Embedded cleaning device and control method

Abstract

The application relates to the field of household electrical equipment, and particularly discloses an embedded cleaning device and a control method, which comprises a cleaning base station, a cleaning tray, a cleaning robot and a control system. The cleaning base station is provided with a cleaning inner cavity at the bottom, and the cleaning tray is installed in the cleaning inner cavity. The cleaning robot can move into the cleaning groove for self-cleaning. The cleaning robot is provided with a signal part, and the control system is used for receiving the signal of the signal part and controlling the opening and closing of the door body. In the process of the cleaning robot returning to the cleaning tray for self-cleaning, the signal part is opened, and after the control system receives the signal sent by the signal part, the door body is controlled to be opened, so that the cleaning robot can conveniently return to the cleaning tray for self-cleaning. The embedded cleaning device has high intelligence, and the opening and closing of the door body can be controlled according to the working state of different cleaning robots, so that the safety is better.

Description

Technical Field

[0001] This invention belongs to the field of household appliance technology, specifically, it relates to an embedded cleaning device and control method. Background Technology

[0002] With the development of society and economy and the improvement of family living standards, home cleaning is gradually entering an era of intelligence and mechanization. The emerging cleaning robots can liberate people from home cleaning work, effectively reduce people's workload in home cleaning, and alleviate the fatigue of people in the process of home cleaning.

[0003] Existing smart products such as robotic vacuum cleaners are generally standalone products that need to be stored separately. They need to be taken out when in use and put away after use. Users need to repeat the storage process repeatedly, which takes up a lot of existing storage space.

[0004] In addition, the cleaning base stations of existing robotic vacuum cleaners are generally open, which leads to the accumulation of dirt inside the cleaning base stations after long-term use. This makes cleaning inconvenient and affects the lifespan of the robotic vacuum cleaner and other equipment. Summary of the Invention

[0005] The purpose of this invention is to provide an embedded cleaning device and control method to solve the problems in the prior art, such as the need for repeated storage of intelligent cleaning devices, which increases the user's operational burden, and the easy accumulation of bacteria in the open state of the cleaning base station, which is inconvenient to clean and affects its service life.

[0006] To achieve the above-mentioned invention / design objectives, the present invention adopts the following technical solution:

[0007] On the one hand, this application proposes an embedded cleaning device, which includes,

[0008] A cleaning base station has a cleaning cavity formed at its bottom, and a door is provided on the cleaning cavity. The door is connected to the cleaning base station by a drive device.

[0009] A cleaning tray, which is installed in the cleaning cavity;

[0010] The cleaning robot can move into the cleaning tray to perform self-cleaning;

[0011] A control system, which is at least communicatively connected to the cleaning base station and the cleaning robot;

[0012] The cleaning robot has a signal unit, and the control system is used to receive signals from the signal unit and control the opening and closing of the door. When the cleaning robot returns to the cleaning tray for self-cleaning, the signal unit is activated, and after receiving the signal from the signal unit, the control system controls the door to open, so that the cleaning robot can return to the cleaning tray for self-cleaning.

[0013] In some embodiments of this application, the signal emitted by the signal unit includes a first signal, which is used to instruct the cleaning robot to return to the cleaning tray for self-cleaning midway through floor cleaning. After receiving the first signal, the control system keeps the door in the open state during the self-cleaning process of the cleaning robot.

[0014] In some embodiments of this application, the signal emitted by the signal unit includes a second signal, which is used to instruct the cleaning robot to return to the cleaning tray after completing the floor cleaning to perform a final self-cleaning of the floor cleaning. Upon receiving the second signal, the control system controls the door to close after the cleaning robot returns to the cleaning tray.

[0015] In some embodiments of this application, the cleaning base station is equipped with a position sensor, which is used to monitor the position of the cleaning robot; when the control system receives a signal from the signal unit and the distance between the position of the cleaning robot and the cleaning base station is less than a preset distance L, the control system controls the door to open.

[0016] In some embodiments of this application, a cleaning groove is formed on the cleaning tray, and an inlet and an outlet are formed on the side wall of the cleaning groove, which are respectively used to connect to the water supply pipe and the return pipe.

[0017] The return water inlet or the return water pipeline is equipped with a wastewater detection device to detect the concentration N of suspended particulate matter in the wastewater discharged from the return water inlet. When the relationship between the concentration of suspended particulate matter in the wastewater detected by the wastewater detection device and the target concentration is N≥N0, the water supply pipeline continues to inject washing water into the cleaning tank to continue cleaning the cleaning robot until the relationship between the concentration of suspended particulate matter in the wastewater detected by the wastewater detection device and the target concentration satisfies N. <N0。

[0018] In some embodiments of this application, the cleaning base station is further provided with at least one storage chamber. The storage chamber located above the cleaning inner cavity is the storage inner cavity. A drawer is provided in the storage inner cavity, and a detergent unit and / or dust collection unit connected to the cleaning inner cavity is provided in the drawer.

[0019] In some embodiments of this application, an installation position is formed in the cleaning base station on the side away from the door body. A clean water tank and a wastewater tank are installed in the installation position. The clean water tank is connected to the water inlet through the water supply pipeline, and the wastewater tank is connected to the water return outlet through the return pipeline.

[0020] In some embodiments of this application, the clean water tank is connected to an external water inlet pipe, and the water inlet pipe further includes a water inlet branch pipe connected to the wastewater tank, and a switch valve is provided on the water inlet branch pipe;

[0021] The wastewater tank is also equipped with a spray system, which is connected to the water inlet branch pipe. The spray system includes a spray arm extending into the wastewater tank, and spray holes are formed on the spray arm for self-cleaning of the wastewater tank.

[0022] In some embodiments of this application, the sewage tank is equipped with a pressure regulating device. The pressure regulating device is used to regulate the pressure in the sewage tank. During water return, the pressure regulating device adjusts the pressure in the sewage tank to a first pressure value so that the sewage in the cleaning tank is transported to the sewage tank through the water return pipeline. During drainage, the pressure regulating device adjusts the pressure in the sewage tank to a second pressure value so that the sewage in the sewage tank is discharged through the drainage pipeline.

[0023] On the other hand, this application also proposes an embedded cleaning device control method, which includes any of the embedded cleaning devices involved above, the method comprising:

[0024] The control system receives the user's floor cleaning command and controls the door to open;

[0025] After the door opens, the cleaning robot drives out and cleans the target area; after the cleaning robot drives out, the control system controls the door to close.

