CN115813286A - Cleaning control method of cleaning robot and cleaning robot - Google Patents

Abstract

The invention provides a cleaning control method of a cleaning robot and the cleaning robot, and relates to the field of cleaning robot control, wherein the cleaning control method of the cleaning robot utilizes a base station to replenish water to a host, the host executes cleaning action through a self-contained water pump and a rolling brush, utilizes the rotating centrifugal force of the rolling brush to throw away dirty attached to the rolling brush, and simultaneously cooperates with a fan of the base station to recover the sewage; after the host computer round brush washs and accomplishes, still accessible host computer water pump, basic station take out dirty fan action, use the clear water to wash host computer dirt pumping pipe way, alleviate the clean peculiar smell that the back pipeline produced of placing for a long time of host computer self, it is clean after guaranteeing the round brush automatically cleaning, realize cleaning machines people round brush and take out dirty pipeline and wash to can realize the host computer moisturizing, take out dirty, go on when the round brush washs, improve the utilization ratio of cleaning time, improve the cleaning efficiency.

Description

Cleaning control method of cleaning robot and cleaning robot

technical field

The invention relates to the field of cleaning robot control, in particular to a cleaning control method for a cleaning robot and the cleaning robot.

Background technique

With the popularization of cleaning robots with base stations, the functions of automatic water addition and sewage pumping, cleaning parts and sewage pipe cleaning functions of cleaning robots have gradually become their important functions. At present, the cleaning mechanism of cleaning robots with base stations on the market is mainly composed of cleaning brushes and water spray pumps. The cleaning process of the host pumping sewage and adding water and rolling brushes cannot be separated from the assistance of the cleaning mechanism, and it is impossible to clean the sewage pipes. The cleaning of the rolling brushes It is carried out separately from the main engine for pumping sewage and adding water, resulting in low time utilization and poor cleaning efficiency.

Contents of the invention

In view of this, the object of the present invention is to provide a cleaning control method for a cleaning robot and a cleaning robot, which can realize the cleaning of the brush and the sewage suction pipe, and can realize the simultaneous cleaning of the host machine, water supply, sewage suction, and rolling brush, and improve the cleaning efficiency of the cleaning robot. Improve the utilization rate of cleaning time and improve the cleaning efficiency.

In the first aspect, an embodiment of the present invention provides a cleaning control method for a cleaning robot. The cleaning robot includes a host and a base station; Water pump, roller brush, main engine fan, main engine sewage tank and main engine fresh water tank; among them, the sewage pumping pipe is connected with the main engine sewage tank by a built-in telescopic mechanism;

The method includes the following steps:

Wetting step: Control the water pump in the host to spray the clean water from the clean water tank of the host to the roller brush according to the water spray volume, and control the roller brush to rotate at the first speed according to the first time length;

Rolling brush cleaning steps: control the rolling brush to rotate according to the second speed, and control the main engine fan to use the first suction parameter to pump the sewage generated by the rolling brush into the sewage tank of the main engine according to the second length of time; wherein, the second rotational speed is greater than the first Rotating speed;

Drying step: Control the water pump to stop spraying water and maintain the working parameters in the cleaning step of the roller brush. After maintaining the third period of time, control the fan of the base station to pump the sewage from the sewage tank of the main engine into the sewage tank of the base station according to the second suction parameter; among them, The suction value of the second suction parameter is greater than the suction value of the first suction parameter.

In some embodiments, prior to the wetting step, the method further comprises:

Detection step: when the host receives a cleaning instruction, detect whether the host is docked in the base station; if yes, perform a wetting step; if not, control the host to dock in the base station.

In some embodiments, prior to the wetting step, the method further comprises:

Sewage pipeline control steps: if the sewage pipeline is not connected with the sewage tank of the main engine, the telescopic mechanism is controlled to connect the sewage pipeline with the sewage tank of the main engine.

In some embodiments, the wetting step further includes: using the preset first water addition parameter to control the clean water tank of the base station to add clean water to the clean water tank of the host.

In some implementations, in the cleaning step with the rolling brush, when it is detected that the sewage tank of the main engine is full, the fan of the base station is controlled to pump the sewage in the sewage tank of the main engine into the sewage tank of the base station according to the second suction parameter.

