging the sewer.

[0103] Alternatively, the sewage collecting box 101 is provided with a filter screen so that when the cleaning liquid in the sewage collecting box 101 is dumped, the garbage particles are blocked by the filter screen and cannot pass through. An independent filter screen can be provided for the sewage collecting box 101. The filter screen can be located inside the sewage collecting box 101 or outside the sewage collecting box 101 as an independent accessory. When the user dumps the sewage collecting box 101, the mixture of garbage particles and cleaning liquid is filtered and dumped through the filter screen. The cleaning liquid, i.e., sewage, is directly dumped into the sewer, while the garbage can be dumped separately into the trash can in the filter screen, which is convenient for users and can effectively prevent the problem of large garbage particles clogging the sewer.

[0104] In step S03, the power mechanism 102 is started to use the first working power to suck the small-volume garbage particles or the light-weight garbage particles in the garbage cavity 202 into the garbage collection box 101. When the power mechanism 102 uses the first working power for a second preset time, the power mechanism 102 switches to using the second working power to suck the large-volume garbage particles or the heavy-weight garbage particles in the garbage cavity 202 into the garbage collection box 101. The first working power is less than the second working power; that is, the power mechanism 102 first uses the first working power, which can be 300-700 watts. , that is, it uses low power to absorb garbage particles, and has a certain separation effect on garbage particles under low power operation. Under low power operation, the suction force of the airflow generated by the power mechanism 102 is relatively small. At this time, it can absorb garbage particles with small volume or light weight in the garbage particles into the garbage collection box 101. At this time, this part of the garbage particles is mixed with the cleaning liquid in the garbage collection box 101. Because the suction force of the power mechanism 102 is small, the cleaning liquid in the garbage collection box 101 is not easy to surge under the action of the airflow, so that this part of the garbage particles can be fully separated from the cleaning liquid, that is, sewage. The second preset time can be set to 0.5-5 minutes. When the suction time reaches the second preset time, the power of the power mechanism 102 is increased to the second working power. The second working power can be 800-1200 watts. Under high-power operation, the suction force of the airflow generated by the power mechanism 102 is large, and the large-weight or large-volume garbage particles can be sucked into the garbage collecting box 101 by the large suction force. At this time, most of the small-weight or small-volume garbage particles in the garbage particles have been sucked into the garbage collecting box 101 before, making the large-weight or small-volume garbage particles sucked into the garbage collecting box 101. The garbage particles sucked in at low power enter the garbage collecting box 101. Even if the cleaning liquid surges under the action of the airflow, there will be no insufficient mixing of the garbage particles and the cleaning liquid, i.e., sewage. There will be no problem of the airflow carrying away small or light garbage particles into the power mechanism 102 and being discharged into the indoor environment and polluting the environment. By first sucking in the garbage particles that are easy to raise dust at low power and fully mixing them with the cleaning liquid, and then sucking in the garbage particles that are not easy to raise dust at high power into the garbage collecting box 101 and mixing them with the cleaning liquid, the step-by-step mixing makes the cleaning liquid have a better mixed filtration effect on the garbage particles and more complete mixing.

[0105] For the cleaning member 201 in this solution, the cleaning member 201 can be a mop with a flat structure or a mop with a cylindrical structure. The cleaning member 201 can be set to a structure with a vibrating motion, a reciprocating motion, a structure that rotates horizontally in contact with the ground, or a structure that rotates and rolls relative to the ground. It only needs to be able to contact the ground for mopping and cleaning.

[0106] Optionally, the cleaning member 201 of the present embodiment is configured to have a structure that can rotate horizontally in contact with the ground to perform mopping and cleaning. When the cleaning member 201 contacts the ground, the contact portion forms a planar structure. The cleaning member 201 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 2 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 perform mopping and cleaning of the ground.

[0107] 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 2 to ensure a large single cleaning area and sufficiently large friction between the ground, and to gather garbage to the suction port, thereby achieving 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 2 to achieve an increased mopping cleaning area coverage effect.

