CN112353319A

CN112353319A - Control method of cleaning robot system

Info

Publication number: CN112353319A
Application number: CN202011169464.7A
Authority: CN
Inventors: 高新忠; 甘嵩; 凡海洋; 韦宜军; 方恩光; 邓杰
Original assignee: Hangzhou Jolog Robot Technology Co ltd
Current assignee: Hangzhou Jolog Robot Technology Co ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-02-12

Abstract

A control method of a cleaning robot system, comprising: the integrated station is at least used for butt joint dust collection and/or cleaning of the cleaning piece for the cleaning robot, and a dirt collection box is arranged on the integrated station and at least used for collecting cleaning liquid after cleaning of the cleaning piece and part of garbage particles in butt joint dust collection; also comprises the following steps; step S02: the cleaning robot stops at the integration station, and the cleaning liquid with a certain height and liquid level is contained in the dirt collection tank; step S03: at least starting to butt joint dust collection, the power mechanism starts to generate suction force of air flow to absorb garbage particles in a garbage cavity in the cleaning robot, so that the garbage particles move under the action of the air flow to enter the sewage collection box and are mixed with cleaning liquid. The scheme solves the problems that the existing base station is complex in structure, poor in testing effect, high in base station construction and maintenance cost and serious in dust emission, and the existing base station is provided with a disposable cloth bag or a multi-step hierarchical filtering structure aiming at a filtering system.

Description

Control method of cleaning robot system

Technical Field

The invention relates to the field of intelligent cleaning robots, in particular to a control method of a cleaning robot system.

Background

The main dust absorption function that possesses of current cleaning machines people, dust absorption function is mainly for absorbing the rubbish particulate matter on ground in its inside dirt box, the collection of rubbish is realized to the dirt box, but because of cleaning machines people overall structure's restriction, lead to the dirt box need frequent empting, all need the user to empty even every day, consequently be provided with the basic station on the market at present, the basic station mainly sets up big suction fan and large volume rubbish box, the work of big suction fan docks the rubbish particulate matter in the dirt box in with cleaning machines people and absorbs in the rubbish box, and then realize that the user regularly empties or periodic empting the rubbish box can, user's experience effect has been promoted relatively.

Because of the big suction fan on the basic station is at the in-process of absorbing the rubbish particulate matter, must set up filterable structure and come to filter the air current between big suction fan and rubbish box, just can discharge the air current that big suction fan produced to the indoor environment middle district after filtering, if filter then can lead to the combustion gas stream to pollute the indoor environment inadequately, can't satisfy the standard requirement, the air current suction because of big suction fan produces is big, lead to the filtration between big suction fan and the rubbish box very complicated, make the basic station mainly have following several problem points at present:

(1) in order to solve the complex difficulty of a filtering structure, a garbage box is arranged to be a disposable cloth bag which is made of specific materials and can achieve a filtering effect, a large-suction fan generates suction to suck garbage particles in the garbage box into the cloth bag, the filtering effect is achieved at the same time, airflow passing through the cloth bag can be normally discharged into an indoor environment, but the cost of the cloth bag is high, a user needs to buy and replace the cloth bag regularly, the cloth bag can only be used once and cannot be reused, the overall cost of the base station is high, and the user acceptance is low; simultaneously, tiny garbage particles in the garbage particles can be adsorbed on the cloth bag under the action of the large-suction fan, so that the filter holes of the cloth bag are blocked, the suction force of the large-suction fan for absorbing the garbage particles is lost, the garbage particles in the dust box are caused to lose efficacy, the user is directly caused to need to frequently replace the cloth bag to absorb and collect the garbage particles in the base station, and the maintenance cost of the base station is very high.

(2) In addition, in order to solve the complex difficulty of filtration, a multi-step and hierarchical filtration system is arranged in the garbage box, firstly, large-volume garbage particles in the garbage particles are subjected to primary filtration, then, middle-volume garbage particles are filtered, and further, smaller-volume garbage particles are filtered, and finally, small garbage particles are adsorbed by arranging a precision filtration layer, so that the problem that a multi-layer filtration system is required to be arranged for filtering air flow under a high-suction fan, each filtration layer needs to be regularly cleaned, the precision filtration layer needs to be regularly replaced, if the filtration system is not cleaned and replaced in time, the filtration system is blocked by the particles and then fails, the large-suction fan absorbs the garbage particles in the dust box, the construction cost of the filtration system is high, and the filtration layers need to be regularly cleaned and replaced, the filter layer is a consumable item which is replaced regularly, so that the user experience effect is poor, the acceptance is low, and the maintenance cost of the base station in the later period is high; meanwhile, when the garbage in the garbage box is dumped, serious dust problems can occur, and the experience effect of dumping the garbage box by a user is poor.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.

Therefore, the invention aims to provide a control method of a cleaning robot system, which mainly solves the problems of complex base station structure and high cost caused by the fact that a disposable cloth bag or a multi-step hierarchical filtering structure is arranged on an existing base station aiming at a filtering system, and the problems of poor experience effect, high base station structure maintenance cost and serious dust emission caused by the fact that the filtering system needs to be cleaned and replaced regularly.

An embodiment of the present invention provides a control method of a cleaning robot system, including: a cleaning robot, an integration station, the integration station being provided as an independent part with respect to the cleaning robot; the cleaning robot is at least used for carrying out dust collection cleaning and mopping cleaning on the ground, and at least a cleaning piece is arranged on the cleaning robot for mopping cleaning the ground; the integrated station is at least used for parking of the cleaning robot and is used for butt joint dust collection and/or cleaning of the cleaning piece for the cleaning robot after parking, a dirt collection box is arranged on the integrated station, and the dirt collection box is at least used for collecting cleaning liquid after cleaning of the cleaning piece and part of garbage particles in butt joint dust collection;

also comprises the following steps;

step S02: the cleaning robot stops at the integration station, and the cleaning liquid with a certain height and liquid level is contained in the dirt collection tank;

step S03: at least starting to butt joint dust collection, the power mechanism starts to generate suction force of air flow to absorb garbage particles in a garbage cavity in the cleaning robot, so that the garbage particles move under the action of the air flow to enter the sewage collection box and are mixed with cleaning liquid.

In step S03, the method further includes that when the docking and dust collection is started, the power mechanism synchronously sucks the cleaning liquid after the cleaning member is cleaned into the dirt collection box so that the cleaning liquid is mixed with the garbage particles.

In step S03, the method further includes synchronously starting the liquid discharging mechanism to transfer the cleaning liquid after cleaning the cleaning object into the dirt collecting box so that the cleaning liquid is mixed with the garbage particles when the docking and dust collection are started.

According to the control method of the cleaning robot system, cleaning liquid after cleaning the cleaning piece enters the dirt collection box through the first channel, garbage particles enter the dirt collection 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 piece enters the dirt collection box and simultaneously sprays and mixes the garbage particles entering the dirt collection box.

The control method of the cleaning robot system further includes, before the step S02, a step S01: the liquid level in the dirt collection box is detected before the integrated station starts butt joint and dust collection, and whether the liquid level in the dirt collection box meets a preset threshold value A or not is detected.

In the aforementioned control method of the robot cleaning system, in step S01, when the liquid level in the dirt collection box satisfies the preset threshold a, the method proceeds to step S02; if the liquid level in the sewage collection tank does not meet the preset threshold value A, the butt joint dust collection is not started.

In the aforementioned method for controlling the cleaning robot system, in step S01, if the liquid level in the dirt collection box does not satisfy the predetermined threshold a, the liquid supply mechanism is activated to supply the cleaning liquid to the cleaning member to form spray cleaning or immersion cleaning of the cleaning member.

In the control method of the cleaning robot system, when the cleaning time for the cleaning piece reaches the first preset time, the liquid discharge mechanism is started to transfer the cleaning liquid after the cleaning piece is cleaned into the dirt collection tank, or the power mechanism is started to suck the cleaning liquid after the cleaning piece is cleaned into the dirt collection tank.

In the control method of the robot cleaning system, the number N of times that the power mechanism starts to suck the cleaning liquid after cleaning the cleaning object into the dirt collection tank is detected, and when N meets a preset threshold B, the process proceeds to step S02; or detecting the number M of times the liquid discharge mechanism is started to transfer the cleaning liquid after cleaning the cleaning object into the dirt collection tank, and if M satisfies a preset threshold C, the routine proceeds to step S02.

In the method for controlling the cleaning robot system, it is synchronously detected whether the time of the dirt collection box in place continues, and if the time of the dirt collection box in place does not continue, step S01 is repeated.

In the control method of the cleaning robot system, the contamination detection module detects the contamination degree of the cleaning member, and when the contamination degree of the cleaning member meets the preset threshold D, the cleaning of the cleaning member is finished; and when the dirt degree of the cleaning piece does not meet the preset threshold value D, the cleaning piece is continuously cleaned.

In the method for controlling a cleaning robot system, in step S01, the method further includes the step of starting the liquid supply mechanism to supply the cleaning liquid to the dirt collection tank when the liquid level in the dirt collection tank does not satisfy the predetermined threshold a, and the step of proceeding to step S02 when the liquid level in the dirt collection tank satisfies the predetermined threshold a.

After step S03, the method for controlling a cleaning robot system further includes step S04: and closing the butt joint for dust collection, starting a liquid discharge mechanism to transfer the cleaning liquid after cleaning the cleaning piece into the dirt collection box, or starting a power mechanism to suck the cleaning liquid after cleaning the cleaning piece into the dirt collection box.

In the control method of the cleaning robot system, the operating power of the power mechanism in step S03 includes P1, and the operating power of the power mechanism in step S04 includes P2, P1> P2.

In step S03, the garbage particles entering the dirt collection box enter in a direction toward the liquid level of the cleaning liquid under the action of the airflow, so that at least part of the garbage particles and the cleaning liquid are mixed.

