Control method of pool cleaning equipment and pool cleaning system

Abstract

The invention relates to the technical field of swimming pool cleaning, in particular to a control method of pool cleaning equipment and a pool cleaning system. The pool cleaning equipment is provided with a signal receiving unit, the signal receiving unit is configured to receive a transmitting signal from a signal transmitting unit on the base station, and the method comprises the following steps: controlling the pool cleaning equipment to rotate at a current position under the condition that the pool cleaning equipment is in a signal receiving range; in the rotating process of the pool cleaning equipment, the signal receiving unit obtains receiving information; determining a target direction of the base station based on the received information; the pool cleaning equipment rotates at the current position, and the target direction of the base station is determined based on the received information, so that the positioning difficulty of the pool cleaning equipment is reduced, and the positioning precision of the pool cleaning equipment is improved.

Description

Technical Field

[0001] The present application relates to the technical field of swimming pool cleaning, and in particular to a control method for a pool cleaning device and a pool cleaning system. Background Art

[0002] Pool cleaning equipment refers to equipment for cleaning a pool. Specifically, the pool cleaning equipment may be a swimming pool robot. However, the pool cleaning equipment is not aware of its own position and that of a base station during operation. In the prior art, the positioning control logic of the pool cleaning equipment is complex and has low accuracy. This results in poor control accuracy of the pool cleaning equipment that relies on positioning. Summary of the invention

[0003] In view of the above-mentioned problems in the prior art, the purpose of the present application is to reduce the difficulty of positioning the pool cleaning device and improve the positioning accuracy of the pool cleaning device by rotating the pool cleaning device at the current position and determining the target direction of the base station based on the received information.

[0004] In order to solve the above problems, the present application provides a control method for a pool cleaning device, wherein the pool cleaning device is provided with a signal receiving unit, and the signal receiving unit is configured to receive a transmission signal from a signal transmitting unit on a base station, and the method comprises:

[0005] When the pool cleaning device is within the signal receiving range, controlling the pool cleaning device to rotate at the current position;

[0006] During the rotation of the pool cleaning device, the signal receiving unit acquires reception information;

[0007] A target direction where the base station is located is determined based on the received information.

[0008] In an embodiment of the present application, controlling the pool cleaning device to rotate at the current position includes: the pool cleaning device rotating at least once.

[0009] In an embodiment of the present application, after acquiring the target direction, the pool cleaning device is controlled to turn to the target direction and move along the target direction to the base station.

[0010] In an embodiment of the present application, determining the target direction of the base station based on the received information includes: determining a calculation direction based on the received information, the target direction being perpendicular to the calculation direction.

[0011] In an embodiment of the present application, the reception information includes a signal reception time difference, and the signal reception time difference is used to reflect the distance value between the signal receiving unit and the base station when acquiring the reception information.

[0012] In the embodiment of the present application, the signal receiving unit at least includes a first signal receiving unit and a second signal receiving unit.

[0013] In the embodiment of the present application, the calculation direction is determined based on the connection direction of the assembly positions of the two signal receiving units when a preset condition is met.

[0014] In the embodiment of the present application, the preset condition is: the signal receiving time difference of the first signal receiving unit is equal to the signal receiving time difference of the second signal receiving unit.

[0015] In an embodiment of the present application, a midpoint of a line connecting the assembly positions of the two signal receiving units when a preset condition is met passes through the target direction.

[0016] On the other hand, the present application also provides a pool cleaning system, which includes a base station and a pool cleaning device. The pool cleaning device is provided with a signal receiving unit and a controller. The signal receiving unit is configured to receive a transmission signal from a signal transmitting unit on the base station. The controller is used to control the pool cleaning device to rotate at a current position when the pool cleaning device is within a signal receiving range corresponding to the signal transmitting unit; to enable the signal receiving unit to obtain reception information during the rotation of the pool cleaning device; and to determine the target direction of the base station based on the reception information.

[0017] On the other hand, the present application also provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a control method for the pool cleaning device as described above.

[0018] On the other hand, the present application also provides a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the control method of the pool cleaning device as described above.