In some embodiments, after the drying step, further comprising:

Runner cleaning step: Use the preset first water addition parameter to control the clean water tank of the base station to add clean water to the clean water tank of the main engine, and then perform the wetting step and the drying step in sequence.

In some embodiments, in the flow channel cleaning step, when it is detected that the clean water in the clean water tank of the base station is used up, the spin-drying step is directly performed.

In some embodiments, the drying step further includes: stopping the drying step after the sewage tank of the host computer is pumped into the sewage tank of the base station for a fourth time period.

In some embodiments, the first rotation speed is 800rpm; the second rotation speed is 1600rpm; the suction value of the first suction parameter is 4000Pa; the suction value of the second suction parameter is 15000Pa; the water spray volume is 160mL/min.

In the second aspect, an embodiment of the present invention provides a cleaning robot, including a host and a base station; the base station is provided with a base station sewage tank, a base station clean water tank, a base station fan, and a sewage suction pipe; the host is provided with a water pump, a roller brush, and a host fan 1. Main engine sewage tank and main engine fresh water tank; wherein, the sewage pumping pipeline is connected with the main engine sewage tank by a built-in telescopic mechanism;

After receiving the cleaning instruction, the cleaning robot executes the cleaning control method of the cleaning robot as mentioned in the first aspect.

In the third aspect, the embodiment of the present invention also provides an electronic device, including: a processor and a memory; a computer program is stored in the memory, and when the computer program is run by the processor, the cleaning of the cleaning robot mentioned in the first aspect above is realized The steps of the control method.

In the fourth aspect, the embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is run by the processor, the cleaning robot mentioned in the first aspect above is implemented. Steps in the cleaning control method.

Embodiments of the present invention bring the following beneficial effects:

The invention provides a cleaning control method for a cleaning robot and a cleaning robot. The cleaning robot includes a host and a base station; brush, host fan, host sewage tank, and host clean water tank; among them, the sewage pumping pipeline is connected with the host sewage tank by a built-in telescopic mechanism; Spray water to spray the clean water from the clean water tank of the main engine to the roller brush, and control the roller brush to rotate at the first speed according to the first time length, so that the roller brush is evenly wet; then control the roller brush to rotate at the second speed, and according to the second speed The duration controls the main engine fan to use the first suction parameter to pump the sewage generated by the roller brush into the sewage tank of the main engine to complete the cleaning of the roller brush; wherein, the second speed is greater than the first speed; finally, the water pump is controlled to stop spraying water and keep rolling Brush the working parameters in the cleaning step, and after maintaining the third length of time, control the fan of the base station to pump the sewage from the sewage tank of the main engine into the sewage tank of the base station according to the second suction parameter; wherein, the suction value of the second suction parameter is greater than the first suction parameter suction value. The cleaning control method of the cleaning robot uses the base station to replenish water to the host, and the host performs cleaning actions through the built-in water pump and the roller brush, and uses the centrifugal force of the roller brush to throw off the dirt attached to the roller brush, and at the same time cooperates with the fan of the base station to recycle. Sewage; after the cleaning of the main engine roller brush is completed, the main engine water pump and the base station sewage fan can be used to clean the main engine sewage pipeline with clean water, so as to reduce the peculiar smell produced by the pipeline after the main engine itself has been cleaned for a long time, and ensure the automatic cleaning of the rolling brush. After cleaning, it realizes the cleaning of the cleaning robot's roller brush and the sewage suction pipe, and can realize the main machine water replenishment, sewage suction, and roller brush cleaning at the same time, which improves the utilization rate of cleaning time and improves the cleaning efficiency.

Other features and advantages of the present invention will be set forth in the following description, or some of the features and advantages can be inferred or unambiguously determined from the description, or can be known by implementing the above-mentioned techniques of the present invention.