In step S03, a dirt collecting channel is disposed in the dirt collecting box for at least passing the garbage particles, and a terminal of the dirt collecting channel faces a liquid level direction of the cleaning liquid, so that the garbage particles entering the dirt collecting channel enter the dirt collecting box in the liquid level direction of the cleaning liquid.

In the control method of the robot cleaning system, the tail end of the dirt collecting channel is positioned below the liquid level of the cleaning liquid, so that garbage particles entering the dirt collecting channel directly enter the cleaning liquid to be mixed.

In step S03, a dirt collecting channel is disposed in the dirt collecting box, and a terminal of the dirt collecting channel is located below a liquid level of the cleaning liquid and faces a side portion and/or an upper portion of the dirt collecting box, so that the cleaning liquid enters the dirt collecting channel, and the dirt particles enter the dirt collecting channel and then are mixed with the cleaning liquid before entering the dirt collecting box.

In the control method of the cleaning robot system, the dirt collecting channel is provided with a floatable structure, so that the dirt collecting channel can be lifted synchronously along with the liquid level of the cleaning liquid in the dirt collecting tank.

The control method of the cleaning robot system further comprises the step of arranging a spraying channel for spraying garbage particles entering the dirt collection tank in the dirt collection tank, wherein one end of the spraying channel is positioned below the liquid level of the cleaning liquid, and the other end of the spraying channel is positioned above the liquid level of the cleaning liquid.

The control method of the cleaning robot system further comprises a liquid blocking structure arranged in the dirt collection tank, wherein the liquid blocking structure is used for blocking the cleaning liquid which swells upwards under the action of the suction force of the airflow and enabling the cleaning liquid to form a block at the liquid blocking structure and fall back downwards.

The control method of the cleaning robot system further comprises a power mechanism communicated with the dirt collection tank and at least used for providing suction force for generating air flow to the dirt collection tank, the dirt collection tank is at least communicated with the garbage cavity and can be used for sucking garbage particles into the dirt collection tank through the air flow, and the liquid supply mechanism is communicated with the dirt collection tank and/or a cleaning area on the integration station, where cleaning pieces are placed for cleaning.

The control method of the cleaning robot system further comprises a power mechanism communicated with the cleaning area, a valve piece with an openable structure is arranged between the dirt collecting box and the garbage cavity, and the power mechanism can simultaneously suck garbage particles in the garbage cavity and cleaning liquid in the cleaning area into the dirt collecting box when the valve piece is opened; when the valve is closed, the power mechanism can only suck the cleaning liquid in the cleaning area into the sewage collection tank.

The control method of the cleaning robot system further comprises the step of arranging a filtering structure in the dirt collection tank, so that at least part of garbage particles entering the dirt collection tank are located in the filtering structure; or the dirt collection box is provided with a filter screen, so that garbage particles are blocked by the filter screen and can not pass through when cleaning liquid in the dirt collection box is poured.

In step S03, the method further includes the step of starting the power mechanism to absorb the garbage particles with small volume or small weight in the garbage chamber into the dirt collection box by using the first working power, and when the duration of the power mechanism using the first working power reaches the second preset duration, the power mechanism switches to absorb the garbage particles with large volume or large weight in the garbage chamber into the dirt collection box by using the second working power, where the first working power is smaller than the second working power.

In the control method of the cleaning robot system, the replacing step S02 includes: the cleaning robot stops at the integrated station, and power unit starts the suction that produces the air current and absorbs the rubbish particulate matter in the rubbish intracavity in the cleaning robot and absorbs the washing liquid that gets into in the collection dirt case and form the mixture after wasing the cleaning member simultaneously.

The control method of the cleaning robot system further includes, after step S02 and before step S03, step S0201: when the working time of the power mechanism reaches the third preset time length, the power mechanism is closed, the cleaning robot leaves the integration station to mop the ground for cleaning, and when the time for mopping the ground for cleaning reaches the fourth preset time length, the cleaning robot walks to the integration station to stop.

In the foregoing control method for a cleaning robot system, in step S0201, when the cleaning robot travels to the integration station and stops, the control method returns to step S02 or proceeds to step S03;

or when the cleaning robot walks to the integration station to stop, the step S0202 is firstly carried out: the power mechanism starts to suck the cleaning liquid after cleaning the cleaning piece into the dirt collection tank, detects the number Q of times that the power mechanism starts to suck the cleaning liquid after cleaning the cleaning piece into the dirt collection tank, and when Q meets a preset threshold value E, the operation goes to step S03.

Compared with the prior art, the invention has the following beneficial effects:

the control method of the cleaning robot mainly comprises the steps of absorbing garbage for realizing butt joint of the cleaning robot, collecting the cleaning liquid for cleaning a cleaning piece, combining the collected garbage, realizing mixing of garbage particles and the cleaning liquid, and enabling a user to only pour the garbage collection box independently, so that the cleaning robot is convenient for the user to use and improves the user experience effect.

This scheme has the washing liquid of certain liquid level height when dirty incasement of collection, can start to absorb the interior rubbish particulate matter of cleaning machines people to the dirty incasement of collection, realizes that rubbish particulate matter mixes in entering into the washing liquid, and the washing liquid mixes the tiny particle intensive mixing that makes the easy raise dust in the rubbish particulate matter to the aquatic to rubbish particulate matter, and the problem of raise dust no longer appears in the dirty case of collection, solves the problem that there is serious raise dust in current basic station.

Meanwhile, the garbage particles and the cleaning liquid are mixed, the garbage particles directly enter the cleaning liquid under the action of the airflow, and the cleaning liquid indirectly filters the mixture of the garbage particles, so that a filtering system is not required to be arranged between the power mechanism and the dirt collection tank, the cleaning liquid has a filtering effect, and the problem that the environment is influenced by the fact that smaller garbage particles are discharged indoors after entering the power mechanism along with the airflow is solved; after the garbage particles and the cleaning liquid are mixed, the garbage particles or dust in the airflow can be mixed by the cleaning liquid to achieve the effect of filtering.

The rubbish particulate matter of this scheme enters into the dirty incasement of collection and mixes with the washing liquid, the dirty case of collection not only plays the effect of collecting rubbish particulate matter and washing liquid, still make full use of washs the washing liquid after the cleaning member and collects the dirty incasement of collection and form the filter action to rubbish particulate matter, realize mixing filterable effect, because of having replaced the multiple filtration system on the current basic station, overall structure is simple, the later maintenance cost is low, need not set up the filtration system of current basic station configuration or the sack of disposable collection dirt, there is not the problem that filtration system consumptive material or sack need periodic replacement, the maintenance cost is extremely low, and user convenient to use.

Because of this scheme has replaced the filtration system of configuration or the sack of disposable collection dirt on the current basic station with the washing liquid of dirty incasement of collection, make the overall structure of integrated station simple, set up dirty case of collection and can solve the washing liquid to rubbish particulate matter and wash after the cleaning member and mix the collection, the washing liquid after the integrated station of make full use of washs the cleaning member comes to mix the filtration to rubbish particulate matter, must collect because of the washing liquid that washs after the cleaning member, this scheme utilizes the washing liquid to realize the mixed filtration to rubbish particulate matter when collecting, it is simple to have realized the integrated station structure, therefore, the carrier wave prepaid electric energy meter is low in cost, and convenient for use for users.

This scheme sets up power unit and can come to absorb the rubbish particulate matter and absorb the washing liquid after wasing the cleaning member, can control power unit alone and absorb the rubbish particulate matter, perhaps absorb the washing liquid alone, also can absorb rubbish particulate matter and washing liquid simultaneously, power unit can separate the rubbish particulate matter in the washing liquid on washing liquid in the rinsing area and the cleaning member simultaneously and absorb, need not artificial manual rubbish particulate matter in the rinsing area and clear up, promote user experience effect.

The control method of the scheme can ensure that a certain cleaning liquid is in the dirt collection tank before the garbage particles are absorbed into the dirt collection tank, so that the cleaning liquid can be ensured to mix the garbage particles to achieve a filtering effect, and the problem that the garbage particles cannot be mixed due to abnormity is prevented.

The control method of the scheme can also ensure that the cleaning liquid is absorbed to mix while the garbage particles are absorbed, the filtering effect on the garbage particles is realized in the mixing process, the problem that the cleaning liquid is not contained in the garbage collection tank or the cleaning liquid is not mixed in time when the garbage particles enter the garbage collection tank is solved, and the effective mixing of the cleaning liquid and the garbage particles is ensured to play a role in filtering.

Aiming at the mixing of the garbage particles and the cleaning liquid in the sewage collection tank, a user can directly pour the garbage particles into a sewer for treatment, and most of the garbage particles absorbed by the cleaning robot are dust garbage particles or flocculent garbage particles, so the garbage particles and the cleaning liquid can be poured into the sewer after being mixed, and the treatment by the user is facilitated; this scheme can be equipped with filtration or filter screen simultaneously and filter the mixture of washing liquid and rubbish particulate matter, and also convenience of customers emptys dirty case of collection.

Drawings

FIG. 1 is a schematic view of a cleaning member of a cleaning robot configured to rotate and roll;

FIG. 2 is a schematic view of a cleaning member of the cleaning robot configured to rotate horizontally in conformity with the ground;

FIG. 3 is a schematic diagram of electrical connection;

FIG. 4 is an overall schematic view of the cleaning robot on the integration station;

FIG. 5 is a schematic view of a liquid blocking structure for blocking the cleaning liquid from flowing over when a power mechanism on the integration station of the cleaning robot works;

FIG. 6 is a schematic diagram of the spray channel forming spray when the power mechanism of the cleaning robot on the integration station works;

fig. 7 is a flowchart of the steps of a control method of the cleaning robot system.

