Cleaning robot control method and device, cleaning robot system and readable storage medium

Abstract

The invention relates to a cleaning robot control method and device, a cleaning robot system and a readable storage medium. The method comprises the following steps: determining a first position of the cleaning robot according to first ultrasonic signals sent by the cleaning robot and received by two second ultrasonic sensors respectively; controlling the cleaning robot to move through a second ultrasonic sensor; second ultrasonic signals sent by the cleaning robot in the moving process are received through at least two second ultrasonic sensors, and the second position of the cleaning robot is determined according to the second ultrasonic signals; determining a first moving direction of the cleaning robot according to the first position and the second position; and determining a second moving direction of the cleaning robot relative to the base station according to the first moving direction, and controlling the cleaning robot to move towards the base station according to the second moving direction. By adopting the method, the direction and path of the cleaning robot can be dynamically adjusted, and the pile returning success rate of the cleaning robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robot motion planning, and in particular to a cleaning robot control method, device, cleaning robot system and readable storage medium. Background Art

[0002] A pool cleaning robot is an automated device designed specifically for pool cleaning. It can autonomously navigate the pool, effectively cleaning impurities and dirt, providing a convenient and efficient solution for daily pool maintenance.

[0003] Currently, pool cleaning robots on the market primarily achieve automatic return to the charging station through mechanical contact return solutions and simple infrared guidance return solutions. The mechanical contact return solution requires the pool cleaning robot to physically contact the metal contacts of the charging station to complete charging, relying on mechanical alignment aids such as guide rails, grooves, and magnetic devices to ensure a secure contact connection. The simple infrared guidance return solution requires the charging station to continuously emit a modulated infrared signal, such as a flashing light at a specific frequency. The pool cleaning robot uses an infrared receiver to detect the signal strength and direction, gradually adjusting its position to approach the charging station.

[0004] Both of the above solutions have many disadvantages. Due to factors such as water flow disturbance, base offset or robot posture deviation, docking failure is prone to occur, requiring manual intervention, resulting in reduced pile return efficiency. Summary of the Invention

[0005] Based on this, it is necessary to provide a cleaning robot control method, device, cleaning robot system and readable storage medium that can control the cleaning robot to return to the pile efficiently and autonomously to address the above technical problems.

[0006] In a first aspect, the present application provides a cleaning robot control method, which is applied to a base station for controlling a cleaning robot in a cleaning robot system, wherein the cleaning robot is provided with a first ultrasonic sensor, and the base station is provided with at least two second ultrasonic sensors. The cleaning robot control method includes:

[0007] The first position of the cleaning robot is determined according to the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors; a movement control instruction is sent to the first ultrasonic sensor through the second ultrasonic sensor to control the movement of the cleaning robot; the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during the movement are received respectively by the at least two second ultrasonic sensors, and the second position of the cleaning robot is determined according to the second ultrasonic signal; the first moving direction of the cleaning robot is determined according to the first position and the second position; the second moving direction of the cleaning robot relative to the base station is determined according to the first moving direction, and the cleaning robot is controlled to move toward the base station according to the second moving direction.

[0008] In one embodiment, the step of determining the first position of the cleaning robot according to the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received by the at least two second ultrasonic sensors includes:

[0009] receiving, through the at least two second ultrasonic sensors, the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor respectively;

[0010] determining, based on the reception times of the at least two second ultrasonic sensors for the first ultrasonic signal, the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor;

[0011] The first position of the cleaning robot is determined by using a triangulation positioning method according to the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively, and the distance between the at least two second ultrasonic sensors.

[0012] In one embodiment, the step of receiving, by the at least two second ultrasonic sensors, second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, and determining the second position of the cleaning robot according to the second ultrasonic signals includes:

[0013] receiving, through the at least two second ultrasonic sensors, the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor respectively;

[0014] determining, based on the reception times of the at least two second ultrasonic sensors for the second ultrasonic signal, the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor;

[0015] The second position of the cleaning robot is determined by using a triangulation positioning method according to the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively, and the distance between the at least two second ultrasonic sensors.

[0016] In one embodiment, the step of determining the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor based on the reception times of the at least two second ultrasonic sensors for the first ultrasonic signal comprises:

[0017] determining a transmission time of the first ultrasonic signal;

[0018] The distances between the at least two second ultrasonic sensors and the first ultrasonic sensor are determined according to the reception time and the transmission time of the at least two second ultrasonic sensors for the first ultrasonic signal.

[0019] In one embodiment, the step of determining the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor based on the reception times of the second ultrasonic signals by the at least two second ultrasonic sensors includes:

[0020] determining a transmission time of the second ultrasonic signal;

[0021] The distances between the at least two second ultrasonic sensors and the first ultrasonic sensor are determined respectively according to the reception time and the transmission time of the second ultrasonic signal by the at least two second ultrasonic sensors.

[0022] In one embodiment, the step of determining the first position of the cleaning robot based on the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received by the at least two second ultrasonic sensors respectively includes: synchronizing the clocks of the first ultrasonic sensor and the at least two second ultrasonic sensors.