[0026] During the floor cleaning process, the cleaning robot periodically returns to the cleaning tray for self-cleaning; before the cleaning robot returns to the cleaning tray for self-cleaning, the signal unit is activated, and the control system detects the signal emitted by the signal unit and controls the door to open, and the cleaning robot returns to the cleaning tray for self-cleaning;

[0027] During the self-cleaning process, the door remains open;

[0028] After the self-cleaning is completed, the cleaning robot continues to drive out to the target area to clean the ground. After the cleaning robot drives out, the control system controls the door to close.

[0029] Once the floor cleaning is complete and the cleaning robot returns to the cleaning tray, the control system closes the door, and the cleaning robot performs a final self-cleaning process.

[0030] Compared with the prior art, the advantages and positive effects of the present invention are:

[0031] The embedded cleaning equipment and control method involved in this application are integrated into the cleaning base station. The cleaning base station can be designed in a targeted manner according to the user's needs or the home decoration style, so that the integration is better. Furthermore, the integration of the cleaning tray and cleaning robot into the cleaning base station also reduces the user's repeated storage process, reduces the labor burden, and provides better protection for the cleaning tray and cleaning robot, which is conducive to extending the service life.

[0032] When the cleaning robot returns to the cleaning tray for self-cleaning, the signal unit on the cleaning robot is activated. The position sensor detects the position of the cleaning robot through the signal unit and opens the door in advance to facilitate the cleaning robot's return for self-cleaning. During the self-cleaning process, the door remains open to reduce the number of times the door is opened and closed, thereby reducing the occurrence of malfunctions.

[0033] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram showing the positions of the cleaning robot and the cleaning tray in the cleaning base station;

[0036] Figure 2 This is a schematic diagram of a clean base station structure;

[0037] Figure 3 This is a schematic diagram of the structure of one embodiment of the embedded cleaning device proposed in this invention;

[0038] Figure 4 This is a schematic diagram of the external structure of another embodiment of the embedded cleaning device proposed in this invention;

[0039] Figure 5 This is one of the schematic diagrams of a cleaning tray structure;

[0040] Figure 6 This is the second schematic diagram of the cleaning tray structure;

[0041] Figure 7 This is the third schematic diagram of the cleaning tray structure;

[0042] Figure 8 This is a schematic diagram of the cleaning cavity structure;

[0043] Figure 9 This is a schematic diagram showing the location of the drive unit on the cleaning base station;

[0044] Figure 10 This is a schematic diagram of the connection between the drive unit and the door body;

[0045] Figure 11 This is a schematic diagram showing the connection between the drive unit and the door body;

[0046] Figure 12 This is a schematic diagram showing the disassembled drive unit.

[0047] Figure 13 This is a diagram showing the location of the drawer component on the cleaning station.

[0048] Figure 14 This is one of the schematic diagrams showing the disassembly of the drawer assembly and the cleaning base station;

[0049] Figure 15 This is the second diagram showing the disassembly of the drawer assembly and the cleaning base station;

[0050] Figure 16 This is a schematic diagram showing the positions of the detergent unit and the dust collection unit on the drawer assembly;

[0051] Figure 17 This is a schematic diagram showing the location of the dust collection hole and the tolerance joint;

[0052] Figure 18 This is a schematic diagram showing the location of the dust collection pipes and dust collection holes;

[0053] Figure 19 This is a schematic diagram showing the locations of the clean water tank and the wastewater tank within the cleaning base station;

[0054] Figure 20 This is a schematic diagram showing the separation of the clean water tank and wastewater tank from the cleaning base station;

[0055] Figure 21 This is a diagram showing the disassembly of the clean water tank;

[0056] Figure 22 This is a schematic diagram of the internal structure of the clean water tank and the wastewater tank;

[0057] Figure 23 This is a schematic diagram of the disassembled structure of the sewage tank;

[0058] Figure 24 This is a schematic diagram showing the location of the grille components on the cleaning base station;

[0059] Figure 25 This is a flowchart illustrating the control method for embedded cleaning equipment.

[0060] In the picture,

[0061] 100. Clean base stations;

[0062] 101. Clean the inner cavity; 1011. Guide wheels; 1012. Air inlet; 1013. Charging socket;

[0063] 102. Storage chamber; 1021. Female connector; 1022. Connecting part; 1023. Dust collection pipeline;

[0064] 103. Handle; 1031. Second guide; 1032. Second limiting; 1033. Support groove;

[0065] 104. Display panel; 105. Cabinet top; 106. Mounting position;

[0066] 110. Grille component; 120. Connecting area;

[0067] 200. Door body; 201. First connecting part;

[0068] 210. Driving components;

[0069] 220. Drive shaft;

[0070] 230. Drive gear;

[0071] 240. Driven wheel;

[0072] 250. Synchronous belt; 251. Fourth connecting part;

[0073] 260. Follower;

[0074] 261. Guide block;

[0075] 270. Guide rail; 271. Straight section; 272. Avoidance section;

[0076] 300. Drawer assembly; 301. First guide section; 302. First limiting section; 303. Support roller; 304. Handle section;

[0077] 310. Dust collection unit;

[0078] 311. Dust collection trough; 3111. Dust collection hole; 312. Dust collection cover plate;

[0079] 320. Detergent unit;

[0080] 321. Detergent tank;

[0081] 322. Detergent dispenser cover;

[0082] 330. Storage compartment;

[0083] 340. Tolerance joints;

[0084] 400. Cleaning tray; 401. Auxiliary rollers;

[0085] 410. Cleaning tank; 411. Water inlet; 412. Water outlet;

[0086] 420. Slope; 421. Anti-slip ramp;

[0087] 430. First connecting part;

[0088] 440. Positioning Unit;

[0089] 500. Cleaning robots;

[0090] 600. Clean water tank;

[0091] 610. Clean water tank cover; 611. Overflow hole; 620. Water supply pipe; 621. Filter section; 630. Float component; 640. Sealing section; 650. Overflow pipe;

[0092] 700. Sewage tank; 701. Drain outlet;

[0093] 710. Sewage cover;

[0094] 720. Drainage pipes;

[0095] 730. Sprayer components; 731. Sprayer column; 732. Sprayer arm;

[0096] 800. Drying assembly; 810. Fan;

[0097] 820. Air supply pipeline. Detailed Implementation

[0098] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0099] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0100] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. In the description of embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0101] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0102] In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0103] like Figure 1-4 This application proposes an embedded cleaning device, which includes a cleaning base station 100, a cleaning tray 400, a cleaning robot 500, and a control system. The overall design of the cleaning base station 100 is adapted to the user's home decoration, such as color and materials.