Reference numerals: 1-integration station, 100-control module, 101-dirt collection box, 1011-dirt collection channel, 102-power mechanism, 103-liquid discharge mechanism, 104-clear water box, 105-liquid supply mechanism, 106-spraying channel, 107-liquid blocking structure, 108-valve part, 109-cleaning area, 2-cleaning robot, 201-cleaning part and 202-garbage chamber.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

Example (b): as shown in fig. 1 to 7, a control method of a cleaning robot 2 system according to the present invention includes: the cleaning robot 2, the integration station 1 is set up as the independent part relative to the cleaning robot 2; the cleaning robot 2 is at least used for carrying out dust collection cleaning and mopping cleaning on the ground, and at least a cleaning piece 201 is arranged on the cleaning robot 2 for mopping cleaning the ground; cleaning machines people 2 sets up the drive wheel and is used for the walking, sets up rubbish chamber 202 in cleaning machines people 2, and the dust absorption mouth intercommunication of

rubbish chamber

202 and 2 bottoms of cleaning machines people, one side in rubbish chamber 202 sets up the fan, and then realizes the absorption to ground rubbish particulate matter, and this belongs to prior art, no longer detailed description.

The integration station 1 is at least used for docking the cleaning robot 2, and is used for docking dust collection and/or cleaning the cleaning piece 201 of the cleaning robot 2 after docking, and meanwhile, the cleaning robot 2 can be charged when docking on the integration station 1, so that the power supply module in the cleaning robot 2 can be charged in time; be provided with dirty case 101 of collection on the integrated station 1, dirty case 101 of collection is used for collecting at least and washs the washing liquid after cleaning member 201 and the partial rubbish particulate matter in the butt joint collection dirt, dirty case 101 of collection not only plays the effect of collecting rubbish particulate matter and washing liquid, still make full use of washs the washing liquid after cleaning member 201 and collects the filter action that forms the rubbish particulate matter in the dirty case 101 of collection, realize mixed filterable effect, it needs to set up disposable dust collection sack or set up the maintenance cost height that multi-layer filtration system brought to solve current basic station, the problem of the consumptive material of needs periodic replacement.

The cleaning robot 2 is provided with a cleaning piece 201, the cleaning piece 201 is used for mopping and cleaning, preferably, the cleaning piece 201 is arranged in a movable structure, and the cleaning piece 201 is driven by a motor to horizontally rotate or rotationally roll, so that the cleaning piece 201 can be conveniently cleaned by utilizing the self-movement of the cleaning piece 201 when the cleaning robot 2 is positioned on the integration station 1; the integration station 1 only needs to provide cleaning liquid, i.e. fresh water, to the cleaning members 201 and does not need to provide a power structure for cleaning the cleaning members 201.

The integrated station 1 comprises a sewage collecting tank 101, a clean water tank 104, a cleaning area 109, a power mechanism 102 and a liquid supply mechanism 105, wherein an electric control board is arranged in the integrated station 1, a control module 100 is arranged on the electric control board, and the control module 100 is electrically connected with the power mechanism 102 and the liquid supply mechanism 105 to control the starting, closing and working time of the work.

The dirt collection box 101 is used for collecting the garbage particles in the garbage cavity 202 in the cleaning robot 2 and collecting the cleaning liquid after the cleaning part 201 is cleaned, the cleaning liquid after the cleaning part 201 is cleaned is the sewage, and the sewage is mainly the dirt and some garbage particles separated from the cleaning part 201.

The power mechanism 102, which generates the suction force of the airflow, may be a fan, and is a large suction fan with larger power than the fan on the cleaning robot 2, and can be used for sucking the garbage particles in the garbage cavity 202 in the cleaning robot 2 into the dirt collecting box 101 due to the large suction force.

The power mechanism 102 is communicated with the dirt collection tank 101, and the power mechanism 102 provides suction force for generating air flow to the dirt collection tank 101 to form the dirt collection tank 101 for collecting garbage particles and cleaning liquid.

The cleaning area 109 is arranged on a bottom shell of the integration station 1, the cleaning area 109 is used for placing the cleaning piece 201, and when the cleaning robot 2 stops on the integration station 1, the cleaning piece 201 is located in the cleaning area 109 and can be used for cleaning the cleaning piece 201 in the cleaning area 109.

The cleaning solution is filled in the clean water tank 104, and the cleaning solution in the clean water tank 104 is clean water; and the liquid supply mechanism 105 is used for supplying the clean water in the clean water tank 104 into the cleaning area 109 for cleaning the cleaning piece 201, and the liquid supply mechanism 105 can be a water pump.

The integration station 1 may further include a drainage mechanism 103, and the drainage mechanism 103 may be a water pump for transferring the cleaning liquid, i.e., the sewage, in the cleaning area 109 into the sewage collection tank 101 for collection.

The control method of the cleaning robot 2 further includes the following steps;

step S02: the cleaning robot 2 stops at the integration station 1, and the cleaning liquid with a certain height and liquid level is contained in the dirt collection tank 101; in step S02, when the cleaning robot 2 stops at the integration station 1, the cleaning liquid with a certain height and liquid level is already contained in the dirt collection tank 101, and the cleaning liquid may be clear water or sewage, and may be set as needed.

Step S03: at least starting butt joint dust collection, and starting the power mechanism 102 to generate suction force of air flow to suck the garbage particles in the garbage cavity 202 in the cleaning robot 2, so that the garbage particles move into the dirt collection tank 101 under the action of the air flow and are mixed with the cleaning liquid; the garbage particles in the garbage cavity 202 of the cleaning robot 2 are absorbed by the power mechanism 102 to enter the dirt collecting box 101 for mixing, so that the mixed filtering effect of the cleaning liquid on the garbage particles is realized.

Step S03, when the docking operation is started, the power mechanism 102 synchronously sucks the cleaning solution after the cleaning member 201 is cleaned into the dirt collection box 101 so that the cleaning solution is mixed with the garbage particles; that is, when the power mechanism 102 starts to work, the garbage particles and the cleaning liquid after cleaning the cleaning member 201 can be simultaneously sucked into the dirt collection tank 101, and the power mechanism 102 can realize synchronous suction effect; the dirt collection box 101 can be respectively communicated with the garbage cavity 202 and the cleaning area 109 for placing the cleaning piece 201, so that the synchronous suction effect of the power mechanism 102 is realized.

Step S03, when the docking dust collection is started, synchronously starting the liquid discharge mechanism 103 to transfer the cleaning liquid after cleaning the cleaning member 201 into the dirt collection box 101 so that the cleaning liquid is mixed with the garbage particles; mainly for power unit 102 plays to butt joint the collection dirt and absorbs the rubbish particulate matter in the rubbish chamber 202 and enters into collection dirt case 101, plays drainage mechanism 103 simultaneously and alone will wash the washing liquid after cleaning 201 and be the sewage transfer to collection dirt case 101 in for rubbish particulate matter mixes with sewage in collection dirt case 101.

Cleaning liquid after cleaning the cleaning piece 201 enters the dirt collection tank 101 through the first channel, garbage particles enter the dirt collection tank 101 through the second channel, and the first channel is positioned on one side of the second channel, so that the cleaning liquid after cleaning the cleaning piece 201 enters the dirt collection tank 101 and simultaneously sprays and mixes the garbage particles entering the dirt collection tank 101; mainly for washing the washing liquid behind the cleaning member 201 and can form the mixed effect that sprays that enters into the rubbish particulate matter of collection dirt case 101 in entering into collection dirt case 101, be favorable to promoting the washing liquid and filter the mixture of rubbish particulate matter.

Before step S02, step S01 is further included: before starting butt joint dust collection, the integration station 1 detects the liquid level in the sewage collection tank 101, and detects whether the liquid level in the sewage collection tank 101 meets a preset threshold value A; the cleaning liquid with a certain liquid level height in the dirt collection tank 101 is mainly ensured after the step S02 is carried out, so that the effect of mixing and filtering the garbage particles entering the dirt collection tank 101 and the cleaning liquid in the subsequent step S03 can be realized; can set up level sensor and detect the liquid level height in the dirty case 101 of collection, level sensor and control module 100 electric connection, threshold value A sets up in control module 100, and if the liquid level height that threshold value A corresponds in the dirty case 101 of collection is 10-50 millimeters, reaches threshold value A when the liquid level height, then shows that the washing liquid can carry out the mixed filtration to rubbish particulate matter this moment, and integrated station 1 can carry out start-up power mechanism 102 and absorb rubbish particulate matter and enter into in the dirty case 101 of collection.

Step S01 includes that when the liquid level in the dirt collection box 101 meets a preset threshold value a, step S02 is performed, step S02 is performed only when the liquid level in the dirt collection box 101 meets the preset threshold value a, and it can be ensured that cleaning liquid is contained in the dirt collection box 101 and can be mixed and filtered with the cleaning liquid when garbage particles are subsequently sucked into the dirt collection box 101, so that the garbage particles are sufficiently mixed and filtered by the cleaning liquid; if the liquid level in the dirt collection tank 101 does not meet the preset threshold A, the butt joint dust collection is not started, and the problem that the garbage particles are sucked under the condition that the liquid level height of the cleaning liquid in the dirt collection tank 101 does not meet the threshold A is solved.

Step S01 includes, if the liquid level in the dirt collection box 101 does not satisfy the predetermined threshold a, starting the liquid supply mechanism 105 to supply the cleaning liquid to the cleaning member 201 to form spray cleaning or immersion cleaning of the cleaning member 201, starting the liquid supply mechanism 105 to supply the cleaning liquid, i.e., the clean water, in the clean water tank 104 to the cleaning region 109 for cleaning the cleaning member 201, and after the cleaning member 201 is cleaned, collecting the cleaning liquid, i.e., the dirty water, formed in the cleaning region 109 into the dirt collection box 101, so that the liquid level height in the dirt collection box 101 can satisfy the threshold a once or multiple times.