[0023] In one embodiment, the step of determining a second moving direction of the cleaning robot relative to the base station according to the first moving direction, and controlling the cleaning robot to move toward the base station according to the second moving direction includes:

[0024] Determining a second moving direction of the cleaning robot relative to the base station according to the first moving direction, the second position, and the position of the base station;

[0025] The second ultrasonic sensor sends a movement control instruction corresponding to the second movement direction to the first ultrasonic sensor, so as to control the cleaning robot to move toward the base station according to the second movement direction through the movement control instruction.

[0026] In a second aspect, the present application further provides a cleaning robot control device, comprising:

[0027] a first position determining module, configured to determine a first position of the cleaning robot based on first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors;

[0028] a movement control module, configured to send a movement control instruction to the first ultrasonic sensor via the second ultrasonic sensor, so as to control the movement of the cleaning robot;

[0029] a second position determining module, configured to respectively receive, through the at least two second ultrasonic sensors, second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, and determine a second position of the cleaning robot according to the second ultrasonic signals;

[0030] a moving direction determining module, configured to determine a first moving direction of the cleaning robot according to the first position and the second position;

[0031] A moving direction control module is used to determine a second moving direction of the cleaning robot relative to the base station according to the first moving direction, and control the cleaning robot to move toward the base station according to the second moving direction.

[0032] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] The first position of the cleaning robot is determined according to the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors; a movement control instruction is sent to the first ultrasonic sensor through the second ultrasonic sensor to control the movement of the cleaning robot; the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during the movement are received respectively by the at least two second ultrasonic sensors, and the second position of the cleaning robot is determined according to the second ultrasonic signal; the first moving direction of the cleaning robot is determined according to the first position and the second position; the second moving direction of the cleaning robot relative to the base station is determined according to the first moving direction, and the cleaning robot is controlled to move toward the base station according to the second moving direction.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0035] determining a first position of the cleaning robot according to the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors;

[0036] Sending a movement control instruction to the first ultrasonic sensor through the second ultrasonic sensor to control the movement of the cleaning robot;

[0037] receiving, by the at least two second ultrasonic sensors, second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, respectively, and determining a second position of the cleaning robot according to the second ultrasonic signals;

[0038] determining a first moving direction of the cleaning robot according to the first position and the second position;

[0039] A second moving direction of the cleaning robot relative to the base station is determined according to the first moving direction, and the cleaning robot is controlled to move toward the base station according to the second moving direction.

[0040] In a fifth aspect, the present application further provides a cleaning robot system, comprising a cleaning robot and a base station, wherein the base station is configured to implement the following steps:

[0041] The first position of the cleaning robot is determined according to the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors; a movement control instruction is sent to the first ultrasonic sensor through the second ultrasonic sensor to control the movement of the cleaning robot; the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during the movement are received respectively by the at least two second ultrasonic sensors, and the second position of the cleaning robot is determined according to the second ultrasonic signal; the first moving direction of the cleaning robot is determined according to the first position and the second position; the second moving direction of the cleaning robot relative to the base station is determined according to the first moving direction, and the cleaning robot is controlled to move toward the base station according to the second moving direction.

[0042] In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0043] The first position of the cleaning robot is determined according to the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors; a movement control instruction is sent to the first ultrasonic sensor through the second ultrasonic sensor to control the movement of the cleaning robot; the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during the movement are received respectively by the at least two second ultrasonic sensors, and the second position of the cleaning robot is determined according to the second ultrasonic signal; the first moving direction of the cleaning robot is determined according to the first position and the second position; the second moving direction of the cleaning robot relative to the base station is determined according to the first moving direction, and the cleaning robot is controlled to move toward the base station according to the second moving direction.

[0044] The above-mentioned cleaning robot control method, device, computer equipment, cleaning robot system, readable storage medium and computer program product are configured by setting a first ultrasonic sensor on the cleaning robot and setting at least two second ultrasonic sensors on the base station. The base station receives the first ultrasonic signal of the cleaning robot through the at least two second ultrasonic sensors to determine the first position, and then sends a movement instruction to control the movement of the cleaning robot, and then determines the second position through the second ultrasonic signal, thereby calculating the movement direction of the cleaning robot, and controlling the cleaning robot to return to the base station after adjusting the movement direction; because ultrasonic waves propagate more reliably underwater, using ultrasonic waves to locate the position of the cleaning robot is more stable and has stronger anti-interference ability than infrared positioning; base The station is equipped with at least two second ultrasonic sensors to locate the position of the cleaning robot through the triangulation positioning method, which improves the positioning accuracy, makes the determination of the first position and the second position more accurate, and then calculates the correct moving direction, reducing the error caused by water flow or posture deviation of the cleaning robot; the base station actively sends a movement control instruction to make the cleaning robot move, which can effectively calibrate the moving direction of the cleaning robot, and determine the moving direction of the cleaning robot through two positions. In this way, even if there is an initial deviation, the direction can be adjusted through two measurements to avoid cumulative errors. During the movement of the cleaning robot, the ultrasonic signal is used to update the position, and the direction and path of the cleaning robot are dynamically adjusted to improve the success rate of the cleaning robot returning to the pile and reduce manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 is a schematic diagram of a cleaning robot control system in one embodiment;