[0104] The overall shape of the clean base station 100 can be a regular shape, or it can be an irregular shape according to customer needs and aesthetic design.

[0105] The top of the cleaning base station 100 is a cabinet top 105, and the two sides of the cleaning base station 100 are provided with inwardly extending handles 103 to facilitate users to move the cleaning base station 100 to a different position.

[0106] The cleaning tray 400 and the cleaning robot 500 are integrated into the cleaning base station 100. Specifically, the cleaning base station 100 has a cleaning cavity 101 at its bottom layer, and the cleaning tray 400 and the cleaning robot 500 are located in the cleaning cavity 101, which makes it convenient for the cleaning robot 500 to drive out of the cleaning base station 100 to clean the target area.

[0107] The cleaning cavity 101 is open on at least one side, and a door 200 is provided on it. The door 200 is used to control the opening and closing of the cleaning cavity 101.

[0108] The cleaning base station 100 has multiple layers arranged horizontally and / or vertically. In addition to the cleaning inner cavity 101, each layer is provided with at least one storage chamber 102. The storage chamber 102 can be used to set up working parts that are connected to the cleaning tray 400 or the cleaning robot 500, or it can be used as a storage space during normal operation.

[0109] To improve adaptability, facilitate connection, and save space, the cleaning base station 100 can be configured as a two-layer structure, with the lower layer being the cleaning cavity 101 and the upper layer being the storage chamber 102.

[0110] The cleaning tray 400 is installed in the cleaning cavity 101, and the cleaning robot 500 can move into the cleaning tank 410 to perform self-cleaning.

[0111] The control system must have at least a communication connection with the cleaning base station and the cleaning robot;

[0112] The cleaning robot has a signal unit, and the control system is used to receive signals from the signal unit and control the opening and closing of the door 200. When the cleaning robot 500 drives back to the cleaning tray 400 for self-cleaning, the signal unit is activated. After receiving the signal from the signal unit, the control system controls the door 200 to open, so that the cleaning robot 500 can drive back to the cleaning tray 400 for self-cleaning.

[0113] In some embodiments of this application, the signal sent by the signal unit includes a first signal, which is used to instruct the cleaning robot 500 to return to the cleaning tray 400 for self-cleaning midway through floor cleaning. After receiving the first signal, the control system keeps the door 200 open during the self-cleaning process of the cleaning robot 500, so that the cleaning robot 500 can continue to drive out of the cleaning tray 400 to clean the floor after the self-cleaning is completed.

[0114] The signal sent by the signal unit also includes a second signal, which is used to instruct the cleaning robot 500 to return to the cleaning tray 400 after completing the floor cleaning to perform the final self-cleaning of this floor cleaning. When the control system receives the second signal, after the cleaning robot 500 returns to the cleaning tray, the control system controls the door 200 to close.

[0115] To reduce the waiting time for the door 200 to open, a position sensor is installed on the cleaning base station 100. The position sensor is used to monitor the position of the cleaning robot 500. When the control system receives a signal from the signal unit and the distance between the position of the cleaning robot 500 and the cleaning base station is less than a preset distance L, the control system controls the door 500 to open.

[0116] In addition to self-cleaning, the cleaning robot 500 also needs to be charged within the cleaning tray 400. Accordingly, the cleaning robot 500 is equipped with a charging unit, and a charging socket 1013 is provided on the rear wall of the cleaning cavity 101. When the cleaning robot 500 enters the cleaning tray 400, the charging unit connects with the charging socket 1013 to charge the cleaning robot 500.

[0117] refer to Figure 5-8 In order to improve the accuracy of the position of the cleaning robot 500 when it enters or exits the cleaning tray 400, guide wheels 1011 are formed on the left and right side walls of the cleaning cavity 101. The guide wheels 1011 play a guiding role in the movement of the cleaning robot 500, thereby improving the accuracy of the direction of travel.

[0118] For details, please refer to the following: Figure 5 , Figure 7 A downwardly extending cleaning groove 410 is formed on the cleaning tray 400, and an inlet 411 and an outlet 412 are formed on the side wall of the cleaning groove 410.

[0119] The inlet 411 is connected to the water supply pipe 620, and the outlet 412 is connected to the return pipe.

[0120] When the cleaning robot 500 is self-cleaning in the cleaning tray 400, the cleaning water input from the water inlet 411 enters the cleaning tank 410, the roller brush on the cleaning robot 500 rotates to clean, and at the same time, the wastewater after cleaning is discharged from the cleaning tank 410 from the water return outlet 412.

[0121] The return water inlet 412 or the return water pipe is equipped with a wastewater detection device to detect the concentration N of suspended particulate matter in the wastewater discharged from the return water inlet 412. When the relationship between the concentration of suspended particulate matter in the wastewater detected by the wastewater detection device and the target concentration is N≥N0, it indicates that the cleaning robot 500 has not achieved the cleaning standard under this condition. Then, the water supply pipe 620 continues to inject washing water into the cleaning tank to continue cleaning the cleaning robot 500 until the relationship between the concentration of suspended particulate matter in the wastewater detected by the wastewater detection device and the target concentration satisfies N. <N0。

[0122] Optionally, the cleaning base station 100 is equipped with a display panel 104, which has an on / off switch or displays information such as temperature and time to improve the user experience.

[0123] Furthermore, the cleaning robot 500 is communicatively connected to the cleaning tray 400 and / or the cleaning base station 100, for receiving signals emitted by the cleaning tray 400 and / or the cleaning base station 100; and / or

[0124] Send signals to cleaning tray 400 and / or cleaning base station 100.

[0125] Command signals include, but are not limited to: door 200 opening, cleaning robot 500 moving out of cleaning tray 400 to clean the floor, and cleaning robot 500 moving back to cleaning tray 400 to perform self-cleaning.

[0126] The transmission of command signals can be achieved by controlling the cleaning robot 500 to work through the on / off switch on the cleaning base station 100, or by voice or remote control. In addition to the above control methods, users can also preset the cleaning time through software, making it more intelligent.

[0127] The specific control method and signal transmission process are not the focus of this application and will not be described in detail here.

[0128] To save manufacturing costs and facilitate the entry and exit of the cleaning robot 500, the bottom of the cleaning cavity 101 is also an open structure, and the bottom of the cleaning tray 400 is in direct contact with the ground.