[0019] Due to the above technical solution, the control method of a pool cleaning device described in this application has the following beneficial effects:

[0020] By controlling the pool cleaning device to rotate at the current position when the pool cleaning device is within the signal receiving range, and then determining the target direction of the base station based on the receiving information obtained by the signal receiving unit of the pool cleaning device, the target direction of the base station can be determined by rotating the pool cleaning device, thereby reducing the positioning difficulty of the pool cleaning device and improving the positioning accuracy of the pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a flow chart of a control method for a pool cleaning device provided in an embodiment of the present application;

[0023] Figure 2 This is a schematic diagram of the operation trajectory of the pool cleaning device controlled by the control method provided in the embodiment of the present application;

[0024] Figure 3 It is a hardware structure block diagram of a control method for a pool cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] The term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0027] The following introduces a pool cleaning system provided in an embodiment of the present application. The system includes a base station and a pool cleaning device. The pool cleaning device is provided with a signal receiving unit and a controller. The signal receiving unit is configured to receive a transmission signal from a signal transmitting unit on the base station; the signal receiving unit is communicatively connected to the controller.

[0028] In a specific embodiment of the present application, at least two signal receiving units are provided on the pool cleaning device.

[0029] In a specific embodiment of the present application, the signal receiving unit communicates the acquired reception information to the controller.

[0030] In a specific embodiment of the present application, the signal transmitting unit sends a transmission signal to the pool cleaning device at a preset frequency.

[0031] In a specific embodiment of the present application, the signal receiving unit may be an ultrasonic receiving unit, and the signal transmitting unit may be an ultrasonic transmitting unit.

[0032] In another specific embodiment of the present application, the signal receiving unit is a Bluetooth receiving unit, and the signal transmitting unit is a Bluetooth transmitting unit.

[0033] In another specific embodiment of the present application, the signal receiving unit is a wireless receiving unit, and the signal transmitting unit is a wireless transmitting unit.

[0034] refer to Figure 1 , introduces a control method for a pool cleaning device provided in an embodiment of the present application, the method comprising:

[0035] S1001. When the pool cleaning device is within a signal receiving range, control the pool cleaning device to rotate at a current position; the signal receiving range is a signal coverage range of a signal transmitting unit; and the current position is a position of the pool cleaning device.

[0036] In an embodiment of the present application, when at least two signal receiving units receive the transmitted signal, it is determined that the pool cleaning device is within the signal receiving range. In other words, the pool cleaning device being within the signal receiving range indicates that the signal receiving unit on the pool cleaning device can receive the transmitted signal of the signal transmitting unit, wherein there may be multiple signal receiving units.

[0037] S1002. During the rotation of the pool cleaning device, the signal receiving unit obtains receiving information; the receiving information represents information generated after receiving the transmitting signal.

[0038] In a specific embodiment of the present application, the received information includes multiple location tags and signal information corresponding to each of the multiple location tags; the location tags represent the rotation angle of the pool cleaning device; and the signal information is information generated based on the transmitted signal.

[0039] In a specific embodiment of the present application, when the pool cleaning device is rotated 5°, the first signal information is generated based on the transmitted signal; and when the pool cleaning device is rotated 10°, the second signal information is generated based on the transmitted signal; then the received information includes the first signal information corresponding to the 5° position and the second signal information corresponding to the 10° position; wherein the 5° position and the 10° position are position tags.

[0040] S1003. Determine the target direction of the base station based on the received information.

[0041] In an embodiment of the present application, when the pool cleaning device is within the signal receiving range, the pool cleaning device is controlled to rotate at the current position, and the target direction of the base station is determined based on the received information obtained by the signal receiving unit of the pool cleaning device. The target direction of the base station can be determined by rotating the pool cleaning device, thereby reducing the difficulty of positioning the pool cleaning device and improving the positioning accuracy of the pool cleaning device.

[0042] In an embodiment of the present application, the control method of the pool cleaning device further includes:

[0043] When the pool cleaning device is not within the signal receiving range, the pool cleaning device is controlled to move based on a preset running trajectory.

[0044] In a specific embodiment of the present application, a magnetometer is provided on the pool cleaning device, which is used to measure the angles between the pool cleaning device and the four directions of east, south, west and north. The pool cleaning device can be guided based on the direction of the magnetometer. When the pool cleaning device is not within the signal receiving range, the pool cleaning device is controlled to run in a long straight line.

[0045] In the embodiment of the present application, S1001 includes:

[0046] The pool cleaning device rotates at least once on itself.

