A method and device for cleaning a pool

Abstract

This specification discloses a method and device for cleaning a pool. In response to the user's operation, guidance information is displayed to guide the user to collect a number of environmental data including images and laser point data corresponding to the images according to a specified posture, and the three-dimensional space model of the pool is determined based on the collected images and the laser point data corresponding to each image. Then, a cleaning route is determined based on the three-dimensional space model, and the cleaning route is sent to an unmanned cleaning device so that the unmanned cleaning device cleans the pool according to the cleaning route. It can be seen that this method can realize the sampling of various pool data and the planning of the cleaning route. The steps are simple, and the cleaning efficiency is improved while reducing the cleaning cost.

Description

Technical Field

[0001] The present invention relates to the field of swimming pool cleaning, and more particularly to a method and device for cleaning a swimming pool. Background Art

[0002] With the development of the Internet of Things industry, people can enjoy many changes in their lives brought by machines. For example, sweeping robots and mopping robots save people from the need to clean the floor frequently. Smart furniture controllers and smart door locks can operate according to people's operations on smart terminals.

[0003] Correspondingly, in the field of pool cleaning, there are also cleaning robots that can assist people in cleaning the pool. However, due to the different sizes and shapes of different pools, people need to use a laser rangefinder to measure the parameters of the pool before the cleaning robot works.

[0004] It can be seen that the steps for users to clean the pool are cumbersome, and they also need to use equipment such as laser rangefinders, which results in low cleaning efficiency and high cleaning costs. Summary of the invention

[0005] This specification provides a method and device for cleaning a pool to partially solve the above problems existing in the prior art.

[0006] This manual adopts the following technical solutions:

[0007] This manual provides a method for cleaning a pool, comprising:

[0008] In response to the user's operation, guiding information is displayed, where the guiding information is used to guide the user to collect a number of environmental data of the pool according to a specified posture, where the environmental data includes an image and laser point data corresponding to the image;

[0009] Determine the three-dimensional spatial model of the pool according to the collected images and the laser point data corresponding to the images;

[0010] A cleaning route is determined according to the three-dimensional space model, and the cleaning route is sent to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool according to the cleaning route.

[0011] Optionally, before displaying the guidance information, the method further includes:

[0012] According to the preset pool shape, the pool shape selection interface is displayed;

[0013] In response to the user's selection on the pool shape selection interface, a target pool shape is determined.

[0014] Optionally, display guidance information, including:

[0015] According to the pool area corresponding to the target pool shape, a plurality of collection postures corresponding to the target pool shape are determined as designated postures, wherein the area of ​​environmental data collected by each collection posture covers the pool area, and the collection postures include each collection position and a collection orientation corresponding to each collection position;

[0016] According to the determined designated posture, guidance information is generated and displayed, wherein the guidance information is used to guide the user to collect a number of environmental data of the pool according to the designated posture.

[0017] Optionally, determining the three-dimensional spatial model of the pool according to the collected images and the laser point data corresponding to the images includes:

[0018] Determining whether a three-dimensional spatial model of the pool can be established based on the collected images and the laser point data corresponding to the images;

[0019] If yes, then building a three-dimensional spatial model of the pool according to the environmental data;

[0020] If not, determine based on the environmental data that additional postures of the environmental data need to be collected to establish the three-dimensional space model, prompt the user to collect environmental data according to the additional postures, and establish the three-dimensional space model based on the environmental data already collected by the user.

[0021] Optionally, before determining the cleaning route according to the three-dimensional space model, the method further includes:

[0022] Determining attribute data of the pool according to the user's input, wherein the attribute data includes at least one of a ground material, a wall material, and a pool depth;

[0023] The three-dimensional space model is adjusted according to the attribute data.

[0024] Optionally, determining a cleaning route according to the three-dimensional space model specifically includes:

[0025] Determine, according to the three-dimensional space model, cleaning areas corresponding to the cleaning modes, wherein the cleaning areas at least include a pool wall, a pool floor, or a combination of the pool wall and the pool floor;

[0026] According to the cleaning areas corresponding to each cleaning mode, candidate routes suitable for each cleaning area are planned for each cleaning mode;

[0027] According to the cleaning mode selected by the user, a candidate route corresponding to the selected cleaning mode is determined as the cleaning route.

[0028] Optionally, the method further includes:

[0029] According to the cleaning route corresponding to the cleaning mode selected by the user, determining the starting point of the cleaning route as the delivery point;

[0030] The placement point is displayed to prompt the user to place the unmanned cleaning device at the placement point.

[0031] Optionally, the method further includes:

[0032] In response to the user's operation, sending a pause instruction to the unmanned cleaning device;

[0033] Re-displaying the guidance information, wherein the guidance information is used to guide the user to collect various environmental data of the pool according to the re-determined designated posture;

[0034] Reconstructing the three-dimensional spatial model of the pool according to the re-collected environmental data;

[0035] The cleaning route is redetermined according to the three-dimensional space model, and a start instruction containing the cleaning route is sent to the unmanned cleaning device, so that the unmanned cleaning device performs cleaning according to the redetermined cleaning route.

[0036] Optionally, the method further includes:

[0037] The cleaning effect sent by the unmanned cleaning device after cleaning is completed is received and displayed, wherein the cleaning effect at least includes one of the ratio of the total cleaning area to the total area of ​​the swimming pool, the overlap between the planned route and the actual operation route, the total cleaning area, the average cleaning speed and the accumulated operation time.

[0038] Optionally, the method further includes:

[0039] Determining the feedback result of the user on the working result of the unmanned cleaning device according to the input of the user on the feedback interface;

[0040] Determining a repeated cleaning area according to the cleaning effect and the feedback result;

[0041] According to the repeated cleaning area and the cleaning route, a route planning model for determining the cleaning route is optimized with the goal of reducing the area of ​​the repeated cleaning area and lowering the complaint rate of the user.

[0042] Optionally, the method further includes:

[0043] Re-determining a cleaning route as a secondary cleaning route according to the repeated cleaning area and the three-dimensional space model;

[0044] The secondary cleaning route is sent to the unmanned cleaning equipment.

[0045] This specification provides a pool cleaning device, including:

[0046] Collection module: in response to the user's operation, displaying guidance information, the guidance information is used to guide the user to collect a number of environmental data of the pool according to the specified posture, the environmental data including the image and the laser point data corresponding to the image;

[0047] Modeling module: determining the three-dimensional spatial model of the pool according to the collected images and the laser point data corresponding to each image;

[0048] Cleaning module: Determine a cleaning route according to the three-dimensional space model, and send the cleaning route to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool according to the cleaning route.

[0049] This specification provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned pool cleaning method is implemented.

[0050] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned pool cleaning method when executing the program.

[0051] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0052] In the pool cleaning method provided in this specification, the client can display guidance information in response to the user's operation, guide the user to collect a number of environmental data including images and laser point data corresponding to the images according to a specified posture, and determine the three-dimensional space model of the pool based on the collected images and the laser point data corresponding to each image, so as to determine the cleaning route based on the three-dimensional space model, and send the cleaning route to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool according to the cleaning route.

[0053] It can be seen from the above method that the sampling of various pool data and the planning of the cleaning route can be achieved through the client on the user's terminal. The steps are simple, which improves the cleaning efficiency and reduces the cleaning cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0055] Figure 1 A schematic diagram of a method for cleaning a pool provided in this specification;

[0056] Figure 2 A schematic diagram of a collection posture provided in this manual;

[0057] Figure 3 A schematic diagram of a collection posture provided in this manual;

[0058] Figure 4 A schematic diagram of a collection posture provided in this manual;

[0059] Figure 5 A schematic diagram of a three-dimensional space model provided in this manual;

[0060] Figure 6 A schematic diagram of a cleaning route provided in this manual;

[0061] Figure 7 A schematic diagram of a cleaning route provided in this manual;

[0062] Figure 8 A schematic diagram of an interactive process provided for this manual;

[0063] Fig. 9 An interactive schematic diagram provided for this manual;

[0064] Fig.10 An interactive schematic diagram provided for this manual;

[0065] Fig.11 An interactive schematic diagram provided for this manual;

[0066] Fig.12 An interactive schematic diagram provided for this manual;

[0067] Fig.13 A flow chart of a pool cleaning provided for this specification;

[0068] Fig.14 A schematic diagram of a pool shape selection provided in this manual;

[0069] Fig.15a and 15b A schematic diagram of pool type selection provided for this manual;

[0070] Fig.16 A schematic diagram of the type and shape of a pool provided for this manual;

[0071] Fig.17 A data collection diagram provided for this manual;

[0072] Fig.18 A data collection diagram provided for this manual;

[0073] Fig.19 A schematic diagram for determining similarity provided in this specification;

[0074] Fig. 20 A feedback diagram provided for this manual;

[0075] Fig.21 A schematic diagram of a pool cleaning device provided in this specification;

[0076] Fig. 22 The corresponding Figure 1 Schematic diagram of electronic equipment. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0078] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0079] Figure 1 The following is a flow chart of a method for cleaning a pool in this specification, which specifically includes the following steps:

[0080] S100: In response to the user's operation, guiding information is displayed, where the guiding information is used to guide the user to collect a number of environmental data of the pool according to a specified posture, where the environmental data includes an image and laser point data corresponding to the image.

