Vacuum cleaner and control method thereof

Abstract

A cleaner is provided. The cleaner includes a sensor configured to detect a tilt of the cleaner, memory, comprising one or more storage media, storing instructions, and one or more processors communicatively coupled to the sensor and the memory, wherein the instructions, when executed by the one or more processors individually or collectively, cause the cleaner to determine a rotation speed of a main motor of the cleaner, control the cleaner based on the determined rotation speed, and based on the tilt of the cleaner detected in the sensor being within a predetermined range, control a first driving device such that the rotation speed of the main motor of the cleaner increases.

Description

CROSS-REFERENCE TO RELATED APPLICATION(S)

[0001] This application is a continuation application, claiming priority under 35 U.S.C. § 365 (c), of an International application No. PCT / KR2025 / 008537, filed on Jun. 19, 2025, which is based on and claims the benefit of a Korean patent application number 10-2024-0131859, filed on Sep. 27, 2024, in the Korean Intellectual Property Office, the disclosure of which is incorporated by reference herein in its entirety.BACKGROUND1. Field

[0002] The disclosure relates to a cleaner and a control method thereof.2. Description of Related Art

[0003] A cleaner includes a cleaner body wherein a vacuum suction device and a dust collecting device are installed, and a suction module connected to the body. Recently, a brush that is rotated for easily suctioning foreign substances on a surface to be cleaned is being installed on a suction module. Also, by installing a suction module to be detachable such that mopping is possible with one cleaner, replacement to a mopping module after removing the suction module can be possible.

[0004] The above information is presented as background information only to assist with an understanding of the disclosure. No determination has been made, and no assertion is made, as to whether any of the above might be applicable as prior art with regard to the disclosure.

[0005] In the case of a space between furniture and a bottom surface, or an upper surface of furniture, dust can be easily accumulated as it is a place that a person's hand cannot easily reach. When cleaning such a space, there is a need that the suction force of a cleaner becomes stronger so that more dust can be suctioned compared to other open spaces.

[0006] Aspects of the disclosure are to address at least the above-mentioned problems and / or disadvantages and to provide at least the advantages described below. Accordingly, an aspect of the disclosure is to provide a cleaner and a control method thereof.

[0007] Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments.SUMMARY

[0008] In accordance with an aspect of the disclosure, a cleaner is provided. The cleaner includes a sensor configured to detect a tilt of the cleaner, memory, comprising one or more storage media, storing instructions, and one or more processors communicatively coupled to the sensor and the memory, wherein the instructions, when executed by the one or more processors individually or collectively, cause the cleaner to determine a rotation speed of a main motor of the cleaner, control the cleaner based on the determined rotation speed, and based on the tilt of the cleaner detected in the sensor being within a predetermined range, control a first driving device such that the rotation speed of the main motor of the cleaner increases.

[0009] The at least one processor, based on the tilt of the cleaner detected in the sensor being within a predetermined range, controls a first driving device such that the rotation speed of the main motor of the cleaner increases.

[0010] The cleaner further includes a second driving device configured to control a rotation of a head attachment.

[0011] The at least one processor, based on the tilt of the cleaner detected in the sensor being within a first range, controls the second driving device such that the rotation speed of the head attachment increases.

[0012] The cleaner further includes a lighting device that is provided on the head attachment, and is provided to illuminate the front side of the head attachment.

[0013] The at least one processor, based on the tilt of the cleaner detected in the sensor being within the first range, controls the lighting device to output illumination.

[0014] The cleaner further includes a second driving device configured to independently rotate a plurality of head attachments.

[0015] The at least one processor, based on the tilt of the cleaner detected in the sensor being within a second range, controls the second driving device such that a rotation speed of a head attachment corresponding to the tilt direction among the plurality of head attachments increases.

[0016] The cleaner includes a water spray module that is provided to spray water to the front side of the cleaner.

[0017] The at least one processor, based on a change of the tilt of the cleaner detected in the sensor being a predetermined first pattern, controls the water spray module to spray water.