[0047] Figure 2 1 is a flow chart of a cleaning robot control method according to an embodiment;

[0048] Figure 3 is a flow chart of a cleaning robot control method according to another embodiment;

[0049] Figure 4 304 is a flowchart of an embodiment;

[0050] Figure 5 is a schematic diagram of the positions of the first ultrasonic sensor and the second ultrasonic sensor in one embodiment;

[0051] Figure 6 308 is a flowchart of an embodiment;

[0052] Figure 7 This is a structural block diagram of a cleaning robot control device in one embodiment;

[0053] Figure 8 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0055] The cleaning robot control method provided in the embodiment of the present application can be applied to Figure 1 In the cleaning robot system shown, Figure 1 Figure 1 is a schematic diagram of a cleaning robot control system in one embodiment. The cleaning robot system includes a cleaning robot 102 and a base station 104. The cleaning robot is equipped with at least one first ultrasonic sensor, and the base station is equipped with at least two second ultrasonic sensors. The at least two second ultrasonic sensors provided on the base station can be located on the same plane or on different planes. The cleaning robot 102 can communicate with the base station 104 via ultrasonic signals. The cleaning robot 102 can autonomously navigate the swimming pool and effectively clean impurities and dirt from the pool. The base station 104 is placed on the pool bank, and the second ultrasonic sensors provided on the base station 104 are lowered into the pool via wires.

[0056] The ultrasonic sensor provided in the embodiment of the present application can be an ultrasonic underwater ranging and communication sensor, which can be used for communication and ranging between the base station 104 and the cleaning robot 102.

[0057] In the embodiment of the present application, ultrasound is used to achieve communication between the base station and the cleaning robot. Ultrasonic waves are used for communication. Since ultrasound waves attenuate less in water, signal instability can be reduced and the stability of communication between the cleaning robot and the base station can be improved.

[0058] In an exemplary embodiment, Figure 2 As shown, Figure 2 1 is a flow chart of a cleaning robot control method according to an embodiment; Figure 2 A cleaning robot control method is provided. Figure 1 The cleaning robot system in FIG. 1 is taken as an example to illustrate the method, which includes the following steps 202 to 206. Among them:

[0059] Step 202 : Determine a first position of the cleaning robot based on first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received by at least two second ultrasonic sensors.

[0060] Exemplarily, the cleaning robot sends a first ultrasonic signal through the first ultrasonic sensor and records the sending time. The two second ultrasonic sensors on the base station respectively receive the first ultrasonic signal and record the receiving time respectively. The first position of the cleaning robot is determined based on the sending time, receiving time and ultrasonic propagation speed.

[0061] Step 204: Send a movement control instruction to the first ultrasonic sensor via the second ultrasonic sensor to control the movement of the cleaning robot.

[0062] Exemplarily, the base station sends a movement control instruction to the first ultrasonic sensor through any second ultrasonic sensor. The movement control instruction is used to control the movement of the cleaning robot. After receiving the movement control instruction, the cleaning robot moves according to the movement control instruction.

[0063] Exemplarily, the movement control instruction may be a linear movement control instruction, which is used to control the cleaning robot to move along a straight line. After receiving the linear movement control instruction, the cleaning robot maintains the current movement direction and moves along the straight line.

[0064] The movement control instruction may also be a movement control instruction for controlling the cleaning robot to move in a specified direction. The specified direction may be a direction toward a second ultrasonic sensor that meets a specified condition. The specified condition may be that the first ultrasonic signal is received first.

[0065] Step 206: using at least two second ultrasonic sensors to respectively receive second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, and determining a second position of the cleaning robot according to the second ultrasonic signals.

[0066] For example, after receiving a movement control instruction, the cleaning robot moves according to the movement control instruction. During the movement, the cleaning robot transmits a second ultrasonic signal via the first ultrasonic sensor and records the transmission time. The base station receives the second ultrasonic signal via two second ultrasonic sensors and records the reception time, respectively. The cleaning robot determines the second position of the cleaning robot during the movement based on the transmission time, the reception time, and the ultrasonic propagation speed. It should be noted that the cleaning robot may transmit the second ultrasonic signal via the first ultrasonic sensor once or multiple times, or may transmit the signal once at a specified time interval, which may be a few seconds or milliseconds, etc. This embodiment does not impose any restrictions on this.

[0067] Step 208 : Determine a first moving direction of the cleaning robot according to the first position and the second position.

[0068] For example, when the first position and second position of the cleaning robot during movement are known, the base station can use an algorithm to determine the specific position of the cleaning robot in the three-dimensional space of the swimming pool, as well as the forward direction of the cleaning robot, that is, the moving direction of the cleaning robot, namely, the first moving direction.

[0069] Step 210: Determine a second moving direction of the cleaning robot relative to the base station according to the first moving direction, and control the cleaning robot to move toward the base station according to the second moving direction.

[0070] Exemplarily, when the second position of the cleaning robot and the moving direction at the second position are known, the base station can adjust the moving direction of the cleaning robot. The adjusted moving direction is the direction in which the cleaning robot moves toward the base station, and serves as the second moving direction. The base station then transmits instructions through ultrasonic signals to control the cleaning robot to move toward the base station in the second moving direction.