In order to make the above-mentioned purpose, features and advantages of the present invention more comprehensible, preferred implementation modes are specifically cited below, together with the accompanying drawings, to be described in detail as follows.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

FIG. 1 is a flow chart of a cleaning control method for a cleaning robot provided by an embodiment of the present invention;

2 is a flow chart of the wetting step in a cleaning control method for a cleaning robot provided by an embodiment of the present invention;

3 is a flow chart of the cleaning steps of the roller brush in a cleaning control method for a cleaning robot provided by an embodiment of the present invention;

FIG. 4 is a flow chart of a drying step in a cleaning control method for a cleaning robot according to an embodiment of the present invention;

FIG. 5 is a flow chart of a flow channel cleaning step in a cleaning control method for a cleaning robot provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

icon:

101-processor; 102-memory; 103-bus; 104-communication interface.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

With the popularization of cleaning robots with base stations, the functions of automatic water addition and sewage pumping, cleaning parts and sewage pipe cleaning functions of cleaning robots have gradually become their important functions. At present, the cleaning mechanism of cleaning robots with base stations on the market is mainly composed of cleaning brushes and water spray pumps. The cleaning process of the host pumping sewage and adding water and rolling brushes cannot be separated from the assistance of the cleaning mechanism, and it is impossible to clean the sewage pipes. The cleaning of the rolling brushes It is carried out separately from the main engine for pumping sewage and adding water, resulting in low time utilization and poor cleaning efficiency. Based on the above problems, an embodiment of the present invention provides a cleaning control method for a cleaning robot and a cleaning robot. After replenishing water to the host through the base station, the host performs cleaning actions through its own water pump and roller brush, and uses the centrifugal force of the rotation of the roller brush to remove the attached The dirt on the roller brush is thrown out, and at the same time, the fan of the base station is used to recycle the sewage; after the host roller brush is cleaned, the main engine water pump and the base station sewage fan can be used to clean the main engine sewage pipe with clean water, reducing the load on the main engine. Self-cleaning The peculiar smell produced by the pipeline after being placed for a long time ensures that the roller brush is clean after self-cleaning, realizes the cleaning of the cleaning robot roller brush and the sewage suction pipe, and can realize the main machine water replenishment, sewage suction, and roller brush cleaning at the same time, which improves the cleaning time The utilization rate improves the cleaning efficiency.

In order to facilitate understanding of this embodiment, a cleaning control method for a cleaning robot disclosed in an embodiment of the present invention is firstly introduced in detail. The cleaning robot includes a main engine and a base station; the base station is provided with a sewage tank of the base station, a clean water tank of the base station, a fan of the base station and a sewage pumping pipeline; The sewage pipe is connected with the sewage tank of the main engine by the built-in telescopic mechanism. The cleaning control method of this type of cleaning robot is shown in Figure 1, including the following steps:

Step S101 , controlling the water pump in the host to spray clean water from the clean water tank of the host to the roller brush according to the amount of water sprayed, and controlling the roller brush to rotate at a first rotational speed according to a first duration.

This step is the roller brush wetting step. The wetting process uses the water pump in the host to spray water on the roller brush. This process uses the water pump to spray the clean water in the clean water tank of the host to the roller brush. When the clean water in the clean water tank of the host is insufficient, It can be replenished through the clean water tank of the base station. The clean water tank of the base station is connected with the fresh water tank of the main engine through a preset pipeline. After the water spray is executed, the roller brush starts to rotate, and the rotation speed of the roller brush is the preset first rotation speed, and the water spray process is still carried out during the rotation process of the roller brush, which realizes the uniform wetting of the roller brush.

Step S102, controlling the roller brush to rotate according to the second rotation speed, and controlling the host fan to use the first suction parameter to suck the sewage generated by the roller brush into the host sewage tank according to the second duration; wherein the second rotation speed is greater than the first rotation speed.

This step is the cleaning step of the roller brush. After the wetting of the roller brush is completed, the fan of the main engine is turned on and enters the roller brush cleaning stage. Specifically, through the water pump and rolling brush of the main engine, the sewage pumping structure and the rotating structure of the rolling brush built in the main engine are used to keep the water content of the rolling brush at a certain level and at the same time use the centrifugal force generated by the rotating brush to throw out the sewage. Therefore, in the above process, it is necessary to control the roller brush to rotate according to the second speed, wherein the second speed is greater than the first speed; this means that the speed of the roller brush is increased in this step, so that the centrifugal force generated by the rotation of the roller brush is used to throw out the sewage to achieve The purpose of improving the cleaning effect of the roller brush. The recovered sewage is pumped into the sewage tank of the main engine by the main engine fan, avoiding the problem of secondary pollution caused by improper sewage treatment.

