Pile returning method and apparatus for underwater cleaning robot, and underwater cleaning robot

Abstract

A pile returning method and apparatus for an underwater cleaning robot, and the underwater cleaning robot. The method comprises: in response to a pile returning instruction to the underwater cleaning robot, by means of at least two ultrasonic receiving units located at different positions of the underwater cleaning robot, receiving ultrasonic signals sent by a charging pile, the pile returning instruction being used for instructing the underwater cleaning robot to dock with the charging pile; on the basis of signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving units, controlling the underwater cleaning robot to move to the charging pile. When a radio frequency signal sent by the charging pile is received by a radio frequency receiving unit, the underwater cleaning robot is controlled to return to a pile on the basis of the radio frequency signal, so as to implement docking between the underwater cleaning robot and the charging pile, so that the underwater cleaning robot can be charged by using the charging pile, and the charging efficiency of the underwater cleaning robot is improved.

Description

Underwater cleaning robot return method and device and underwater cleaning robot

[0001] This application claims priority to Chinese patent application No. 2023110227383 filed on August 14, 2023, entitled “Pile return method, device and underwater cleaning robot for underwater cleaning robot”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of robotics technology, and in particular to a method and device for returning an underwater cleaning robot to a pile, and an underwater cleaning robot. Background Art

[0003] With the development of computer technology, robotics technology has also developed rapidly. For example, users use sweeping robots to clean the floors of houses, use window cleaning robots to clean the windows of houses, and use underwater cleaning robots to clean pools.

[0004] In the related art, when an underwater cleaning robot is used to clean a pool, the underwater cleaning robot will continue to work until the battery is exhausted. After the battery is exhausted, the underwater cleaning robot will stop at the bottom of the water, and the staff needs to use tools to pick up the underwater cleaning robot, charge the underwater cleaning robot, and then continue to use the underwater cleaning robot.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method and device for returning an underwater cleaning robot to a charging station, and the underwater cleaning robot, which can improve the efficiency of charging the underwater cleaning robot and enhance the intelligence of the underwater cleaning robot. The technical solution is as follows:

[0007] In one aspect, a method for returning an underwater cleaning robot to a pile is provided, the method comprising:

[0008] In response to a return-to-pile instruction for the underwater cleaning robot, receiving an ultrasonic signal sent by the charging pile through at least two ultrasonic receiving units of the underwater cleaning robot, wherein the return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile, and the at least two ultrasonic receiving units are located at different positions of the underwater cleaning robot;

[0009] Based on the signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving units, the underwater cleaning robot is controlled to move toward the charging pile.

[0010] In one aspect, a pile return device for an underwater cleaning robot is provided, the device comprising:

[0011] a receiving module, configured to receive an ultrasonic signal sent by a charging pile through at least two ultrasonic receiving units of the underwater cleaning robot in response to a return-to-pile instruction for the underwater cleaning robot, wherein the return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile, and the at least two ultrasonic receiving units are located at different positions of the underwater cleaning robot;

[0012] A moving module is used to control the underwater cleaning robot to move toward the charging pile based on signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving units.

[0013] On the one hand, an underwater cleaning robot is provided, which includes a robot controller, which includes one or more processors and one or more memories, at least one computer program stored in the one or more memories, and the computer program is loaded and executed by the one or more processors to implement a return method for the underwater cleaning robot.

[0014] On the one hand, a computer-readable storage medium is provided, in which at least one computer program is stored. The computer program is loaded and executed by a processor to implement the pile-returning method of the underwater cleaning robot.

[0015] On the one hand, a computer program product or computer program is provided, which includes a program code, which is stored in a computer-readable storage medium. The processor of the robot controller reads the program code from the computer-readable storage medium, and the processor executes the program code, so that the robot controller executes the above-mentioned return method of the underwater cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] FIG1 is a schematic diagram of an underwater cleaning robot on the bottom of a pool provided by an embodiment of the present application;

[0018] FIG2 is a flow chart of a method for returning an underwater cleaning robot to a pile according to an embodiment of the present application;

[0019] FIG3 is a flow chart of another method for returning an underwater cleaning robot to a pile provided by an embodiment of the present application;

[0020] FIG4 is a schematic structural diagram of a pile return device of an underwater cleaning robot provided in an embodiment of the present application;

[0021] FIG5 is a schematic structural diagram of an underwater cleaning robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0023] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on the quantity and execution order.

[0024] First, the nouns involved in the embodiments of the present application are introduced.

[0025] Underwater cleaning robot: A robot used to perform underwater cleaning tasks. For example, the underwater cleaning robot is placed in a pool and can clean the bottom and walls of the pool.

[0026] Ultrasonic waves: Ultrasonic waves are mechanical waves with extremely short wavelengths, typically less than 2 cm in air. They rely on a medium to propagate and cannot exist in a vacuum (such as space). They travel farther in water than in air, and in some scenarios, can reach hundreds of meters in water.

[0027] Radio Frequency (RF): This refers to electromagnetic frequencies that can be radiated into space, ranging from 300kHz to 300GHz. RF, or radio frequency current, is short for high-frequency alternating electromagnetic waves. Alternating current that changes less than 1,000 times per second is called low-frequency current, while current that changes more than 10,000 times per second is called high-frequency current, and RF is one such high-frequency current. Radio frequency (300K-300GHz) is a higher frequency band of high frequency (greater than 10K), while the microwave band (300M-300GHz) is an even higher frequency band of radio frequency. Compared to ultrasonic waves, RF signals have a much shorter propagation distance in water. In some scenarios, the propagation distance of RF signals in water is only 2 meters.

[0028] The salvaging and charging in the related technologies both require manual operation by staff, and the efficiency of charging the underwater cleaning robot is low.

[0029] After introducing the nouns involved in the embodiments of the present application, the application scenarios of the embodiments of the present application are described below.