[0081] In one or more embodiments of the present specification, since different pools have different shapes and sizes, before cleaning the pool, it is necessary to collect various data of the pool so as to plan a cleaning route suitable for the pool. The unmanned cleaning device for cleaning the pool can clean the pool according to the planned cleaning route.

[0082] Since it is necessary to collect environmental data about the pool, in this specification, this method is executed by a terminal that can collect images and laser point data. The terminal can be a mobile phone, tablet computer or other device, or a terminal system composed of a mobile phone, tablet computer or other device and a server. The specific form of the terminal is not limited in this specification and can be set as needed. Of course, since the method executed by the terminal is usually executed by a client running on the terminal, this method can also be executed by a client running on the terminal. In this specification, the method is described by executing the client.

[0083] In one or more embodiments of this specification, since swimming pools are also water pools, this method can be applied to the cleaning of swimming pools. As for home swimming pools, although home swimming pools have different shapes, sizes, and materials, they are usually set to only a few types due to factors such as aesthetics and cost. In this regard, in order to facilitate user use and improve cleaning efficiency, the client executing this method presets several types of pools and the environmental data collection postures corresponding to each pool shape.

[0084] First, before cleaning the swimming pool, the user can open the client. After the client is started, a preset pool shape selection interface can be displayed, and the pool shape selection interface is used to prompt the user to select the type of pool to be cleaned.

[0085] Secondly, the client can determine the type of pool to be cleaned according to the user's operation as the target pool shape. Then, according to the determined target pool shape, the client can determine multiple collection postures when collecting various environmental data of the pool corresponding to the target pool shape as designated postures. And according to the determined designated postures, the guidance information is determined.

[0086] This manual also provides a schematic diagram of pool shape selection, such as Fig.14 As shown, the client 504 displays a preset pool shape selection interface, and in response to the user's operation, determines that the user selects the square pool 300, and highlights the square pool 300.

[0087] Each acquisition posture includes the position of the data acquisition module when collecting environmental data and the orientation of the data acquisition module. The area of ​​each environmental data collected by each acquisition posture covers the entire area of ​​the pool. The data acquisition module can be a data acquisition module on the terminal running the client, including devices such as cameras and laser radars. The data acquisition module can also be a device or module dedicated to collecting environmental data. The specific form of the data acquisition module can be set as needed, and this specification does not limit it. The guidance information is used to guide the user to collect various environmental data through the client according to the specified posture.

[0088] This manual provides a schematic diagram of the collection posture, such as Figure 2 As shown, a user 502 can collect various environmental data of the pool 500 through a client 504 running on a terminal. The pool 500 is an irregularly shaped pool, and the line segments filled in the pool 500 represent the pool water. The user can collect environmental data at six collection points around the pool 500, and the six collection points are represented by six solid dots. In addition, a dotted line is used around each collection point to indicate the collection direction.

[0089] This manual also provides a schematic diagram of the collection posture, such as Figure 3 As shown, a user 502 can collect various environmental data of the pool 506 through a client 504 running on a terminal. The pool 506 is a circular pool, and the line segments filled in the pool 506 represent the pool water. The user can collect environmental data at four collection points around the pool 506, and the four collection points are represented by four solid dots. In addition, a dotted line is used around each collection point to indicate the collection direction.

[0090] This manual also provides a collection posture schematic diagram, such as Figure 4 As shown, a user 502 can collect various environmental data of the pool 508 through a client 504 running on a terminal. The pool 508 is a rectangular pool, and the line segments filled in the pool 508 represent the pool water. The user can collect environmental data at six collection points around the pool 508, and the six collection points are represented by six solid dots. In addition, a dotted line is used around each collection point to indicate the collection direction.

[0091] Furthermore, in order to reduce the time taken by the user to collect various environmental data and improve cleaning efficiency, it can be determined that the number of environmental data required to be collected in the guidance information does not exceed a preset number, wherein the preset number can be set by the user, for example, 5, 6, or 7.

[0092] After determining the guidance information, the client can display the guidance information to guide the user to collect various environmental data of the pool through the client according to the specified posture. In addition, in order to establish a three-dimensional spatial model of the pool through the environmental data in the subsequent steps, the environmental data needs to include the image of the pool and the distance between the client and each point in the image when collecting the image. Therefore, the environmental data includes an image and laser point data corresponding to the image. Among them, the laser point data can be collected by devices such as laser radar, millimeter wave radar, infrared ranging sensor, etc.

[0093] By adopting the above method, the user can be guided to collect accurate and effective data about the pool, which is convenient for the client to establish a three-dimensional spatial model of the pool, thereby planning a path for cleaning the pool.

[0094] It should be noted that in one or more embodiments of this specification, the pool 500 corresponds to Figure 2 The irregularly shaped pool, pool 506 corresponds to Figure 3 The middle circular pool corresponds to pool 508 Figure 4 Medium rectangular pool.

[0095] S102: Determine a three-dimensional spatial model of the pool according to the collected images and the laser point data corresponding to each image.

[0096] In one or more embodiments of the present specification, in order to more accurately plan the route for cleaning the pool and avoid omissions and repeated cleaning of a certain area when cleaning the pool, the client can construct a three-dimensional spatial model of the pool based on the collected environmental data.

[0097] Specifically, first, the client on the client can obtain the use permission of the device or module on the client for collecting images and laser point data in response to the user's operation. For example, obtain the use permission of the camera, laser sensor, and laser radar. Then, in response to the user's operation, various environmental data are collected through the client.

[0098] Secondly, after collecting some environmental data, the client can construct a three-dimensional space model of the pool according to the collected images and the laser point data corresponding to each image. Among them, constructing a three-dimensional space model according to the image and the distance data corresponding to each point in the image is a relatively mature technology, and the specific process will not be repeated in this manual.

[0099] This manual provides a schematic diagram of a three-dimensional space model, such as Figure 5 As shown, the three-dimensional space model 600 is a three-dimensional space model corresponding to a circular pool.

[0100] Of course, since the computing power of the terminal corresponding to the client is limited, the client can also send various environmental data to the server, and the server will build the three-dimensional space model and return it to the client.

[0101] By adopting the above method, a three-dimensional spatial model of the pool can be constructed, which is convenient for planning a cleaning route and cleaning the pool.

[0102] S104: Determine a cleaning route according to the three-dimensional space model, and send the cleaning route to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool according to the cleaning route.

[0103] In one or more embodiments of the present specification, different areas may have different cleanliness levels due to different usage conditions of different locations of the pool. For example, if the user often leans on the east wall of the pool, the east wall may be more stained and needs to be cleaned, while the other three walls may be less stained and do not need to be cleaned. Therefore, the client can set multiple cleaning modes, each of which corresponds to a different cleaning area.

[0104] Specifically, first, the client can determine candidate routes corresponding to each cleaning mode through a route planning model according to the three-dimensional space model and each preset cleaning mode. Each cleaning mode corresponds to a different cleaning area. For example, the area corresponding to the wall cleaning mode is the pool wall, the area corresponding to the floor cleaning mode is the pool floor, the area corresponding to the full cleaning mode is the combination of the pool wall and the pool floor, and the single-side wall cleaning mode corresponds to the single-side wall.

[0105] Secondly, a cleaning mode selection interface is displayed to prompt the user to select a cleaning mode, and the candidate route of the cleaning mode selected by the user is determined as the cleaning route, and then the cleaning route is sent to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool according to the cleaning route.

[0106] Of course, in order to facilitate the user's operation and improve the cleaning efficiency, the default cleaning mode can be the complete cleaning mode, and all areas of the pool are cleaned. That is, the client can determine the cleaning route for cleaning all areas of the pool according to the three-dimensional space model, and determine that the complete cleaning mode is the cleaning mode selected by the user, and send the cleaning route corresponding to the complete cleaning mode to the unmanned cleaning device.