[0047] In the embodiment of the present application, by rotating the pool cleaning device at least once, the signal information of the pool cleaning device at various positions during the rotation can be traversed, thereby increasing the amount of data received and improving the accuracy of determining the target direction. The pool cleaning device can rotate at least once along the center of gravity of the device, and of course, can also rotate along other centers, and the center of rotation is not limited here.

[0048] In a specific embodiment of the present application, one rotation of the pool cleaning device may be divided into a plurality of position tags.

[0049] In a specific embodiment of the present application, the 360° rotation of the pool cleaning device can be divided into 360 position tags, that is, the corresponding signal information can be generated based on the transmitted signal every time the pool cleaning device rotates 1°; the 360° rotation of the pool cleaning device can also be divided into 180 position tags, that is, the corresponding signal information can be generated based on the transmitted signal every time the pool cleaning device rotates 2°; it can be foreseen that the more position tags corresponding to one rotation of the pool cleaning device, the more data corresponding to the received information, and the more accurate the determination of the target direction; the fewer position tags corresponding to one rotation of the pool cleaning device, the less data needs to be acquired and stored, and the less processing pressure on the controller of the pool cleaning device.

[0050] In an embodiment of the present application, the control method of the pool cleaning device further includes:

[0051] After obtaining the target direction, the pool cleaning device is controlled to turn to the target direction and move to the base station along the target direction.

[0052] In a specific embodiment of the present application, the control method of the pool cleaning device also includes:

[0053] determining a target rotation angle based on an assembly position of the first signal receiving unit and the second signal receiving unit;

[0054] The pool cleaning device is controlled to rotate from the target position to the target rotation angle so that the forward direction of the pool cleaning device is the target direction, and then the pool cleaning device moves to the base station along the target direction.

[0055] In an embodiment of the present application, after determining the direction of the base station, the pool cleaning device is controlled to move in the direction of the base station so that the pool cleaning device can return to the warehouse, thereby improving the return accuracy and return efficiency of the pool cleaning device.

[0056] In another specific embodiment of the present application, the control method of the pool cleaning device further includes:

[0057] The pool cleaning device is controlled to move toward a target area based on the target direction and target position of the base station; the target area may be a working area of ​​the pool cleaning device, for example, the target area is an area to be cleaned.

[0058] In another specific embodiment of the present application, the target direction of the base station is used for guidance to control the pool cleaning equipment to change the working area, thereby improving the control flexibility of the pool cleaning equipment.

[0059] In the embodiment of the present application, S1003 includes:

[0060] A calculation direction is determined based on the received information, and the target direction is perpendicular to the calculation direction.

[0061] In a specific embodiment of the present application, when the target signal information meets a preset condition, the calculation direction is determined based on the position tag corresponding to the target signal information.

[0062] In a specific embodiment of the present application, it is assumed that the received information includes first signal information corresponding to the 5° position and second signal information corresponding to the 10° position, wherein the second signal information satisfies a preset condition, then the second signal information is the target signal information, and the calculation direction can be determined based on the direction of the pool cleaning device when it is rotated 10° at the initial position; the preset condition indicates that at least two signal receiving units can receive the same transmission information at the same time.

[0063] In the embodiment of the present application, since the vertical distance is the shortest, by determining the direction perpendicular to the calculation direction as the target direction, the accuracy of the pool cleaning equipment in determining the target direction can be improved. In the application scenario where the pool cleaning equipment returns to the warehouse, it can return to the warehouse based on the shortest distance, thereby improving the return efficiency.

[0064] In an embodiment of the present application, the received information includes a signal receiving time difference, and the signal receiving time difference is used to reflect the distance value between the signal receiving unit and the base station when the signal receiving unit obtains the received information.

[0065] In a specific embodiment of the present application, the received information includes multiple received sub-information, and at least two signal receiving units each correspond to one received sub-information; each received sub-information includes a transmission time, a reception time and a signal reception time difference.

[0066] In a specific embodiment of the present application, the signal information includes multiple receiving sub-information.

[0067] In a specific embodiment of the present application, taking the case where the pool cleaning device is rotated 5° and the first signal information is generated based on the transmitted signal as an example, the received information includes the first signal information and the position tag corresponding to the 5° position; the first signal information includes multiple receiving sub-information, for example, the first receiving sub-information corresponding to the first signal receiving unit, the first receiving sub-information includes the first transmitting moment, the first receiving moment and the first signal receiving time difference; the second signal receiving unit corresponds to the second receiving sub-information, the second receiving sub-information includes the second transmitting moment, the second receiving moment and the second signal receiving time difference.