Step S103, control the water pump to stop spraying water and maintain the working parameters in the cleaning step of the rolling brush, and control the fan of the base station to pump the sewage from the sewage tank of the main engine into the sewage tank of the base station according to the second suction parameter after maintaining the working parameters for the third period of time; wherein, the first The suction value of the second suction parameter is greater than the suction value of the first suction parameter.

This step is a drying step. After the cleaning is completed, the water pump of the main engine needs to be turned off, and the water stains are thrown out by the centrifugal force generated by the high-speed rotation of the roller brush, and the residual water stains of the roller brush are collected into the sewage tank of the main engine by cooperating with the exhaust fan of the main engine. The sewage is pumped by the base station fan into the sewage tank of the base station to achieve the purpose of cleaning sewage collection.

Considering that there are many working modes of the cleaning robot, the host is not necessarily in the base station when receiving the cleaning command. At this time, the host may handle the sweeping process outside the base station. Therefore, it is necessary to check the working status of the host before performing the wetting step. to test. In some implementations, before the wetting step S101, the method further includes: a detection step: when the host receives a cleaning instruction, detect whether the host is docked in the base station; if yes, perform the wetting step; if not, control the host to dock to the base station.

Similarly, considering that there are many working modes between the host computer and the base station of the cleaning robot, the sewage suction pipeline between the host computer and the base station is not connected when the cleaning command is received, but the expansion and contraction of the sewage suction pipeline in this method The mechanism is in a telescopic state, so it is necessary to detect the working state of the sewage pipeline before performing the wetting step. In some implementations, before the wetting step S101, the method further includes: a sewage pipeline control step: if the sewage pipeline is not connected to the waste water tank of the main engine, control the telescopic mechanism to connect the sewage pipeline to the sewage tank of the main machine.

In some embodiments, the wetting step further includes: using the preset first water addition parameter to control the clean water tank of the base station to add clean water to the clean water tank of the host.

In the actual scene, when the host receives the cleaning command when it is in the base station, the sewage suction pipe of the base station is lowered and the clean water bucket of the base station is used to add water to the host clean water bucket. At the same time, the host starts to spray water to wet the roller brush, and the roller brush starts to rotate to make the roller brush even moisten. The wetting step involves the following three parameters, which are: the first rotating speed of the host roller brush is 800rpm; the water spray flow rate of the host water pump is 160mL/min; the water flow rate of the base station to the host corresponding to the first water addition parameter is 300mL/min , the specific steps are shown in Figure 2.

In some implementations, in the rolling brush cleaning step, when it is detected that the sewage in the sewage tank of the main engine is full, the fan of the base station is controlled to draw the sewage in the sewage tank of the main engine into the sewage bucket of the base station according to the second suction parameter, and then execute Dry step. Specifically, when the wetting of the roller brush is completed, the fan of the main engine is turned on to enter the roller brush cleaning stage. At this stage, through the water pump, the sewage pumping structure of the main engine and the rotating structure of the rolling brush, the rolling brush can use the centrifugal force generated by the rotating brush to throw out the sewage as much as possible while maintaining a certain water content, so as to achieve the purpose of improving the cleaning effect of the rolling brush. The recovered sewage is pumped into the waste water tank of the main machine by the fan of the main machine. If it is detected that the sewage in the sewage tank of the main machine is full, in order to ensure the stable operation of the main machine, the sewage in the sewage tank of the main machine needs to be pumped into the sewage tank of the base station, and then perform drying Steps allow the roller brush to spin dry. Specifically, the following three parameters are involved in the cleaning step of the roller brush, which are: the second rotating speed of the main engine roller brush is 1600rpm; the water spray flow rate of the main engine water pump is 160mL/min; the main engine suction suction corresponding to the first suction parameter is 4000Pa , specifically as shown in Figure 3.