[0030] The technical solution provided by the embodiment of the present application can be applied to the scenario of controlling an underwater cleaning robot to clean the bottom of a pool (example). Referring to Figure 1, the underwater cleaning robot 101 can move on the bottom of the pool, thereby cleaning the bottom of the pool. During the movement of the underwater cleaning robot 101 on the bottom of the pool, the water pump of the underwater cleaning robot 101 is started, and the liquid in the pool is sucked into the filter box of the underwater cleaning robot 101 through the water inlet at the bottom of the underwater cleaning robot 101. The liquid is filtered by the filter box, and the dirt in the liquid is left in the filter box. The filtered liquid is discharged through the drain of the underwater cleaning robot 101, thereby cleaning the bottom of the pool. A charging column 102 is provided in the pool, and the underwater cleaning robot 101 can be charged using the charging column 102. The charging column 102 includes an ultrasonic transmitting unit 1021 and a radio frequency transmitting unit 1022. The ultrasonic transmitting unit 1021 is used to transmit ultrasonic signals, and the radio frequency transmitting unit 1022 is used to transmit radio frequency signals. Accordingly, the underwater cleaning robot includes an ultrasonic receiving unit 1011 and a radio frequency receiving unit 1012 . The ultrasonic receiving unit 1011 is used to receive the ultrasonic signal sent by the charging pile 102 , and the radio frequency receiving unit 1012 is used to receive the radio frequency signal sent by the charging pile 102 .

[0031] After adopting the underwater cleaning robot return method provided in an embodiment of the present application, in response to the return-to-pile instruction for the underwater cleaning robot 101, the ultrasonic signal sent by the charging pile is received by at least two ultrasonic receiving units 1011 of the underwater cleaning robot 100. The return-to-pile instruction is used to instruct the underwater cleaning robot 101 to dock with the charging pile 102, thereby charging the underwater cleaning robot 101 through the charging pile 102. Based on the signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving units 1011, the underwater cleaning robot 101 is controlled to move toward the charging pile 102. When the radio frequency signal sent by the charging pile 102 is received by the radio frequency receiving unit 1012, the underwater cleaning robot 101 is controlled to return to the pile based on the radio frequency signal. In this way, the underwater cleaning robot can automatically return to the pile for charging, improve the efficiency of charging the underwater cleaning robot, and thus improve the intelligence of the underwater cleaning robot.

[0032] The technical solution provided in the embodiment of the present application is described below. Figure 2 is a flow chart of a method for returning to a pile of an underwater cleaning robot provided in the embodiment of the present application. Referring to Figure 2, taking the robot controller of the underwater cleaning robot as an example, the method includes the following steps.

[0033] 201. In response to a return-to-pile instruction for the underwater cleaning robot, the robot controller receives an ultrasonic signal sent by the charging pile through at least two ultrasonic receiving units of the underwater cleaning robot. The return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile. The at least two ultrasonic receiving units are located at different positions of the underwater cleaning robot.

[0034] In which, the robot controller is built into the underwater cleaning robot and is used to control the underwater cleaning robot. The underwater cleaning robot is used to clean the bottom (and / or walls) of a pool. When the underwater cleaning robot is located on the bottom of the pool, the underwater cleaning robot can move on the bottom of the pool and perform cleaning actions. Accordingly, the process of the underwater cleaning robot moving also includes the underwater cleaning robot moving or rotating on the bottom of the pool. The bottom of the underwater cleaning robot is configured with a walking unit, and by driving the walking unit, the underwater cleaning robot can be controlled to move on the bottom of the pool. The movement unit includes running wheels, and driving the walking unit is to drive the running wheels to rotate, thereby driving the underwater cleaning robot to move. The return to pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile, so that the underwater cleaning robot is charged by the charging pile. In addition to charging the underwater cleaning robot, the charging pile can also send ultrasonic signals and radio frequency signals, both of which are used to guide the underwater cleaning robot to dock with the charging pile. The underwater cleaning robot's at least two ultrasonic receiving units are used to receive ultrasonic signals transmitted by the charging station. These at least two ultrasonic receiving units are located at different locations on the underwater cleaning robot, so that the robot controller uses the ultrasonic signals received by the at least two ultrasonic units to achieve positioning of the underwater cleaning robot. Positioning here refers to determining the relative position between the underwater cleaning robot and the charging station.

[0035] 202. The robot controller controls the underwater cleaning robot to move toward the charging pile based on signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units.

[0036] Among them, the ultrasonic signal is also an ultrasonic wave, and the signal parameters of the ultrasonic signal are used to represent the receiving parameters corresponding to the ultrasonic signal when each ultrasonic receiving unit receives the ultrasonic signal. In some embodiments, the signal parameters include the time when each ultrasonic receiving unit receives the ultrasonic signal and the signal strength of the ultrasonic signal when each ultrasonic receiving unit receives the ultrasonic signal. Since the ultrasonic signal has a long propagation distance underwater, the charging pile sending the ultrasonic signal can achieve the effect of guiding the underwater cleaning robot back to the pile over a long distance. Controlling the underwater cleaning robot to move toward the charging pile is to control the underwater cleaning robot to approach the charging pile.

[0037] Through the technical solution provided in the embodiments of the present application, in response to a return-to-pile instruction for an underwater cleaning robot, at least two ultrasonic receiving units located at different positions on the underwater cleaning robot receive an ultrasonic signal transmitted from a charging pile. The return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile. Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, the underwater cleaning robot is controlled to move toward the charging pile, thereby improving the efficiency of charging the underwater cleaning robot and enhancing the intelligence of the underwater cleaning robot.

[0038] It should be noted that the above steps 201-203 are a brief introduction to the technical solution provided in the embodiment of the present application. The technical solution provided in the embodiment of the present application will be described in more detail below with reference to some examples. Referring to Figure 3, the method includes the following steps.

[0039] 301. The robot controller obtains a return-to-pile instruction for the underwater cleaning robot, where the return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile.

[0040] Among them, the robot controller is built into the underwater cleaning robot and is used to control the underwater cleaning robot. The underwater cleaning robot is used to clean the bottom of the pool. When the underwater cleaning robot is located on the bottom of the pool, the underwater cleaning robot can move on the bottom of the pool and perform cleaning actions. Accordingly, the process of the underwater cleaning robot moving also includes the underwater cleaning robot moving or rotating on the bottom of the pool. The bottom of the underwater cleaning robot is configured with a walking unit, and by driving the walking unit, the underwater cleaning robot can be controlled to move on the bottom of the pool. The action unit includes walking wheels, and driving the walking unit is to drive the walking wheels to rotate, thereby driving the underwater cleaning robot to move. The return to pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile, so as to charge the underwater cleaning robot through the charging pile.

[0041] In some embodiments, the charging pile is bound to the underwater cleaning robot and can charge the underwater cleaning robot. The charging pile is located underwater, for example, the charging pile is located at the bottom of a pool. The charging pile is equipped with a wireless charging component, and accordingly, the underwater cleaning robot also includes a wireless charging unit. Through the cooperation between the wireless charging component and the wireless charging unit, wireless charging of the underwater cleaning robot can be achieved. If both the charging pile and the underwater cleaning robot are located underwater, there is no need to salvage the underwater cleaning robot when charging the underwater cleaning robot. It can be charged directly through the charging pile in a wireless charging manner.