When the cleaning time of the cleaning piece 201 reaches a first preset time, the first preset time can be set to be 0.5-5 minutes, the cleaning piece 201 is washed by showering or immersed in the first preset time, dirt or adsorbed garbage particles on the cleaning piece 201 are separated into cleaning liquid, namely clean water, the cleaning liquid after cleaning forms sewage, then the liquid discharge mechanism 103 is started to transfer the cleaning liquid after cleaning the cleaning piece 201 into the dirt collection box 101, or the power mechanism 102 is started to suck the cleaning liquid after cleaning the cleaning piece 201 into the dirt collection box 101; the actuating mechanism 102 may be set as necessary to suck the waste water into the waste tank 101, or the drain mechanism 103 may transfer the waste water into the waste tank 101.

The control module 100 controls the detection power mechanism 102 to start the number N of times that the cleaning liquid after the cleaning member 201 is cleaned is sucked into the dirt collection box 101, and when N meets a preset threshold B, the process proceeds to step S02; as long as the number of times that the power mechanism 102 sucks the cleaning liquid in the cleaning region 109 into the dirt collection tank 101 is detected, the number of times N that can be set correspondingly according to the volume of the cleaning liquid in the single suction cleaning region 109 into the dirt collection tank 101 may be set, if the threshold B is set to be greater than 5, N is indicated to be greater than 5 times, at this time, it indicates that the power mechanism 102 sucks the cleaning liquid into the dirt collection tank 101 after N times of suction is completed, the liquid level height of the cleaning liquid in the dirt collection tank 101 satisfies the threshold a, step S02 may be entered, and the problem of sucking the garbage particles under the condition that the liquid level height of the cleaning liquid in the dirt collection tank 101 does not satisfy the threshold a is prevented.

Or, detecting the number M of times that the liquid discharge mechanism 103 transfers the cleaning liquid after cleaning the cleaning member 201 into the dirt collection tank 101, and when M satisfies the preset threshold C, proceeding to step S02, that is, detecting the number M of times that the liquid discharge mechanism 103 transfers the cleaning liquid in the cleaning region 109 into the dirt collection tank 101, if the threshold C is set to be greater than 5, then M is greater than 5, and at this time, it indicates that the liquid level height of the cleaning liquid in the dirt collection tank 101 after the liquid supply mechanism 105 completes M times of transferring the cleaning liquid into the dirt collection tank 101 satisfies the threshold a, proceeding to step S02, so as to prevent the problem that the garbage particles are sucked when the liquid level height of the cleaning liquid in the dirt collection tank 101 does not satisfy the threshold a.

The method also comprises the steps of synchronously detecting whether the in-place time of the dirt collection tank 101 continues, repeating the step S01 if the in-place time of the dirt collection tank 101 does not continue, mainly detecting whether the dirt collection tank 101 is taken out by a user for dumping, and repeating the step S01 if the dirt collection tank 101 is taken out by the user for dumping, so as to prevent the problem that garbage particles are sucked under the condition that the liquid level height of cleaning liquid in the dirt collection tank 101 does not meet a threshold A; a hall sensor or an infrared sensor may be provided to detect whether the sump tank 101 is in place.

A dirt detection module can be further arranged for detecting the dirt degree of the cleaning piece 201, and when the dirt degree of the cleaning piece 201 meets a preset threshold value D, the cleaning of the cleaning piece 201 is finished; when the degree of contamination of the cleaning piece 201 does not meet the preset threshold value D, continuing to clean the cleaning piece 201; if the threshold a is set in the control module 100, the threshold a corresponds to the dirt degree or a numerical value representing the dirt degree, when the threshold a is met, it represents that the cleaning member 201 has been cleaned, at this time, the cleaning is finished, if the threshold a is not met, it represents that the cleaning member 201 has not been completely cleaned, and continuous cleaning is required, or cleaning is performed again, when cleaning is performed again, after the cleaning liquid, i.e., the sewage, in the cleaning area 109 is collected into the dirt collection tank 101, the liquid supply mechanism 105 is controlled to supply the cleaning liquid, i.e., the clean water, to the cleaning area 109 for cleaning the cleaning member 201, and this is repeated until the cleaning member 201 is cleaned.

Wherein, a contamination detection sensor may be directly installed at one side of the cleaning member 201 to detect the degree of contamination of the cleaning member 201.

The time for the cleaning robot 2 to return to the integration station 1 for cleaning can be determined according to the degree of soiling of the cleaning elements 201, i.e. when the degree of soiling of the cleaning elements 201 reaches a certain predetermined condition, the cleaning elements 201 are returned to the integration station 1 for cleaning.

Step S01 further includes the step of, if the liquid level in the dirty tank 101 does not satisfy the predetermined threshold a, starting the liquid supply mechanism 105 to supply the cleaning liquid to the dirty tank 101, and if the liquid level in the dirty tank 101 satisfies the predetermined threshold a, proceeding to step S02; mainly for if the washing liquid level height in the dirt collection case 101 is lower or when there is no washing liquid, can supply the clear water in the clear water tank 104 to the dirt collection case 101 through supplying liquid mechanism 105 this moment for the washing liquid in the dirt collection case 101 satisfies predetermined threshold A, and integrated station 1 then can enter step S02 like this, can use the washing liquid to mix the filtration to rubbish particulate matter when ensureing that follow-up absorption rubbish particulate matter is to in the dirt collection case 101.

After step S03, step S04 is further included: closing the butt joint dust collection, starting the liquid discharge mechanism 103 to transfer the cleaning liquid after cleaning the cleaning piece 201 to the dirt collection box 101, or the power mechanism 102 starts to suck the cleaning liquid after cleaning the cleaning member 201 into the soil collection box 101, in step S04, only the transfer or suction of the cleaning liquid in the cleaning area 109 is performed, the cleaning area 109 in the cleaning area 109 can be sucked into the waste collection box 101 by the power mechanism 102, or a separate liquid discharge mechanism 103 is provided to transfer the cleaning liquid in the cleaning area 109 into the waste collection tank 101, since the liquid discharge mechanism 103 may be provided as a water pump or an electromagnetic pump, therefore, the liquid discharge mechanism 103 has little noise relative to the power mechanism 102, which does not affect the user experience, and the liquid discharge mechanism 103 is more suitable for the working state that the cleaning piece 201 needs to be cleaned frequently, the cleaning liquid in the cleaning area 109 can be transferred to the dirt collection tank 101 in time without affecting the experience of the user.

In step S04, the cleaning robot 2 may frequently move back and forth between the ground and the integration station 1, after the cleaning robot 2 finishes mopping the floor for a certain time or a certain area, the cleaning robot returns to the integration station 1 in time, 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 member 201 may be cleaned in the cleaning area 109, after the cleaning is finished, the cleaning robot 2 leaves the integration station 1 and returns to the ground to continue mopping the floor, and thus, the cleaning robot 2 moves back and forth to clean the floor and clean the cleaning member 201 in time.

The operating power of the power mechanism 102 in step S03 includes P1, and the operating power of the power mechanism 102 in step S04 includes P2, P1> P2; because the power mechanism 102 may be set to mainly absorb the garbage particles in step S03, the power mechanism 102 needs to have a larger working power for absorbing the garbage particles, but the larger working power may generate a larger noise, which affects the experience effect of the user; for the cleaning robot 2, the frequency of cleaning the cleaning member 201 of the cleaning robot 2 to be cleaned is higher than the frequency of the garbage particles to be sucked, because the cleaning member can be set at a high power of P1 to suck the garbage particles, ensuring that the garbage can be sucked into the dirt collecting box 101 by a high suction force, and then setting a low power of P2 to suck the cleaning liquid in the cleaning area 109 into the dirt collecting box 101, because the cleaning liquid has a good fluidity, because the cleaning liquid can be sucked into the dirt collecting box 101 under the suction force of a small airflow, the setting can further improve the experience effect of the user; because the frequency of sucking the cleaning liquid into the dirt collection tank 101 is higher than the frequency of sucking the garbage particles into the dirt collection tank 101, the experience effect of a user cannot be influenced by excessive noise when the cleaning liquid is frequently sucked into the dirt collection tank 101; if the frequency of sucking the garbage particles into the dirt collection box 101 in one day is set to be 1-2 times, and the frequency of sucking the cleaning liquid in the cleaning area 109 into the dirt collection box 101 is set to be 5-10 minutes once, because the cleaning piece 201 needs to be cleaned frequently in the process of mopping, the influence of the working noise of the power mechanism 102 on a user can be reduced.

In step S03, the garbage particles entering the dirt collection box 101 enter toward the liquid level of the cleaning liquid under the action of the airflow, so that at least part of the garbage particles and the cleaning liquid are mixed; garbage particles can move towards the direction of the liquid level of the cleaning liquid in the sewage collection tank 101 and then can be mixed with the cleaning liquid in time, and the mixed filtering effect is improved.

In step S03, a dirt collecting channel 1011 for passing at least the garbage particles is provided in the dirt collecting box 101, and the end of the dirt collecting channel 1011 faces the liquid level direction of the cleaning liquid, so that the garbage particles entering the dirt collecting channel 1011 enter the dirt collecting box 101 in the liquid level direction of the cleaning liquid; can be for the terminal liquid level direction towards the washing liquid of collection dirty passageway 1011 for the rubbish particulate matter in time contacts with the washing liquid and mixes.

Can be for the liquid level direction of the export orientation washing liquid of dirty passageway 1011 and the dirty case 101 inner space intercommunication of collection for the liquid level direction entering of direct orientation washing liquid when the inner space that enters into the dirty case 101 of collection from dirty passageway 1011 of collection of rubbish particulate matter is favorable to the timely mixture of rubbish particulate matter and washing liquid.