[0107] Furthermore, since the pool is actually cleaned by an unmanned cleaning device, after determining the cleaning route corresponding to the cleaning mode selected by the user, the unmanned cleaning device needs to be placed on the cleaning route. Specifically, the cleaning route corresponding to the cleaning mode selected by the user is determined, and based on the cleaning route, the starting point of the cleaning route is determined as the drop point. The drop point is displayed through the client to prompt the user to place the unmanned cleaning device at the drop point.

[0108] This manual provides a cleaning route schematic diagram, such as Figure 6As shown, a cleaning route 602 is marked inside the three-dimensional space model 600 of the pool. After the unmanned cleaning device finishes cleaning the top of the pool wall, it can clean along the direction indicated by the arrow in the cleaning route to clean the middle of the pool wall. After cleaning the middle of the pool wall, it continues to clean along the direction indicated by the arrow in the cleaning route until the pool wall is cleaned. It should be noted that the cleaning route 602 is the cleaning route corresponding to the wall cleaning mode, and, Figure 6 This is only a schematic diagram of a cleaning route, and the actual cleaning route may be other routes.

[0109] This manual also provides a cleaning route schematic diagram, such as Figure 7 As shown, a cleaning route 604 is marked inside the three-dimensional space model 600 of the pool. It should be noted that the cleaning route 604 is a cleaning route corresponding to the wall cleaning mode, and the unmanned cleaning device can clean along the direction indicated by the arrow mark in the cleaning route. Figure 7 This is only a schematic diagram of a cleaning route, and the actual cleaning route may be other routes.

[0110] Of course, since the drop point may be located anywhere in the pool, and it is difficult for the user to move the unmanned cleaning device in the pool, the client can determine the location of the unmanned cleaning device in the pool and send a movement instruction to the unmanned cleaning device, which is used to instruct the unmanned cleaning device to move to the drop point. The client can also obtain the location of the unmanned cleaning device before determining the cleaning route, and plan the location as the drop point of each cleaning route.

[0111] Furthermore, since the computing power of the terminal corresponding to the client is limited, the client may also send the three-dimensional space model to the server, and the server will plan the cleaning routes corresponding to each cleaning mode and return them to the client.

[0112] By adopting the above method, the client can determine different cleaning modes for different cleaning scenarios to improve cleaning efficiency.

[0113] based on Figure 1 The pool cleaning method shown in the figure displays guidance information in response to the user's operation, guides the user to collect a number of environmental data including images and laser point data corresponding to the images in a specified posture, and determines the three-dimensional space model of the pool based on the collected images and the laser point data corresponding to each image, so as to determine the cleaning route based on the three-dimensional space model, and send the cleaning route to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool according to the cleaning route.

[0114] It can be seen from the above method that the sampling of various pool data and the planning of the cleaning route can be achieved through the user's client. The steps are simple, which improves the cleaning efficiency and reduces the cleaning cost.

[0115] In addition, this manual provides a schematic diagram of an interaction process, such as Figure 8 shown.

[0116] S700: Start the client, and the client may start in response to the user's operation.

[0117] S702: Determine the shape of the pool. After the client is started, the pool shape corresponding to the pool to be cleaned can be determined according to the user's selection as the target pool shape.

[0118] S704: Displaying guidance information. After determining the shape of the target pool, the client can determine and display guidance information including various collection postures according to the shape of the target pool to guide the user to collect various environmental data of the pool.

[0119] S706: Obtaining permissions. Since collecting environmental data requires the use of devices such as cameras and lidar, it is necessary to obtain permissions to use the above devices.

[0120] S708: Obtaining some environmental data, after obtaining the use authority, various environmental data can be obtained in response to the user's operation. It should be noted that since the three-dimensional space model can be established by the client or the server 800, various environmental data can be sent to the server 800.

[0121] S710: Building a three-dimensional space model. After acquiring various environmental data, the client can build a three-dimensional space model according to various environmental data. It should be noted that since the planned route can be built by the client or the server 800, the three-dimensional space model can be sent to the server 800.

[0122] S712: Determine the cleaning mode. Since the user may not need to completely clean the swimming pool, the cleaning mode, that is, the cleaning area, may be determined according to the user's operation.

[0123] S714: Planning a cleaning route. It should be noted that in one or more embodiments of the present specification, cleaning routes corresponding to each cleaning mode may be planned first as candidate routes. Then, according to the cleaning mode selected by the user, the candidate route corresponding to the cleaning mode is determined as the cleaning route. Furthermore, the client may send the cleaning route to the server 800.

[0124] S716: Display the cleaning effect returned by the unmanned cleaning device. After planning the cleaning route, the client can send the cleaning route to the unmanned cleaning device 802, so that the unmanned cleaning device 802 cleans the pool according to the cleaning route, and receives and displays the cleaning effect returned by the unmanned cleaning device 802.

[0125] S718: User feedback. Since there may be areas that are not cleaned properly, the client can receive the user's feedback and determine the feedback result to optimize the route planning model according to the feedback result, clean the areas that are not cleaned properly again, etc.

[0126] In addition, this manual also provides an interactive schematic diagram, such as Fig. 9 As shown, the client 504 on the terminal carried by the user 502 can collect the environmental data of the pool 506, and build a three-dimensional space model according to the collected environmental data, and then plan a cleaning route according to the three-dimensional space model, and send the cleaning route to the unmanned cleaning device 802. After the unmanned cleaning device 802 finishes cleaning the pool 506, it can return the cleaning results to the client 504.

[0127] In addition, this manual also provides an interactive schematic diagram, such as Fig.10 As shown, the client 504 on the terminal carried by the user 502 can collect various environmental data of the pool 506 and send the various environmental data to the server 800. The server 800 constructs a three-dimensional space model based on the various environmental data and returns the three-dimensional space model to the client 504. The client 504 can plan a cleaning route based on the received three-dimensional space model and send the cleaning route to the unmanned cleaning device 802. After the unmanned cleaning device 802 finishes cleaning the pool 506, it can return the cleaning effect to the client 504.

[0128] In addition, this manual also provides an interactive schematic diagram, such as Fig.11 As shown, the client 504 on the terminal carried by the user 502 can collect various environmental data of the pool 506, and build a three-dimensional space model based on the collected environmental data, and then send the three-dimensional space model and the identification of the unmanned cleaning device 802 to the server 800. The server 800 can plan a cleaning route based on the received three-dimensional space model, and send the cleaning route to the unmanned cleaning device 802 based on the identification of the unmanned cleaning device 802. After the unmanned cleaning device 802 finishes cleaning the pool 506, it can send the cleaning effect to the client 504.

[0129] In addition, this manual also provides an interactive schematic diagram, such as Fig.12As shown, the client 504 on the terminal carried by the user 502 can collect various environmental data of the pool 506, and send the collected environmental data and the identification of the unmanned cleaning device 802 to the server 800. The server 800 can build a three-dimensional space model according to the various environmental data, and then plan a cleaning route according to the three-dimensional space model, and send the cleaning route to the unmanned cleaning device 802 according to the identification of the unmanned cleaning device 802. After the unmanned cleaning device 802 finishes cleaning the pool 506, it can send the cleaning effect to the client 504.

[0130] In addition, in one or more embodiments of the present specification, during actual cleaning, the type of the pool may be different from the shapes of the pools preset in the client. Therefore, the client may also determine the various acquisition positions according to the actual situation.

[0131] Specifically, the client can determine the shape of the pool in response to the user's operation. And according to the shape of the pool, randomly determine a number of pre-selected acquisition postures, and then determine whether the environmental data collected according to the determined acquisition postures can establish a three-dimensional space model of the pool. If so, then determine the several pre-selected acquisition postures as the acquisition postures. If not, determine the areas that cannot be collected by the several pre-selected acquisition postures, and for these areas, determine the various acquisition postures that can collect the environmental data corresponding to these areas as the various supplementary postures, and finally, determine the several pre-selected acquisition postures and the various supplementary postures as the acquisition postures. Among them, the client can determine the shape of the pool based on the image uploaded by the user, the pattern drawn by the user, etc.

[0132] Of course, after determining the shape of the pool, the client can also use other methods to determine each acquisition posture. For example, according to the shape of the pool and the preset step size, traverse all positions where the environmental data of the pool can be collected and all acquisition angles corresponding to each position toward the pool, and take each acquisition angle of each acquisition point as a collection data, combine all the collection data, determine several collection combinations, and then screen out the collection combinations that can cover all areas of the pool as pre-selected combinations. Determine the position and collection angle of each collection data corresponding to the pre-selected combination with the least number of collection data in each pre-selected combination as the collection posture, or determine the upper limit of the number of collection data, and determine the position and collection angle of each collection data corresponding to the pre-selected combination with the largest total collection area from each pre-selected combination whose collection data is not greater than the upper limit of the number of collection data as the collection posture. The specific method used to determine each collection posture can be set as needed, and this manual does not limit it.