[0042] In a possible implementation, when the state parameters of the underwater cleaning robot meet preset state conditions, the robot controller triggers the return-to-pile instruction.

[0043] Among them, the state parameter is used to reflect the state of the underwater cleaning robot. In some embodiments, the state parameter includes at least one of the remaining power, single cleaning time and single cleaning area. The underwater cleaning robot is powered by a built-in battery. The remaining power is the current power of the built-in battery. The remaining power can reflect the remaining working time of the underwater cleaning robot. The single cleaning time refers to the cumulative cleaning time of the underwater cleaning robot performing a single cleaning task. The single cleaning area refers to the cumulative cleaning area of ​​the underwater cleaning robot performing a single cleaning task. The preset state condition is set by technical personnel according to actual conditions, and the embodiments of the present application are not limited to this. If the state parameter of the underwater cleaning robot meets the preset state condition, it means that the underwater cleaning robot needs to be charged.

[0044] Under this embodiment, when the state parameters of the underwater cleaning robot meet the preset state conditions, the return-to-pile instruction can be actively triggered, thereby realizing intelligent charging of the underwater cleaning robot and improving the efficiency of charging the underwater cleaning robot.

[0045] For example, the robot controller obtains status parameters of the underwater cleaning robot, which include at least one of the remaining battery power, the duration of a single cleaning cycle, and the area cleaned per cycle. If the remaining battery power is less than or equal to a battery power threshold, the duration of a single cleaning cycle is greater than or equal to a cleaning cycle threshold, and the area cleaned per cycle is greater than or equal to a cleaning cycle threshold, the robot controller triggers the return-to-pile instruction.

[0046] Among them, the power threshold is used to limit the minimum power of the underwater cleaning robot, the cleaning time threshold is used to limit the single cleaning time of the underwater cleaning robot, and the cleaning area threshold is used to limit the single cleaning area of ​​the underwater cleaning robot, so that the remaining power of the underwater cleaning robot can ensure that the underwater cleaning robot moves to the location of the charging station. The power threshold, cleaning time threshold, and cleaning area threshold are set by technicians based on actual conditions and can of course be adjusted by staff as needed, and are not limited in this embodiment of the present application.

[0047] In a possible implementation, the robot controller receives the return-to-charging pile instruction sent by the charging pile.

[0048] The charging pile has a communication component that can both receive and send information. In some embodiments, the communication component also has an information forwarding function. That is, when the device cannot directly communicate with the underwater cleaning robot, the device can send information to the charging pile, and the charging pile forwards the information to the underwater cleaning robot through the communication component, thereby realizing communication between the device and the underwater cleaning robot.

[0049] In order to explain the above embodiment more clearly, the above embodiment is described below through two examples.

[0050] Example 1: The robot controller receives the return-to-pile instruction sent by the charging pile, and the return-to-pile instruction is actively sent by the charging pile.

[0051] Example 2: The robot controller receives the return-to-pile instruction sent by the charging pile. The return-to-pile instruction is sent by the associated terminal of the underwater cleaning robot to the charging pile and forwarded by the charging pile.

[0052] The associated terminal of the underwater cleaning robot is a terminal bound to the underwater cleaning robot, and the associated terminal has the authority to control the underwater cleaning robot.

[0053] In a possible implementation, the robot controller receives the return-to-pile instruction sent by an associated terminal of the underwater cleaning robot.

[0054] In this embodiment, the associated terminal can directly communicate with the underwater cleaning robot, and the robot controller can directly receive the return-to-pile instruction sent by the associated terminal.

[0055] It should be noted that the robot controller can obtain the return instruction through any of the above methods, and the embodiments of the present application do not limit this.

[0056] Optionally, in addition to the above step 301, the robot controller can also perform the following steps.

[0057] In one possible implementation, the robot controller obtains a cleaning work plan, which includes a planned cleaning time, and any one of a planned cleaning duration, a planned cleaning area, and a planned cleaning number of times. The robot controller controls the underwater cleaning robot to perform a cleaning task based on the cleaning work plan.

[0058] Among them, the cleaning task is the task of the underwater cleaning robot to clean underwater. The planned cleaning time is the start time for controlling the underwater cleaning robot to perform the cleaning task. The planned cleaning time can be a periodic start time or a one-time start time. The staff can set it according to the actual situation. The embodiment of the present application does not limit this. The planned cleaning duration is the planned duration for executing a single cleaning task, that is, when the cumulative duration for executing a single cleaning task reaches the planned cleaning duration, it means that the single cleaning task is completed. The planned cleaning area is the planned area for executing a single cleaning task, that is, when the cumulative area for executing a single cleaning task reaches the planned cleaning area, it means that the single cleaning task is completed. The planned number of cleanings is the planned number of times a single cleaning task is executed, that is, when the planned number of cleanings is completed at the designated location, it means that the single cleaning task is completed.

[0059] 302. In response to a return-to-charging pile instruction for the underwater cleaning robot, the robot controller receives an ultrasonic signal sent by the charging pile through at least two ultrasonic receiving units of the underwater cleaning robot, where the at least two ultrasonic receiving units are located at different positions of the underwater cleaning robot.

[0060] In addition to being able to charge the underwater cleaning robot, the charging pile can also send ultrasonic signals and radio frequency signals, both of which are used to guide the underwater cleaning robot to dock with the charging pile. In some embodiments, the charging pile includes at least two ultrasonic transmitting units, which are used to send ultrasonic signals. The at least two ultrasonic receiving units of the underwater cleaning robot are used to receive the ultrasonic signals sent by the charging pile. The at least two ultrasonic receiving units are located at different positions of the underwater cleaning robot, so that the robot controller uses the ultrasonic signals received by the at least two ultrasonic units to achieve the positioning of the underwater cleaning robot. Positioning here refers to determining the relative position relationship between the underwater cleaning robot and the charging pile. For example, referring to Figure 1, a side view and a top view of the charging pile and the underwater cleaning robot are provided. As can be seen from Figure 1, the charging pile and the underwater cleaning robot are both located underwater, and the charging pile and the underwater cleaning robot are located in the same space. The underwater cleaning robot can move from its current position to the position of the charging pile. In some embodiments, the charging pile periodically sends ultrasonic signals.