[0018] The cleaner further includes a body wherein the sensor, the memory, the processor, and the main motor are provided, a stick of which one end is coupled to the body, a head part coupled to the other end opposing the one end of the stick, and a length adjustment module configured to adjust the length of the stick.

[0019] The processor controls the length adjustment module such that the stick becomes a predetermined length corresponding to the tilt of the cleaner detected in the sensor.

[0020] The processor, based on a change of the tilt of the cleaner detected in the sensor being a predetermined second pattern, controls the first driving device such that the main motor rotates in a rotation speed corresponding to the second pattern.

[0021] In accordance with another aspect of the disclosure, a control method performed by a cleaner is provided. The control method includes detecting a tilt of the cleaner, determining a rotation speed of a main motor of the cleaner according to the detected tilt of the cleaner, and controlling the main motor of the cleaner based on the determined rotation speed, wherein the controlling the main motor comprises: based on the detected tilt of the cleaner being within a predetermined range, controlling a first driving device such that the rotation speed of the main motor increases.

[0022] In the operation of controlling the main motor, based on the detected tilt of the cleaner being within a predetermined range, a first driving device is controlled such that the rotation speed of the main motor increases.

[0023] The control method of a cleaner further includes the operations of determining a rotation speed of a head attachment of the cleaner, and based on the determined rotation speed of the head attachment, controlling the rotation speed of the head attachment.

[0024] In the operation of controlling the rotation speed of the head attachment, based on the detected tilt of the cleaner being within a first range, a second driving device is controlled such that the rotation speed of the head attachment increases.

[0025] The control method of a cleaner further includes the operation of, based on the detected tilt of the cleaner being within the first range, controlling a lighting device that is provided on the head attachment, and is provided to illuminate the front side of the head attachment to output illumination.

[0026] In the operation of determining the rotation speed of the head attachment of the cleaner, the rotation speed of each of a plurality of head attachments is determined, and based on the detected tilt of the cleaner being within a second range, the second driving device is controlled such that a rotation speed of a head attachment corresponding to the tilt direction among the plurality of head attachments increases.

[0027] The control method of a cleaner further includes the operation of, based on the detected tilt of the cleaner being within a third range, controlling a length adjustment module such that a stick connecting a body and a head part becomes a predetermined length corresponding to the detected tilt of the cleaner.

[0028] The control method of a cleaner further includes the operation of, based on a change of the detected tilt of the cleaner being a predetermined first pattern, controlling a water spray module provided to spray water to the front side of the head attachment.

[0029] Based on a change of the detected tilt of the cleaner being a predetermined second pattern, the first driving device is controlled such that the main motor rotates in a rotation speed corresponding to the second pattern.

[0030] In accordance with another aspect of the disclosure, one or more non-transitory computer-readable recording media storing one or more computer programs including computer-executable instructions that, when executed by one or more processors of a cleaner individually or collectively, cause the cleaner to perform operations are provided. The operations include determining a rotation speed of a main motor of the cleaner, and controlling the main motor of the cleaner based on the determined rotation speed, wherein the determining of the rotation speed includes: based on a tilt of the cleaner detected in a sensor inside the cleaner being within a predetermined range, increasing the rotation speed of the main motor.

[0031] Other aspects, advantages, and salient features of the disclosure will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses various embodiments of the disclosure.BRIEF DESCRIPTION OF DRAWINGS

[0032] The above and other aspects, features, and advantages of certain embodiments of the disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:

[0033] FIG. 1 is a diagram for illustrating an operation of a cleaner according to an embodiment of the disclosure;

[0034] FIG. 2 is a diagram for illustrating a configuration of a cleaner according to an embodiment of the disclosure;

[0035] FIG. 3 is a diagram for illustrating another configuration of a cleaner according to an embodiment of the disclosure;

[0036] FIG. 4 is a diagram illustrating a display example on a display of a cleaner according to an embodiment of the disclosure;

[0037] FIGS. 5 and 6 are diagrams schematically illustrating a reference axis measuring a tilt of a cleaner and acceleration according to various embodiments of the disclosure;

