The present application provides a signal guided cleaning device and a signal guided cleaning system thereof. The signal guided cleaning system includes a signal emitter and a signal guided cleaning device. The signal emitter is used to emit at least one first emission signal. And the signal guided cleaning device includes a body, at least one mobile element, at least one driver, and a controlling unit. Each first signal receiver received the first emission signal in receiving range and provides a first reception instruction. Each mobile element connects with the corresponding driver. Controlling unit connects with the first signal receivers and drivers, provides a corresponding first controlling instruction according to the received first reception instruction, and drives the corresponding drivers so as to make the mobile elements drive the body forward an emitting direction of the first emission signal.