[0061] In one possible embodiment, in response to a return-to-charging pile instruction for the underwater cleaning robot, the robot controller sends an activation instruction to the at least two ultrasonic receiving units. When both of the at least two ultrasonic receiving units are activated, the robot controller receives the ultrasonic signal sent by the charging pile through the at least two ultrasonic receiving units.

[0062] In this embodiment, in response to the return-to-charging pile instruction, the at least two ultrasonic receiving units are activated again, that is, the at least two ultrasonic receiving units do not need to remain activated all the time, thereby conserving the power of the underwater cleaning robot. When the at least two ultrasonic receiving units are activated, the ultrasonic signal sent by the charging pile is received by the at least two ultrasonic receiving units, and the underwater cleaning robot can be subsequently positioned based on the ultrasonic signal.

[0063] In some embodiments, when the robot controller fails to receive the ultrasonic signal sent by the charging pile through the at least two ultrasonic receiving units, the robot controller controls the underwater cleaning robot to rotate to adjust the positions of the at least two ultrasonic receiving units until the at least two ultrasonic units receive the ultrasonic signal.

[0064] 303. The robot controller controls the underwater cleaning robot to move toward the charging pile based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units.

[0065] Among them, the ultrasonic signal is also an ultrasonic wave, and the signal parameters of the ultrasonic signal are used to represent the receiving parameters corresponding to the ultrasonic signal when each ultrasonic receiving unit receives the ultrasonic signal. The signal parameters of at least two ultrasonic receiving units receiving the ultrasonic signal refer to the signal parameters of each ultrasonic receiving unit in the at least two ultrasonic receiving units receiving the ultrasonic signal, that is, when the number of the at least two ultrasonic receiving units is two, the number of the signal parameters is also two. In some embodiments, the signal parameters include the time when each ultrasonic receiving unit receives the ultrasonic signal and the signal strength of the ultrasonic signal when each ultrasonic receiving unit receives the ultrasonic signal. Since the ultrasonic signal has a long propagation distance underwater, the charging pile sending the ultrasonic signal can achieve the effect of guiding the underwater cleaning robot back to the pile over a long distance. Controlling the underwater cleaning robot to move toward the charging pile is to control the underwater cleaning robot to approach the charging pile.

[0066] In one possible embodiment, the robot controller determines a target movement direction of the underwater cleaning robot based on signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, where the target movement direction is a movement direction approaching the charging pile. The robot controller controls the underwater cleaning robot to move in the target movement direction.

[0067] The signal parameter includes at least one of a signal reception time and a signal strength. Since the charging station periodically transmits ultrasonic signals, the at least two ultrasonic receiving units each have a signal reception time during each ultrasonic signal transmission cycle of the charging station. The signal strength can reflect the distance between the underwater cleaning robot and the charging station. A stronger signal strength indicates a closer distance between the underwater cleaning robot and the charging station; a weaker signal strength indicates a greater distance between the underwater cleaning robot and the charging station.

[0068] In this embodiment, based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, the target moving direction of the underwater cleaning robot can be determined, thereby controlling the underwater cleaning robot to move in the target moving direction so that the underwater cleaning robot approaches the charging pile.

[0069] In order to explain the above embodiment more clearly, the following will be divided into two parts to explain the above embodiment.

[0070] In the first part, the robot controller determines the target moving direction of the underwater cleaning robot based on the signal parameters of the ultrasonic signals received by the at least two ultrasonic receiving units.

[0071] In a possible implementation, the signal parameter includes a signal receiving time, and the robot controller determines the target moving direction of the underwater cleaning robot based on the signal receiving time when the at least two ultrasonic receiving units receive the ultrasonic signal.

[0072] In this embodiment, based on the signal receiving time when the at least two ultrasonic receiving units receive the ultrasonic signal, the target moving direction of the underwater cleaning robot can be determined, and the determination efficiency of the target moving direction is relatively high.

[0073] For example, the robot controller determines the target movement direction of the underwater cleaning robot based on the difference between the signal reception times of the ultrasonic signal by the at least two ultrasonic receiving units. Since the ultrasonic signal is periodically transmitted by the charging station, the signal reception time can reflect the distance between the ultrasonic receiving unit and the charging station. That is, for two ultrasonic receiving units, if the signal reception time of one ultrasonic receiving unit is earlier, the distance between the ultrasonic receiving unit and the charging station is smaller than the distance between the other ultrasonic receiving unit and the charging station.

[0074] For example, the robot controller determines the target movement direction of the underwater cleaning robot based on the difference between the signal reception times of the at least two ultrasonic receiving units receiving the ultrasonic signal and the respective positions of the at least two ultrasonic receiving units on the underwater cleaning robot. Alternatively, the robot controller determines the direction corresponding to the ultrasonic receiving unit with the earlier signal time among the at least two ultrasonic receiving units as the target movement direction, wherein the direction corresponding to the ultrasonic receiving unit refers to the opposite direction in which the ultrasonic receiving unit receives the ultrasonic wave.

[0075] In a possible implementation, the signal parameter includes signal strength, and the robot controller determines the target moving direction of the underwater cleaning robot based on the signal strength of the ultrasonic signal received by the at least two ultrasonic receiving units.

[0076] In this embodiment, based on the signal strength of the ultrasonic signal received by the at least two ultrasonic receiving units, the target moving direction of the underwater cleaning robot can be determined, and the determination efficiency of the target moving direction is relatively high.

[0077] For example, the robot controller determines the target movement direction of the underwater cleaning robot based on the difference between the signal strengths of the ultrasonic signals received by the at least two ultrasonic receiving units. Since the ultrasonic signals are periodically transmitted by the charging station, the signal strength can reflect the distance between the ultrasonic receiving units and the charging station. That is, if the signal strength of one ultrasonic receiving unit is stronger than that of the other ultrasonic receiving unit, the distance between the ultrasonic receiving unit and the charging station is smaller than that between the other ultrasonic receiving unit and the charging station.

[0078] For example, the robot controller determines the target movement direction of the underwater cleaning robot based on the difference between the signal strengths of the ultrasonic signal received by the at least two ultrasonic receiving units and the respective positions of the at least two ultrasonic receiving units on the underwater cleaning robot. Alternatively, the robot controller determines the direction corresponding to the ultrasonic receiving unit with the stronger signal at that moment among the at least two ultrasonic receiving units as the target movement direction, wherein the direction corresponding to the ultrasonic receiving unit refers to the opposite direction in which the ultrasonic receiving unit receives the ultrasonic wave.