Wherein, the tail end of the dirt collecting channel 1011 can be positioned below the liquid level of the cleaning liquid, so that the garbage particles entering the dirt collecting channel 1011 directly enter the cleaning liquid to be mixed; make the washing liquid submerge the end or the terminal partly of collection dirty passageway 1011, make rubbish particulate matter mix with the washing liquid the very first time when entering into collection dirty case 101 like this, be favorable to promoting mixing effect, can effectually prevent that rubbish particulate matter and washing liquid can not in time carry out the problem emergence of mixing.

In step S03, a dirt collecting channel 1011 is disposed in the dirt collecting box 101 for at least passing the garbage particles, and the end of the dirt collecting channel 1011 is located below the liquid level of the cleaning liquid and faces the side and/or upper direction of the dirt collecting box 101, so that the cleaning liquid enters the dirt collecting channel 1011, and the garbage particles enter the dirt collecting channel 1011, are mixed with the cleaning liquid and then enter the dirt collecting box 101; make the end of dirty passageway 1011 of collection be located below the liquid level to make the washing liquid enter into dirty passageway 1011 of collection simultaneously, make the rubbish particulate matter enter into dirty case 101 of collection after can mixing in advance in entering into dirty passageway 1011 of collection, further promote the mixed effect of rubbish particulate matter and washing liquid.

In the sewage collection tank 101 in the scheme, a sewage collection channel 1011 is arranged in the sewage collection tank 101, and the sewage collection channel 1011 is of a floatable structure, so that the sewage collection channel 1011 synchronously rises and falls along with the liquid level of cleaning liquid in the sewage collection tank 101; but through dirty passageway 1011 floatable structure of collection makes dirty passageway 1011 of collection rise in step along with the liquid level in the dirty case 101 of collection all the time, prevents that dirty passageway 1011 of collection from being submerged too much by the washing liquid and leading to the air current to be weakened in through dirty passageway 1011 of collection because being located the bottom of dirty case 101 of collection, because the washing liquid can form certain liquid level pressure after submerging a part of dirty passageway 1011 of collection, leads to the air current to pass through the ability of dirty passageway 1011 of collection and weakens.

In a specific floating structure, a floater can be arranged on the sewage collecting channel 1011, the floater has a certain area, the floater can drive the sewage collecting channel 1011 to float on the liquid level in the sewage collecting tank 101 all the time, and the corresponding sewage collecting channel 1011 is of a flexible structure or a telescopic structure, so that the floatable structure of the sewage collecting channel 1011 can be realized; a sliding mechanism can be arranged on the sewage collecting channel 1011, and the sliding mechanism is provided with a motor which drives the sewage collecting channel 1011 to float and lift.

The sewage collection tank 101 further comprises a spraying channel 106 which is arranged in the sewage collection tank 101 and used for spraying garbage particles entering the sewage collection tank 101, one end of the spraying channel 106 is located below the liquid level of cleaning liquid, the other end of the spraying channel 106 is located above the liquid level of the cleaning liquid, the cleaning liquid in the sewage collection tank 101 can generate certain surge under the action of the suction force of air flow, the surge cleaning liquid enters the spraying channel 106 through one end of the spraying channel 106 and then is sprayed out through the other end of the spraying channel 106 to form an effect similar to spraying or waterfall, the falling of the cleaning liquid can be accelerated, the cleaning liquid can form a spraying and mixing effect on the garbage entering the sewage collection tank 101, and the garbage particles and the cleaning liquid can be fully mixed; meanwhile, the effect of multi-layer mixing and filtering can be achieved, namely, when garbage particles enter the sewage collection tank 101, the garbage particles are mixed with the cleaning liquid which does not swell at the bottom, then the cleaning liquid sprayed out by the spraying channel 106 performs secondary mixing and filtering on the air flow, and because the air flow finally returns to the motive mechanism through the cleaning liquid and then is discharged into the indoor environment, the spraying channel 106 achieves a better mixing and filtering effect; simultaneously, the stirring effect of the garbage particles and the cleaning liquid in the sewage collection tank 101 is formed, and the garbage particles are prevented from being accumulated and precipitated at a certain position of the sewage collection tank 101.

The dirty case 101 of collection of this scheme, still be provided with in the dirty case 101 of collection and keep off liquid structure 107, keep off liquid structure 107 and be used for keeping off the washing liquid that upwards has risen under the suction effect of air current and make the washing liquid stop and fall back downwards in keeping off liquid structure 107 department formation, keep off the upper portion that liquid structure 107 mainly set up in dirty case 101 of collection, when power unit 102 during operation, certain billowing can appear in the washing liquid in the dirty case 101 of collection under the effect of the suction of air current, keep off the washing liquid that liquid structure 107 can effectually block the billowing through setting up, make the washing liquid in time fall back to the lower part region of dirty case 101 of collection, and then the realization gets into the rubbish particulate matter of dirty case 101 and in time fully mixes with the washing liquid.

The liquid blocking structure 107 may be a sheet structure or a net structure, which forms a rectification-like effect, and the liquid blocking structure 107 may change the direction of the airflow but cannot block the airflow path communication between the power mechanism 102 and the dirt collection box 101.

The integration station 1 and the cleaning robot 2 are characterized by further comprising a power mechanism 102, wherein the power mechanism 102 is communicated with the dirt collection tank 101 and at least used for providing suction force for generating air flow for the dirt collection tank 101, an independent mechanism generates suction force for generating air flow for the dirt collection tank 101, the dirt collection tank 101 is at least communicated with the garbage cavity 202 and can be used for sucking garbage particles into the dirt collection tank 101 through the air flow, under the action of the suction force of the air flow, garbage in the garbage cavity 202 in the cleaning robot 2 can be sucked into the dirt collection tank 101 along with the air flow, and therefore the garbage particles are sucked and collected by the integration station 1; the liquid supply mechanism 105 is communicated with the dirt collection tank 101 and/or a cleaning area 109 on the integration station 1, wherein the cleaning piece 201 is placed on the cleaning area 109 for cleaning, the liquid supply mechanism 105 is mainly used for supplying cleaning liquid, namely clean water, in the clean water tank 104 into the cleaning area 109 or the dirt collection tank 101, the cleaning piece 201 is cleaned by supplying the clean water to the cleaning area 109, the cleaning piece 201 forms sewage after the cleaning in the cleaning area 109 is finished, and then the sewage can be sucked into the dirt collection tank 101 for collection; the clear water may be supplied to the dirt collection tank 101 by the liquid supply mechanism 105 for cleaning the dirt collection tank 101, or when the liquid level of the cleaning liquid in the dirt collection tank 101 does not satisfy the preset threshold a in step S01, the liquid supply mechanism 105 supplies the clear water to the dirt collection tank 101 so that the liquid level in the dirt collection tank 101 satisfies the preset threshold a, and then the power mechanism 102 may be started to suck the garbage particles into the dirt collection tank 101 to mix with the clear water, thereby realizing the mixed filtering effect of the clear water on the garbage particles.

The liquid supply mechanism 105 may be a water pump or an electromagnetic pump, and only needs to supply a cleaning liquid.

In the scheme, the cleaning device further comprises a power mechanism 102 communicated with the cleaning area 109, the power mechanism 102 is started to suck cleaning liquid, namely sewage, in the cleaning area 109 and residual garbage particles in the cleaning area 109 into the sewage collection tank 101, a valve 108 capable of being opened and closed is arranged between the sewage collection tank 101 and the garbage chamber 202, the opening and closing structure between the sewage collection tank 101 and the garbage chamber 202 is realized by arranging the valve 108, when the valve 108 is opened, garbage particles in the garbage chamber 202 can be sucked into the sewage collection tank 101, when the valve 108 is closed, the power mechanism 102 cannot suck the garbage particles in the garbage chamber 202, or when the valve 108 is opened, the power mechanism 102 can simultaneously suck the garbage particles in the garbage chamber 202 and the cleaning liquid in the cleaning area 109 into the sewage collection tank 101; when the valve 108 is closed, the power mechanism 102 can only suck the cleaning liquid in the cleaning area 109 into the dirt collection tank 101; the installation position of the valve 108 can be set according to the requirement, the valve 108 can be installed on the cleaning robot 2, or outside the garbage chamber 202, or between independent pipes or passages communicating the garbage chamber 202 and the sewage collection tank 101, and can be set according to the requirement, and the valve 108 can be an electromagnetic valve, can control the opening and closing of the electromagnetic valve, or can be other valves with opening and closing structures.

The integrated station 1 of this scheme, still be provided with filtration in the dirty case 101 of collection, make and enter into the at least partial rubbish particulate matter of the dirty case 101 of collection and be located filtration, mix in dirty case 101 of collection because of rubbish particulate matter and washing liquid, can set for filtration as required, the rubbish particulate matter enters into in the filtration when entering into the dirty case 101 of collection, then the washing liquid is that sewage enters into in the dirty case 101 of collection and can mix through filtration and rubbish particulate matter, when empting dirty case 101 of collection like this, can realize only empting the washing liquid and sewage entering sewer, and the rubbish particulate matter in filtration alone pour into the garbage bin can, can effectually stop the problem appearance because of bulky rubbish particulate matter blocks up the sewer.

Or, dirty case 101 of collection disposes the filter screen and makes the rubbish particulate matter block by the filter screen and can not pass through when empting the washing liquid in dirty case 101 of collection, can dispose independent filter screen to dirty case 101 of collection, the filter screen can be located dirty case 101 of collection or be located dirty case 101 of collection and regard as independent accessory, the user is when empting dirty case 101 of collection, realize filtering the mixture of rubbish particulate matter and washing liquid through the filter screen and empty, the washing liquid is that sewage directly empties and gets into the sewer, rubbish can then be located the filter screen and independently pour into the garbage bin, convenience of customers uses, can effectually stop the problem appearance because of bulky rubbish particulate matter blocks up the sewer.