During the execution of the drying step, the following three parameters are involved, namely: the roller brush of the main machine maintains the second rotational speed of 1600rpm; the suction power of the main machine corresponding to the second suction parameter is 15000Pa; the third duration is 15 seconds. Specifically shown in Figure 4.

After the roller brush finishes cleaning, the wetting step and the spin-drying step can also be repeated to realize flow path cleaning. In some embodiments, after the spin-drying step, it also includes: a flow channel cleaning step: using the preset first water addition parameter to control the clean water tank of the base station to add clean water to the fresh water tank of the host machine, and then perform the wetting step and the spin-drying step in sequence.

After the roller brush cleaning is completed, the base station starts to replenish water to the main unit, the main unit starts to spray water, and then repeats the wetting step and the drying step, and uses clean water to deeply clean the sewage pipes of the main unit and the base station. In some embodiments, in the flow channel cleaning step, when it is detected that the clean water in the clean water tank of the base station is used up, the spin-drying step is directly performed. After the drying stage is completed, the cleaning of the robot roller brush and the cleaning of the sewage pipe is completed, and the host enters the charging state. The flow channel cleaning steps are specifically shown in FIG. 5 , and will not be repeated here.

In some embodiments, the drying step further includes: stopping the drying step after the sewage tank of the host computer is pumped into the sewage tank of the base station for a fourth time period. The judging basis of the drying step is determined by setting a fixed duration. When the suction value of the second suction parameter is 15000Pa, the sewage from the sewage tank of the control host is pumped into the sewage tank of the base station. When the extraction process reaches the fourth duration, such as 15 seconds, stop the drying step.

It can be seen from the cleaning control method of the cleaning robot provided in the above-mentioned embodiments that after the method controls the base station to replenish water to the main unit, the main unit performs cleaning actions through the built-in water pump and the rolling brush, and uses the centrifugal force of the rotating brush to remove the particles attached to the rolling brush. The dirt is thrown out, and at the same time, the fan of the base station is used to recycle the sewage; after the cleaning of the main machine is completed by the roller brush, the water pump of the main machine and the suction fan of the base station can be used to clean the sewage pipe of the main machine with clean water, so as to reduce the cleaning time of the main machine itself The peculiar smell produced by the pipeline after placement ensures that the roller brush is clean after self-cleaning, realizes the cleaning of the cleaning robot roller brush and the sewage suction pipe, and can realize the main machine water replenishment, sewage suction, and roller brush cleaning at the same time, which improves the utilization rate of cleaning time. Improved cleaning efficiency.

The embodiment of the present invention also provides a cleaning robot, as shown in Figure 6, including a host and a base station; the base station is provided with a sewage tank of the base station, a clean water tank of the base station, a fan of the base station, and a sewage pipeline; the host is provided with a water pump and a roller brush , the host fan, the host sewage tank and the host fresh water tank; wherein, the sewage pumping pipeline is connected with the host sewage tank by a built-in telescopic mechanism;

After receiving the cleaning instruction, the cleaning robot executes the cleaning control method of the cleaning robot as mentioned in the above embodiments.

The cleaning control method of the cleaning robot provided in the embodiment of the present invention has the same technical features as the cleaning control method of the cleaning robot provided in the above embodiments, so it can also solve the same technical problem and achieve the same technical effect. For brief description, for the parts not mentioned in the embodiments, reference may be made to the corresponding contents in the foregoing embodiments.

This embodiment also provides an electronic device, as shown in FIG. The computer instructions are executed by the processor to realize the cleaning control method of the above-mentioned cleaning robot.

The electronic device shown in FIG. 7 also includes a bus 103 and a communication interface 104 , and the processor 101 , the communication interface 104 and the memory 102 are connected through the bus 103 .

Wherein, the memory 102 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The bus 103 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one double-headed arrow is used in FIG. 7 , but it does not mean that there is only one bus or one type of bus.

The communication interface 104 is used to connect with at least one user terminal and other network elements through the network interface, and send the encapsulated IPv4 message or the IPv4 message to the user terminal through the network interface.