[0129] refer to Figure 6 The cleaning tray 400 is detachably connected to the cleaning cavity 101. A first snap-fit ​​portion 430 is formed on the side wall of the cleaning tray 400, and a second snap-fit ​​portion (not shown) similar to the first snap-fit ​​portion 430 is formed on the side wall of the cleaning cavity 101.

[0130] Specifically, the first snap-fit ​​portion 430 on the side wall of the cleaning tray 400 is an outwardly extending snap-fit ​​protrusion structure, and correspondingly, the side wall of the cleaning cavity 101 is provided with a slot that matches the snap-fit ​​protrusion.

[0131] When the cleaning tray 400 is installed, the first snap-fit ​​part 430 is connected to the second snap-fit ​​part. When the cleaning tray 400 needs to be removed for cleaning, the user removes the cleaning tray 400 from the second snap-fit ​​part.

[0132] Disassembly can be performed by slightly bending the side wall of the cleaning tray 400 inward, causing the first snap-fit ​​part 430 to detach from the second snap-fit ​​part.

[0133] Optionally, the cleaning tray 400 can also be automatically removed from the cleaning cavity 101. For example, a telescopic drive structure is provided on the rear wall of the cleaning cavity 101. The telescopic end of the telescopic drive structure is detachably connected to the cleaning tray 400. When the cleaning tray 400 needs to be cleaned, the telescopic end of the telescopic drive mechanism pushes the cleaning tray 400 out. During installation, the user simply connects the cleaning tray 400 to the telescopic end, and the telescopic drive mechanism automatically pulls it back into the cleaning cavity 101.

[0134] In some embodiments of this application, in order to improve the portability of the cleaning tray 400 during the push-pull assembly and disassembly process, a plurality of auxiliary rollers 401 are distributed on the bottom of the cleaning tray 400. During the installation and disassembly process, the auxiliary rollers 401 roll relative to the bottom surface, and the sliding friction of the cleaning tray 400 is transformed into the rolling friction of the auxiliary rollers 401, which helps to reduce friction and makes the operation of the user easier.

[0135] Optionally, a positioning part 440 is also provided on the cleaning tray 400. The side and / or top of the positioning part 440 that are in contact with the cleaning cavity 101 are provided with auxiliary rollers 401, and the auxiliary rollers 401 protrude from the positioning part 440.

[0136] The side or top wall of the cleaning cavity 101 is provided with guide grooves that are adapted to the position of the auxiliary roller 401.

[0137] The auxiliary roller 401 located at the top of the positioning part 440 can reduce the friction between the cleaning tray 400 and the top of the cleaning cavity 101.

[0138] The auxiliary roller 401 located on the side of the positioning part 440 can reduce the friction between the cleaning tray 400 and the side wall of the cleaning cavity 101, and also plays a role in limiting and guiding, so that the installation position 106 of the cleaning tray 400 is accurate and without deviation.

[0139] The door 200 on the cleaning cavity 101 is connected to the cleaning base station 100 via a drive device. The door 200 can be opened in any way, such as by opening and closing up or down, or by flipping up or down.

[0140] refer to Figures 9-12 In some embodiments of this application, the door 200 is opened and closed by a drive device. Specifically, the drive device includes a drive member 210, a follower member 260, and a guide portion. The drive member 210 is fixed on the cleaning base station 100 and provides vertical power. The output end of the drive member 210 is connected to the follower member 260, and the follower member 260 is connected to the door 200. The guide portion is at least one guide rail 270 directly or indirectly provided on the side wall of the cleaning base station 100.

[0141] The follower 260 is movably connected to the door 200 or the drive 210 in the horizontal direction. Under the action of the drive 210, the follower 260 drives the door 200 to open outward and upward along the guide rail 270 to avoid interference between the door 200 and other positions of the cleaning base station 100 during the opening and closing process.

[0142] The door body 200 is provided with a first connecting part 201 extending in the direction of the follower 260, and a guide block 261 connected to the guide rail 270 is formed on the first connecting part 201 or the follower 260.

[0143] When the guide rail 270 is in direct contact with the first connecting part 201, that is, the guide block 261 is located on the first connecting part 201, in this state, the follower 260 is fixedly connected to the drive member 210, and a second connecting part with a moving channel is formed on the follower 260. The first connecting part 201 and the second connecting part are movably connected in the horizontal direction.

[0144] The output end of the drive member 210 drives the follower member 260 to move up and down. The first connecting part 201 moves up and down synchronously under the action of the follower member 260. At the same time, under the action of the guide part, the first connecting part 201 drives the door body 200 to move horizontally relative to the follower member 260 along the guide rail 270.

[0145] When the guide portion is located on the follower 260, that is, the guide block 261 is located on the follower 260, in this state, the follower 260 is fixedly connected to the first connecting portion 201 on the door body 200. A third connecting portion extending toward the drive member 210 is formed on the follower 260, and a fourth connecting portion 251 extending toward the follower 260 is provided at the output end of the drive member 210. The third connecting portion and the fourth connecting portion 251 are movably connected in the horizontal direction.

[0146] The output end of the drive component 210 drives the follower component 260 to move up and down. While moving up and down, the follower component 260 also moves horizontally relative to the drive component 210, causing the door body 200 to move up and down while also moving horizontally outward a certain distance to avoid interference.

[0147] Specifically, in order to adapt to the opening and closing path of the door 200, a transition surface (not shown) is provided above the door 200.

[0148] refer to Figure 12The guide rail 270 includes a clearance section 272 located at the bottom of the cleaning base station 100 and extending towards the cabinet door, and a straight section 271 that extends vertically upward connected to the clearance section 272. The curvature of the clearance section 272 is adapted to the thickness of the door 200, ensuring that after the door 200 passes through the clearance section 272 and then transitions through the transition slope, it completely moves to the outside of the cleaning base station 100 and then rises directly to open.

[0149] In some embodiments of this application, the two sides of the door 200 are raised and lowered synchronously under the drive of the drive member 210, thereby improving the stability during the opening process.

[0150] Specifically, the door body 200 is provided with follower 260 and guide part on both sides respectively, and the drive member 210 is connected to the follower 260 on both sides through the transmission member.

[0151] The transmission components include a drive shaft 220 extending horizontally to both sides of the cleaning base station 100, driven wheels 240 respectively disposed on both sides of the cleaning base station 100, and a timing belt 250. The drive shaft 220 is connected to the output end of the drive component 210 and is horizontally installed above the cleaning cavity 101 to avoid occupying the space of the cleaning cavity 101.