[0068] In the embodiment of the present application, by receiving information including the transmission time, the reception time and the signal reception time difference, the difference in reception information at each rotation position and between each signal receiving unit can be clearly identified, thereby improving data differentiation and improving the accuracy of determining the target direction.

[0069] In a specific embodiment of the present application, the control method of the pool cleaning device also includes:

[0070] The distance between the pool cleaning device and the base station is determined based on the signal reception time difference and the transmission speed of the transmitted signal; specifically, the transmitted signal may carry carrier clock information and transmission speed information.

[0071] In a specific embodiment of the present application, when the signal transmitting unit is an ultrasonic transmitting unit, the carrier information of the ultrasonic wave includes carrier clock information and ultrasonic wave transmission speed; specifically, the ultrasonic wave transmission speed is determined based on the ambient temperature.

[0072] In the embodiment of the present application, the at least two signal receiving units include at least a first signal receiving unit and a second signal receiving unit.

[0073] In the embodiment of the present application, the first signal receiving unit and the second signal receiving unit may be receiving units of the same model or receiving units of different models.

[0074] In a specific embodiment of the present application, the first signal receiving unit includes a first receiving subunit and a first signal processing subunit, and the second signal receiving unit includes a second receiving subunit and a second signal processing subunit; both the first receiving subunit and the second receiving subunit are capable of receiving the transmission signal sent by the transmitting unit; the first signal processing subunit and the second signal processing subunit may be the same type of signal processing or different types of signal processing.

[0075] In the embodiment of the present application, the calculation direction is determined based on the connection direction of the assembly positions of the two signal receiving units when a preset condition is met.

[0076] In a specific embodiment of the present application, the calculation direction may be calculated based on the receiving sub-information corresponding to each of the two signal receiving units under the same location tag; specifically, the control method of the pool cleaning device includes:

[0077] Get multiple receiving sub-information corresponding to the current location tag;

[0078] When the plurality of received sub-information satisfy the preset conditions, determining the position corresponding to the current position tag as the target position;

[0079] Under the target position, the connection direction of the assembly positions of the two signal receiving units is determined as the calculation direction.

[0080] In the embodiment of the present application, the calculation direction is determined based on the connection direction of the assembly positions of the two signal receiving units when the preset conditions are met, thereby reducing the computational complexity of the calculation direction and improving the determination rate of the target direction.

[0081] In a specific embodiment of the present application, the control method of the pool cleaning device also includes:

[0082] In the case that the plurality of received sub-information do not satisfy the preset condition, the next position tag is determined as the current position tag based on the rotation order.

[0083] In a specific embodiment of the present application, the calculation direction may be calculated synchronously with the rotation of the pool cleaning device, or may be calculated after the pool cleaning device rotates one circle.

[0084] In the embodiment of the present application, the preset condition is that the signal receiving time difference of the first signal receiving unit is equal to the signal receiving time difference of the second signal receiving unit.

[0085] In an embodiment of the present application, the signal reception time difference of the first signal receiving unit is equal to the signal reception time difference of the signal receiving unit of the second signal receiving unit, indicating that the first signal receiving unit and the second signal receiving unit can receive the same transmitted signal at the same time. In other words, the signal reception time difference of the first signal receiving unit is equal to the signal reception time difference of the signal receiving unit of the second signal receiving unit, indicating that the distance between the first signal receiving unit and the base station is equal to the distance between the second signal receiving unit and the base station.

[0086] In an embodiment of the present application, the preset condition is determined as the signal reception time difference of the first signal receiving unit is equal to the signal reception time difference of the second signal receiving unit, thereby reducing the computational complexity of calculating the direction and improving the determination rate of the target direction.

[0087] In the embodiment of the present application, the midpoint of the line connecting the assembly positions of the two signal receiving units when the preset conditions are met passes through the target direction.