In step S03, the method further includes that the power mechanism 102 starts to use a first working power to suck the garbage particles with small volume or weight in the garbage cavity 202 into the garbage collection box 101, when the duration of the first working power used by the power mechanism 102 reaches a second preset duration, the power mechanism 102 switches to use a second working power to suck the garbage particles with large volume or weight in the garbage cavity 202 into the garbage collection box 101, and the first working power is smaller than the second working power; that is, the power mechanism 102 firstly adopts the first working power, the first working power can be 300-700 watts, that is, the power mechanism absorbs the garbage particles with small power, and plays a certain role in separating the garbage particles under the operation of small power, the suction force of the airflow generated by the power mechanism 102 is relatively small, at this time, the garbage particles with small volume or small weight in the garbage particles can be absorbed into the dirt collection tank 101, at this time, the part of the garbage particles is mixed with the cleaning liquid in the dirt collection tank 101, because the suction force of the power mechanism 102 is small, at this time, the cleaning liquid in the dirt collection tank 101 is not easy to appear under the condition that the airflow overturns, the part of the garbage particles can be fully mixed with the cleaning liquid, that is, namely, the sewage, the whole mixing is more sufficient, the second preset duration can be set to be 0.5-5 minutes, when the absorption duration reaches the second preset duration, at this time, the power of the power mechanism 102 is increased to a second working power, which can be 800-1200 watts, and under high-power operation, the suction force of the airflow generated by the power mechanism 102 is large, and the garbage particles with large weight or large volume can be sucked into the dirt collection tank 101 through the large suction force, so that most of the garbage particles with small weight or small volume are sucked into the dirt collection tank 101 before, and even if the cleaning liquid is flushed into the dirt collection tank 101 under high power, the situation that the garbage particles and the cleaning liquid, i.e. sewage, are not mixed insufficiently is avoided even if the cleaning liquid is flushed under the action of the airflow, and the problem that the garbage particles with small weight or small volume are taken by the airflow and discharged into the indoor polluted environment from the power mechanism 102 is avoided; absorb the easy garbage particles and the washing liquid intensive mixing of raise dust through earlier miniwatt, the garbage particles that the high-power absorption of reuse is difficult to the raise dust mixes with the washing liquid in the dirty case 101 of collection, and the substep mixes and makes the washing liquid better to garbage particles's mixed filter effect, mixes more fully.

To the cleaning member 201 in this scheme, the cleaning can be the mop of planar structure, or the mop of cylindricality structure, and cleaning member 201 can set up to cleaning member 201 for the structure of vibrations motion, or reciprocating motion's structure, or the structure of laminating ground horizontal rotation again, or relative ground rotation rolling structure again, only need can contact ground to drag the ground clean can.

Optionally, the cleaning member 201 of the present disclosure is configured to rotate horizontally along the ground to clean the floor, a portion of the cleaning member 201 contacting the ground forms a plane 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 at two sides of the rear side of the bottom of the cleaning robot 2 or two sides of the front side of the bottom, and the horizontal rotation directions of the first rotating member and the second rotating member are opposite to each other to clean the floor.

The first rotating piece and the second rotating piece can be respectively positioned at two sides of the front side of the bottom of the cleaning robot 2 to ensure that the single cleaning area between the first rotating piece and the ground is large and enough friction force is generated, and garbage is gathered to the dust suction port, so that a better mopping cleaning effect can be realized; the first rotating member and the second rotating member can also be positioned at two sides of the rear side of the bottom of the cleaning robot 2 to realize the effect of increasing the coverage of the mopping cleaning area.

In order to obtain a better mopping effect, the first rotating member and the second rotating member are respectively positioned at two sides of the front side of the bottom of the cleaning robot 2; the first rotating piece and the second rotating piece are arranged correspondingly to realize left and right floor mopping cleaning of the ground, so that garbage on the ground can be driven to be guided and collected backwards to the dust collection port, the horizontal rotating directions of the first rotating piece and the second rotating piece are mainly set to be opposite, the first rotating piece and the second rotating piece are set to horizontally rotate towards the inner side along the outer side of the bottom of the cleaning robot 2 and towards the rear side along the front side of the bottom of the cleaning robot 2, the horizontal rotating directions of the first rotating piece and the second rotating piece are opposite, so that the rotating forces generated by the first rotating piece and the second rotating piece can be offset, and the influence on the normal walking of the cleaning robot 2 due to the resistance caused by the horizontal rotation is avoided; through the direction horizontal rotation that sets up first rotating member and second rotating member along the front side of cleaning machines people 2's bottom towards the rear side make first rotating member and second rotating member homoenergetic play the rubbish that drives ground from the past backward gather near dust absorption mouth position region, realize absorbing the effect to the concentrated gathering of rubbish, realize offsetting each other of revolving force simultaneously.

Optionally, the cleaning member 201 of the present disclosure is configured to rotate and roll relative to the ground to perform mopping cleaning, a contact portion of the cleaning member 201 and the ground when contacting each other forms a planar structure, the cleaning member 201 at least includes a rotating dragging member, the number of the rotating dragging members is one or more, the rotating dragging members roll on the ground to perform mopping cleaning, or when the number of the rotating dragging members is two, the rotating dragging members include a first rotating dragging member and a second rotating dragging member, and the first rotating dragging member and the second rotating dragging member are parallel.

The first rotating and pulling piece and the second rotating and pulling piece can be arranged into cylindrical structures and at least comprise soft deformable structures; the first rotary dragging piece and the second rotary dragging piece are arranged in parallel, the first rotary dragging piece and the second rotary dragging piece are both contacted with the ground and form a plane structure, the rotating and rolling directions of the first rotary dragging piece and the second rotary dragging piece are opposite, acting forces on the cleaning robot 2 are mutually offset, the first rotary dragging piece or the second rotary dragging piece is ensured not to influence the normal walking of the cleaning robot 2, and the stability of a walking route is ensured; if only the first rotary dragging piece or the second rotary dragging piece is arranged, although the rotary rolling floor dragging effect on the ground can be realized, the problem that the normal walking of the cleaning robot 2 is influenced can occur; simultaneously first spin drags and sets up to the structure of mutual interference at least between the piece for the second and makes the particulate matter rubbish on it break away from to ground by the mutual interference scraping, is favorable to promoting its ability of adsorbing dirty and rubbish, prolongs the clean time of mopping the ground and obtains better mopping effect.

In order to obtain better mopping effect, the rotating and rolling direction of the first rotating and dragging piece is rotating and rolling along the direction from the front side to the rear side of the cleaning robot 2 and is opposite to the advancing direction of the cleaning robot 2; at the moment, the first rotary dragging piece can push larger garbage on the ground to the position of the dust collection opening in the rotary rolling process, the effect of throwing the larger garbage forward is formed, and the larger garbage can be sucked into the garbage cavity 202 by the dust collection opening in time; the second revolves the direction of rolling of dragging the piece for along cleaning machines people 2's rear side towards the direction rotation roll of front side and with cleaning machines people 2's direction of advance the same, the second drags the piece soon and carries out the scraping cutting to the rubbish on ground backward this moment, drags the piece with first revolving and closes the clean processing in advance and the degree of depth cleaning processing to ground rubbish, realizes better clean effect of dragging the ground.

The control method of the cleaning robot 2 mainly comprises the steps of absorbing garbage for realizing the butt joint of the cleaning robot 2, collecting the cleaning liquid for cleaning the cleaning piece 201, combining the cleaning liquid and the dirt collecting box 101, realizing the mixing of garbage particles and the cleaning liquid, and enabling a user to pour the dirt collecting box 101 alone, so that the cleaning robot is convenient for the user to use and improves the user experience effect.

This scheme has the washing liquid of certain liquid level height in dirty case 101 of collection, can start to absorb the rubbish particulate matter in the cleaning machines people 2 to the dirty case 101 of collection in, realize that the rubbish particulate matter mixes in entering into the washing liquid, the washing liquid mixes the little particulate matter intensive mixing that makes the easy raise dust in the rubbish particulate matter to the aquatic to rubbish particulate matter, the problem of raise dust no longer appears in dirty case 101 of collection, solves the problem that there is serious raise dust in current basic station.

Meanwhile, the garbage particles and the cleaning liquid are mixed, the garbage particles directly enter the cleaning liquid under the action of the air flow, and the cleaning liquid indirectly filters the mixture of the garbage particles, so that a filtering system is not required to be arranged between the power mechanism 102 and the dirt collection tank 101, the cleaning liquid has a filtering effect, and the problem that the environment is influenced because smaller garbage particles are discharged indoors after entering the power mechanism 102 along with the air flow is solved; after the garbage particles and the cleaning liquid are mixed, the garbage particles or dust in the airflow can be mixed by the cleaning liquid to achieve the effect of filtering.

The rubbish particulate matter of this scheme enters into in the dirty case 101 of collection and mixes with the washing liquid, dirty case 101 of collection not only plays the effect of collecting rubbish particulate matter and washing liquid, still make full use of washs the washing liquid after the cleaning member 201 and collects the filter action that forms the rubbish particulate matter in the dirty case 101 of collection, realize mixed filterable effect, because of having replaced the multiple filtration system on the current basic station, overall structure is simple, the later maintenance cost is low, need not set up the filtration system of current basic station configuration or the sack of disposable collection dirt, there is not the problem that filtration system consumptive material or sack need periodic replacement, the maintenance cost is extremely low, and user convenient to use.