[0108] 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 2; 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 2 and along the front side toward the rear side of the bottom of the cleaning robot 2. 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 2; 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 2, 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 absorption effect of garbage and realizing the mutual offset of the rotational forces.

[0109] Optionally, the cleaning member 201 of the present embodiment is configured to have a structure that can rotate and roll relative to the ground to perform mopping and cleaning. When the cleaning member 201 contacts the ground, the contact portion thereof forms a planar structure. The cleaning member 201 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 perform mopping and cleaning, 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.

[0110] 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 2 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 2, 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 problems affecting the normal walking of the cleaning robot 2; 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.

[0111] 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 2 and is opposite to the forward direction of the cleaning robot 2; at this time, the first rotary drag member can push the larger garbage on the ground to the dust 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 202 by the dust 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 2 and is the same as the forward direction of the cleaning robot 2. 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.

[0112] The control method of the cleaning robot 2 of this scheme is mainly to realize the docking and suction of the cleaning robot 2 to collect garbage and the collection of the cleaning liquid of the cleaning part 201, and to combine the collection and matching in the dirt collection box 101 to realize the mixing of garbage particles and cleaning liquid. The user only needs to dump the dirt collection box 101 separately, which is convenient for user use and improves the user experience effect.

[0113] In this solution, when there is a certain liquid level of cleaning liquid in the garbage collecting box 101, the garbage particles in the cleaning robot 2 can be started to be sucked into the garbage collecting box 101, so that the garbage particles enter the cleaning liquid for mixing. The cleaning liquid mixes the garbage particles so that the small particles in the garbage particles that are easy to raise dust are fully mixed into the water. The garbage collecting box 101 no longer has the problem of raising dust, and the serious dust problem in the existing base stations is solved.

[0114] At the same time, the garbage particles in this solution are mixed with the cleaning liquid, and under the action of the airflow, the garbage particles directly enter the cleaning liquid, and the cleaning liquid indirectly filters the mixed garbage particles, so that there is no need to set up a filtering system between the power mechanism 102 and the garbage collecting box 101. The cleaning liquid has a filtering effect, and there will be no problem of smaller garbage particles entering the power mechanism 102 with the airflow and then being discharged into the room to affect the environment; after the garbage particles in this solution are mixed with the cleaning liquid, the garbage particles or dust in the airflow will be mixed with the cleaning liquid to achieve a filtering effect.

[0115] In this solution, the garbage particles enter the garbage collecting box 101 and are mixed with the cleaning liquid. The garbage collecting box 101 not only collects the garbage particles and the cleaning liquid, but also makes full use of the cleaning liquid after cleaning the cleaning part 201 and collects it into the garbage collecting box 101 to form a filtering effect on the garbage particles, thereby achieving a mixed filtering 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.

[0116] Because this solution uses the cleaning liquid in the dirt collecting box 101 to replace the filtering system or disposable dust collecting bags configured on the existing base station, the overall structure of the integrated station 1 is simple. Setting up a dirt collecting box 101 can solve the problem of mixed collection of garbage particles and the cleaning liquid after cleaning the cleaning parts 201, and make full use of the cleaning liquid after cleaning the cleaning parts 201 of the integrated station 1 to mix and filter the garbage particles. Because the cleaning liquid after cleaning the cleaning parts 201 must be collected, this solution uses the cleaning liquid to achieve mixed filtration of garbage particles while collecting, so that the integrated station 1 has a simple structure, low cost, and is easy for users to use.

[0117] A control method for a cleaning robot 2, replacing step S02 as follows: the cleaning robot 2 docks on the integrated station 1, and the power mechanism 102 is started to generate airflow suction to absorb the garbage particles in the garbage chamber 202 in the cleaning robot 2 and simultaneously absorb the cleaning liquid after cleaning the cleaning element 201 into the garbage collecting box 101 to form a mixture.