[0071] In the above-mentioned cleaning robot control method, a first ultrasonic sensor is set on the cleaning robot and at least two second ultrasonic sensors are set at the base station. The base station receives the first ultrasonic signal of the cleaning robot through the at least two second ultrasonic sensors to determine the first position, and then sends a movement instruction to control the movement of the cleaning robot. The second position is then determined by the second ultrasonic signal, thereby calculating the movement direction of the cleaning robot. After adjusting the movement direction, the cleaning robot is controlled to return to the base station; because ultrasonic waves propagate more reliably underwater, the use of ultrasonic waves to locate the position of the cleaning robot is more stable and has stronger anti-interference ability than infrared positioning; the at least two second ultrasonic sensors set at the base station can locate the position of the cleaning robot through a triangulation positioning method, thereby improving the positioning accuracy, making the determination of the first position and the second position more accurate, and then calculating the correct movement direction, reducing errors caused by water flow or posture deviation of the cleaning robot; the base station actively sends a movement control instruction to make the cleaning robot move, which can effectively calibrate the movement direction of the cleaning robot. The movement direction of the cleaning robot is determined by two positions. In this way, even if there is an initial deviation, the direction can be adjusted through two measurements to avoid cumulative errors. During the movement of the cleaning robot, the position is continuously updated with ultrasonic signals, and the direction and path of the cleaning robot are dynamically adjusted to improve the success rate of the cleaning robot returning to the pile and reduce manual intervention.

[0072] In an exemplary embodiment, Figure 3 As shown, a cleaning robot control method is provided. Figure 3 A flow chart of a cleaning robot control method according to another embodiment; Figure 1The cleaning robot system in FIG. 1 is taken as an example to illustrate the method, which includes the following steps 302 to 312. Among them:

[0073] Step 302: Perform clock synchronization on the first ultrasonic sensor and at least two second ultrasonic sensors.

[0074] The first ultrasonic sensor and the second ultrasonic sensor are used for distance measurement and communication in water. Clock synchronization is performed on all ultrasonic sensors to ensure that all ultrasonic sensors are at the same time.

[0075] In this embodiment, ultrasonic sensors are used for distance measurement and communication in water, which are not affected by light or water quality, can adapt to different environments, and have higher reliability.

[0076] Step 304 : Determine a first position of the cleaning robot based on first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received by at least two second ultrasonic sensors.

[0077] In an exemplary embodiment, Figure 4 As shown, step 304 includes steps 3041 to 3043. Figure 4 FIG. 3 is a flow chart of step 304 in one embodiment.

[0078] Step 3041: Receive the first ultrasonic signal sent by the cleaning robot through the first ultrasonic sensor through at least two second ultrasonic sensors.

[0079] Exemplarily, the base station receives the first ultrasonic signal sent by the cleaning robot through the first ultrasonic sensor through at least two second ultrasonic sensors, and records the reception time of the first ultrasonic signal received by the at least two second ultrasonic sensors, and records the sending time of the first ultrasonic signal sent by the first ultrasonic sensor.

[0080] It should be noted that, in some embodiments, the triggering condition for the first ultrasonic signal sent by the cleaning robot via the first ultrasonic sensor may be: the battery level of the cleaning robot meets a preset condition. The preset condition may be that the battery level is lower than a specified threshold, such as less than 10% or less than 1%. The specified threshold may be determined based on experience or other feasible methods, and this embodiment does not impose any restrictions on this. In the actual use of the cleaning robot, the cleaning robot may automatically detect its remaining battery level at regular intervals and send the first ultrasonic signal when the remaining battery level of the cleaning robot meets the preset condition.

[0081] Step 3042: Determine the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor based on the reception times of the first ultrasonic signal by the at least two second ultrasonic sensors.

[0082] The base station determines the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively according to the reception time and the transmission time of the first ultrasonic signal by the at least two second ultrasonic sensors respectively.

[0083] For example, a cleaning robot transmits a first ultrasonic signal via a first ultrasonic sensor that carries the time of transmission of the first ultrasonic signal. At least two second ultrasonic sensors receive the first ultrasonic signal, analyze the first ultrasonic signal, and record the time of transmission. They also each record the time of reception of the first ultrasonic signal. The distance between the at least two second ultrasonic sensors and the first ultrasonic sensor is then determined based on the time difference between the time of reception of the first ultrasonic signal and the time of transmission of the first ultrasonic signal, as well as the transmission speed of the ultrasonic signal.

[0084] Step 3043: Determine a first position of the cleaning robot using a triangulation method based on the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor, and the distance between the at least two second ultrasonic sensors.

[0085] For example, see Figure 5 , take two second ultrasonic sensors as an example to illustrate, Figure 5 FIG. 1 is a schematic diagram of the positions of the first ultrasonic sensor and the second ultrasonic sensor in one embodiment. Figure 5 The two second ultrasonic sensors are the second ultrasonic sensor A and the second ultrasonic sensor B. The distance between the second ultrasonic sensor A and the second ultrasonic sensor B is a known quantity set at the factory. In step 3042, the distances between the second ultrasonic sensor A and the second ultrasonic sensor B and the first ultrasonic sensor C have been determined. Therefore, the position of the first ultrasonic sensor C can be determined using the triangulation positioning method as the first position of the cleaning robot.