[0079] In a possible implementation, the signal parameters include signal reception time and signal strength, and the robot controller determines the target movement direction of the underwater cleaning robot based on the signal reception time and signal strength of the ultrasonic signal received by the at least two ultrasonic receiving units.

[0080] In this embodiment, the target moving direction is determined by combining the signal reception time and the signal strength, and the accuracy of the target moving direction is relatively high.

[0081] For example, the robot controller determines a first movement direction of the underwater cleaning robot based on a difference between signal reception times of the ultrasonic signal by the at least two ultrasonic receiving units. The robot controller determines a second movement direction of the underwater cleaning robot based on a difference between signal strengths of the ultrasonic signal received by the at least two ultrasonic receiving units. The robot controller fuses the first movement direction and the second movement direction to obtain the target movement direction.

[0082] The method for determining the first moving direction and the second moving direction belongs to the same inventive concept as the above two embodiments, and the implementation process is described in the above two embodiments, which will not be repeated here. The method for fusing the first moving direction and the second moving direction is described below.

[0083] In some embodiments, the robot controller uses a first confidence level and a second confidence level to perform a weighted fusion of the first and second movement directions to obtain the target movement direction. The first confidence level is the confidence level corresponding to the signal reception moment, and the second confidence level is the confidence level corresponding to the signal strength. The first and second confidence levels are set by technicians based on actual conditions and are not limited in this embodiment of the application.

[0084] In the second part, the robot controller controls the underwater cleaning robot to move toward the target moving direction.

[0085] In a possible embodiment, the robot controller controls the underwater cleaning robot to rotate toward the target moving direction. When the underwater cleaning robot rotates to the target moving direction, the robot controller controls the underwater cleaning robot to move forward.

[0086] Wherein, rotating toward the target movement direction means turning the underwater cleaning robot's forward direction toward the target movement direction, and correspondingly, rotating the underwater cleaning robot toward the target movement direction means turning the underwater cleaning robot's forward direction toward the target direction. In some embodiments, the robot controller determines the forward direction using a gyroscope of the underwater cleaning robot.

[0087] For example, the robot controller determines a directional deviation between the underwater cleaning robot's current orientation and the target movement direction. Based on the directional deviation, the robot controller controls the underwater cleaning robot to rotate. When the underwater cleaning robot rotates to the target movement direction, the robot controller sends a drive instruction to a drive unit of the underwater cleaning robot, causing the drive unit to drive the underwater cleaning robot forward.

[0088] It should be noted that, in the process of the robot controller controlling the underwater cleaning robot to move toward the target moving direction, the robot controller can adjust the moving direction of the underwater cleaning robot through the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, so that the underwater cleaning robot can maintain the trend of moving toward the charging pile.

[0089] 304. When the radio frequency signal sent by the charging pile is received by the radio frequency receiving unit, the robot controller controls the underwater cleaning robot to return to the pile based on the radio frequency signal.

[0090] The charging station uses the radio frequency signal to transmit data with the underwater cleaning robot, thereby achieving precise control of the underwater cleaning robot, that is, guiding the underwater cleaning robot to return to the charging station, and improving the underwater cleaning robot's intelligence. The charging station sends the radio frequency signal in real time. Because the propagation distance of radio frequency signals underwater is short, the reception of the radio frequency signal by the radio frequency receiving unit indicates that the underwater cleaning robot has moved near the charging station.

[0091] In one possible implementation, upon receiving a radio frequency signal transmitted by the charging pile via the radio frequency receiving unit, the robot controller establishes a communication channel with the charging pile based on the radio frequency signal. The robot controller obtains return information transmitted by the charging pile via the communication channel, the return information including clock information and the ultrasonic signal transmission time. Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units and the return information, the robot controller controls the underwater cleaning robot to return to the charging pile.

[0092] The clock information is used to synchronize the clocks of the underwater cleaning robot and the charging pile, and the ultrasonic signal sending time is the time when the charging pile sends the ultrasonic signal.

[0093] In this embodiment, upon receiving the radio frequency signal, a communication channel can be established with the charging station based on the radio frequency signal, and return information can be obtained through the communication signal. Using this return information and the signal parameters of the ultrasonic signals received by at least two ultrasonic receiving units, the underwater cleaning robot is controlled to return to the charging station, achieving precise control of the underwater cleaning robot.

[0094] For example, when the robot controller receives the radio frequency signal sent by the charging pile through the radio frequency receiving unit, it establishes a communication channel with the charging pile based on the radio frequency signal. The robot controller obtains the return information transmitted by the charging pile through the communication channel. The return information includes clock information and the time when the ultrasonic signal is sent. The robot controller obtains the clock information and the time when the ultrasonic signal is sent from the return information. The robot controller adjusts the clock based on the clock information so that the clock of the underwater cleaning robot is synchronized with the charging pile. The signal parameter is the signal reception time. The robot controller determines the distance between the underwater cleaning robot and the charging pile based on the signal reception time and the ultrasonic signal transmission time. Based on the distance, the robot controller controls the underwater cleaning robot to return to the pile.

[0095] In one possible implementation, upon receiving a radio frequency signal from the charging station via the radio frequency receiving unit, the robot controller obtains environmental information about the environment in which the underwater cleaning robot is located. Based on the environmental information and the radio frequency signal, the robot controller controls the underwater cleaning robot to return to the charging station.

[0096] In some embodiments, the environmental information includes at least one of an environmental image and an environmental point cloud.

[0097] Taking the example of an environmental image as an example, when the environmental information receives a radio frequency signal transmitted by the charging pile via the radio frequency receiving unit, the robot controller obtains an environmental image of the underwater cleaning robot's environment. The robot controller establishes a communication channel with the charging pile based on the radio frequency signal. The robot controller obtains return information transmitted by the charging pile via the communication channel. The return information includes clock information and the time when the ultrasonic signal was transmitted. Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, the return information, and the environmental image, the robot controller controls the underwater cleaning robot to return to the charging pile.

[0098] The following describes a method for controlling the underwater cleaning robot to return to the pile based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, the return-to-pile information, and the environmental image.

[0099] In one possible implementation, the robot controller obtains the clock information and the ultrasonic signal transmission time from the return-to-charging pile information. Based on this clock information, the robot controller adjusts the clock of the underwater cleaning robot to synchronize with the charging pile. The signal parameter is the signal reception time. Based on this signal reception time and the ultrasonic signal transmission time, the robot controller determines the distance between the underwater cleaning robot and the charging pile. Based on this distance and the environmental image, the robot controller controls the underwater cleaning robot to return to the charging pile.