[0038] FIGS. 7 and 8 are diagrams illustrating a change of a tilt of a cleaner sensed in a sensor of the cleaner by expressing it as a graph according to various embodiments of the disclosure;

[0039] FIG. 9 is a diagram illustrating an appearance that water is sprayed from a head attachment of a cleaner according to an embodiment of the disclosure;

[0040] FIG. 10 is a diagram illustrating moving of a cleaner to a specific direction according to an embodiment of the disclosure;

[0041] FIG. 11 is a diagram illustrating an appearance that the length of a stick of a cleaner is changed according to an embodiment of the disclosure;

[0042] FIG. 12 is a flow chart for illustrating a control method of a cleaner according to an embodiment of the disclosure; and

[0043] FIG. 13 is a diagram for illustrating a training method of an AI model according to an embodiment of the disclosure.

[0044] Throughout the drawings, it should be noted that like reference numbers are used to depict the same or similar elements, features, and structures.DETAILED DESCRIPTION

[0045] The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of various embodiments of the disclosure as defined by the claims and their equivalents. It includes various specific details to assist in that understanding but these are to be regarded as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the various embodiments described herein can be made without departing from the scope and spirit of the disclosure. In addition, descriptions of well-known functions and constructions may be omitted for clarity and conciseness.

[0046] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the disclosure. Accordingly, it should be apparent to those skilled in the art that the following description of various embodiments of the disclosure is provided for illustration purpose only and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents.

[0047] It is to be understood that the singular forms “a,”“an,” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “a component surface” includes reference to one or more of such surfaces.

[0048] Also, in describing the disclosure, in case it is determined that detailed explanation of related known functions or features may unnecessarily confuse the gist of the disclosure, the detailed explanation will be omitted.

[0049] In addition, the embodiments described below may be modified in various different forms, and the scope of the technical idea of the disclosure is not limited to the embodiments below. Rather, these embodiments are provided to make the disclosure more sufficient and complete, and to fully convey the technical idea of the disclosure to those skilled in the art.

[0050] Also, the terms used in the disclosure are used only to explain specific embodiments, and are not intended to limit the scope of the disclosure. Further, singular expressions include plural expressions, unless defined obviously differently in the context.

[0051] In addition, in the disclosure, expressions such as “have,”“may have,”“include,” and “may include” denote the existence of such characteristics (e.g.: elements such as numbers, functions, operations, and components), and do not exclude the existence of additional characteristics.

[0052] Further, in the disclosure, the expressions “A or B,”“at least one of A and / or B,” or “one or more of A and / or B” and the like may include all possible combinations of the listed items. For example, “A or B,”“at least one of A and B,” or “at least one of A or B” may refer to all of the following cases: (1) including at least one A, (2) including at least one B, or (3) including at least one A and at least one B.

[0053] Also, the expressions “first,”“second,” and the like used in the disclosure may describe various elements regardless of any order and / or degree of importance. Further, such expressions are used only to distinguish one element from another element, and are not intended to limit the elements.

[0054] Meanwhile, the description in the disclosure that one element (e.g.: a first element) is “(operatively or communicatively) coupled with / to” or “connected to” another element (e.g.: a second element) should be interpreted to include both the case where the one element is directly coupled to the another element, and the case where the one element is coupled to the another element through still another element (e.g.: a third element).

[0055] In contrast, the description that one element (e.g.: a first element) is “directly coupled” or “directly connected” to another element (e.g.: a second element) can be interpreted to mean that still another element (e.g.: a third element) does not exist between the one element and the another element.

[0056] Also, the expression “configured to” used in the disclosure may be interchangeably used with other expressions such as “suitable for,”“having the capacity to,”“designed to,”“adapted to,”“made to,” and “capable of,” depending on cases. Meanwhile, the term “configured to” may not necessarily mean that a device is “specifically designed to” in terms of hardware.