[0086] It should be noted that using the triangulation positioning method to determine the position of the first ultrasonic sensor includes: setting a coordinate system, for example, with the second ultrasonic sensor A as the origin, and placing the second ultrasonic sensor B on the x-axis. If the distances between the second ultrasonic sensor A and the second ultrasonic sensor B and the first ultrasonic sensor are known, as well as the distance between the second ultrasonic sensor A and the second ultrasonic sensor B, the corresponding circle equation or sphere equation can be established, and the intersection of the circle equation or the sphere equation is the position of the first ultrasonic sensor.

[0087] In this embodiment, since ultrasound propagates more reliably underwater, ultrasound is used to locate the position of the cleaning robot, which is more stable and has stronger anti-interference ability than infrared positioning. The base station is equipped with at least two second ultrasonic sensors, which locate the position of the cleaning robot through the triangulation positioning method, thereby improving the positioning accuracy and making the determination of the first position more accurate.

[0088] Step 306: Send a movement control instruction to the first ultrasonic sensor via the second ultrasonic sensor to control the movement of the cleaning robot.

[0089] The movement control instruction may be a linear movement control instruction, which is used to control the cleaning robot to move along a straight line. For example, the cleaning robot may move forward or backward in a straight line, and this embodiment does not limit this. After receiving the linear movement control instruction, the cleaning robot maintains the current movement direction and moves along the straight line.

[0090] Exemplarily, the base station sends a linear movement control instruction to the first ultrasonic sensor through any second ultrasonic sensor. The linear movement control instruction is used to control the cleaning robot to move along a straight line. After receiving the linear movement control instruction, the cleaning robot maintains the current movement direction and moves along a straight line.

[0091] In this embodiment, the base station transmits linear motion control instructions via ultrasonic signals to cause the cleaning robot to move in a straight line, effectively calibrating the cleaning robot's movement direction. Because ultrasonic waves propagate more reliably underwater, using ultrasonic waves to transmit linear motion control instructions improves control and positioning accuracy.

[0092] The movement control instruction may also be a movement control instruction for controlling the cleaning robot to move in a specified direction. The specified direction may be a direction toward a second ultrasonic sensor that meets a specified condition. The specified condition may be that the first ultrasonic signal is received first.

[0093] Step 308: using at least two second ultrasonic sensors to respectively receive second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, and determining a second position of the cleaning robot according to the second ultrasonic signals.

[0094] In an exemplary embodiment, Figure 6 As shown, Figure 6 FIG. 3 is a flow chart of step 308 in one embodiment; step 308 includes steps 3081 to 3083.

[0095] Step 3081: Receive the second ultrasonic signal sent by the cleaning robot through the first ultrasonic sensor through at least two second ultrasonic sensors.

[0096] Exemplarily, the base station receives the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor through at least two second ultrasonic sensors, and records the reception time of the second ultrasonic signals received by the at least two second ultrasonic sensors, and records the sending time of the second ultrasonic signal sent by the first ultrasonic sensor.

[0097] It should be noted that, in some embodiments, the cleaning robot may send the second ultrasonic signal through the first ultrasonic sensor multiple times, for example, once every specified time, and the specified time may be a few seconds or milliseconds, etc. This embodiment does not limit this.

[0098] In some embodiments, the cleaning robot may send the second ultrasonic signal through the first ultrasonic sensor once. For example, the triggering condition for the cleaning robot to send the second ultrasonic signal through the first ultrasonic sensor may be: the remaining power of the cleaning robot is less than or equal to half of the remaining power when the first ultrasonic signal is sent.

[0099] Step 3082: Determine the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor based on the reception times of the second ultrasonic signals by the at least two second ultrasonic sensors.

[0100] The base station determines the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively according to the reception time and the transmission time of the second ultrasonic signals respectively by the at least two second ultrasonic sensors.

[0101] For example, the cleaning robot transmits a second ultrasonic signal via a first ultrasonic sensor that carries the time of transmission of the second ultrasonic signal. At least two second ultrasonic sensors receive the second ultrasonic signal, analyze the second ultrasonic signal, and record the time of transmission. They also each record the time of reception of the second ultrasonic signal. The distance between each of the at least two second ultrasonic sensors and the first ultrasonic sensor is then determined based on the time difference between the time of reception of the second ultrasonic signal and the time of transmission of the second ultrasonic signal, as well as the transmission speed of the ultrasonic signal.

[0102] Step 3083: Determine the second position of the cleaning robot using a triangulation method based on the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor, and the distance between the at least two second ultrasonic sensors.

[0103] It should be noted that the triangulation positioning method used in this step to determine the second position of the cleaning robot is consistent with the triangulation positioning method used in step 2023. For details, please refer to the description in step 2023 and will not be repeated here.

[0104] In this embodiment, by setting up at least two second ultrasonic sensors at the base station, the position of the cleaning robot is located through ultrasonic positioning and triangulation positioning methods, thereby improving the positioning accuracy, making the determination of the first position and the second position more accurate, and reducing errors caused by water flow or posture deviation of the cleaning robot.