[0118] That is, in the replacement step S02, when the cleaning robot 2 docks on the integrated station 1, the power mechanism 102 is started to simultaneously absorb the garbage particles and the cleaning liquid in the cleaning area 109 to form a mixture, or enter the garbage collecting box 101 to form a mixture, or the garbage particles and the cleaning liquid can be mixed during the absorption process and then enter the garbage collecting box 101 together. The garbage collecting box 101 can be set to be connected at least in a part that is connected to the garbage cavity 202 of the cleaning robot 2 and the cleaning area 109, so that the garbage particles and the cleaning liquid can be mixed in the process of entering the garbage collecting box 101, and then enter the garbage collecting box 101 to be collected and stored after mixing, which can improve the mixing effect of the garbage particles and the cleaning liquid, and can improve the mixed filtering effect of the cleaning liquid on the garbage particles.

[0119] Before step S02, the control method of the cleaning robot 2 can be consistent with that in the unreplaced step S02, including step S01, detecting the liquid level height in the dirt collecting tank 101, or first sucking the cleaning liquid into the dirt collecting tank 101, or the liquid supply mechanism 105 first supplies the cleaning liquid to the dirt collecting tank 101, or first transferring the cleaning liquid in the cleaning area 109 to the dirt collecting tank 101 through the liquid discharge mechanism 103, and the description will not be repeated here as before.

[0120] For the cleaning liquid in the cleaning area 109, the liquid supply mechanism 105 mainly supplies the cleaning liquid in the clean water tank 104, that is, the clean water in the clean water tank 104, into the cleaning area 109 to clean the cleaning element 201. The self-movement of the cleaning element 201 can be used for flushing or immersion cleaning in the cleaning area 109. After the cleaning element 201 completes cleaning in the cleaning area 109, the cleaning liquid in the cleaning area 109 is sewage, and the sewage also contains some garbage particles separated from the cleaning element 201, which can be sucked into the sewage collecting box 101 by the motor mechanism, or the cleaning liquid, that is, sewage, can be transferred to the sewage collecting box 101 by the drainage mechanism 103. When it is necessary to suck the garbage particles in the garbage cavity 202, the power mechanism 102 is started to suck the garbage particles into the sewage collecting box 101 and mix them with the sewage.

[0121] After step S02 and before step S03, step S0201 is also included: when the working time of the power mechanism 102 reaches the third preset time, the power mechanism 102 is turned off, and the cleaning robot 2 leaves the integrated station 1 to mop the floor, and when the mopping time reaches the fourth preset time, the cleaning robot 2 walks to the integrated station 1 and docks; that is, the cleaning robot 2 spends most of its time vacuuming and mopping the floor on the floor. When the cleaning robot 2 is located and docked on the integrated station 1, the cleaning liquid in the clean water tank 104 is clean water supplied to the cleaning area 109 under the action of the liquid supply mechanism 105, and then the cleaning part 201 is cleaned. After the cleaning of the cleaning part 201 is completed, the power mechanism 102 works to absorb garbage particles or the cleaning liquid in the cleaning area 109. Or it can absorb garbage particles and cleaning liquid in the cleaning area 109 at the same time. When the working time of the power mechanism 102 reaches the third preset time, the value of the third working time can be set according to the volume of the garbage chamber 202 and the volume of the cleaning area 109, such as 0.5-2 minutes. During this time, most or all of the garbage particles in the garbage chamber 202 or the cleaning liquid in the cleaning area 109 can be absorbed into the dirt collecting box 101 for collection, and then the cleaning robot 2 leaves the integrated station 1 to go to the ground for vacuuming or mopping. When the working time of the cleaning robot 2 on the ground reaches the fourth preset time, the fourth preset time can be set according to the size of the indoor area or the degree of dirtiness, such as setting it to 3-10 minutes, and then the cleaning robot 2 stops working on the ground and returns to the integrated station 1.