The processor 101 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 101 or instructions in the form of software. The above-mentioned processor 101 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (Digital Signal Processor, referred to as DSP) , Application Specific Integrated Circuit (ASIC for short), Field Programmable Gate Array (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps and logic block diagrams disclosed in the embodiments of the present disclosure may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the methods disclosed in the embodiments of the present disclosure may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102, and completes the steps of the methods of the foregoing embodiments in combination with its hardware.

An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the methods in the foregoing embodiments are executed.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

Finally, it should be noted that: the above-described embodiments are only specific implementations of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them, and the scope of protection of the present invention is not limited thereto, although referring to the foregoing The embodiment has described the present invention in detail, and those skilled in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention Changes can be easily thought of, or equivalent replacements are made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of the present invention within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A cleaning control method of a cleaning robot is characterized in that the cleaning robot comprises a host and a base station; the base station is internally provided with a base station sewage bucket, a base station clean water tank, a base station fan and a sewage pumping pipeline; the main machine is internally provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; the sewage pumping pipeline is connected with the host sewage tank by using a built-in telescopic mechanism;

the method comprises the following steps:

a wetting step: controlling the water pump in the main machine to spray clean water in the clean water tank of the main machine to the roller brush according to the water spraying quantity, and controlling the roller brush to rotate at a first rotating speed according to a first time period;

cleaning the roller brush: controlling the rolling brush to rotate at a second rotating speed, and controlling the host fan to pump the sewage generated by the rolling brush into the host sewage tank by using a first suction parameter according to a second duration; wherein the second rotational speed is greater than the first rotational speed;

and (3) spin-drying: controlling the water pump to stop spraying water, keeping the working parameters in the step of cleaning the rolling brush, and controlling the base station fan to pump the sewage of the host sewage tank into the base station sewage bucket according to a second suction parameter after keeping the third time; wherein the suction value of the second suction parameter is greater than the suction value of the first suction parameter.

2. The washing control method of a cleaning robot according to claim 1, wherein before the wetting step, the method further comprises:

a detection step: when the host receives a cleaning instruction, detecting whether the host stops in the base station; if yes, performing a wetting step; and if not, controlling the host to dock to the base station.

3. The washing control method of a cleaning robot according to claim 1, wherein the wetting step is preceded by the method further comprising:

and a sewage pumping pipeline control step: and if the sewage pumping pipeline is not connected with the host sewage tank, controlling the telescopic mechanism to connect the sewage pumping pipeline with the host sewage tank.

4. The washing control method of a cleaning robot according to claim 1, wherein the wetting step further comprises:

and controlling the base station clear water tank to add clear water into the host clear water tank by using a preset first water adding quantity parameter.

5. The washing control method of a cleaning robot according to claim 1, wherein in the rolling brush washing step, when it is detected that the sewage in the main sewage tank is full, the base station fan is controlled to pump the sewage in the main sewage tank into the base station sewage tank according to the second suction parameter.

6. The washing control method of a cleaning robot according to claim 1, further comprising, after the spin-drying step:

a flow channel cleaning step: and controlling the base station clear water tank to add clear water into the host clear water tank by using a preset first water adding quantity parameter, and then sequentially executing the wetting step and the spin-drying step.

7. The washing control method of a cleaning robot according to claim 6, wherein in the flow path washing step, when it is detected that the fresh water in the fresh water tank of the base station is used up, the spinning step is directly performed.

8. The washing control method of a cleaning robot according to claim 1, wherein the spin-drying step further comprises:

and stopping the spin-drying step when the time for pumping the sewage of the main machine sewage tank into the base station sewage bucket reaches a fourth time.

9. The washing control method of a cleaning robot according to claim 1, wherein the first rotation speed is 800rpm; the second rotating speed is 1600rpm;

the suction value of the first suction parameter is 4000Pa; the suction value of the second suction parameter is 15000Pa;

the water spraying amount is 160mL/min.

10. A cleaning robot is characterized by comprising a host and a base station; the base station is internally provided with a base station sewage bucket, a base station clean water tank, a base station fan and a sewage pumping pipeline; the main machine is internally provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; the sewage pumping pipeline is connected with the host sewage tank by using a built-in telescopic mechanism;

the cleaning robot performs the washing control method of the cleaning robot according to any one of claims 1 to 9 after receiving the cleaning instruction.

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