[0088] In the embodiment of the present application, it can be foreseen that, when the reception time difference of the first signal receiving unit is equal to the signal reception time difference of the signal receiving unit of the second signal receiving unit, the distance between the first signal receiving unit and the base station is equal to the distance between the second signal receiving unit and the base station. Therefore, the first signal receiving unit, the second signal receiving unit and the base station form an isosceles triangle. Since the target direction is perpendicular to the calculation direction, the calculation direction is the connection direction between the first signal receiving unit and the second signal receiving unit. Therefore, the target direction must pass through the midpoint of the line connecting the first signal receiving unit and the second signal receiving unit.

[0089] refer to Figure 2 , introduces the workflow of the pool cleaning system under the pool cleaning equipment control method in the specific embodiment of the present application:

[0090] It should be noted that: A, B, C, and D respectively refer to different operating positions of the pool cleaning equipment, M refers to the base station indicated by a circle, and the angle formed by the two dotted lines with the base station M as the vertex is the signal coverage range of the base station M; the pool cleaning equipment B is a dotted line frame, and the pool cleaning equipment C is a solid line frame; the pool cleaning equipment is initially at position A. Obviously, the pool cleaning equipment A is not within the signal coverage range of the base station M. Under the guidance of the geomagnetic needle, the pool cleaning equipment A makes a long straight line motion and moves to position B. The pool cleaning equipment B is within the signal coverage range of the base station M, and at least two signal receiving units on the pool cleaning equipment B can receive the transmission signal of the signal transmitting unit on the base station M; at this time, the pool cleaning equipment B is controlled to rotate at the current position, specifically, it can be rotated at least one circle; after the pool cleaning equipment B moves to the pool cleaning equipment C, the signal reception time difference of the first signal receiving unit on the pool cleaning equipment C is equal to the signal reception time of the second signal receiving unit.

[0091] It is worth noting that: the first signal receiving unit and the second signal receiving unit in the figure are arranged on the same side, and the first signal receiving unit and the second signal receiving unit are symmetrical about the central axis of the rectangular pool cleaning device shown in the figure; therefore, it can be determined that the calculation direction is the direction of the line connecting the sides where the first signal receiving unit and the second signal receiving unit are located.

[0092] When the assembly positions of the first signal receiving unit and the second signal receiving unit are different from those described above, the specific position of the pool cleaning device C can be known to be different from that described above, and the specific position of the pool cleaning device can be reasonably inferred.

[0093] The target direction is a direction perpendicular to the calculated direction. At the same time, based on the assembly positions of the first signal receiving unit and the second signal receiving unit, it can be determined that the pool cleaning device C needs to move in a direction close to the base station M. Specifically, when the signal reception time difference of the first signal receiving unit is equal to the signal reception time of the second signal receiving unit, the position tag corresponding to the smallest signal reception time difference of the first signal receiving unit is determined as the target position; and the target direction is determined based on the side where the first signal receiving unit is located, that is, the direction where the pool cleaning device rotates 90° to the side where the first signal receiving unit is located is the target direction where the base station is located.

[0094] Therefore, the pool cleaning device C can be controlled to move toward the target direction. Specifically, the pool cleaning device D is the intermediate state of the pool cleaning device C moving toward the base station M based on the target direction.

[0095] In addition, after clarifying the direction of the base station, the present application can also determine the working area of ​​the pool cleaning equipment based on the direction of the base station; specifically, the distance between the pool cleaning equipment and the base station is determined based on the signal reception time difference and the transmission speed of the transmitted signal, and then the base station is used as the reference position to control the pool cleaning equipment to move to the target area.

[0096] The control method of the pool cleaning device in the embodiment of the present application has the following beneficial effects:

[0097] By controlling the pool cleaning device to rotate at the current position when the pool cleaning device is within the signal receiving range, and then determining the target direction of the base station based on the receiving information obtained by the signal receiving unit of the pool cleaning device, the target direction of the base station can be determined by rotating the pool cleaning device, thereby reducing the positioning difficulty of the pool cleaning device and improving the positioning accuracy of the pool cleaning device.

[0098] The present application also provides a pool cleaning device control device, which includes:

[0099] The rotation control module is used to control the pool cleaning device to rotate at the current position when the pool cleaning device is within the signal receiving range; the signal receiving range is the signal coverage range of the signal transmitting unit.

[0100] The receiving information acquisition module is used for the signal receiving unit to acquire the receiving information during the rotation of the pool cleaning device.

[0101] The target direction determination module is used to determine the target direction of the base station based on the received information.