[0122] Among them, in step S0201, when the cleaning robot 2 walks to the integrated station 1 and docks, it returns to step S02 or enters step S03; the cleaning robot 2 can continue to execute step S02, repeating the work of the power mechanism 102 to absorb garbage particles and the cleaning liquid in the cleaning area 109. Of course, when the cleaning robot 2 docks on the integrated station 1, it can first clean the cleaning part 201, and only absorb the sewage in the cleaning area 109 after the cleaning is completed; it can also directly enter step S03, that is, the power mechanism 102 is started only to absorb garbage particles, but not to absorb the cleaning liquid in the cleaning area 109. At this time, the integrated station 1 is only for the cleaning robot 2 to dock and absorb garbage particles.

[0123] Alternatively, when the cleaning robot 2 walks to the integrated station 1 and docks, it first enters step S0202: the power mechanism 102 starts to absorb the cleaning liquid after cleaning the cleaning part 201 into the dirt collecting box 101, that is, to absorb the sewage in the cleaning area 109 into the dirt collecting box 101, and detects the number of times Q that the power mechanism 102 starts to absorb the cleaning liquid after cleaning the cleaning part 201 into the dirt collecting box 101. When Q meets the pre-set threshold value E, it enters step S03; if the set threshold value E is greater than or equal to 1, that is, the power mechanism 102 is first detected to absorb the sewage into the dirt collecting box 101. The number Q is greater than or equal to 1. When the value that meets Q is detected, step S03 is started, that is, it starts to absorb garbage particles into the dirt collecting box 101; mainly, the cleaning part 201 of the cleaning robot 2 needs to be cleaned frequently, and the garbage in the garbage cavity 202 can be cleaned regularly. The frequency of the cleaning part 201 of the cleaning robot 2 by the integrated station 1 must be greater than or equal to the frequency of absorbing garbage particles.

[0124] For example, when mopping the floor, the cleaning part 201 of the cleaning robot 2 needs to frequently travel back and forth to the integrated station 1. At this time, only the cleaning part 201 can be cleaned without sucking out the garbage particles in the garbage chamber 202. After the mopping is completed or a certain number of times is reached, the garbage particles are sucked into the dust box because a certain amount of garbage particles in the garbage chamber 202 has been collected at this time.

[0125] Optionally, in step S0201 or step S0202, when the cleaning robot 2 walks onto the integrated station 1, the cleaning part 201 is located in the cleaning area 109. At this time, the liquid supply mechanism 105 supplies the cleaning liquid in the clean water tank 104, that is, clean water, into the cleaning area 109 to clean the cleaning part 201. After the cleaning of the cleaning part 201 is completed, the cleaning liquid formed in the cleaning area 109 is sewage, and then the power mechanism 102 is started to absorb garbage particles or sewage, or to absorb garbage particles and sewage at the same time, thereby achieving the collection effect of garbage particles and sewage.

[0126] Among them, if in step S0201 or step S0202, there is a certain liquid level height of cleaning liquid in the sewage collecting box 101, that is, there is a certain liquid level height of sewage, then the cleaning part 201 can be cleaned first, and the power mechanism 102 can be directly set to work to absorb the garbage particles in the garbage cavity 202 into the sewage collecting box 101 for collection. Because there is a certain liquid level height of sewage in the sewage collecting box 101, the garbage particles entering the sewage collecting box 101 can be mixed at this time, thereby achieving a filtering effect.

[0127] The other steps of this part are consistent with the control method of the cleaning robot 2 in the first part, that is, the control method of the cleaning robot 2 in the aforementioned step S02 is consistent. The structure of the integrated station 1 or the structural part of the cleaning robot 2 is also consistent with the structural part of the cleaning robot 2 or the integrated station 1 in the first part, and the same advantages can be achieved. The same beneficial technical effects.