[0105] Step 310: Determine a first moving direction of the cleaning robot according to the first position and the second position.

[0106] When the first position and the second position of the cleaning robot during the movement process have been confirmed, the vector from the first position to the second position is the moving direction of the cleaning robot, which serves as the first moving direction.

[0107] In this embodiment, the moving direction of the cleaning robot is determined by two position measurements. In this way, even if there is an initial deviation, the direction can be adjusted through the two position measurements to avoid cumulative errors.

[0108] Step 312: Determine a second moving direction of the cleaning robot relative to the base station according to the first moving direction, and control the cleaning robot to move toward the base station according to the second moving direction.

[0109] For example, the second moving direction of the cleaning robot relative to the base station can be determined based on the first moving direction, the second position, and the location of the base station; then, a movement control instruction corresponding to the second moving direction is sent to the first ultrasonic sensor via the second ultrasonic sensor, so as to control the cleaning robot to move toward the base station in the second moving direction via the movement control instruction. For example, a two-dimensional plane coordinate system or a three-dimensional plane coordinate system can be established with the geometric center of the base station as the coordinate origin, and the coordinates of the cleaning robot in the two-dimensional plane coordinate system or the three-dimensional plane coordinate system can be determined based on the second position of the cleaning robot, and the unit direction vector or heading angle of the cleaning robot can be determined based on the first moving direction of the cleaning robot; then, the relative position vector of the cleaning robot to the base station is calculated, and the heading deviation of the cleaning robot to the base station is analyzed to generate the second moving direction; finally, the base station sends a movement control instruction via ultrasonic signal modulation, and the movement control instruction includes the second moving direction information. The first ultrasonic sensor receives and demodulates the movement control instruction, extracts the second moving direction information in the movement control instruction, and the cleaning robot moves toward the base station in the second moving direction, and finally enters the charging area of the base station.

[0110] In this embodiment, the moving direction of the cleaning robot is determined by two positions. In this way, even if there is an initial deviation, the direction can be adjusted through two measurements to avoid cumulative errors. The ultrasonic signal is used to update the position during the movement of the cleaning robot, and the direction and path of the cleaning robot are dynamically adjusted to improve the success rate of the cleaning robot returning to the pile and reduce human intervention; the heading angle calculation and closed-loop control are integrated to effectively offset interference such as ground slippage and sensor noise, and ultrasonic waves are used to achieve both positioning and communication functions without the need for additional wireless modules.

[0111] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0112] Based on the same inventive concept, the present application also provides a cleaning robot control device for implementing the cleaning robot control method described above. The solution to the problem provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more cleaning robot control device embodiments provided below can be found in the above-mentioned limitations of the cleaning robot control method and will not be repeated here.

[0113] In an exemplary embodiment, Figure 7 As shown, a cleaning robot control device is provided. Figure 7 : This is a structural block diagram of a cleaning robot control device in one embodiment. The cleaning robot control device 700 is applied to a base station in a cleaning robot system for controlling the cleaning robot. The cleaning robot is provided with a first ultrasonic sensor, and the base station is provided with at least two second ultrasonic sensors. The cleaning robot control device 700 includes: a first position determination module 701, a movement control module 702, a second position determination module 703, a movement direction determination module 704, and a movement direction control module 705, wherein:

[0114] A first position determining module 701 is configured to determine a first position of the cleaning robot based on first ultrasonic signals sent by the cleaning robot via the first ultrasonic sensor and received by the at least two second ultrasonic sensors;

[0115] a movement control module 702, configured to send a movement control instruction to the first ultrasonic sensor via the second ultrasonic sensor to control the movement of the cleaning robot;

[0116] a second position determining module 703, configured to respectively receive, through the at least two second ultrasonic sensors, second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, and determine a second position of the cleaning robot according to the second ultrasonic signals;

[0117] a moving direction determining module 704, configured to determine a first moving direction of the cleaning robot according to the first position and the second position;

[0118] The moving direction control module 705 is configured to determine a second moving direction of the cleaning robot relative to the base station according to the first moving direction, and control the cleaning robot to move toward the base station according to the second moving direction.

[0119] Optionally, the first position determining module 701 is further configured to respectively receive, through the at least two second ultrasonic sensors, first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor;

[0120] determining, based on the reception times of the at least two second ultrasonic sensors for the first ultrasonic signal, the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor;

[0121] The first position of the cleaning robot is determined by using a triangulation positioning method according to the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively, and the distance between the at least two second ultrasonic sensors.

[0122] Optionally, the second position determining module 703 is further configured to respectively receive, through the at least two second ultrasonic sensors, second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor;

[0123] determining, based on the reception times of the at least two second ultrasonic sensors for the second ultrasonic signal, the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor;

[0124] The second position of the cleaning robot is determined by using a triangulation positioning method according to the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively, and the distance between the at least two second ultrasonic sensors.

[0125] Optionally, the first position determination module 701 is further configured to determine a transmission time of the first ultrasonic signal;

[0126] The distances between the at least two second ultrasonic sensors and the first ultrasonic sensor are determined respectively according to the reception time and the transmission time of the at least two second ultrasonic sensors for the first ultrasonic signal.