[0152] To ensure the accuracy of transmission, the synchronous belt 250 is a rack and pinion structure, and the two ends of the transmission shaft 220 are connected to the driving gear 230, while the driven pulley 240 is also a gear structure.

[0153] Driven wheel 240 is located directly below drive shaft 220 and is rotatably connected to both sides of cleaning base station 100. Each synchronous belt 250 is vertically arranged between drive gear 230 and corresponding driven wheel 240. Follower 260 is connected to corresponding synchronous belt 250. Both sides of door 200 are connected to corresponding follower 260 and open or close under the drive of follower 260.

[0154] When the door 200 is opened, the drive unit 210 drives the transmission shaft 220 to rotate, which in turn drives the synchronous belts 250 at both ends to rotate synchronously. As the follower 260 moves upward, it also moves outward under the action of the guide rail 270, thereby driving the door 200 to open upward and move outward a predetermined distance at the same time, so as to avoid interference with the clean base station 100.

[0155] Similarly, when the door 200 is closed, the drive component 210 drives the transmission shaft 220 to rotate in the opposite direction, and the follower component 260 descends along the straight section 271 to the position of the avoidance section 272. During the downward movement of the follower component 260, it moves inward along the avoidance section 272, causing the door 200 to close downward while moving inward a predetermined distance.

[0156] For ease of processing, guide components are formed on guide plates, which are detachably connected to the side wall of the cleaning base station 100. A sealing plate is also provided on the outside of the cleaning base station 100 to cover the drive components.

[0157] For the sake of compactness and aesthetics, the cover plate is flush with the side wall of the storage chamber 102 on the clean base station 100.

[0158] In the embodiment where the door 200 opens and closes, in order to ensure that the cleaning robot 500 enters and exits the cleaning tray 400, a ramp 420 is formed on the cleaning tray 400, and an anti-slip ramp 421 is formed on the ramp 421. The wheels under the cleaning robot 500 drive into or out of the cleaning trough 410 along the anti-slip ramp 421.

[0159] In some other embodiments of this application, the door 200 is also opened by a drive device by flipping downwards. In this embodiment, the thickness of the door 200 is designed to gradually decrease from the lower right to the top so that an anti-slip ramp 421 is formed on the inner surface when it is open.

[0160] <Storage Chamber 102>

[0161] refer to Figure 13 The storage chamber 102 located above the cleaning inner cavity 101 serves as a storage inner cavity for storing working components such as the detergent unit 320 and the dust collection unit 310 that are connected to the cleaning tray 400.

[0162] In other words, the working components such as the detergent unit 320 and the dust collection unit 310, which need to be repeatedly picked up, put down, or replaced and are connected to the cleaning tray 400, are located in the storage chamber 102 above the cleaning inner cavity 101, which reduces the length of the wiring connection with the cleaning tray 400 and makes it convenient for users to replace detergent or dust bags.

[0163] Of course, the detergent unit 320 and the dust collection unit 310 can also be located in different storage cavities.

[0164] The storage chamber 102 has an opening on one side, and a drawer 300 is provided in the storage chamber. The detergent unit 320 and the dust collection unit 310 are formed in the drawer 300.

[0165] The drawer assembly 300 is connected to the storage chamber 102 by being pulled out or flipped down. The detergent unit 320 and the dust collection unit 310 are arranged in sequence inside the drawer assembly 300. In addition, depending on the actual space size, a storage slot 330 can also be provided in the drawer assembly 300 for placing other unused items.

[0166] refer to Figure 16The detergent unit 320 includes a detergent tank 321 for holding detergent and a detergent cover plate 322 covering the top of the detergent tank 321. The detergent tank 321 is connected to the water supply line 620 through a detergent pipeline.

[0167] The detergent tank 321 is used to hold detergent. Detergent can be poured directly into the detergent tank 321, or the detergent container can be inverted and placed into the detergent tank 321. The detergent is pumped into the water supply line 620 in a measured amount through the detergent pipeline. After dissolving in water in the water supply line 620, it is transported to the cleaning tank 410.

[0168] The detergent cover 322 and the detergent tank 321 are detachably connected by magnetic adsorption. The opening of the detergent tank 321 is provided with a first adsorption part, and the detergent cover 322 is provided with a second adsorption part that is adapted to the first adsorption part.

[0169] To improve the accuracy of the closing process and reduce repeated matching, the top of the detergent tank 321 has a guide outer edge that tapers from top to bottom, and the detergent cover plate 322 has a connecting inner edge that matches the guide outer edge.

[0170] During the process of the detergent cover 322 being placed on the detergent tank 321, the inner edge of the connection moves downward along the outer edge of the guide until the detergent cover 322 is adsorbed and connected to the detergent tank 321.

[0171] The dust collection unit 310 includes a dust collection tank 311, which is connected to the cleaning tank 410 via a dust collection pipe 1023. The dust collection tank 311 is used to hold dust bags. Dust and impurities in the cleaning tank 410 are transported to the dust collection tank 311 via the dust collection pipe 1023 and collected in the dust bags.

[0172] A dust collection cover 312 is detachably installed above the dust collection tank 311 to cover the dust collection tank 311. Both the dust collection cover 312 and the detergent cover 322 are equipped with handles for easy opening and closing by the user.

[0173] refer to Figure 2 , Figures 16-18 Specifically, a dust collection hole 3111 is formed on the side wall of the dust collection tank 311. The dust collection hole 3111 is located on the side close to the rear wall of the cleaning base station 100 in order to shorten the length of the dust collection pipe 1023. The rear wall of the storage cavity is provided with a docking part 1022 that matches the position of the dust collection hole 3111. The docking part 1022 is a docking pipe extending into the storage cavity and is connected to the dust collection pipe 1023.

[0174] The dust collection pipe 1023 is fixedly connected inside the cleaning base station 100 and is located behind the drawer 300. The dust collection component is detachably connected to the dust collection hole 3111 through the connecting pipe port.

[0175] When the drawer 300 is pulled out, the docking part 1022 is separated from the dust collection hole 3111. When the drawer 300 is pushed in, the docking part 1022 is connected to the dust collection hole 3111, and dust and impurities can be transported to the dust collection tank 311 through the dust collection pipe 1023.

[0176] A sealing structure is formed on the periphery of the docking part 1022. When the docking part 1022 is docked with the dust collection hole 3111, the sealing structure seals the connection gap between the dust collection hole 3111 and the docking part 1022, reducing dust leakage.