Because of this scheme has replaced the filtration system of configuration or the sack of disposable collection dirt on the current basic station with the washing liquid in the dirty case 101 of collection, make integrated station 1's overall structure simple, set up dirty case 101 of collection and can solve and mix the collection to rubbish particulate matter and washing liquid after wasing cleaning member 201, the washing liquid after the integrated station 1 of make full use of washs cleaning member 201 comes to mix the filtration to rubbish particulate matter, must collect because of the washing liquid after wasing cleaning member 201, this scheme utilizes the washing liquid to realize the mixed filtration to rubbish particulate matter when collecting, integrated station 1 simple structure has been realized, and is low in cost, and convenient for use for users.

A control method of a cleaning robot 2, the replacing step S02 being: the cleaning robot 2 stops at the integration station 1, the power mechanism 102 is started to generate the suction force of the airflow to suck the garbage particles in the garbage cavity 202 in the cleaning robot 2 and simultaneously suck the cleaning liquid after cleaning the cleaning piece 201 into the sewage collection tank 101 to form mixing.

That is, in the step S02 of replacement, when the cleaning robot 2 stops at the integration station 1, the power mechanism 102 starts to absorb the garbage particles and the cleaning liquid in the cleaning area 109 to form a mixture, or enters the dirt collection tank 101 to form a mixture, or the garbage particles and the cleaning liquid may enter the dirt collection tank 101 together after being mixed in the absorbing process, or the dirt collection tank 101 may be set to communicate with each other at least at a portion of the communicating portion between the cleaning area 109 and the garbage chamber 202 of the cleaning robot 2, so that the garbage particles and the cleaning liquid may be mixed in the entering process of the dirt collection tank 101, and then enter the dirt collection tank 101 to be collected and held after being mixed, thereby improving the mixing effect of the garbage particles and the cleaning liquid, and improving the mixing and filtering effect of the cleaning liquid on the garbage particles.

Before step S02, the method may be the same as the method of controlling the cleaning robot 2 in step S02, including step S01 of detecting the liquid level in the dirt collection tank 101, or sucking the cleaning liquid into the dirt collection tank 101, or supplying the cleaning liquid to the dirt collection tank 101 by the liquid supply mechanism 105, or transferring the cleaning liquid in the cleaning area 109 to the dirt collection tank 101 by the liquid discharge mechanism 103, and the description will not be repeated as before.

For the cleaning liquid in the cleaning area 109, the liquid supply mechanism 105 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 member 201, the cleaning member 201 can be washed in the cleaning area 109 by utilizing the self-movement of the cleaning member 201, after the cleaning member 201 finishes cleaning in the cleaning area 109, the cleaning liquid in the cleaning area 109 is sewage at this time, the sewage also contains a part of garbage particles separated from the cleaning member 201, and the garbage particles can be sucked into the sewage collection tank 101 by the motor mechanism, or the cleaning liquid, that is, the sewage can be sucked into the sewage collection tank 101 by utilizing the liquid discharge mechanism 103, and when the garbage particles in the garbage chamber 202 need to be sucked, the power mechanism 102 is started to suck the garbage particles into the sewage collection tank 101 to be mixed with the sewage.

After step S02, before step S03, step S0201 is further included: when the working time of the power mechanism 102 reaches a third preset time, the power mechanism 102 is closed, the cleaning robot 2 leaves the integration station 1 to mop the ground for cleaning, and when the time for mopping the ground for cleaning reaches a fourth preset time, the cleaning robot 2 walks to the integration station 1 to stop; that is, the cleaning robot 2 performs dust collection cleaning and mopping cleaning on the ground most of the time, when the cleaning robot 2 is parked on the integration station 1, the cleaning liquid in the clean water tank 104 is clean water, which is supplied into the cleaning area 109 by the liquid supply mechanism 105, then the cleaning member 201 is cleaned, and after the cleaning member 201 is cleaned, the power mechanism 102 works to suck the garbage particles or the cleaning liquid in the cleaning area 109, or simultaneously suck the garbage particles and the cleaning liquid in the cleaning area 109, when the working duration of the power mechanism 102 reaches a third preset duration, a value of the third working duration, such as 0.5-2 minutes, can be correspondingly set according to the volume of the garbage chamber 202 and the volume of the cleaning area 109, and most of the garbage particles or the cleaning liquid in the cleaning area 109 in the garbage chamber 202 or completely sucked into the dirt collecting tank 101 for collection in this time, and then the cleaning robot 2 leaves the integration station 1 to clean the floor by dust absorption or mopping, when the working time of the cleaning robot 2 on the floor reaches a fourth preset time, the fourth preset time can be set according to the indoor area size or the dirt degree, for example, the fourth preset time is set to be 3-10 minutes, and then the cleaning robot 2 stops working on the floor and returns to the integration station 1.

In step S0201, when the cleaning robot 2 walks to the integration station 1 and stops, the process returns to step S02 or proceeds to step S03; the cleaning robot 2 may continue to execute step S02, and repeat the work of the power mechanism 102 to absorb the garbage particles and the cleaning liquid in the cleaning area 109, however, when the cleaning robot 2 stops at the integration station 1, the cleaning member 201 may be cleaned first, and the sewage in the cleaning area 109 may be absorbed only after the cleaning is completed; or, the process may directly enter step S03, that is, the power mechanism 102 is started to only suck the garbage particles, but not to suck the cleaning liquid in the cleaning area 109, and at this time, the integration station 1 only butt-joints the cleaning robot 2 to suck the garbage particles.

Or, when the cleaning robot 2 walks to the integration station 1 and stops, the process first proceeds to step S0202: the power mechanism 102 starts to suck the cleaning liquid after cleaning the cleaning piece 201 into the dirt collection tank 101, namely, the sewage in the cleaning area 109 is sucked into the dirt collection tank 101, the number Q of times that the power mechanism 102 starts to suck the cleaning liquid after cleaning the cleaning piece 201 into the dirt collection tank 101 is detected, and when the Q meets a preset threshold value E, the operation goes to step S03; if the threshold E is set to be greater than or equal to 1, that is, the number Q of times that the power mechanism 102 sucks the sewage into the sewage collection tank 101 is detected to be greater than or equal to 1, and when the number Q is detected to meet the requirement, the step S03 is started, that is, the garbage particles are sucked into the sewage collection tank 101; mainly, the cleaning elements 201 of the cleaning robot 2 need to be cleaned frequently, while the garbage in the garbage chamber 202 can be cleaned regularly, and the frequency of the cleaning elements 201 of the cleaning robot 2 being cleaned by the integration station 1 is greater than or equal to the frequency of the garbage particles being sucked.

For example, when the cleaning member 201 of the cleaning robot 2 is used for mopping, the integrated station 1 needs to be frequently moved back and forth, and at this time, the cleaning member 201 can be cleaned without sucking the garbage particles in the garbage chamber 202, and when the mopping is completed or reaches a certain number of times, the garbage particles are sucked to the dust box, because a certain amount of garbage particles in the garbage chamber 202 are collected.

Optionally, in step S0201 or step S0202, when the cleaning robot 2 travels to the integration station 1, the cleaning member 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, the clean water, to the cleaning area 109 to clean the cleaning member 201, after the cleaning of the cleaning member 201 is completed, the cleaning liquid formed in the cleaning area 109 is sewage, then the power mechanism 102 is started to absorb the garbage particles or the sewage, or the garbage particles and the sewage can be absorbed at the same time, so as to achieve a garbage particle and sewage collecting effect.

Wherein, if in step S0201 or step S0202, when the dirt collection box 101 has the cleaning solution of a certain liquid level height, namely when there is the sewage of a certain liquid level height, at this moment, the cleaning member 201 may not be cleaned first, the power mechanism 102 is directly set to work to absorb the garbage particles in the garbage chamber 202 to collect in the dirt collection box 101, because there is the sewage of a certain liquid level height in the dirt collection box 101, the garbage particles entering the dirt collection box 101 can be mixed at this moment, and a filtering effect is achieved.

The other steps in this section are the same as the control method of the cleaning robot 2 in the first section, that is, the control method of the cleaning robot 2 not replacing step S02 is the same as the control method of the cleaning robot 2 described above, and the structure of the integration station 1 or the structure of the cleaning robot 2 is also the same as the structure of the cleaning robot 2 or the structure of the integration station 1 in the first section.

According to the control method of the cleaning robot 2, the cleaning robot 2 is located on the docking integration station 1, the dirt collection box 101 can be communicated with the cleaning area 109 and the independent pipeline or channel of the garbage cavity 202 according to needs, at the moment, garbage particles and cleaning liquid enter the dirt collection box 101 through the respectively communicated pipeline or channel, and when the power mechanism 102 is started, the garbage particles can be synchronously sucked while the cleaning liquid is sucked. Valve 108 can be arranged between independent pipelines or channels communicated with the sewage collection tank 101 and the cleaning area 109, valve 108 can be arranged between independent pipelines or channels communicated with the sewage collection tank 101 and the garbage chamber 202, and can also be arranged and installed on the garbage chamber 202, and the valve 108 can be arranged in an openable and closable structure, so that garbage particles can be independently sucked or cleaning liquid can be independently sucked when the power mechanism 102 is started to work, and certainly, the garbage particles and the cleaning liquid can be synchronously sucked, and the valve can be specifically set according to needs.

The valve element 108 may be a solenoid valve, and the opening and closing of the solenoid valve may be controlled.