[0133] In addition, in one or more embodiments of the present specification, since the position and angle may be inaccurate or missed when the user collects the environmental data, after the user collects the environmental data, it is necessary to determine whether a three-dimensional space model can be established based on the environmental data.

[0134] Specifically, according to the collected environmental data, that is, according to the collected images and the laser point data corresponding to each image, it is determined whether the three-dimensional space model of the pool can be established. If so, it is determined that the environmental data collected by the user are accurate and meet the requirements for establishing the three-dimensional space model. If not, according to the environmental data, it is determined that the supplementary postures for collecting the environmental data are required, and prompt information containing the supplementary postures is displayed to prompt the user to collect the environmental data according to the supplementary postures. After the user has collected the environmental data, it is determined again whether the three-dimensional space model can be established based on the collected environmental data. When the three-dimensional space model cannot be established, the supplementary posture is re-determined, and the user is prompted to re-collect the environmental data until the three-dimensional space model can be established based on the collected environmental data. When the three-dimensional space model can be established, it is determined that the collected environmental data are accurate and meet the requirements for establishing the three-dimensional space model.

[0135] Among them, since the swimming pool is a closed "concave" structure surrounded by the bottom and the wall, how to judge whether the collected environmental data can establish a three-dimensional model of the pool, that is, to judge whether the collected environmental data can construct a complete and closed three-dimensional space model. When the three-dimensional space model determined to be constructed based on the collected environmental data has a gap, it is deemed that the collected environmental data cannot establish the three-dimensional model of the pool. For example, if the three-dimensional space model constructed based on the collected environmental data is missing corners and faces and cannot be closed, it is deemed that the collected environmental data cannot establish the three-dimensional model of the pool.

[0136] For example, it is possible to determine whether the ratio of the number of mutually matching laser point data in each environmental data to the total collected laser point data exceeds a preset threshold. If so, it is determined that sufficient environmental data has been collected, otherwise, it is insufficient and needs to continue collecting. Alternatively, it is determined whether it is necessary to continue collecting based on the location of the collected environmental data and the terminal orientation angle when collecting data, and so on.

[0137] By adopting the above method, when there are inaccuracies in the environmental data collected by the user and the three-dimensional space model of the pool cannot be established, the user can be prompted to collect various supplementary environmental data and the three-dimensional space model can be established based on the environmental data and the supplementary environmental data.

[0138] In addition, in one or more embodiments of the present specification, before the user determines the target pool shape, the client may display a pool type selection interface. Fig.15aAs shown, Fig.15a A schematic diagram of a pool type selection provided in this specification. In the pool type selection interface displayed by the client 504, several pool types are displayed, and the standard type 302 selected by the user is highlighted.

[0139] Specifically, first, the client can display a preset pool type selection interface. The pool type includes the pool type, the pool material, etc. Moreover, different pool types may include the same pool shape, for example, the standard type pool includes a round pool, and the leisure type pool also includes a round pool.

[0140] Secondly, after the user selects the pool type, the client can display the pool shape selection interface corresponding to the pool type. Fig.15b As shown, Fig.15b This is a schematic diagram of a pool shape selection provided in this specification. After the user selects the standard type, a pool shape selection interface corresponding to the standard type pool displayed on the client 504 displays several pool shapes, and the user can click to select the pool shape. After the user clicks the circular pool 304, it can be determined that the target pool shape is circular. In addition, the circular pool 304 is highlighted.

[0141] By adopting the above method, the client can obtain the pool type information and construct the three-dimensional space model of the pool more accurately.

[0142] In addition, in one or more embodiments of the present specification, the client may also display a pool type and shape selection interface.

[0143] Specifically, Fig.16 As shown, Fig.16 This is a schematic diagram of a pool type and shape selection provided in this specification. In the pool type and shape selection interface displayed by the client 504, the user can select a pool type in the pool type selection area below the words "Please select the shape of the pool". After the user selects the standard type 302, the standard type 302 is highlighted, and the pool type selection area displays several pool shapes corresponding to the standard type 302. After the user selects the elliptical pool 306, the elliptical pool 306 is highlighted.

[0144] By adopting the above method, the client can display several pool types and several pool shapes corresponding to each pool type without jumping to the page, which is convenient for users to choose.

[0145] In addition, in one or more embodiments of the present specification, since there may be information that cannot be collected through the environmental data, such as wall material, ground material, pool depth, etc., such information can be collected by displaying a data collection interface.

[0146] Specifically, the client can determine each data collection question according to the determined shape of the target pool, and display a data collection interface including each data collection question. The data collection interface is used to collect the attribute data of the pool, and the attribute data includes at least the pool depth and the pool size, and may also include data such as wall material and ground material. The client can collect the attribute data of the pool in response to the user's data in the data collection interface, that is, the user's answer to each data collection question in the data collection interface. When constructing the three-dimensional space model of the pool, the three-dimensional space model of the pool is constructed based on the collected attribute data of the pool, the collected images, and the laser point data corresponding to each image. In addition, in order to avoid affecting the user's experience, the number of data collection questions does not exceed the preset number of questions.

[0147] like Fig.17 as well as Fig.18 As shown, Fig.17 This is a data collection schematic diagram provided in this specification. In the data collection interface displayed by the client 504, the shape of the pool and the data number to be collected are displayed under the words "Please enter the attribute data of the pool", and an input box for inputting each attribute data is displayed under the pool shape. Among them, the words "length A" represent the length of the line segment where the number A is located in the pool shape in the actual pool, the words "length B" represent the length of the line segment where the number B is located in the pool shape in the actual pool, and the words "length C" represent the length of the line segment where the number C is located in the pool shape in the actual pool, and the "m" in the input box is the unit of meter. Fig.18 This is a data collection diagram provided in this specification. In the data collection interface displayed on the client 504, the shape of the pool and the data number to be collected are displayed under the words "Please enter the attribute data of the pool", and an input box for entering each data is displayed under the pool shape. Among them, the words "length B" represent the length of the line segment where the number B is located in the pool shape in the actual pool. As shown in the figure, part of the area of ​​the line segment B is outside the pool. Therefore, how to determine the attribute data to be collected is not limited by this specification and can be set as needed.

[0148] By adopting the above method, information that cannot be collected through various environmental data can be collected by displaying a data collection interface including various data collection questions, so as to more accurately construct a three-dimensional spatial model of the pool.

[0149] In addition, in one or more embodiments of the present specification, after the client determines the target pool shape selected by the user and collects the attribute data of the pool through the data collection interface, it can construct a three-dimensional spatial model of the pool according to the target pool shape and the attribute data.

[0150] By adopting the above method, the client can determine the three-dimensional space model of the pool according to the user's operation, without the user having to collect environmental data of the pool, which greatly improves the efficiency of constructing the three-dimensional space model.

[0151] In addition, in one or more embodiments of the present specification, the client can construct a three-dimensional space model of the pool according to the collected images of the pool and the laser point data corresponding to each image. The client can also construct a three-dimensional space model of the pool according to the shape of the target pool and the attribute data. The client also constructs three-dimensional space models respectively in the above two ways, and determines the three-dimensional space model of the pool according to the two three-dimensional space models respectively constructed.

[0152] Specifically, first, the client may use the three-dimensional space model determined according to each image and the laser point data corresponding to each image as the first model, and then use the three-dimensional space model determined according to the attribute data and the shape of the target pool as the second model.

[0153] Secondly, the client can determine the similarity between the first model and the second model, and determine whether the similarity is greater than a preset similarity threshold, for example, the similarity is 81%, the similarity threshold is 90%, and the judgment result is no. If so, the client can divide the first model and the second model into several areas according to the preset grids with the same step length, and respectively determine the first grid model and the second grid model. And determine the similarity of the grids at the same position according to the shape and the volume of the grids occupied, determine the grids with similarity greater than the preset similarity threshold as the same grid, and determine the grids with similarity not greater than the similarity threshold as the deviation grid. Then determine the ratio of the number of the same grids to the number of grids of the grid model with the largest number of grids in the first grid model and the second grid model as the similarity. Then determine the deviation position according to the deviation grid of the first grid model and the second grid model. When it is determined that the deviation position is the same as the position of obtaining the size of the pool in the attribute data, it is determined that the deviation position is associated with the attribute data of the pool. Since the attribute data is data input by the user and has a high accuracy, the client can accurately determine the three-dimensional spatial model of the pool based on the second model.