[0127] Optionally, the second position determination module 703 is further configured to determine a transmission time of the second ultrasonic signal;

[0128] The distances between the at least two second ultrasonic sensors and the first ultrasonic sensor are determined respectively according to the reception time and the transmission time of the second ultrasonic signal by the at least two second ultrasonic sensors.

[0129] Optionally, the moving direction control module 705 is also used to synchronize the clocks of the first ultrasonic sensor and the at least two second ultrasonic sensors before determining the first position of the cleaning robot based on the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received by the at least two second ultrasonic sensors respectively.

[0130] Optionally, the moving direction control module 705 is further configured to determine a second moving direction of the cleaning robot relative to the base station according to the first moving direction, the second position and the position of the base station;

[0131] The second ultrasonic sensor sends a movement control instruction corresponding to the second movement direction to the first ultrasonic sensor, so as to control the cleaning robot to move toward the base station according to the second movement direction through the movement control instruction.

[0132] Each module in the above-mentioned cleaning robot control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor of the cleaning robot in hardware form, or can be stored in the memory of the cleaning robot in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0133] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 8As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store ultrasonic sensor signal data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a cleaning robot control method is implemented.

[0134] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0135] In an exemplary embodiment, a cleaning robot system is provided, which includes a cleaning robot and a base station. The base station includes a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented: determining a first position of the cleaning robot based on a first ultrasonic signal sent by the cleaning robot through the first ultrasonic sensor and received by the at least two second ultrasonic sensors respectively; sending a movement control instruction to the first ultrasonic sensor through the second ultrasonic sensor to control the movement of the cleaning robot; receiving a second ultrasonic signal sent by the cleaning robot through the first ultrasonic sensor during movement through the at least two second ultrasonic sensors respectively, and determining the second position of the cleaning robot based on the second ultrasonic signal; determining a first moving direction of the cleaning robot based on the first position and the second position; determining a second moving direction of the cleaning robot relative to the base station based on the first moving direction, and controlling the cleaning robot to move toward the base station according to the second moving direction.

[0136] In one embodiment, when the processor executes the computer program, it also implements the following steps: receiving the first ultrasonic signal sent by the cleaning robot through the first ultrasonic sensor through the at least two second ultrasonic sensors respectively; determining the distance between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively based on the reception time of the at least two second ultrasonic sensors for the first ultrasonic signal; determining the first position of the cleaning robot using a triangulation positioning method based on the distance between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively, and the distance between the at least two second ultrasonic sensors.

[0137] In one embodiment, when the processor executes the computer program, it also implements the following steps: receiving the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor through the at least two second ultrasonic sensors respectively; determining the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively based on the reception time of the second ultrasonic signals by the at least two second ultrasonic sensors; determining the second position of the cleaning robot using a triangulation positioning method based on the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively, and the distance between the at least two second ultrasonic sensors.

[0138] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining the transmission time of the first ultrasonic signal; and determining the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively based on the reception time and the transmission time of the at least two second ultrasonic sensors for the first ultrasonic signal.

[0139] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining the transmission time of the second ultrasonic signal; and determining the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively based on the reception time and the transmission time of the second ultrasonic signal respectively by the at least two second ultrasonic sensors.

[0140] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: performing clock synchronization on the first ultrasonic sensor and the at least two second ultrasonic sensors.

[0141] In one embodiment, when the processor executes the computer program, it also implements the following steps: determining the second moving direction of the cleaning robot relative to the base station based on the first moving direction, the second position and the position of the base station; sending a movement control instruction corresponding to the second moving direction to the first ultrasonic sensor through the second ultrasonic sensor, so as to control the cleaning robot to move toward the base station according to the second moving direction through the movement control instruction.

[0142] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: determining the first position of the cleaning robot based on the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors; sending a movement control instruction to the first ultrasonic sensor through the second ultrasonic sensor to control the movement of the cleaning robot; receiving the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during the movement through the at least two second ultrasonic sensors, and determining the second position of the cleaning robot based on the second ultrasonic signal; determining the first moving direction of the cleaning robot based on the first position and the second position; determining the second moving direction of the cleaning robot relative to the base station based on the first moving direction, and controlling the cleaning robot to move toward the base station according to the second moving direction.

[0143] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: the first ultrasonic signal sent by the cleaning robot through the first ultrasonic sensor is received respectively through the at least two second ultrasonic sensors; the distance between the at least two second ultrasonic sensors and the first ultrasonic sensor is determined based on the reception time of the first ultrasonic signal by the at least two second ultrasonic sensors; the first position of the cleaning robot is determined using a triangulation positioning method based on the distance between the at least two second ultrasonic sensors and the first ultrasonic sensor, and the distance between the at least two second ultrasonic sensors.

[0144] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor are respectively received through the at least two second ultrasonic sensors; the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor are determined based on the reception times of the second ultrasonic signals by the at least two second ultrasonic sensors; the second position of the cleaning robot is determined using a triangulation positioning method based on the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor, and the distance between the at least two second ultrasonic sensors.

[0145] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the transmission time of the first ultrasonic signal; and determining the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively based on the reception time and the transmission time of the at least two second ultrasonic sensors for the first ultrasonic signal.