[0057] Instead, under some circumstances, the expression “a device configured to” may mean that the device “is capable of” performing an operation together with another device or component. For example, the phrase “a processor configured to perform A, B, and C” may mean a dedicated processor (e.g.: an embedded processor) for performing the corresponding operations, or a generic-purpose processor (e.g.: a CPU or an application processor) that can perform the corresponding operations by executing one or more software programs stored in a memory device.

[0058] In addition, in the embodiments of the disclosure, ‘a module’ or ‘a unit’ may perform at least one function or operation, and may be implemented as hardware or software, or as a combination of hardware and software. Also, a plurality of ‘modules’ or ‘units’ may be integrated into at least one module and implemented as at least one processor, excluding ‘a module’ or ‘a unit’ that needs to be implemented as specific hardware.

[0059] Further, operations performed by a module, a program, or other components according to the various embodiments may be executed sequentially, in parallel, repetitively, or heuristically. Or, at least some of the operations may be executed in a different order or omitted, or other operations may be added.

[0060] Meanwhile, various elements and areas in the drawings were illustrated schematically. Accordingly, the technical idea of the disclosure is not limited by the relative sizes or intervals illustrated in the accompanying drawings.

[0061] Meanwhile, a cleaner according to the various embodiments of the disclosure may include, for example, at least one of a vacuum cleaner, a robot cleaner, a handy cleaner, a stick cleaner, a mop cleaner, etc.

[0062] Hereinafter, the embodiments according to the disclosure will be described in detail with reference to the accompanying drawings, such that those having ordinary skill in the art to which the disclosure belongs can easily carry out the disclosure.

[0063] It should be appreciated that the blocks in each flowchart and combinations of the flowcharts may be performed by one or more computer programs which include instructions. The entirety of the one or more computer programs may be stored in a single memory device or the one or more computer programs may be divided with different portions stored in different multiple memory devices.

[0064] Any of the functions or operations described herein can be processed by one processor or a combination of processors. The one processor or the combination of processors is circuitry performing processing and includes circuitry like an application processor (AP, e.g. a central processing unit (CPU)), a communication processor (CP, e.g., a modem), a graphics processing unit (GPU), a neural processing unit (NPU) (e.g., an artificial intelligence (AI) chip), a wireless fidelity (Wi-Fi) chip, a Bluetooth® chip, a global positioning system (GPS) chip, a near field communication (NFC) chip, connectivity chips, a sensor controller, a touch controller, a finger-print sensor controller, a display driver integrated circuit (IC), an audio CODEC chip, a universal serial bus (USB) controller, a camera controller, an image processing IC, a microprocessor unit (MPU), a system on chip (SoC), an IC, or the like.

[0065] FIG. 1 is a diagram for illustrating an operation of a cleaner according to an embodiment of the disclosure.

[0066] Referring to FIG. 1, a cleaner 100 according to an embodiment of the disclosure may have a form of a stick-type cleaner (or an upright-type). In the illustrated example, a shape by an upright method wherein a suction module is integrally formed with a body was illustrated, but in actual implementation, a canister method wherein a suction module is provided separately from a body and is connected by an extension tube may be used, and the cleaner 100 may be a vacuum cleaner of various types such as a radio control cleaner, a robot cleaner, a handy-type cleaner, etc.

[0067] The cleaner 100 may include a cleaner body 10 and a head part 30. Here, as the cleaner body 10, a component wherein major components such as a motor and a processor, etc. are included is referred to as the body. Such a concept of the body is based on the assumption of separation of components such as the head part 30 or the stick 20, etc., but if the aforementioned components have an integrated form, the components may also be referred to as the body.

[0068] The cleaner 100 may include a stick 20 connecting the cleaner body 10 and the head part 30, and a handle part 40 connected with the cleaner body 10. Such a stick 20 connects the cleaner body 10 and the head part 30, and when necessary, the stick 20 and the cleaner body 10 may be detachable. Also, on the cleaner body 10, a cleaning tool different from the aforementioned stick 20 or head part 30 may be attached.