[0154] like Fig.17 As shown, when the deviation position is Fig.17When the endpoint of the line segment where the middle label A is located corresponds to the position, it is determined that the deviation position is associated with the attribute data, and the three-dimensional space model of the pool is determined based on the second model. When the deviation position is not associated with the attribute data of the pool, since the pool shape selected by the user may have a certain deviation from the actual pool shape, the client determines the three-dimensional space model of the pool based on the first model. Of course, in order to more accurately determine the three-dimensional space model of the pool, the client can also determine the deviation collection posture based on the deviation position, and display the deviation collection posture to instruct the user to collect the environmental data of the pool according to the specified posture. According to the re-collected environmental data, adjust the first model, and determine the three-dimensional space model of the pool based on the first model. If not, the client can use the first model as an accurate three-dimensional space model.

[0155] Fig.19 A similarity determination schematic diagram is provided for this specification, such as Fig.19 As shown, the first model and the second model are respectively divided into several regions, so that the first grid model 910 and the second grid model 912 are respectively divided into several regions, wherein the first grid model 910 is a cuboid as a whole, and the second grid model 912 is a cuboid with some regions missing.

[0156] The client may determine the similarity between the first model and the second model in a variety of ways. For example, the first model and the second model are divided into a plurality of regions of the same size, such as Fig.19 After grid division, the first grid model and the second grid model are obtained, and the size and position of each area in the first grid model and the second grid model are compared to determine the ratio of the area with the same size and position to the total area as the similarity. Fig.19 As shown, the first grid model 910 is divided into 405 regions, and the second grid model 912 is divided into 400 regions. There are 400 regions in the first grid model 910 and the second grid model 912 that are the same in size and position, and the similarity is 0.988. It is determined that any region in the first grid model that is different in size or position from any region in the second grid model is a deviation region, and any region in the second grid model that is different in size or position from any region in the first grid model is also a deviation region, such as Fig.19As shown, the five areas below the second grid model 912 are missing, while the first grid model 910 has five areas at the same position, and these five areas are deviation areas. Among them, the total area is the number of areas of the grid model with the largest number of areas between the first grid model and the second grid model. Alternatively, the client may determine the standard posture of the first grid model and the second grid model, and overlap the first grid model with the second grid model according to the standard posture, and determine the overlapping areas and non-overlapping areas of the first grid model and the second grid model. Then determine the volume of the grid model with the largest volume between the first grid model and the second grid model as the total volume, and determine the ratio of the volume of the overlapping area to the total volume as the similarity between the first model and the second model. The non-overlapping area is a deviation area. The specific method used to determine the similarity between the first model and the second model is not limited in this specification and can be set as needed.

[0157] By adopting the above method, the client can more accurately determine the three-dimensional space model of the pool based on the two constructed three-dimensional space models.

[0158] In addition, in one or more embodiments of the present specification, after the unmanned cleaning equipment cleans the pool, the user can only intuitively "see" the changes in the pool and cannot understand the cleaning effect of the pool from a data level. Therefore, the client can receive and display the cleaning effect sent by the unmanned cleaning equipment.

[0159] Specifically, the client receives and displays the cleaning effect sent by the unmanned cleaning device, wherein the cleaning effect includes one or more of the ratio of the total cleaning area to the total area of ​​the swimming pool, the overlap between the planned route and the actual operation route, the total cleaning area, the average cleaning speed, and the cumulative operation time. Of course, the cleaning effect may also include other data, such as the maximum cleaning speed, the estimated cleaning time, the difference between the estimated cleaning time and the cumulative operation time, etc. Among them, the cleaning speed is the ratio of the moving distance of the unmanned cleaning device to the moving time, that is, the moving speed of the unmanned cleaning device. Therefore, the average cleaning speed is the ratio of the total length of the actual operation route to the cumulative operation time, and the maximum cleaning speed is the maximum moving speed of the unmanned cleaning device during the cleaning process.

[0160] Of course, since the main function of the unmanned cleaning device is to clean the pool, the client can receive the cleaning data sent by the unmanned cleaning device, and determine the cleaning effect based on each cleaning data, and then display the cleaning effect. Among them, the cleaning data includes the running time, the actual running route, etc.

[0161] By adopting the above method, the client can display the cleaning effect, so that the user can know the working results of the unmanned cleaning equipment more intuitively and accurately.

[0162] In addition, in one or more embodiments of the present specification, since the unmanned cleaning device may miss some areas or not clean thoroughly during the cleaning process, the client can receive feedback from the user and adjust the path planning model.

[0163] Specifically, first, the client can determine the cleaning area of ​​the unmanned cleaning device according to the determined cleaning route. Of course, since in one or more embodiments of the present specification, the cleaning route is a candidate route corresponding to the cleaning mode selected by the user, the server can also directly obtain the cleaning area corresponding to the cleaning mode selected by the user. The cleaning area is the cleaning area that the user wants to clean, which may deviate from the actual cleaning area.

[0164] Secondly, according to the cleaning area, a feedback interface including the cleaning area is determined and displayed to prompt the user to feedback various problems that occur during and after the cleaning process of the unmanned cleaning device. Among them, the client can directly display the feedback interface after displaying the cleaning effect, or set a corresponding button and display the feedback interface in response to the user clicking the corresponding button. Of course, the feedback interface can be a separate page or a pop-up window. The specific form of the feedback interface is not limited by this manual and can be set as needed.

[0165] Secondly, the client can determine the repeated cleaning area in response to the user's feedback on the feedback interface. Among them, the user can determine the repeated cleaning area in a variety of ways. For example, the cleaning area in the feedback interface can be divided into several small areas, and the user marks the small areas that are not cleaned cleanly. Each small area changes color after being marked, and the marked small areas are repeated cleaning areas. Alternatively, the feedback prompt interface can also provide a three-dimensional spatial model of the pool, and the user can directly mark the areas that are not cleaned clean or missed from the three-dimensional spatial model through closed graphics, line segments, points, etc., and the marked areas are repeated cleaning areas. Alternatively, the feedback interface can provide a variety of options for the user to choose, for example, the east wall is not cleaned, the pool floor is not cleaned, etc., and the user can directly select the corresponding option to determine the repeated cleaning area.

[0166] This manual provides a feedback diagram, such as Fig. 20As shown, the feedback interface 900 displayed in the client 504 is displayed in the form of a pop-up window. The feedback interface 900 displays words such as "My unmanned cleaning device will learn and clean better next time!", "How is the cleaning?", "Tap where you think you can clean more.", etc. Among them, the area to be evaluated is displayed below the words "How is the cleaning?". The cleaning area 902 is displayed below the words "Tap where you think you can clean more." After the user clicks on the small area 904 in the cleaning area 902, the color of the small area 904 changes.

[0167] Then, the client can optimize the route planning model for determining the cleaning route according to the determined repeated cleaning area, the cleaning route and the feedback result, with the goal of reducing the area of ​​the repeated cleaning area and lowering the complaint rate of the user.

[0168] The client can also determine the repeated cleaning area according to the cleaning effect. Specifically, the client can determine the cleaning track of the unmanned cleaning device according to the cleaning effect, and determine the missed cleaning area as the repeated cleaning area according to the cleaning track.

[0169] Finally, the client can optimize the route planning model used to determine the cleaning route based on the determined repeated cleaning areas and the cleaning route, with the goal of reducing the area of ​​the repeated cleaning area and reducing the user's complaint rate. Of course, since the unmanned cleaning equipment has cleaned some repeated cleaning areas once during the cleaning process, but the cleaning effect is not satisfactory, when optimizing the route planning model, the repeated cleaning area can also be cleaned multiple times, the intensity of cleaning the repeated cleaning area can be increased, and the speed of cleaning the repeated cleaning area can be reduced.

[0170] By adopting the above method, the route planning model can be optimized through the feedback result and the cleaning effect to improve the cleaning efficiency of the pool.

[0171] In addition, in one or more embodiments of the present specification, in order to improve the cleaning efficiency of the pool, when the client displays the feedback interface, the feedback interface may also include a preset area to be evaluated to prompt the user to evaluate the cleaning results of the pool.

[0172] Specifically, when the client determines the feedback interface, the feedback interface may include a preset area to be evaluated. The client may determine the number of cleanings of the repeated cleaning area determined in this feedback based on the user's evaluation. For example, the preset area to be evaluated is 5 unlit stars, and the user can light them up by clicking on each star. The more stars that are lit, the more satisfied the user is with the cleaning results, and the fewer cleanings of the repeated cleaning area in this feedback. When the number of lit stars is 5, the number of cleanings of the repeated cleaning area in this feedback is 1. When the number of lit stars is 3, the number of cleanings of the repeated cleaning area in this feedback is 3. When the number of lit stars is 1, the number of cleanings of the repeated cleaning area in this feedback is 5.