[0146] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the transmission time of the second ultrasonic signal; and determining the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively based on the reception time and the transmission time of the second ultrasonic signal respectively by the at least two second ultrasonic sensors.

[0147] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: performing clock synchronization on the first ultrasonic sensor and the at least two second ultrasonic sensors.

[0148] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining the second moving direction of the cleaning robot relative to the base station based on the first moving direction, the second position and the position of the base station; sending a movement control instruction corresponding to the second moving direction to the first ultrasonic sensor through the second ultrasonic sensor, so as to control the cleaning robot to move toward the base station according to the second moving direction through the movement control instruction.

[0149] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0150] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0151] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0152] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A cleaning robot control method, characterized in that: A base station is used in a cleaning robot system to control a cleaning robot, wherein the cleaning robot is provided with a first ultrasonic sensor, and the base station is provided with at least two second ultrasonic sensors. The method includes: determining a first position of the cleaning robot according to the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors; Sending a movement control instruction to the first ultrasonic sensor through the second ultrasonic sensor to control the movement of the cleaning robot; receiving, by the at least two second ultrasonic sensors, second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, respectively, and determining a second position of the cleaning robot according to the second ultrasonic signals; determining a first moving direction of the cleaning robot according to the first position and the second position; A second moving direction of the cleaning robot relative to the base station is determined according to the first moving direction, and the cleaning robot is controlled to move toward the base station according to the second moving direction.

2. The method according to claim 1, characterized in that The determining the first position of the cleaning robot according to the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors includes: receiving, through the at least two second ultrasonic sensors, the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor respectively; determining, based on the reception times of the at least two second ultrasonic sensors for the first ultrasonic signal, the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor; The first position of the cleaning robot is determined by using a triangulation positioning method according to the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively, and the distance between the at least two second ultrasonic sensors.

3. The method according to claim 1, characterized in that The step of respectively receiving, by the at least two second ultrasonic sensors, second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, and determining a second position of the cleaning robot according to the second ultrasonic signals includes: receiving, through the at least two second ultrasonic sensors, the second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor respectively; determining, based on respective reception times of the at least two second ultrasonic sensors for the second ultrasonic signal, distances between the at least two second ultrasonic sensors and the first ultrasonic sensor; The second position of the cleaning robot is determined by using a triangulation positioning method according to the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively, and the distance between the at least two second ultrasonic sensors.

4. The method according to claim 2, characterized in that The determining, based on the reception times of the at least two second ultrasonic sensors for the first ultrasonic signal, the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor, includes: determining a transmission time of the first ultrasonic signal; The distances between the at least two second ultrasonic sensors and the first ultrasonic sensor are determined respectively according to the reception time and the transmission time of the at least two second ultrasonic sensors for the first ultrasonic signal.

5. The method according to claim 3, characterized in that The determining, based on the reception times of the second ultrasonic signals by the at least two second ultrasonic sensors, the distances between the at least two second ultrasonic sensors and the first ultrasonic sensor respectively includes: determining a transmission time of the second ultrasonic signal; The distances between the at least two second ultrasonic sensors and the first ultrasonic sensor are determined respectively according to the reception time and the transmission time of the second ultrasonic signal by the at least two second ultrasonic sensors.

6. The method according to claim 1, characterized in that Before determining the first position of the cleaning robot based on the first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors, the method includes: Clock synchronization is performed on the first ultrasonic sensor and the at least two second ultrasonic sensors.

7. The method according to any one of claims 1 to 6, characterized in that Determining a second moving direction of the cleaning robot relative to the base station according to the first moving direction, and controlling the cleaning robot to move toward the base station according to the second moving direction, includes: Determining a second moving direction of the cleaning robot relative to the base station according to the first moving direction, the second position, and the position of the base station; The second ultrasonic sensor sends a movement control instruction corresponding to the second movement direction to the first ultrasonic sensor, so as to control the cleaning robot to move toward the base station according to the second movement direction through the movement control instruction.

8. A cleaning robot control device, characterized in that: A base station for controlling a cleaning robot in a cleaning robot system, wherein the cleaning robot is provided with a first ultrasonic sensor, and the base station is provided with at least two second ultrasonic sensors. The device comprises: a first position determining module, configured to determine a first position of the cleaning robot based on first ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor and received respectively by the at least two second ultrasonic sensors; a movement control module, configured to send a movement control instruction to the first ultrasonic sensor via the second ultrasonic sensor, so as to control the movement of the cleaning robot; a second position determining module, configured to respectively receive, through the at least two second ultrasonic sensors, second ultrasonic signals sent by the cleaning robot through the first ultrasonic sensor during movement, and determine a second position of the cleaning robot according to the second ultrasonic signals; a moving direction determining module, configured to determine a first moving direction of the cleaning robot according to the first position and the second position; A moving direction control module is used to determine a second moving direction of the cleaning robot relative to the base station according to the first moving direction, and control the cleaning robot to move toward the base station according to the second moving direction.

9. A cleaning robot system, characterized in that: The cleaning robot comprises a cleaning robot and a base station, wherein the base station is used to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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