[0069] The handle part 40 is a portion that is coupled with the cleaner body 10, and may be provided such that the user can grip it and manipulate the cleaner 100.

[0070] On the handle part 40, a manipulation part (not shown) is provided, and may make the user control the cleaner 100. Also, in actual implementation, a screen related to manipulation of the cleaner 100 or a manipulation area that receives an input of the user's control instruction may be formed in the upper part of the cleaner body 10.

[0071] The cleaner body 10 may include a dust collecting device 11 and a driving device 12 arranged on its inside. The dust collecting device 11 may perform a function of separating foreign substances from air suctioned in the head part 30, and collecting them.

[0072] The driving device 12 may include a first driving device that generates suction pressure of the cleaner 100, and a second driving device that rotates a head attachment of the head part.

[0073] Specifically, the first driving device may include a motor assembly 50. The motor assembly 50 may generate a driving force such that a suction force is generated inside the cleaner body 10.

[0074] The motor assembly 50 includes a first motor, and may generate suction pressure through a rotation of the first motor. Specifically, if a driving instruction for the first motor is input, and electric power is provided to the first motor, an impeller gets to rotate by the driving of the first motor. By the rotation of the impeller, suction pressure is formed, and by such suction pressure, air including foreign substances may be suctioned into a suctioning hole. Also, as the rotation speed of the first motor increases, the suction pressure becomes bigger.

[0075] If the cleaner 100 or the user sets (or determines) the suctioning strength, the cleaner 100 may control the first motor to rotate at the rotation speed of the motor corresponding to the set suctioning strength described above.

[0076] The head part 30 may be provided in the lower part of the cleaner 100 and arranged to contact a surface to be cleaned. The head part 30 may be provided such that it contacts a surface to be cleaned, and introduces dust or pollutants of the surface to be cleaned into the inside of the cleaner body 10 by a suction force generated from the motor assembly 50.

[0077] Such a head part 30 may include a head attachment. The head attachment includes a component that can be attached to the head part 30 for cleaning. For example, the head attachment may be a brush or a mopping pad.

[0078] Also, the second driving device provided on the head part 30 may include a second motor. Specifically, if a driving instruction for the second motor is input, and electric power is provided to the second motor, the head attachment may rotate by the driving of the second motor. Such a second motor may be various motors such as a direct current (DC) motor, an alternating current (AC) motor, a brushless DC (BLDC) motor, etc.

[0079] Meanwhile, the second driving device may be provided on the cleaner body 10 depending on cases.

[0080] The brush is formed to protrude outside the suctioning hole by a specific length, and in case the brush rotates, it may strike foreign substances such as dust, filth, hair, etc. attached to a surface to be cleaned in an area to be cleaned. Through this, the foreign substances may be separated from the surface to be cleaned, and may be easily suctioned by the suctioning hole. Such a brush may be of a material that has a low friction coefficient and has good wear resistance such as natural hair or polyamide (PA), etc., but is not necessarily limited thereto.

[0081] The mopping pad is a component for performing mopping for a surface to be cleaned. The mopping pad may consist of a body element that rotates by receiving a rotational force from the second driving device, and a mopping element formed with a material such as cotton, etc.

[0082] Meanwhile, it is preferable that, according to an area to be cleaned, the aforementioned suctioning strength and rotation speed of the head attachment operate while being adjusted to values corresponding thereto. For example, in case the cleaner 100 operates with the maximum suction force for all types of areas to be cleaned, in the case of a specific bottom surface, the bottom surface may be attached to the head part 30 and proceeding of cleaning may become difficult, and a fast rotation of the brush on a bottom surface such as a carpet, etc. may generate damage to the carpet.

[0083] In particular, in the case of an area to be cleaned such as a lower space of furniture, i.e., a space between furniture and a bottom surface, and an upper part of furniture, i.e., an upper surface of furniture, dust can be easily accumulated compared to other spaces, and thus there may be a relatively more amount of dust. In such a case, for effective cleaning to be performed, higher suctioning strength and a faster rotation of the head attachment may be required than in the case of performing cleaning for an open bottom.