The working principle is as follows: the control method of the cleaning robot 2 in the scheme is characterized in that a dirt collecting box 101 is mainly arranged on an integration station 1, a power mechanism 102, a cleaning area 109 and a clean water box 104 are mainly arranged on the cleaning robot 2, a cleaning piece 201 is mainly arranged on the cleaning robot 2, the cleaning piece 201 sucks the garbage particles in the garbage cavity 202 of the cleaning robot 2 when the cleaning robot 2 stops on the integration station 1, the cleaning piece 201 is cleaned, the cleaned cleaning liquid is sucked into the dirt collecting box 101 on the integration station 1, the garbage particles and the cleaning liquid are further mixed, the problems that a filtering system or a cloth bag for collecting dust at one time needs to be arranged in an existing base station and the filtering system needs to be arranged are solved, the filtering effect on the garbage particles is achieved through the mixing of the garbage particles and the cleaning liquid, and the effect of mixed collection is achieved.

It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.

Claims

1. A control method of a cleaning robot system, comprising: a cleaning robot, an integration station, the integration station being provided as an independent part with respect to the cleaning robot;

the cleaning robot is at least used for carrying out dust collection cleaning and mopping cleaning on the ground, and at least a cleaning piece is arranged on the cleaning robot for mopping cleaning the ground;

the method is characterized in that: the integrated station is at least used for parking of the cleaning robot and is used for butt joint dust collection and/or cleaning of the cleaning piece for the cleaning robot after parking, a dirt collection box is arranged on the integrated station, and the dirt collection box is at least used for collecting cleaning liquid after cleaning of the cleaning piece and part of garbage particles in butt joint dust collection;

also comprises the following steps;

2. The control method of a cleaning robot system according to claim 1, characterized in that: in step S03, the method further includes, when the docking operation is started, synchronously sucking the cleaning solution after the cleaning member is cleaned into the dirt collection box by the power mechanism so that the cleaning solution 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, the method further includes, when the docking dust collection is started, synchronously starting the liquid discharge mechanism to transfer the cleaning liquid after cleaning the cleaning member into the dirt collection box so that the cleaning liquid is mixed with the garbage particles.

4. The control method of a cleaning robot system according to claim 2 or 3, characterized in that: the washing liquid after wasing the cleaning member enters into the dirty case of collection through first passageway, and the rubbish particulate matter enters into the dirty case of collection through the second passageway, and one side that first passageway is located the second passageway makes the washing liquid after wasing the cleaning member spray the mixture to the rubbish particulate matter that gets into the dirty incasement of collection when getting into the dirty case of collection.

5. The control method of a cleaning robot system according to claim 1, characterized in that: before step S02, step S01 is further included: the liquid level in the dirt collection box is detected before the integrated station starts butt joint and dust collection, and whether the liquid level in the dirt collection box meets a preset threshold value A or not is detected.

6. The control method of a cleaning robot system according to claim 5, wherein: step S01 further includes the step S02 when the liquid level in the sewage collection tank meets the preset threshold value A; if the liquid level in the sewage collection tank does not meet the preset threshold value A, the butt joint dust collection is not started.

7. The control method of a cleaning robot system according to claim 6, wherein: step S01 further includes, if the liquid level in the dirt collection box does not satisfy the predetermined threshold a, activating the liquid supply mechanism to supply the cleaning liquid to the cleaning member to form spray cleaning or immersion cleaning of the cleaning member.

8. The control method of a cleaning robot system according to claim 7, wherein: when the cleaning time of the cleaning piece reaches a first preset time, the liquid discharging mechanism is started to transfer the cleaning liquid after the cleaning piece is cleaned into the dirt collecting box, or the power mechanism is started to suck the cleaning liquid after the cleaning piece is cleaned into the dirt collecting box.

9. The control method of a cleaning robot system according to claim 8, wherein: detecting the number N of times that the power mechanism starts to suck the cleaning liquid after cleaning the cleaning piece into the dirt collection box, and entering step S02 when N meets a preset threshold value B; or detecting the number M of times the liquid discharge mechanism is started to transfer the cleaning liquid after cleaning the cleaning object into the dirt collection tank, and if M satisfies a preset threshold C, the routine proceeds to step S02.

10. The control method of a cleaning robot system according to claim 9, wherein: synchronously detecting whether the time of the dirt collection box in the position continues, if the time of the dirt collection box in the position does not continue, repeating the step S01.

11. The control method of a cleaning robot system according to claim 8, wherein: the dirt detection module detects the dirt degree of the cleaning piece, and when the dirt degree of the cleaning piece meets a preset threshold value D, the cleaning of the cleaning piece is finished; and when the dirt degree of the cleaning piece does not meet the preset threshold value D, the cleaning piece is continuously cleaned.

12. The control method of a cleaning robot system according to claim 5, wherein: step S01 further includes the step of, if the liquid level in the dirt collection tank does not satisfy the predetermined threshold a, activating the liquid supply mechanism to supply the cleaning liquid to the dirt collection tank, and if the liquid level in the dirt collection tank satisfies the predetermined threshold a, the step proceeds to step S02.

13. The control method of a cleaning robot system according to claim 1, characterized in that: after step S03, step S04 is further included: and closing the butt joint for dust collection, starting a liquid discharge mechanism to transfer the cleaning liquid after cleaning the cleaning piece into the dirt collection box, or starting a power mechanism to suck the cleaning liquid after cleaning the cleaning piece into the dirt collection box.

14. The control method of a cleaning robot system according to claim 13, wherein: the operating power of the power means in step S03 includes P1, and the operating power of the power means in step S04 includes P2, P1> P2.

15. The control method of a cleaning robot system according to claim 1, characterized in that: in step S03, the garbage particles entering the dirt collection box enter in the direction of the liquid level of the cleaning liquid under the action of the airflow, and at least part of the garbage particles are mixed with the cleaning liquid.

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

17. The control method of a cleaning robot system according to claim 16, wherein: the tail end of the dirt collecting channel is positioned below the liquid level of the cleaning liquid, so that garbage particles entering the dirt collecting channel directly enter the cleaning liquid to be mixed.

18. The control method of a cleaning robot system according to claim 1, characterized in that: in step S03, a dirt collecting channel is provided in the dirt collecting box for at least the garbage particles to pass through, and the end of the dirt collecting channel is located below the liquid level of the cleaning liquid and faces the side and/or upper direction of the dirt collecting box, so that the cleaning liquid enters the dirt collecting channel, and the garbage particles enter the dirt collecting channel, are mixed with the cleaning liquid and then enter the dirt collecting box.

19. The control method of a cleaning robot system according to claim 17 or 18, characterized in that: the dirt collecting channel is of a floatable structure, so that the dirt collecting channel can be lifted synchronously along with the liquid level of the cleaning liquid in the dirt collecting box.

20. The control method of a cleaning robot system according to claim 1, characterized in that: still including being provided with in the collection dirty incasement and being used for spraying the shower channel that the rubbish particulate matter that enters into the collection dirty incasement, the one end of shower channel is located the below the liquid level of washing liquid, and the other end is located the above liquid level of washing liquid.

21. The control method of a cleaning robot system according to claim 1, characterized in that: the sewage collection tank is characterized by further comprising a liquid blocking structure arranged in the sewage collection tank, wherein the liquid blocking structure is used for blocking cleaning liquid which swells upwards under the action of suction force of air flow and enabling the cleaning liquid to form blocking at the liquid blocking structure and fall back downwards.

22. The control method of a cleaning robot system according to claim 1, characterized in that: the device is characterized by further comprising a power mechanism and a dirt collection box which are communicated with each other and at least used for providing suction force for generating air flow to the dirt collection box, the dirt collection box is at least communicated with the garbage cavity and can be used for absorbing garbage particles to enter the dirt collection box through the air flow, and the liquid supply mechanism is communicated with a cleaning area for placing a cleaning piece on the dirt collection box and/or the dirt collection station to clean.

23. The control method of a cleaning robot system according to claim 22, wherein: the garbage cleaning device is characterized by also comprising a power mechanism which is communicated with the cleaning area, a valve with an openable structure is arranged between the garbage collection box and the garbage cavity, and when the valve is opened, the power mechanism can simultaneously suck garbage particles in the garbage cavity and cleaning liquid in the cleaning area into the garbage collection box; when the valve is closed, the power mechanism can only suck the cleaning liquid in the cleaning area into the sewage collection tank.

24. The control method of a cleaning robot system according to claim 1, characterized in that: the garbage collecting box is characterized in that a filtering structure is arranged in the garbage collecting box, so that at least part of garbage particles entering the garbage collecting box are positioned in the filtering structure; or the dirt collection box is provided with a filter screen, so that garbage particles are blocked by the filter screen and can not pass through when cleaning liquid in the dirt collection box is poured.

25. The control method of a cleaning robot system according to claim 1, characterized in that: in step S03, the method further includes that the power mechanism is started to absorb the garbage particles with small volume or small weight in the garbage chamber into the dirt collection box with the first working power, when the duration of the first working power for the power mechanism reaches a second preset duration, the power mechanism is switched to absorb the garbage particles with large volume or large weight in the garbage chamber into the dirt collection box with the second working power, and the first working power is smaller than the second working power.

26. The control method of a cleaning robot system according to claim 1, characterized in that: the replacing step S02 is: the cleaning robot stops at the integrated station, and power unit starts the suction that produces the air current and absorbs the rubbish particulate matter in the rubbish intracavity in the cleaning robot and absorbs the washing liquid that gets into in the collection dirt case and form the mixture after wasing the cleaning member simultaneously.

27. The control method of a cleaning robot system according to claim 26, wherein: after step S02, before step S03, step S0201 is further included: when the working time of the power mechanism reaches the third preset time length, the power mechanism is closed, the cleaning robot leaves the integration station to mop the ground for cleaning, and when the time for mopping the ground for cleaning reaches the fourth preset time length, the cleaning robot walks to the integration station to stop.

28. The control method of a cleaning robot system according to claim 27, wherein: in step S0201, when the cleaning robot walks to the integration station and stops, the process returns to step S02 or proceeds to step S03;