[0177] Since drawer 300 needs to dispense detergent in a measured amount during operation, it requires an external power supply. (Refer to...) Figure 2 , Figure 17 To solve the above problems, a female plug-in portion 1021 is provided on the rear wall of the storage cavity, and a tolerance portion 340 adapted to the position of the female plug-in portion 1021 is provided on the rear wall of the drawer component 300, which is used to control the power supply or power cut-off of the drawer component 300.

[0178] When the drawer 300 is pulled out, the male connector and the female connector 1021 are separated; when the drawer 300 is pushed in, the male connector and the female connector 1021 are connected.

[0179] Whether the drawer 300 is opened by flipping or pulling it out, it requires manual operation by the user. To facilitate the user's opening and closing, a handle 304 is provided on the drawer 300.

[0180] refer to Figure 14 , Figure 15 In some embodiments of this application, the drawer 300 is movably connected to the storage chamber 102 by pushing and pulling.

[0181] A first guide portion 301 is formed at the bottom of the drawer component 300, and a second guide portion 1031 adapted to the first guide portion 301 is formed on the bottom wall of the storage cavity. During the pushing and pulling process of the drawer component 300, the first guide portion 301 moves along the second guide portion 1031.

[0182] The first guide portion 301 is a guide groove structure formed on both sides of the drawer component 300, and the second guide portion 1031 is a guide rail 270 provided on the bottom wall or side wall. During the process of pulling out the drawer component 300, the first guide portion 301 moves along the second guide portion 1031.

[0183] To limit the pull-out length of the drawer component 300, a first limiting part 302 is provided on the upper part of the drawer component 300. A second limiting part 1032 adapted to the first limiting part 302 is formed on the top wall of the storage cavity. The second limiting part 1032 is a guide groove of a certain length. The first limiting part 302 is a movable protrusion structure extending into the second limiting part 1032. As the drawer component 300 moves, the first limiting part 302 moves within the second limiting part 1032. The length of the second limiting part 1032 is designed according to the maximum pull-out length of the drawer component 300.

[0184] In some embodiments of this application, the first limiting part 302 is a roller or a rolling groove, and the second limiting part 1032 is a rolling groove or a roller.

[0185] Furthermore, optionally, a support roller 303 is provided on the bottom surface of the drawer 300, and a support groove 1033 extending along the moving direction of the drawer 300 is provided on the bottom of the storage chamber, and the support roller 303 rolls in the support groove 1033.

[0186] The support roller 303 converts the sliding friction between the drawer component 300 and the storage cavity into rolling friction, thereby improving the smoothness of the drawer component 300 during the pulling process.

[0187] refer to Figure 19 , Figure 20 The cleaning base station 100 also integrates a water supply and drainage system, which specifically includes a water supply system and a drainage system, used to supply water to the cleaning tray 400 and to discharge wastewater from the cleaning tray 400, respectively.

[0188] The cleaning base station 100 has an installation position 106 on the side away from the door 200, and the clean water tank 600 and the wastewater tank 700 are located in the installation position 106.

[0189] The water supply system includes a clean water tank 600, which is connected to a water inlet 411 via a water supply pipe 620. The clean water tank 600 is also connected to a water inlet pipe, the other end of which is connected to a faucet or other water supply outlet to deliver washing water to the clean water tank 600 for storage.

[0190] refer to Figure 22 The clean water tank 600 is equipped with a water level monitoring device to monitor the water level in the clean water tank 600. The water level monitoring device can be connected to the display panel 104 on the cleaning base station 100 to display the real-time water level in the clean water tank 600, so that users can observe it and replenish the clean water tank 600 in a timely manner.

[0191] The water supply line 620 is used to transport water from the clean water tank 600 to the cleaning tray 400 to completely drain the water from the clean water tank 600, so as to prevent water from accumulating in the clean water tank 600 for a long time and forming scale.

[0192] A filter section 621 is provided at one end of the water supply pipe 620 that extends into the clean water tank 600. Filter holes are formed around the filter section 621 to prevent impurities from entering.

[0193] refer to Figure 21 The clean water tank 600 is also equipped with an overflow prevention component, which is connected to the wastewater tank 700 or an external connection. During the process of water being delivered to the clean water tank 600 through the water inlet pipe, if too much water is introduced, the excess water can be discharged through the overflow prevention component.

[0194] The overflow prevention component includes a float 630 and an overflow pipe 650. The float 630 is installed in the clean water tank 600. The clean water tank 600 is provided with an overflow hole 611, which is a through hole penetrating the clean water tank 600. One end of the overflow hole 611 is connected to the overflow pipe 650, and the other end of the overflow hole 611 is connected to the float 630, which is used to control the opening and closing of the overflow hole 611.

[0195] The overflow hole 611 can be set on the side wall of the clean water tank 600 or on the clean water tank cover 610 that covers the clean water tank 600.

[0196] The float 630 is specifically connected to the overflow hole 611 via the sealing part 640. The float 630 is connected to the sealing part 640, and the sealing part 640 is hinged to the top of the overflow hole 611. The float 630 moves up and down under the influence of the water level, and the sealing part 640 opens or closes relative to the overflow hole 611 as the float 630 opens.

[0197] When the water level in the clean water tank 600 rises to the maximum level, the float 630 floats up, causing the sealing part 640 to flip upwards, and the sealing part 640 opens the overflow hole 611.

[0198] When the water level in the clean water tank 600 is lower than the maximum water level, the float 630, under its own weight, drives the sealing component to close the overflow hole 611.

[0199] A heating valve assembly is also installed on the water supply line 620 connected to the cleaning tray 400. The detergent line is connected downstream of the heating valve assembly. The heating valve assembly is used to heat the water passing through. The detergent output from the detergent line is mixed with the heated water and then delivered to the cleaning tray 400 to improve the cleaning effect.

[0200] Refer again Figures 19-22The drainage system includes a sewage tank 700, and a return water inlet 412 is connected to the sewage tank 700 through a return water pipe. A sewage cover 710 is detachably connected to the sewage tank 700, and the sewage cover 710 is used to seal the sewage tank 700.

[0201] The bottom of the sewage tank 700 is provided with a drain outlet 701, and the drain pipe 720 is connected to the drain outlet 701. The bottom of the sewage tank 700 forms an inclined surface that gradually decreases in height towards the drain outlet 701, ensuring that the drain outlet 701 is located at the lowest position and the sewage is completely discharged.