[0173] In addition, the client can also adjust the parameters of the route planning model according to the user's evaluation. For example, there is a reward mechanism in the route planning model. When the number of stars lit up is 5, the reward parameter can be determined to be 5, when the number of stars lit up is 3, the reward parameter can be determined to be 3, and when the number of stars lit up is 1, the reward parameter can be determined to be 1. Alternatively, the evaluation can be used as one of the parameters for determining the loss of the route planning model. When other parameters are consistent, the more stars lit up, the smaller the loss of the route planning model.

[0174] like Fig. 20 As shown, in the feedback interface 900 displayed in the form of a pop-up window in the client 504, the words "How is the cleaning?" and 5 unlit stars are displayed below the words, which are the areas to be evaluated.

[0175] By adopting the above method, the importance of user feedback can be determined through the user's evaluation on the feedback interface, and the route planning model can be optimized more accurately.

[0176] In addition, in one or more embodiments of the present specification, after determining that the unmanned cleaning device has completed cleaning the pool, the client can directly display a feedback interface including the cleaning area to prompt the user to provide feedback on the cleaning results. The client can respond to the user's operation on the feedback interface and determine that the area marked by the user in the cleaning area of ​​the feedback interface is a repeated cleaning area. The client can then optimize the route planning model used to determine the cleaning route based on the repeated cleaning area and the cleaning route, with the goal of reducing the area of ​​the repeated cleaning area and reducing the user's complaint rate.

[0177] The cleaning area may be determined according to the cleaning route, or may be determined according to the cleaning area corresponding to the cleaning mode selected by the user. The specific method of determination is not limited in this specification and may be set as required.

[0178] By adopting the above method, the feedback interface can be directly displayed after the unmanned cleaning device completes cleaning, so as to obtain user feedback and optimize the route planning model.

[0179] In addition, in one or more embodiments of the present specification, in order to improve the cleaning efficiency of the pool and reduce the area of ​​repeated cleaning, the client can determine different route planning models for different users.

[0180] Specifically, the client can optimize the route planning model corresponding to the logged-in user of the client according to the user's feedback on the feedback interface, so that the route planning model can improve the cleaning efficiency and reduce the area of ​​repeated cleaning when cleaning the pool. For different logged-in users, the client can provide different route planning models.

[0181] Of course, if the logged-in user of the client needs to clean multiple pools, the client can also determine a route planning model for each pool to improve the cleaning efficiency and reduce the area of ​​repeated cleaning areas.

[0182] Furthermore, since the storage space of the client is limited and the route planning model occupies a large amount of storage space, the client does not need to store the route planning model, but may store the parameters of the route planning model, or the parameters of the route planning model and the login user ID.

[0183] By adopting the above method, the client can determine different route planning models for different logged-in users to improve cleaning efficiency.

[0184] In addition, in one or more embodiments of the present specification, since the unmanned cleaning device may not clean some areas thoroughly during the cleaning process, that is, some areas cannot be cleaned thoroughly by one cleaning, the unmanned cleaning device can clean such areas that cannot be cleaned thoroughly by one cleaning multiple times.

[0185] Specifically, first, the client can obtain the cleaning effect, and according to the cleaning effect, determine the cleaning images collected by the unmanned cleaning device when cleaning the pool. Among them, since the unmanned cleaning device needs to clean the pool according to the planned route, and the water flow in the pool may affect the movement of the unmanned cleaning device, the unmanned cleaning device is equipped with an image acquisition module. The unmanned cleaning device can adjust the movement direction according to the collected images, and can also store the collected images and send them to the client as part of the cleaning effect.

[0186] Secondly, the client can obtain the repeated cleaning area and determine the location of the repeated cleaning area in the pool. Then, based on the cleaning images collected by the unmanned cleaning device when cleaning the pool, the cleaning image corresponding to the repeated cleaning area is determined as a marked image. The marked image is an image that has not been cleaned.

[0187] Finally, the client can send the determined marked images to the unmanned cleaning device, so that the unmanned cleaning device can match the collected cleaning images with the marked images in the subsequent cleaning process. If there is a cleaning image that successfully matches any marked image, and the area corresponding to the cleaning image has been cleaned, the unmanned cleaning device can clean the area corresponding to the cleaning image again, until the cleaning image corresponding to the area fails to match any marked image.

[0188] By adopting the above method, the client can achieve the purpose of multiple cleaning of the uncleaned areas in the pool by sending data to the unmanned cleaning device.

[0189] In addition, in one or more embodiments of the present specification, since several repeated cleaning areas may be determined, in order to clean the pool, the client may determine a secondary cleaning route.

[0190] Specifically, a repeated cleaning area is determined based on the cleaning effect and the feedback result, wherein the repeated cleaning area can be the area directly marked by the user in the three-dimensional space model of the feedback prompt interface in the feedback result, or it can be the missed cleaning area determined from the cleaning trajectory of the cleaning effect, etc.

[0191] According to the repeated cleaning area and the three-dimensional space model, the cleaning route is re-planned, and the planned cleaning route is used as the secondary cleaning route. The secondary cleaning route is then sent to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool again according to the secondary cleaning route. It should be noted that when re-planning the cleaning route, the end point of the first planned cleaning route can be used as the starting point of the re-planned cleaning route, that is, the current position of the unmanned cleaning device is used as the starting point of the re-planned cleaning route.

[0192] By adopting the above method, when the water pool is not cleaned thoroughly, the water pool can be cleaned again by the unmanned cleaning device to achieve complete cleaning of the water pool.

[0193] In addition, in one or more embodiments of the present specification, since the user may want to change the cleaning mode, during the cleaning process, the user can pause the cleaning at any time, re-collect various environmental data, and re-clean the pool.

[0194] Specifically, in response to the user's operation, the client sends a pause command to the unmanned cleaning device that is cleaning the pool, instructing the unmanned cleaning device to temporarily stop working. Then, the client displays guidance information to guide the user to collect various environmental data according to the specified posture. Based on the various environmental data, the three-dimensional space model of the pool is rebuilt, and then the cleaning route is replanned based on the three-dimensional space model. A start instruction containing the cleaning route is sent to the unmanned cleaning device, instructing the unmanned cleaning device to restart cleaning according to the cleaning route.

[0195] The client may also directly plan multiple candidate routes based on the three-dimensional space model collected for the first time, and determine, based on the user's selection, that the candidate route corresponding to the cleaning mode selected by the user is the cleaning route.

[0196] By adopting the above method, the unmanned cleaning device can be paused at any time and then the pool can be cleaned again according to the user's operation.

[0197] In addition, this manual also provides a flow chart of pool cleaning, such as Fig.13 shown.

[0198] S400: Start the client. This method is executed by the client running on the terminal. The form of the terminal can refer to Figure 1 The corresponding step S100 is described above.

[0199] S402: Determine the target pool shape according to the user's selection in the pool shape selection interface. In order to improve the cleaning efficiency, the client can preset a variety of pool shapes for the user to choose.

[0200] S404: Determine and display guidance information according to the target pool shape to guide the user to collect some environmental data. After the target pool shape selected by the user is determined, guidance information including each collection posture can be determined and displayed according to each collection posture preset corresponding to the target pool shape to guide the user to install each collection posture to collect some environmental data of the pool.

[0201] S406: Collect some environmental data.

[0202] S408: Determine whether the environmental data can establish a three-dimensional spatial model of the pool. Since the user may miss the collection of some environmental data, after collecting the environmental data, it is necessary to determine whether the three-dimensional spatial model of the pool can be established based on the collected environmental data. If so, execute step S412, if not, execute step S410.

[0203] S410: Determine, based on the plurality of environmental data, the supplementary positions and postures of the environmental data that need to be collected to establish the three-dimensional space model, and prompt the user to collect the environmental data according to the supplementary positions and postures. Then execute S412.

[0204] S412: Establishing the three-dimensional space model according to the collected environmental data.

[0205] S414: Planning a cleaning route according to the three-dimensional space model.

[0206] S416: Send the cleaning route to the unmanned cleaning device, instructing the unmanned cleaning device to clean the pool according to the cleaning route.

[0207] S418: receiving and displaying the cleaning effect returned by the unmanned cleaning device. In order to allow the user to more accurately and intuitively know the cleaning results of the unmanned cleaning device, the client can receive and display the cleaning effect returned by the unmanned cleaning device.