[0100] Optionally, after step 304, the robot controller can also execute the following step 305 or steps 306-307 according to actual conditions, which is not limited in this embodiment of the present application.

[0101] 305. In response to the floating instruction to the underwater cleaning robot, the robot controller controls the underwater cleaning robot to move upward until it moves out of the water.

[0102] The floating instruction is used to instruct the underwater cleaning robot to move out of the water. The floating instruction can be automatically triggered by the robot controller when the underwater cleaning robot meets the preset floating conditions, or it can be sent by a charging station or an associated terminal of the underwater cleaning robot, which is not limited in this embodiment of the present application. In some embodiments, the underwater cleaning robot meeting the preset floating conditions means that the underwater cleaning robot is fully charged and the cleaning task is completed.

[0103] In one possible embodiment, in response to a floating instruction to the underwater cleaning robot, the robot controller controls the underwater cleaning robot to undock from the charging station and move to a wall next to the charging station. The robot controller controls the underwater cleaning robot to climb the wall until it moves out of the water.

[0104] Through step 305, the underwater cleaning robot can float to a position above the charging pile, so that the staff can salvage the underwater cleaning robot, thereby improving the salvage efficiency of the underwater cleaning robot.

[0105] 306. The robot controller determines required charging parameters of the underwater cleaning robot, where the required charging parameters include required charging power, required charging current, and required charging voltage.

[0106] In one possible implementation, the robot controller determines the required charging power based on the progress of the underwater cleaning robot's cleaning task completion, and determines the required charging voltage and required charging current based on the remaining power of the underwater cleaning robot.

[0107] Among them, the cleaning task completion progress is used to reflect the completion status of this cleaning task. The cleaning task completion progress is expressed as a percentage. A cleaning task completion progress of 0% indicates that the cleaning task has not started, and 100% indicates that the cleaning task has been completed. The value between 0%-100% can reflect the completion ratio of the cleaning task.

[0108] 307. The robot controller sends the required charging parameter to the charging pile, so that the charging pile charges the underwater cleaning robot based on the required charging parameter.

[0109] Through steps 306 and 307, the robot controller can send the required charging parameters to the charging pile, so that the charging pile charges the underwater cleaning robot with the required charging parameters, thereby improving the charging efficiency and effect.

[0110] Optionally, after step 307 , the robot controller can further perform the following steps.

[0111] In one possible embodiment, when the remaining power of the underwater cleaning robot reaches the required charging power, the robot controller determines the cleaning task completion progress. If the cleaning task completion progress indicates that the cleaning task is not completed, the robot controller controls the underwater cleaning robot to stop charging and continue to perform the cleaning task.

[0112] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0113] Through the technical solution provided by the embodiment of the present application, in response to the return-to-pile instruction for the underwater cleaning robot, the ultrasonic signal sent by the charging pile is received by at least two ultrasonic receiving units located at different positions of the underwater cleaning robot, and the return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile. Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, the underwater cleaning robot is controlled to move toward the charging pile. In the case of receiving the radio frequency signal sent by the charging pile through the radio frequency receiving unit, the underwater cleaning robot is controlled to return to the pile based on the radio frequency signal, thereby realizing the docking of the underwater cleaning robot with the charging pile, and being able to use the charging pile to charge the underwater cleaning robot, thereby improving the efficiency of charging the underwater cleaning robot and improving the intelligence level of the underwater cleaning robot.

[0114] FIG4 is a schematic structural diagram of a pile return device of an underwater cleaning robot provided in an embodiment of the present application. Referring to FIG4 , the device includes: a receiving module 401 and a moving module 402 .

[0115] The receiving module 401 is used to respond to the return-to-pile instruction of the underwater cleaning robot and receive the ultrasonic signal sent by the charging pile through at least two ultrasonic receiving units of the underwater cleaning robot. The return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile. The at least two ultrasonic receiving units are located at different positions of the underwater cleaning robot.

[0116] The movement module 402 is configured to control the underwater cleaning robot to move toward the charging pile based on signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units.

[0117] In one possible embodiment, the movement module 402 is configured to determine a target movement direction of the underwater cleaning robot based on signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, where the target movement direction is a movement direction approaching the charging pile, and control the underwater cleaning robot to move toward the target movement direction.

[0118] In a possible implementation, the signal parameter includes at least one of a signal reception time and a signal strength, and the moving module 402 is configured to perform any of the following:

[0119] The target moving direction of the underwater cleaning robot is determined based on the signal receiving times at which the at least two ultrasonic receiving units receive the ultrasonic signal.

[0120] The target moving direction of the underwater cleaning robot is determined based on the signal strength of the ultrasonic signal received by the at least two ultrasonic receiving units.

[0121] The target moving direction of the underwater cleaning robot is determined based on the signal receiving time and signal strength of the ultrasonic signal received by the at least two ultrasonic receiving units.

[0122] In one possible implementation, the movement module 402 is configured to determine a first movement direction of the underwater cleaning robot based on a difference between signal reception times of the ultrasonic signal by the at least two ultrasonic receiving units. Determine a second movement direction of the underwater cleaning robot based on a difference between signal strengths of the ultrasonic signal received by the at least two ultrasonic receiving units. The first movement direction and the second movement direction are merged to obtain the target movement direction.

[0123] In one possible embodiment, the movement module 402 is used to use a first confidence level and a second confidence level to weightedly fuse the first movement direction and the second movement direction to obtain the target movement direction, where the first confidence level is the confidence level corresponding to the signal reception moment, and the second confidence level is the confidence level corresponding to the signal strength.

[0124] In a possible implementation, the device further includes a return-to-pile module, configured to control the underwater cleaning robot to return to the pile based on the radio frequency signal when a radio frequency signal sent by the charging pile is received through the radio frequency receiving unit.

[0125] In one possible embodiment, the return-to-pile module is configured to, upon receiving a radio frequency signal transmitted by the charging pile via the radio frequency receiving unit, establish a communication channel with the charging pile based on the radio frequency signal. Return-to-pile information transmitted by the charging pile via the communication channel is obtained, where the return-to-pile information includes clock information and the ultrasonic signal transmission time. Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units and the return-to-pile information, the underwater cleaning robot is controlled to return to the charging pile.