[0128] With respect to the control method of the cleaning robot 2 of the two parts of this solution, the cleaning robot 2 is located on the docking integrated station 1. A separate pipe or channel can be provided as needed to connect the dirt collection box 101 with the cleaning area 109 and the garbage chamber 202. At this time, the garbage particles and the cleaning liquid enter the dirt collection box 101 through their respective connected pipes or channels. When the power mechanism 102 is started, the garbage particles and the cleaning liquid can be simultaneously sucked in. A valve 108 can also be provided between the separate pipes or channels connecting the dirt collection box 101 and the cleaning area 109, and between the separate pipes or channels connecting the dirt collection box 101 and the garbage chamber 202. Alternatively, the valve 108 can be provided on the garbage chamber 202, and the valve 108 can be provided with an openable and closable structure, thereby enabling the garbage particles to be sucked in separately or the cleaning liquid to be sucked in separately when the power mechanism 102 is started. Of course, the garbage particles and the cleaning liquid can also be sucked in simultaneously, and can be specifically set as needed.

[0129] The valve element 108 may be a solenoid valve, which can control the opening and closing of the solenoid valve.

[0130] Working principle: The control method of the cleaning robot 2 of this scheme is that the integrated station 1 is mainly provided with a dirt collecting box 101, a power mechanism 102, a cleaning area 109, and a clean water tank 104. The cleaning robot 2 is mainly provided with a garbage chamber 202 and a cleaning part 201. When the cleaning robot 2 is docked on the integrated station 1, the garbage particles in the garbage chamber 202 of the cleaning robot 2 are sucked up, and the cleaning part 201 is cleaned and the cleaning liquid after cleaning is sucked into the dirt collecting box 101 on the integrated station 1, and further the garbage particles are mixed with the cleaning liquid, thereby solving the problem that the existing base station needs to set up a filtering system or disposable dust collection bags and the need to set up a filtering system, and the garbage particles are filtered by mixing the garbage particles with the cleaning liquid, thereby achieving the effect of mixed collection.

[0131] 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 the cleaning robot is at least provided with a cleaning element for mopping the floor; The integrated station is characterized in that: the integrated station is at least used for docking the cleaning robot, and after docking, it is used for docking dust collection and / or cleaning cleaning parts of the cleaning robot. The integrated station is provided with a dirt collection box, which is used to collect at least the cleaning liquid after cleaning the cleaning parts and some garbage particles in the docking dust collection; The following steps are also included: Step S02: The cleaning robot is docked at the integrated station, and a cleaning liquid having a certain liquid level is contained in the dirt collecting tank; Step S03: At least the docking dust collection is started, and the power mechanism is started to generate airflow suction to absorb the garbage particles in the garbage cavity of the cleaning robot, so that the garbage particles are moved into the garbage collection box under the action of the airflow and mixed with the cleaning liquid; Before step S02, the method further includes step S01: the integrated station detects the liquid level in the dust collecting box before starting the docking dust collection to detect whether the liquid level in the dust collecting box meets a preset threshold value A; Among them, in step S03, it also includes starting the power mechanism to use the first working power to absorb the small-volume garbage particles or light-weight garbage particles in the garbage cavity into the garbage collection box. When the power mechanism uses the first working power for a second preset time, the power mechanism switches to using the second working power to absorb the large-volume garbage particles or heavy-weight garbage particles in the garbage cavity into the garbage collection box. The first working power is less than the second working power.

2. The control method of a cleaning robot system according to claim 1, characterized in that: In step S03, it is also included that when the docking dust collection is started, the power mechanism synchronously absorbs the cleaning liquid after cleaning the cleaning parts into the dirt collection box so that the cleaning liquid is mixed with the garbage particles.

3. The control method of a cleaning robot system according to claim 1, characterized in that: In step S03, it also includes starting the drainage mechanism synchronously when starting the docking dust collection to transfer the cleaning liquid after cleaning the cleaning element into the dirt collection box so that the cleaning liquid is mixed with the garbage particles.