[0208] S420: Obtain the feedback result of the user on the cleaning work of the unmanned cleaning device, determine the repeated cleaning area according to the feedback result and the cleaning effect, and then optimize the route planning model used to determine the cleaning route according to the repeated cleaning area and the cleaning route with the goal of reducing the area of ​​the repeated cleaning area. Since the route planning model may have deviations in the route planned, the route planning model can be optimized.

[0209] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0210] The above is a method for cleaning a pool provided in one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding device for cleaning a pool, such as Fig.21 shown.

[0211] Fig.21 A schematic diagram of a pool cleaning device provided in this specification specifically includes:

[0212] Collection module 200: In response to the user's operation, display guidance information, wherein the guidance information is used to guide the user to collect a number of environmental data of the pool according to a specified posture, wherein the environmental data includes an image and laser point data corresponding to the image;

[0213] Modeling module 202: determining the three-dimensional space model of the pool according to the collected images and the laser point data corresponding to each image;

[0214] Cleaning module 204: Determine a cleaning route according to the three-dimensional space model, and send the cleaning route to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool according to the cleaning route.

[0215] Optionally, the acquisition module 200 displays a pool shape selection interface according to a preset pool shape, and determines a target pool shape in response to a selection made by the user on the pool shape selection interface.

[0216] Optionally, the acquisition module 200 determines, based on a pool area corresponding to the target pool shape, multiple acquisition postures corresponding to the target pool shape as designated postures, wherein an area of ​​environmental data acquired by each acquisition posture covers the pool area, and the acquisition posture includes each acquisition position and a acquisition orientation corresponding to each acquisition position. Based on the determined designated posture, guidance information is generated and displayed, and the guidance information is used to guide the user to collect certain environmental data of the pool according to the designated posture.

[0217] Optionally, the modeling module 202 determines whether the three-dimensional space model of the pool can be established based on the collected images and the laser point data corresponding to each image. If so, the three-dimensional space model of the pool is established based on the environmental data. If not, the three-dimensional space model is determined based on the environmental data to supplement the postures of the environmental data required to establish the three-dimensional space model. The user is prompted to collect environmental data according to the supplementary postures, and the three-dimensional space model is established based on the environmental data already collected by the user.

[0218] Optionally, the cleaning module 204 determines attribute data of the pool according to the user's input, where the attribute data includes at least one of ground material, wall material and pool depth, and adjusts the three-dimensional space model according to the attribute data.

[0219] Optionally, the cleaning module 204 determines, based on the three-dimensional space model, cleaning areas corresponding to each cleaning mode, wherein each cleaning area includes at least a pool wall, a pool floor, or a combination of the pool wall and the pool floor; and according to the cleaning areas corresponding to each cleaning mode, candidate routes suitable for each cleaning area are planned for each cleaning mode; and according to the cleaning mode selected by the user, a candidate route corresponding to the selected cleaning mode is determined as the cleaning route.

[0220] Optionally, the cleaning module 204 determines the starting point of the cleaning route as a placement point according to the cleaning route corresponding to the cleaning mode selected by the user, and displays the placement point to prompt the user to place the unmanned cleaning device at the placement point.

[0221] Optionally, the cleaning module 204, in response to the user's operation, sends a pause command to the unmanned cleaning device and redisplays the guidance information, wherein the guidance information is used to guide the user to collect various environmental data of the pool according to the re-determined specified posture, reconstruct the three-dimensional space model of the pool according to the re-collected environmental data, redetermine the cleaning route according to the three-dimensional space model, and send a start instruction containing the cleaning route to the unmanned cleaning device, so that the unmanned cleaning device performs cleaning according to the re-determined cleaning route.

[0222] Optionally, the cleaning module 204 receives and displays the cleaning effect sent by the unmanned cleaning equipment after cleaning is completed, wherein the cleaning effect includes at least one of the ratio of the total cleaning area to the total area of ​​the swimming pool, the overlap between the planned route and the actual operation route, the total cleaning area, the average cleaning speed and the accumulated operation time.

[0223] Optionally, the cleaning module 204 determines the feedback results of the user on the work results of the unmanned cleaning equipment based on the input of the user in the feedback interface, determines the repeated cleaning area based on the cleaning effect and the feedback results, and optimizes the route planning model for determining the cleaning route based on the repeated cleaning area and the cleaning route with the goal of reducing the area of ​​the repeated cleaning area and reducing the complaint rate of the user.

[0224] Optionally, the cleaning module 204 redetermines a cleaning route according to the repeated cleaning area and the three-dimensional space model as a secondary cleaning route, and sends the secondary cleaning route to the unmanned cleaning device.

[0225] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 Provides methods for pool cleaning.

[0226] This manual also provides Fig. 22 The schematic structure diagram of the electronic device shown in FIG. Fig. 22 As shown, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 Of course, in addition to the software implementation, this specification does not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0227] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0228] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0229] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0230] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0231] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0232] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0233] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0234] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0235] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0236] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0237] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0238] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0239] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0240] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0241] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0242] The above description is only an embodiment of this specification and is not intended to limit this specification. For those skilled in the art, this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification should be included in the scope of the claims of this application.

Claims

1. A method for cleaning a pool, characterized in that: The method is applied to a client installed in a terminal, and the method comprises: Modeling the water pool according to the environmental data of the water pool collected by the terminal, determining a three-dimensional spatial model of the water pool, and guiding the user to collect the environmental data according to a specified posture through guidance information, wherein the guidance information includes a position of a data collection module when collecting the environmental data and an orientation of the data collection module, and the environmental data includes an image and laser point data corresponding to the image; After the pool is cleaned, the cleaning effect of the pool is received from the unmanned cleaning device, and the cleaning effect is displayed in the client, wherein the cleaning route of the unmanned cleaning device is determined by the terminal according to the three-dimensional space model; According to the cleaning effect and feedback results, the repeated cleaning area is determined, and the cleaning route is replanned according to the repeated cleaning area and the three-dimensional space model. The planned cleaning route is used as the secondary cleaning route, so that the unmanned cleaning equipment cleans the pool again according to the secondary cleaning route.

2. The method according to claim 1, characterized in that Modeling the pool according to the environmental data of the pool collected by the terminal to determine the three-dimensional spatial model of the pool specifically includes: Display the preset pool shape selection interface to prompt the user to choose; In response to an input operation received by the pool shape selection interface of the client, determining a target pool shape; Determining, according to a pool area corresponding to the target pool shape, a plurality of acquisition postures corresponding to the target pool shape; According to the multiple acquisition postures, environmental data of the pool is collected by the terminal, wherein the environmental data includes an image of the pool and laser point data corresponding to the image; The water pool is modeled according to the image of the water pool and the laser point data respectively corresponding to the image, and a three-dimensional spatial model of the water pool is determined.

3. The method according to claim 2, characterized in that Determining multiple acquisition postures corresponding to the target pool shape according to the pool area corresponding to the target pool shape specifically includes: Determining, according to a pool area corresponding to the target pool shape, a plurality of preselected acquisition poses corresponding to the target pool shape; For each preselected acquisition posture, when it is determined that the environmental data of the water pool acquired based on the preselected acquisition posture satisfies the requirements for building the three-dimensional spatial model of the water pool, the preselected acquisition posture is used as the acquisition posture; When it is determined that the environmental data of the pool collected based on the pre-selected collection posture does not meet the requirements for building the three-dimensional spatial model of the pool, the area that cannot be collected by the multiple pre-selected collection postures is determined, and for the area that cannot be collected, the collection posture for collecting the environmental data corresponding to the area that cannot be collected is determined as a supplementary posture, and the collection posture is determined according to the supplementary posture and the pre-selected collection posture.

4. The method according to claim 2, characterized in that Modeling the water pool according to the image of the water pool and the laser point data corresponding to the image to determine the three-dimensional space model of the water pool specifically includes: According to the shape of the target pool, displaying a data collection interface; In response to the user's input on the data collection interface, determining attribute data of the pool, the attribute data including at least pool depth and pool size; A three-dimensional spatial model of the pool is established according to the attribute data, the image of the pool and the laser point data corresponding to the image.

5. The method according to claim 2, characterized in that Determining multiple acquisition postures corresponding to the target pool shape according to the pool area corresponding to the target pool shape specifically includes: According to the shape of the target water pool and a preset step length, traverse various positions for collecting environmental data of the target water pool and various collection angles corresponding to the various positions toward the target water pool; Each acquisition angle of each acquisition point is regarded as an acquisition data, all the acquisition data are combined, and several acquisition combinations are determined; Selecting a collection combination that can cover all areas of the pool from among the collection combinations as a pre-selected combination; Determine the position and angle of each collected data corresponding to the preselected combination with the least number of collected data among the preselected combinations as the collection posture; or determine the upper limit of the number of each collected data, and from the preselected combinations with the collected data not exceeding the upper limit of the number of collected data, determine the position and angle of each collected data corresponding to the preselected combination with the largest total collection area as the collection posture.

