Methods and apparatuses for cleaning pool

A method of cleaning a pool, applied to a client application installed in a terminal device, comprising:

• modeling the pool according to information of the pool collected by the terminal device to determine a three-dimensional model of the pool;
• receiving a cleaning result on the pool sent by an unmanned cleaning device coupled with the terminal device, and displaying the cleaning result in the client application, wherein a cleaning path of the unmanned cleaning device is determined by the terminal device according to the three-dimensional model;
• and
• receiving feedback on the cleaning result, and adjusting a path planning of the unmanned cleaning device based on the feedback;
• wherein the method further comprising:
• in response to receiving an input for indicating the unmanned cleaning device to pause working, sending a pause instruction to the unmanned cleaning device;
• displaying guidance information in the client application, wherein the guidance information is configured to guide a user to collect environmental data of the pool based on re-determined collection poses;
• based on the environmental data, building a third three-dimensional model of the pool;
• based on the third three-dimensional model, determining an updated cleaning path of the unmanned cleaning device in the pool;
• sending a startup instruction comprising the updated cleaning path to the unmanned cleaning device to instruct the unmanned cleaning device to perform cleaning according to the updated cleaning path;
• and
• receiving an updated cleaning result of the unmanned cleaning device after cleaning according to the updated cleaning path and display the updated cleaning result in the client application.

A non-transitory computer readable storage medium, storing a computer program, wherein the computer program is executed by a processor to perform operations comprising:

• modeling a pool according to information of the pool collected by a terminal device to determine a three-dimensional model of the pool;
• receiving a cleaning result on the pool sent by an unmanned cleaning device coupled with the terminal device, and displaying the cleaning result in a client application, wherein a cleaning path of the unmanned cleaning device is determined by the terminal device according to the three-dimensional model;
• and
• receiving feedback on the cleaning result, and adjusting a path planning of the unmanned cleaning device based on the feedback;
• wherein modeling the pool according to information of the pool collected by the terminal device to determine the three-dimensional model of the pool comprises:
• in response to receiving an input from a pool shape selection interface of the client application, determining a plurality of collection poses adapted to a shape of the pool;
• according to the plurality of collection poses, collecting the information of the pool by the terminal device, wherein the information comprises images of the pool and laser point cloud data respectively corresponding to the images;
• and
• according to the images of the pool and laser point cloud data respectively corresponding to the images, modeling the pool to determine the three-dimensional model of the pool.