4. A control method for a cleaning robot system according to claim 2 or 3, characterized in that: The cleaning liquid after cleaning the cleaning element enters the dirt collecting box through the first channel, and the garbage particles enter the dirt collecting box through the second channel. The first channel is located on one side of the second channel so that the cleaning liquid after cleaning the cleaning element sprays and mixes the garbage particles entering the dirt collecting box while entering the dirt collecting box.

5. The control method of a cleaning robot system according to claim 1, characterized in that: In step S01, when the liquid level in the dirt collecting box meets the preset threshold value A, step S02 is entered; if the liquid level in the dirt collecting box does not meet the preset threshold value A, the docking dust collection is not started.

6. The control method of a cleaning robot system according to claim 5, characterized in that: In step S01 , if the liquid level in the dirt collecting box does not meet a preset threshold value A, the liquid supply mechanism is activated to supply cleaning liquid to the cleaning element to perform spray cleaning or immersion cleaning on the cleaning element.

7. The control method of a cleaning robot system according to claim 6, characterized in that: When the cleaning time of the cleaning element reaches a first preset time, the drain mechanism is started to transfer the cleaning liquid after cleaning the cleaning element to the dirt collection box, or the power mechanism is started to absorb the cleaning liquid after cleaning the cleaning element into the dirt collection box.

8. The control method of a cleaning robot system according to claim 7, characterized in that: The detection power mechanism is started to absorb the cleaning liquid after cleaning the cleaning parts into the dirt collection box for a number of times N. When N meets the preset threshold value B, the process proceeds to step S02; or the detection power mechanism is started to transfer the cleaning liquid after cleaning the cleaning parts into the dirt collection box for a number of times M. When M meets the preset threshold value C, the process proceeds to step S02.

9. The control method of a cleaning robot system according to claim 8, characterized in that: Synchronously detect whether the dirt collecting box is in place for a continuous time. If the dirt collecting box is not in place for a continuous time, repeat step S01.

10. The control method of a cleaning robot system according to claim 7, characterized in that: The dirt detection module detects the dirtiness of the cleaning member. When the dirtiness of the cleaning member meets a preset threshold value D, the cleaning of the cleaning member is completed. When the degree of dirtiness of the cleaning element does not meet the preset threshold value D, the cleaning element continues to be cleaned.

11. The control method of a cleaning robot system according to claim 1, characterized in that: In step S01 , if the liquid level in the dirt collecting tank does not meet the preset threshold value A, the liquid supply mechanism is started to supply cleaning liquid to the dirt collecting tank until the liquid level in the dirt collecting tank meets the preset threshold value A, and then the process enters step S02 .

12. The control method of a cleaning robot system according to claim 1, characterized in that: After step S03, the method further includes step S04: closing the docking dust collector, starting the liquid discharge mechanism to transfer the cleaning liquid after cleaning the cleaning element to the dirt collection box, or starting the power mechanism to absorb the cleaning liquid after cleaning the cleaning element into the dirt collection box.

13. The control method of a cleaning robot system according to claim 12, characterized in that: In step S03 , the operating power of the power mechanism includes P1 , and in step S04 , the operating power of the power mechanism includes P2 , where P1 > P2 .

14. The control method of a cleaning robot system according to claim 1, characterized in that: In step S03, the garbage particles entering the garbage collecting box are moved toward the liquid surface of the cleaning liquid under the action of the airflow, so that at least part of the garbage particles are mixed with the cleaning liquid.

15. The control method of a cleaning robot system according to claim 1, characterized in that: In step S03, a sewage collecting channel for at least garbage particles to pass through is provided in the sewage collecting box, and the end of the sewage collecting channel faces the liquid surface of the cleaning liquid, so that the garbage particles entering the sewage collecting channel enter the sewage collecting box toward the liquid surface of the cleaning liquid.

16. The control method of a cleaning robot system according to claim 15, characterized in that: The end of the sewage collecting channel is located below the liquid level of the cleaning liquid, so that the garbage particles entering the sewage collecting channel directly enter the cleaning liquid for mixing.