6. The method according to claim 2, characterized in that Modeling the water pool according to the image of the water pool and the laser point data corresponding to the image to determine the three-dimensional space model of the water pool specifically includes: Determining whether a three-dimensional spatial model of the pool can be established based on the environmental data of the pool; If yes, a three-dimensional spatial model of the pool is established according to the image of the pool and the laser point data corresponding to the image; If not, determining the supplementary postures that need to be supplemented to collect the environmental data according to the environmental data of the pool, and displaying prompt information containing the supplementary postures to prompt the user to collect the environmental data according to the supplementary postures, determining the images and laser point data that need to be supplemented to establish the three-dimensional space model, and establishing the three-dimensional space model according to the environmental data of the pool, the supplementary images and the supplementary laser point data; When the user determines that the three-dimensional space model cannot be established based on the collected environmental data, the supplementary posture is re-determined, and the user is prompted to re-collect the environmental data until the three-dimensional space model can be established based on the collected environmental data.

7. The method according to claim 2, characterized in that Modeling the water pool according to the image of the water pool and the laser point data corresponding to the image to determine the three-dimensional space model of the water pool specifically includes: A three-dimensional space model is determined based on the image of the pool and the laser point data corresponding to the image, as a first model; In response to the user's input on the data collection interface, determining attribute data of the pool, the attribute data at least including the pool depth and the pool size; Using a three-dimensional space model determined according to the attribute data and the shape of the target pool as a second model; Determine the similarity between the first model and the second model, and determine whether the similarity is greater than a preset similarity threshold; If yes, dividing the first model and the second model into a plurality of regions according to a preset grid with the same step size; Determine the similarity of grids at the same position according to the shape and the volume of the grids occupied, determine the grids whose similarity is greater than a preset similarity threshold as the same grid, and determine the grids whose similarity is not greater than the similarity threshold as the deviation grid; Determining a deviation position according to a deviation grid between the first model and the second model; When it is determined that the deviation position is the same as the position where the pool size is obtained in the attribute data, it is determined that the deviation position is associated with the attribute data of the pool, and the three-dimensional spatial model of the pool is determined based on the second model; When the deviation position is not associated with the attribute data of the pool, determining a deviation collection posture according to the deviation position, and displaying the deviation collection posture to instruct the user to collect the environmental data of the pool according to the deviation collection posture; The first model is adjusted according to the re-collected environmental data to serve as the three-dimensional spatial model of the pool.

8. The method according to claim 7, characterized in that Determining the similarity between the first model and the second model specifically includes: Determine the number of meshes of the model with the largest number of meshes between the first model and the second model; The ratio of the number of the same grids to the number of grids of the model with the largest number of grids is determined as the similarity.

9. The method according to claim 1, characterized in that Receiving the cleaning effect of the pool sent by the unmanned cleaning device and displaying the cleaning effect in the client, specifically including: Generating a cleaning route of the unmanned cleaning equipment according to the three-dimensional spatial model of the pool; and sending the cleaning route to the unmanned cleaning device, so that the unmanned cleaning device cleans the pool according to the cleaning route; The cleaning effect sent by the unmanned cleaning equipment after completing the cleaning of the pool according to the cleaning route is received through the client and displayed.

10. The method according to claim 1, characterized in that Receiving the cleaning effect of the pool sent by the unmanned cleaning device and displaying the cleaning effect in the client, specifically including: First, the collected environmental data and the identification of the unmanned cleaning equipment are sent to the server, so that the server builds a three-dimensional space model according to the environmental data, and then plans a cleaning route according to the three-dimensional space model, and sends the cleaning route to the unmanned cleaning equipment according to the identification of the unmanned cleaning equipment; When the unmanned cleaning device completes cleaning of the pool according to the cleaning route, the cleaning effect sent by the server is received through the client and displayed.

11. The method according to claim 1, characterized in that The method further comprises: According to the three-dimensional space model and the preset cleaning modes, the candidate routes corresponding to the cleaning modes are determined respectively through the route planning model: Determine, according to the three-dimensional space model, each cleaning mode displayed by the client to the user, wherein each cleaning mode corresponds to each cleaning area, wherein each cleaning area at least includes a pool wall, a pool floor, and a combination of a pool wall and a pool floor; According to the cleaning mode selected by the user, a candidate route corresponding to the selected cleaning mode is determined as the cleaning route.

12. The method according to claim 1, characterized in that According to the cleaning effect and the feedback result, a repeated cleaning area is determined, and according to the repeated cleaning area and the three-dimensional space model, a cleaning route is replanned, and the planned cleaning route is used as a secondary cleaning route, so that the unmanned cleaning device cleans the pool again according to the secondary cleaning route, specifically including: Receiving one or more cleaning images collected by the unmanned cleaning device during a cleaning process; Based on each cleaning image, determining a cleaning image corresponding to a repeated cleaning area as a marked image, wherein the marked image is an image that has not been cleaned; The determined marked images are sent to the unmanned cleaning device, so that the unmanned cleaning device will match the collected cleaning images with the marked images in the subsequent cleaning process. If there is a cleaning image that successfully matches any marked image, and the area corresponding to the successfully matched cleaning image has been cleaned, the unmanned cleaning device can clean the area corresponding to the successfully matched cleaning image again.

13. The method according to claim 1, characterized in that According to the cleaning effect and the feedback result, a repeated cleaning area is determined, and according to the repeated cleaning area and the three-dimensional space model, a cleaning route is replanned, and the planned cleaning route is used as a secondary cleaning route, specifically including: Determining the feedback result of the user on the working result of the unmanned cleaning device according to the input of the user in the feedback interface of the client; Determine a repeated cleaning area according to the feedback result, wherein the repeated cleaning area includes: an area directly marked by the user in the three-dimensional space model of the feedback interface in the feedback result, or an area of ​​missed cleaning determined from the cleaning track of the cleaning effect; A cleaning route is replanned according to the repeated cleaning area and the three-dimensional space model, and the planned cleaning route is used as a secondary cleaning route.

14. The method according to claim 13, characterized in that According to the feedback results, the repeated cleaning area is determined, including: The cleaning area of ​​the pool is displayed in the feedback interface of the client, and the cleaning area in the feedback interface is divided into several small areas. The user marks the small areas that are not cleaned cleanly, and each small area changes color after being marked, and the marked small areas are used as repeated cleaning areas; or Displaying a three-dimensional spatial model of the pool in the feedback interface of the client, wherein repeated cleaning areas are marked with closed figures, line segments or points in the three-dimensional spatial model; or, The repeated cleaning area options of the pool are displayed in the feedback interface of the client, wherein the repeated cleaning area options include: side walls not cleaned, and pool floor not cleaned.

15. The method according to claim 1, wherein: The cleaning effect at least includes: The ratio of the total cleaning area to the total pool area; or, The degree of overlap between the planned route and the actual operating route of the unmanned cleaning equipment; or The total cleaning area of ​​the unmanned cleaning equipment; or The average cleaning speed of the unmanned cleaning equipment; or The maximum cleaning speed of the unmanned cleaning equipment; or The estimated cleaning time of the unmanned cleaning equipment; or The difference between the estimated cleaning time and the accumulated run time; or, The accumulated operating time of the equipment without any cleaning personnel.

16. The method according to claim 1, wherein: The method further comprises: In response to the user's operation, sending a pause instruction to the unmanned cleaning device that is cleaning the pool, instructing the unmanned cleaning device to temporarily stop working; Displaying guidance information to guide the user to collect various environmental data according to the specified posture; Reconstructing the three-dimensional spatial model of the pool according to the environmental data; Re-determining the cleaning route according to the three-dimensional space model; Sending a start instruction including the cleaning route to the unmanned cleaning device, so that the unmanned cleaning device performs cleaning according to the re-determined cleaning route; An updated cleaning effect after cleaning by the unmanned cleaning device is received, and the updated cleaning effect is displayed in a client.

17. The method according to claim 2, characterized in that In response to an input operation received by the pool shape selection interface of the client, determining a target pool shape specifically includes: According to the preset pool shape, the pool shape selection interface is displayed; In response to the user's selection on the pool shape selection interface, a target pool shape is determined.

18. The method according to claim 11, characterized in that The method further comprises: Determine the starting point of the cleaning route as the delivery point; The placement point is displayed to prompt the user to place the unmanned cleaning device at the placement point.

19. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 18 is implemented.

20. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 18 is implemented.

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