[0102] An embodiment of the present application also provides a pool cleaning system, which includes a base station and a pool cleaning device. The pool cleaning device is provided with at least two signal receiving units and a controller. The signal receiving unit is configured to receive a transmission signal from a signal transmitting unit on the base station. The controller is used to control the pool cleaning device to rotate at a current position when the pool cleaning device is within a signal receiving range corresponding to the signal transmitting unit. During the rotation of the pool cleaning device, the signal receiving unit obtains receiving information. The controller is used to determine a target direction of the base station based on the receiving information.

[0103] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the pool cleaning device as described above.

[0104] The memory can be used to store software programs and units. The processor executes various functional applications and data processing by running the software programs and units stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store the operating system, application programs required for the function, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one hard disk storage device, a flash memory device or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0105] The method embodiments provided in the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Figure 3 is an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 910 (the processor 910 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be short-term storage or permanent storage. The program stored in the storage medium 920 may include one or more units, each of which may include a series of instruction operations in the electronic device. Furthermore, the central processing unit 910 may be configured to communicate with the storage medium 920 to execute a series of instruction operations in the storage medium 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Windows ServerTM, Mac OS XTM, UnixTM, Li nuxTM, FreeBSDTM, etc.

[0106] The input / output interface 940 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network adapter (NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 940 may be a radio frequency (RF) unit, which is used to communicate with the Internet wirelessly.

[0107] It can be understood by those skilled in the art that Figure 3 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 3 More or fewer components as shown, or with Figure 3 Different configurations are shown.

[0108] An embodiment of the present application further provides a storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the control method of the pool cleaning device as described above.

[0109] The above description has fully disclosed the specific implementation methods of the present application. It should be pointed out that any changes made by technicians familiar with the field to the specific implementation methods of the present application do not deviate from the scope of the claims of the present application. Accordingly, the scope of the claims of the present application is not limited to the above specific implementation methods.

Claims

1. A method for controlling a pool cleaning device, characterized in that: The pool cleaning device is provided with a signal receiving unit, and the signal receiving unit is configured to receive a transmission signal from a signal transmitting unit on a base station. The method comprises: When the pool cleaning device is within the signal receiving range, controlling the pool cleaning device to rotate at the current position; During the rotation of the pool cleaning device, the signal receiving unit acquires reception information; A target direction where the base station is located is determined based on the received information.

2. The control method of the pool cleaning device according to claim 1, characterized in that: The controlling the pool cleaning device to rotate at the current position includes: the pool cleaning device rotating at least once.

3. The control method of the pool cleaning device according to claim 1, characterized in that: After acquiring the target direction, the pool cleaning device is controlled to turn toward the target direction and move along the target direction to the base station.

4. The control method of the pool cleaning device according to any one of claims 1 to 3, characterized in that: Determining a target direction where the base station is located based on the received information includes: determining a calculation direction based on the received information, the target direction being perpendicular to the calculation direction.

5. The control method of the pool cleaning device according to claim 4, characterized in that: The reception information includes a signal reception time difference, and the signal reception time difference is used to reflect the distance value between the signal receiving unit and the base station when the signal receiving unit obtains the reception information.

6. The control method of a pool cleaning device according to any one of claim 5, characterized in that: The signal receiving unit at least includes a first signal receiving unit and a second signal receiving unit.

7. The control method of the pool cleaning device according to claim 6, characterized in that: The calculation direction is determined based on the connection direction of the assembly positions of the two signal receiving units when a preset condition is met.

8. The control method of the pool cleaning device according to claim 7, characterized in that: The preset condition is that the signal receiving time difference of the first signal receiving unit is equal to the signal receiving time difference of the second signal receiving unit.

9. The control method of the pool cleaning device according to claim 8, characterized in that: The midpoint of the line connecting the assembly positions of the two signal receiving units when the preset condition is met passes through the target direction.

10. A pool cleaning system, characterized in that: The invention comprises a base station and a pool cleaning device, wherein the pool cleaning device is provided with a signal receiving unit and a controller, wherein the signal receiving unit is configured to receive a transmission signal from a signal transmitting unit on the base station, and the controller is used to control the pool cleaning device to rotate at a current position when the pool cleaning device is within a signal receiving range corresponding to the signal transmitting unit; During the rotation of the pool cleaning device, the signal receiving unit acquires reception information; And the controller is used to determine the target direction of the base station based on the received information.

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