[0202] refer to Figure 23 The sewage tank 700 has a self-cleaning function. After each sewage discharge, the sewage tank 700 is cleaned by the spray element 730.

[0203] The spray unit 730 specifically includes a spray column 731 extending into the sewage tank 700 and at least one spray arm 732 arranged symmetrically along the central axis of the spray column 731.

[0204] The spray unit 730 is connected to the water inlet branch, which is connected to the water inlet pipe. A switch valve is installed on the water inlet branch, which is used to control the opening and closing of the water inlet branch. When the sewage tank 700 needs to be self-cleaned, the switch valve is opened, and the water inlet branch supplies water to the spray unit 730.

[0205] The spray unit 730 is connected to the sewage cover 710, and the spray column 731 extends vertically downward into the sewage tank 700.

[0206] The spray element 730 is rotatably connected inside the sewage tank 700. The power to rotate the spray element 730 can be achieved by a drive motor or other structure fixed on the sewage cover 710, or by the water flow sprayed from the spray element 730. When the spray holes on the spray element 730 are tilted in the same direction of rotation, the reaction force of the water flow sprayed from the spray holes can drive the spray element 730 to rotate.

[0207] Specifically, a first spray hole is formed on the periphery of the spray column 731, and a plurality of second spray holes are dispersed on the spray arm 732. Each second spray hole is tilted toward the same rotation direction. During the self-cleaning process of the sewage tank 700, the spray component 730 rotates under the reaction force of the water output from each second spray hole.

[0208] In some embodiments of this application, a pressure regulating device is provided in the sewage tank 700. The pressure regulating device is used to regulate the air pressure in the sewage tank 700. The pressure regulating device can be an air pump or other structures.

[0209] When it is necessary to discharge the wastewater in the cleaning tray 400 into the wastewater tank 700, the air pressure regulating device adjusts the pressure in the wastewater tank 700 to a first pressure value. The first pressure value is less than the external gas pressure. Under the action of the pressure difference, the wastewater in the cleaning tank 410 is transported to the wastewater tank 700 through the return water pipeline.

[0210] When it is necessary to discharge the sewage in the sewage tank 700, the air pressure regulating device adjusts the pressure in the sewage tank 700 to a second pressure value. The second pressure value is greater than the external gas pressure. Under the action of the pressure difference, the sewage in the sewage tank 700 is discharged through the drain pipe 720.

[0211] By adjusting the pressure in the sewage tank 700, the speed of water return and drainage can also be controlled. That is, the greater the difference between the first pressure value and the external gas pressure, the faster the water return speed; the greater the difference between the second pressure value and the external gas pressure, the faster the drainage speed. This results in stronger controllability and more thorough water return and drainage.

[0212] The cleaning base station 100 also integrates a drying component 800, which is located in the installation position 106. The drying component 800 includes a fan 810 and an air supply duct 820 connected to the fan 810. The output end of the air supply duct 820 is connected to the cleaning tank 410.

[0213] An air inlet 1012 is provided on the rear wall of the cleaning cavity 101. The air supply pipe 820 is connected to the air inlet 1012. After the cleaning robot 500 finishes self-cleaning, the fan 810 is turned on to deliver the drying airflow through the air supply pipe 820 to the cleaning tank 410.

[0214] A heating element is installed in the air duct 820 to heat the airflow and improve the drying effect.

[0215] refer to Figure 24 In some embodiments of this application, a grid member 110 is provided between the cleaning inner cavity 101 and the adjacent storage chamber 102, and a connecting area 120 is provided on the top wall of the cleaning inner cavity 101. The connecting area and the grid member 110 connect the cleaning inner cavity 101 to the outside, which facilitates drying.

[0216] In addition, the grille 110 also facilitates user voice control of the cleaning robot 500 located in the cleaning cavity 101.

[0217] refer to Figure 25 The embedded cleaning device integrates a control system, which is communicatively connected to the door 200, display panel 104, cleaning tray 400, and cleaning robot 500.

[0218] The embedded cleaning device control method includes the following steps:

[0219] The control system obtains the cleaning instructions of the user (including buttons, voice, and preset programs), and controls the opening of the door body 200;

[0220] After the door body 200 is opened, the control system controls the cleaning robot 500 to drive out and clean the target area.

[0221] During the cleaning process, the door body 200 is closed.

[0222] During the floor cleaning process, the cleaning robot 500 returns to the cleaning tray 400 regularly for self-cleaning;

[0223] During the cleaning process of the cleaning robot 500, components such as a water pump transport the clean water in the clean water tank 600 to the cleaning tray 400 for cleaning the roller brush at the bottom of the cleaning robot 500, and the air pressure regulating device regulates the air pressure in the sewage tank 700 to a first pressure value so that the sewage in the cleaning tank 410 is transported to the sewage tank 700 through the return water pipeline.

[0224] The sewage is output from the water return port 412 to the return water pipeline. During this process, the sewage detection component detects the concentration N of suspended particulate matter in the sewage. When the concentration N of suspended particulate matter in the sewage detected by the sewage detection component is ≥ N0, the water supply pipeline continues to inject washing water into the cleaning tank 410 to continue cleaning the cleaning robot 500 until the concentration N of suspended particulate matter in the sewage detected by the sewage detection component is < N0, then the self-cleaning process ends, and the cleaning robot 500 continues to drive out for floor cleaning.

[0225] After the floor cleaning is completed, the cleaning robot 500 returns to the cleaning tray 400. In the return state after the cleaning of the cleaning robot 500 is completed, the signal part sends a first signal to the cleaning base station 100. The position sensor on the cleaning base station 100 detects the position of the cleaning robot 500. When the distance L between the cleaning robot 500 and the cleaning base station is less than the preset distance L0, the driving device drives the door body 200 to open. '

[0226] During the self-cleaning process, the door body 200 remains open;

[0227] After the self-cleaning is completed, the cleaning robot 500 continues to drive out to the target area for floor cleaning. After the cleaning robot 500 drives out, the control system controls the door body 200 to close;

[0228] Until the floor cleaning is completed, the signal part sends a second signal. After the control system receives the second signal and the cleaning robot 500 returns to the cleaning tray 400, it controls the door body 200 to close, and the cleaning robot 500 performs the last self-cleaning.

[0229] After the cleaning robot 500 finishes its last self-cleaning, it discharges the last wastewater into the wastewater tank 700. The air pressure regulating device adjusts the pressure in the wastewater tank 700 to a first pressure value, which is lower than the external air pressure. Under the action of the pressure difference, the wastewater in the cleaning tank 410 is transported to the wastewater tank 700 through the return water pipe. After discharge, the internal pressure is adjusted to the external value.