17. The control method of a cleaning robot system according to claim 1, characterized in that: In step S03, a sewage collecting channel is provided in the sewage collecting box for at least passing garbage particles. The end of the sewage collecting channel is located below the liquid level of the cleaning liquid and faces the side and / or upper part of the sewage collecting box, so that the cleaning liquid enters the sewage collecting channel, and the garbage particles enter the sewage collecting channel and are first mixed with the cleaning liquid before entering the sewage collecting box.

18. A control method for a cleaning robot system according to claim 16 or 17, characterized in that: The dirt collecting channel is configured as a floating structure so that the dirt collecting channel rises and falls synchronously with the liquid level of the cleaning liquid in the dirt collecting tank.

19. The control method of a cleaning robot system according to claim 1, characterized in that: The waste collecting box is also provided with a spray channel for spraying the garbage particles entering the waste collecting box. One end of the spray channel is located below the liquid level of the cleaning liquid, and the other end is located above the liquid level of the cleaning liquid.

20. The control method of a cleaning robot system according to claim 1, characterized in that: The dirt collecting box is also provided with a liquid blocking structure, which is used to block the cleaning liquid that surges upward under the suction of the airflow and makes the cleaning liquid form a block at the liquid blocking structure and fall back downward.

21. The control method of a cleaning robot system according to claim 1, characterized in that: It also includes setting a power mechanism connected to the dirt collecting box for at least providing suction to the dirt collecting box to generate airflow, setting the dirt collecting box to at least be connected to the garbage cavity so that the airflow can pass through to suck the garbage particles into the dirt collecting box, and the liquid supply mechanism is connected to the dirt collecting box and / or the cleaning area on the integrated station where cleaning parts are placed for cleaning.

22. The control method of a cleaning robot system according to claim 21, characterized in that: It also includes a power mechanism connected to the cleaning area, and a valve with an openable and closable structure is provided between the garbage collecting box and the garbage chamber. When the valve is opened, the power mechanism can simultaneously absorb the garbage particles in the garbage chamber and the cleaning liquid in the cleaning area into the garbage collecting box; when the valve is closed, the power mechanism can only absorb the cleaning liquid in the cleaning area into the garbage collecting box.

23. The control method of a cleaning robot system according to claim 1, characterized in that: It also includes a filter structure provided in the sewage collection box, so that at least part of the garbage particles entering the sewage collection box are located in the filter structure; or the sewage collection box is equipped with a filter net so that when the cleaning liquid in the sewage collection box is dumped, the garbage particles are blocked by the filter net and cannot pass through.

24. The control method of a cleaning robot system according to claim 1, characterized in that: Replacement step S02 is: the cleaning robot docks on the integrated station, the power mechanism is started to generate airflow suction to absorb the garbage particles in the garbage chamber of the cleaning robot and at the same time absorb the cleaning liquid after cleaning the cleaning parts into the garbage collection box to form a mixture.

25. The control method of a cleaning robot system according to claim 24, characterized in that: After step S02 and before step S03, step S0201 is also included: when the working time of the power mechanism reaches the third preset time, the power mechanism is turned off, and the cleaning robot leaves the integrated station to mop the floor, and when the mopping time reaches the fourth preset time, the cleaning robot walks to the integrated station and docks.

26. The control method of a cleaning robot system according to claim 25, characterized in that: In step S0201, when the cleaning robot walks to the integrated station and stops, it returns to step S02 or enters step S03; Or when the cleaning robot walks to the integrated station and docks, it first enters step S0202: the power mechanism starts to absorb the cleaning liquid after cleaning the cleaning parts into the dirt collection box, and detects the number of times Q that the power mechanism starts to absorb the cleaning liquid after cleaning the cleaning parts into the dirt collection box. When Q meets the pre-set threshold E, it enters step S03.

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