[0126] In a possible implementation, the apparatus further includes an instruction receiving module 401 configured to perform any of the following:

[0127] When the state parameters of the underwater cleaning robot meet the preset state conditions, the return-to-pile instruction is triggered.

[0128] Receive the return-to-pile instruction sent by the charging pile.

[0129] Receive the return-to-pile instruction sent by the associated terminal of the underwater cleaning robot.

[0130] In a possible implementation, the state parameter includes at least one of remaining power, single cleaning duration, and single cleaning area, and the state parameter of the underwater cleaning robot meeting the preset state condition includes at least one of the following:

[0131] The remaining power is less than or equal to the power threshold.

[0132] The single cleaning duration is greater than or equal to the cleaning duration threshold.

[0133] The single cleaning area is greater than or equal to the cleaning area threshold.

[0134] In one possible embodiment, the return-to-pile module is configured to obtain environmental information of the underwater cleaning robot's environment when a radio frequency signal sent by the charging pile is received by the radio frequency receiving unit, and control the underwater cleaning robot to return to the charging pile based on the environmental information and the radio frequency signal.

[0135] In a possible implementation, the movement module 402 is further configured to control the underwater cleaning robot to move upward until it moves out of the water in response to an upward instruction to the underwater cleaning robot.

[0136] In one possible implementation, the device further includes:

[0137] The task execution module is configured to obtain a cleaning work plan, the cleaning work plan including a planned cleaning time, and any one of a planned cleaning duration, a planned cleaning area, and a planned cleaning number of times, and control the underwater cleaning robot to perform a cleaning task based on the cleaning work plan.

[0138] In one possible implementation, the device further includes:

[0139] The sending module is configured to determine the required charging parameters of the underwater cleaning robot, wherein the required charging parameters include the required charging power, the required charging current, and the required charging voltage. The required charging parameters are sent to the charging pile so that the charging pile charges the underwater cleaning robot based on the required charging parameters.

[0140] In a possible implementation, the sending module is configured to determine the required charging power based on the progress of the underwater cleaning robot's cleaning task completion, and to determine the required charging voltage and the required charging current based on the remaining power of the underwater cleaning robot.

[0141] In one possible embodiment, the device further includes a control module configured to determine a cleaning task completion progress when the remaining power of the underwater cleaning robot reaches the required charging power. If the cleaning task completion progress indicates that the cleaning task is not completed, the control module controls the underwater cleaning robot to stop charging and continue performing the cleaning task.

[0142] It should be noted that the above-mentioned embodiment provides an example of the division of the functional modules of the underwater cleaning robot's return device when controlling the underwater cleaning robot to return to the pile. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the robot controller can be divided into different functional modules to complete all or part of the functions described above. In addition, the above-mentioned embodiment provides an embodiment of the underwater cleaning robot's return device and the embodiment of the underwater cleaning robot's return method, which are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0143] Through the technical solution provided by the embodiment of the present application, in response to the return-to-pile instruction for the underwater cleaning robot, the ultrasonic signal sent by the charging pile is received by at least two ultrasonic receiving units located at different positions of the underwater cleaning robot, and the return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile. Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, the underwater cleaning robot is controlled to move toward the charging pile. In the case of receiving the radio frequency signal sent by the charging pile through the radio frequency receiving unit, the underwater cleaning robot is controlled to return to the pile based on the radio frequency signal, thereby realizing the docking of the underwater cleaning robot with the charging pile, and being able to use the charging pile to charge the underwater cleaning robot, thereby improving the efficiency of charging the underwater cleaning robot and improving the intelligence level of the underwater cleaning robot.

[0144] The present invention also provides an underwater cleaning robot. FIG5 is a schematic diagram of a robot controller provided by the present invention. Generally, the underwater cleaning robot includes a robot controller 500 , which includes one or more processors 501 and one or more memories 502 .

[0145] The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0146] The memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one computer program, which is used to be executed by the processor 501 to implement the return method of the underwater cleaning robot provided in the method embodiment of the present application.

[0147] In some embodiments, the underwater cleaning robot 500 may optionally include a peripheral device interface 503 and at least one peripheral device. The processor 501, the memory 502, and the peripheral device interface 503 may be connected via a bus or signal lines. Each peripheral device may be connected to the peripheral device interface 503 via a bus, signal lines, or circuit boards.

[0148] Those skilled in the art will understand that the structure shown in FIG5 does not constitute a limitation on the underwater cleaning robot 500 , and may include more or fewer components than shown, or combine certain components, or adopt a different component arrangement.

[0149] In an exemplary embodiment, a computer-readable storage medium is further provided, such as a memory including a computer program, which can be executed by a processor to implement the pile return method of the underwater cleaning robot in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0150] In an exemplary embodiment, a computer program product or computer program is also provided, which includes a program code, which is stored in a computer-readable storage medium. The processor of the robot controller reads the program code from the computer-readable storage medium, and the processor executes the program code, so that the robot controller executes the above-mentioned pile return method of the underwater cleaning robot.

[0151] In some embodiments, the computer program involved in the embodiments of the present application can be deployed and executed on a robot controller, or on multiple robot controllers located at one location, or on multiple robot controllers distributed at multiple locations and interconnected through a communication network. Multiple robot controllers distributed at multiple locations and interconnected through a communication network can form a blockchain system.

[0152] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0153] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for returning an underwater cleaning robot to a pile, characterized in that: The method comprises: In response to a return-to-pile instruction to the underwater cleaning robot, an ultrasonic signal sent by a charging pile is received by at least two ultrasonic receiving units of the underwater cleaning robot, wherein the return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile, and the at least two ultrasonic receiving units are located at different positions of the underwater cleaning robot; Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, the underwater cleaning robot is controlled to move toward the charging pile.

2. The method according to claim 1, characterized in that The controlling the underwater cleaning robot to move toward the charging pile based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units comprises: Determining a target moving direction of the underwater cleaning robot based on signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, wherein the target moving direction is a moving direction approaching the charging pile; The underwater cleaning robot is controlled to move toward the target moving direction.

3. The method according to claim 2, characterized in that The signal parameter includes at least one of a signal receiving time and a signal strength, and the determining of the target moving direction of the underwater cleaning robot based on the signal parameter of the ultrasonic signal received by the at least two ultrasonic receiving units includes any one of the following: determining a target moving direction of the underwater cleaning robot based on a signal receiving time at which the at least two ultrasonic receiving units receive the ultrasonic signal; Determining a target moving direction of the underwater cleaning robot based on signal strengths of the ultrasonic signals received by the at least two ultrasonic receiving units; The target moving direction of the underwater cleaning robot is determined based on the signal receiving time and signal strength of the ultrasonic signal received by the at least two ultrasonic receiving units.