[0230] When the sewage in the sewage tank 700 is discharged, the air pressure regulating device adjusts the pressure in the sewage tank 700 to a second pressure value. The second pressure value is greater than the external gas pressure. Under the action of the pressure difference, the sewage in the sewage tank 700 is discharged through the drain pipe 720.

[0231] After the sewage in the sewage tank 700 is drained, the switch valve on the inlet branch pipe is opened, and the spray element 730 sprays and cleans the inner wall of the sewage tank 700. After the sewage tank 700 is cleaned, the air pressure regulating device adjusts the pressure in the sewage tank 700 to the second pressure value so that the sewage in the sewage tank 700 is discharged through the drain pipe 720.

[0232] The drain outlet 701 in the sewage tank 700 and the port connected to the return water pipeline are each equipped with a one-way valve to prevent sewage backflow and other problems.

[0233] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. An embedded cleaning device, characterized in that, include, A cleaning base station has a cleaning cavity formed at its bottom, and a door is provided on the cleaning cavity. The door is connected to the cleaning base station by a drive device. A cleaning tray is installed in the cleaning cavity, and a cleaning groove is formed on the cleaning tray; The cleaning robot can move into the cleaning tray to perform self-cleaning; A control system, which is at least communicatively connected to the cleaning base station and the cleaning robot; The cleaning robot has a signal unit, and the control system is used to receive signals from the signal unit and control the opening and closing of the door. When the cleaning robot returns to the cleaning tray for self-cleaning, the signal unit is activated, and after receiving the signal from the signal unit, the control system controls the door to open, so that the cleaning robot can return to the cleaning tray for self-cleaning. The cleaning base station also has at least one storage chamber. The storage chamber located above the cleaning inner cavity is the storage inner cavity. A drawer is provided in the storage inner cavity, and a dust collection unit connected to the cleaning inner cavity is provided in the drawer. The dust collection unit includes a dust collection tank, which is connected to the cleaning tank via a dust collection pipeline; The dust collection trough has dust collection holes, and the rear wall of the storage cavity is provided with a docking part that matches the position of the dust collection holes. The docking part is a connecting pipe extending into the storage cavity and is connected to the dust collection pipe. When the drawer is pulled out, the connecting part is separated from the dust collection hole; when the drawer is pushed in, the connecting part is connected to the dust collection hole.

2. The embedded cleaning device according to claim 1, characterized in that, The signal emitted by the signal unit includes a first signal, which is used to instruct the cleaning robot to return to the cleaning tray for self-cleaning during the cleaning process. After receiving the first signal, the control system keeps the door open during the self-cleaning process of the cleaning robot.

3. The embedded cleaning device according to claim 2, characterized in that, The signal emitted by the signal unit includes a second signal, which is used to instruct the cleaning robot to return to the cleaning tray after completing the floor cleaning to perform the final self-cleaning of this floor cleaning. When the control system receives the second signal, it controls the door to close after the cleaning robot returns to the cleaning tray.

4. The embedded cleaning device according to claim 1, characterized in that, The cleaning base station is equipped with a position sensor, which is used to monitor the position of the cleaning robot. When the control system receives a signal from the signal unit and the distance between the position of the cleaning robot and the cleaning base station is less than a preset distance L, the control system controls the door to open.

5. The embedded cleaning device according to claim 1, characterized in that, The cleaning tank has an inlet and an outlet formed on its side wall, which are used to connect to the water supply pipe and the return pipe, respectively. The return water inlet or the return water pipeline is equipped with a wastewater detection device to detect the concentration N of suspended particulate matter in the wastewater discharged from the return water inlet. When the relationship between the concentration of suspended particulate matter in the wastewater detected by the wastewater detection device and the target concentration is N≥N0, the water supply pipeline continues to inject washing water into the cleaning tank to continue cleaning the cleaning robot until the relationship between the concentration of suspended particulate matter in the wastewater detected by the wastewater detection device and the target concentration satisfies N. <N0。 6. The embedded cleaning device according to claim 1, characterized in that, The drawer is equipped with a detergent unit that is connected to the cleaning cavity.

7. The embedded cleaning device according to claim 5, characterized in that, On the side away from the door, the cleaning base station has an installation position, in which a clean water tank and a wastewater tank are installed. The clean water tank is connected to the water inlet through the water supply pipe, and the wastewater tank is connected to the water return outlet through the water return pipe.

8. The embedded cleaning device according to claim 7, characterized in that, The clean water tank is connected to an external water inlet pipe, and the water inlet pipe also includes a water inlet branch pipe connected to the sewage tank, and a switch valve is installed on the water inlet branch pipe; The wastewater tank is also equipped with a spray system, which is connected to the water inlet branch pipe. The spray system includes a spray arm extending into the wastewater tank, and spray holes are formed on the spray arm for self-cleaning of the wastewater tank.

9. The embedded cleaning device according to claim 8, characterized in that, The wastewater tank is equipped with a pressure regulating device, which is used to regulate the pressure in the wastewater tank. During water return, the pressure regulating device adjusts the pressure in the wastewater tank to a first pressure value so that the wastewater in the cleaning tank is transported to the wastewater tank through the water return pipeline. During drainage, the pressure regulating device adjusts the pressure in the wastewater tank to a second pressure value so that the wastewater in the wastewater tank is discharged through the drainage pipeline.

10. A method for controlling an embedded cleaning device, comprising the embedded cleaning device according to any one of claims 1-9, characterized in that, The method includes: The control system receives the user's floor cleaning command and controls the door to open; After the door is opened, the cleaning robot drives out and cleans the target area; after the cleaning robot drives out, the control system controls the door to close. During the floor cleaning process, the cleaning robot periodically returns to the cleaning tray for self-cleaning; before the cleaning robot returns to the cleaning tray for self-cleaning, the signal unit is activated, and the control system detects the signal emitted by the signal unit and controls the door to open, and the cleaning robot returns to the cleaning tray for self-cleaning; During the self-cleaning process, the door remains open; After the self-cleaning is completed, the cleaning robot continues to drive out to the target area to clean the ground. After the cleaning robot drives out, the control system controls the door to close. Once the floor cleaning is complete and the cleaning robot returns to the cleaning tray, the control system controls the door to close, and the cleaning robot performs a final self-cleaning.

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