4. The method according to claim 3, characterized in that The determining the target moving direction of the underwater cleaning robot based on the signal receiving time and signal strength of the ultrasonic signal received by the at least two ultrasonic receiving units comprises: determining a first moving direction of the underwater cleaning robot based on a difference between signal receiving times when the at least two ultrasonic receiving units receive the ultrasonic signal; determining a second moving direction of the underwater cleaning robot based on a difference between signal strengths of the ultrasonic signals received by the at least two ultrasonic receiving units; The first moving direction and the second moving direction are merged to obtain the target moving direction.

5. The method according to claim 4, characterized in that The fusing the first moving direction and the second moving direction to obtain the target moving direction comprises: The first moving direction and the second moving direction are weightedly fused using a first confidence level and a second confidence level to obtain the target moving direction, wherein the first confidence level is the confidence level corresponding to the signal receiving moment, and the second confidence level is the confidence level corresponding to the signal strength.

6. The method according to claim 1, characterized in that The method further comprises: In response to a return-to-pile instruction to the underwater cleaning robot, a wireless signal sent by a charging pile is received by at least two wireless receiving units of the underwater cleaning robot, wherein the return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile, and the at least two wireless receiving units are located at different positions of the underwater cleaning robot; Based on the signal parameters of the wireless signal received by the at least two wireless receiving units, the underwater cleaning machine is controlled A person moves toward the charging pile.

7. The method according to claim 1, characterized in that After controlling the underwater cleaning robot to move toward the charging pile based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units, the method further includes: When the radio frequency signal sent by the charging pile is received by the radio frequency receiving unit, the underwater cleaning robot is controlled to return to the pile based on the radio frequency signal.

8. The method according to claim 7, characterized in that In the case where the radio frequency signal sent by the charging pile is received by the radio frequency receiving unit, controlling the underwater cleaning robot to return to the charging pile based on the radio frequency signal includes: When a radio frequency signal sent by the charging pile is received through a radio frequency receiving unit, a communication channel is established with the charging pile based on the radio frequency signal; Acquire charging pile return information transmitted by the charging pile through the communication channel, wherein the charging pile return information includes clock information and ultrasonic signal sending time; Based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units and the return-to-pile information, the underwater cleaning robot is controlled to return to the pile.

9. The method according to claim 7, characterized in that: In the case where the radio frequency signal sent by the charging pile is received by the radio frequency receiving unit, controlling the underwater cleaning robot to return to the charging pile based on the radio frequency signal includes: When the radio frequency signal sent by the charging pile is received by the radio frequency receiving unit, environmental information of the environment in which the underwater cleaning robot is located is obtained; Based on the environmental information and the radio frequency signal, the underwater cleaning robot is controlled to return to the pile.

10. The method according to claim 7, characterized in that In the case where the radio frequency signal sent by the charging pile is received by the radio frequency receiving unit, after the underwater cleaning robot is controlled to return to the charging pile based on the radio frequency signal, the method further includes: In response to a floating instruction to the underwater cleaning robot, the underwater cleaning robot is controlled to move upward until it moves out of the water.

11. The method according to claim 7, characterized in that In the case where the radio frequency signal sent by the charging pile is received by the radio frequency receiving unit, after the underwater cleaning robot is controlled to return to the charging pile based on the radio frequency signal, the method further includes: Determining required charging parameters of the underwater cleaning robot, wherein the required charging parameters include required charging power, required charging current, and required charging voltage; The required charging parameters are sent to the charging pile, so that the charging pile charges the underwater cleaning robot based on the required charging parameters.

12. The method according to claim 11, characterized in that Determining the required charging parameters of the underwater cleaning robot includes: Determining the required charging power based on the cleaning task completion progress of the underwater cleaning robot; The required charging voltage and the required charging current are determined based on the remaining power of the underwater cleaning robot.

13. The method according to claim 11, characterized in that After sending the required charging parameter to the charging pile, the method further includes: When the remaining power of the underwater cleaning robot reaches the required charging power, determining the completion progress of the cleaning task; When the cleaning task completion progress indicates that the cleaning task is not completed, the underwater cleaning robot is controlled to stop charging and continue to perform the cleaning task.

14. The method according to claim 1, characterized in that Before the method of responding to the return-to-charging pile instruction of the underwater cleaning robot and receiving the ultrasonic signal sent by the charging pile through at least two ultrasonic receiving units of the underwater cleaning robot, the method further includes any of the following: When the state parameter of the underwater cleaning robot meets the preset state condition, triggering the return-to-pile instruction; Receiving the return-to-pile instruction sent by the charging pile; Receive the return-to-pile instruction sent by the associated terminal of the underwater cleaning robot.

15. The method according to claim 14, characterized in that The state parameter includes at least one of the remaining power, the duration of a single cleaning, and the area of ​​a single cleaning. The state parameter of the underwater cleaning robot meets the preset state condition including at least one of the following: The remaining power is less than or equal to the power threshold; The single cleaning time is greater than or equal to the cleaning time threshold; The single cleaning area is greater than or equal to a cleaning area threshold.

16. The method according to claim 1, characterized in that The method further comprises: Acquire a cleaning work plan, wherein the cleaning work plan includes a planned cleaning time, and any one of a planned cleaning duration, a planned cleaning area, and a planned cleaning number of times; The underwater cleaning robot is controlled to perform a cleaning task based on the cleaning work plan.

17. A pile return device for an underwater cleaning robot, characterized in that: The device comprises: A receiving module, configured to receive an ultrasonic signal sent by a charging pile through at least two ultrasonic receiving units of the underwater cleaning robot in response to a return-to-pile instruction to the underwater cleaning robot, wherein the return-to-pile instruction is used to instruct the underwater cleaning robot to dock with the charging pile, and the at least two ultrasonic receiving units are located at different positions of the underwater cleaning robot; A moving module is used to control the underwater cleaning robot to move toward the charging pile based on the signal parameters of the ultrasonic signal received by the at least two ultrasonic receiving units.

18. An underwater cleaning robot, characterized in that: The underwater cleaning robot includes a robot controller, which includes one or more processors and one or more memories, wherein at least one computer program is stored in the one or more memories, and the computer program is loaded and executed by the one or more processors to implement the return method of the underwater cleaning robot as described in any one of claims 1 to claim 16.

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