[0084] From this aspect, it is necessary that the cleaner identifies the type of an area to be cleaned, and operates with suctioning strength and a rotation speed of the head attachment that are appropriate for it.

[0085] In the disclosure, explanation is described by assuming a case wherein an area to be cleaned is divided into a general bottom, a space between a lower part of furniture and a bottom surface, an upper surface of furniture, and a space between furniture and a wall surface and used, but in actual implementation, only some of the aforementioned types may be used, or different types of bottom surfaces other than the aforementioned examples may be used.

[0086] Even if types of areas to be cleaned are identified correctly as described above, if cleaning cannot be performed with suctioning strength and a rotation speed of the head attachment that suit the user's intent, the user may feel inconvenience regarding the cleaner.

[0087] For example, even in case cleaning for an open bottom proceeds, a specific user may want to proceed with cleaning by making the tilt of the cleaner big (by laying the cleaner to be close to parallel to the bottom surface).

[0088] Accordingly, it is preferable that the cleaner is used by determining the suctioning strength of the cleaner and a rotation speed of the head attachment in consideration of both the tilt of the cleaner and a specific instruction of the user.

[0089] FIG. 2 is a diagram for illustrating a configuration of a cleaner according to an embodiment of the disclosure.

[0090] Referring to FIG. 2, the cleaner 100 may include a sensor 110, memory 120, and a processor 130.

[0091] The sensor 110 may detect an operation of the cleaner 100, and generate detection information. For example, the sensor 110 may include a gyro sensor that detects a tilt of the cleaner 100, and an acceleration sensor that detects acceleration according to a change of the location of the cleaner 100. Such a sensing operation of the sensor 110 may be performed based on a control instruction of the processor 130 that will be described below, and may automatically be measured in a unit of a predetermined cycle and provided to the processor 130. Here, for each sensor information (or sensing value), information measured on the corresponding moment may be used, or an average value of the corresponding unit of the cycle may be used. Also, the unit of the predetermined cycle may be 20 ms, but is not limited thereto.

[0092] Meanwhile, the aforementioned gyro sensor, acceleration sensor, etc. may be arranged on the side of the body 10 in FIG. 1, but the disclosure is not limited thereto, and the arrangement may be changed in implementation of another embodiment.

[0093] Also, in the above, two sensors were suggested as an example, but in implementation of an embodiment, sensors other than the aforementioned sensors (e.g., a geomagnetic sensor, an azimuth sensor, a LiDAR sensor, an ultrasonic sensor, an image sensor, etc.) may be additionally used, or some of the aforementioned sensors may be omitted.

[0094] An input device (not shown) may receive an input of a user instruction. Such a user instruction may be an instruction for turning on / off an operation of the cleaner, an instruction for adjusting the suctioning strength of the cleaner, a cleaning mode of the cleaner (e.g., an AI mode, an AI protection mode, an AI clean mode, a protection mode, or release of a protection mode), etc. The cleaner 100 may perform the user's instruction input through the input device by priority. For example, even if the cleaning mode of the cleaner 100 is changed correspondingly to a change of the tilt, etc., in case the user inputs a cleaning mode different from it, the cleaner 100 may be changed to the cleaning mode input by the user.

[0095] Meanwhile, in the above, it was explained that a cleaning instruction and suctioning strength, etc. are directly input at the cleaner 100, but in actual implementation, they may be input through a separate external device (e.g., a user terminal device, etc.).

[0096] In the memory 120, an instruction regarding the cleaner 100 may be stored. Also, in the memory 120, an operating system (O / S) and data, etc. for driving the cleaner 100 may be stored. Such an instruction may include an instruction for identifying an area to be cleaned that will be described below, an instruction for determining the suctioning strength of cleaning, an instruction for controlling various types of components of the cleaner, etc.

[0097] The memory 120 may include semiconductor memory such as flash memory, or a magnetic storage medium such as a hard disk, etc. For example, in the memory 120, various types of software modules for the cleaner 100 to operate according to the various embodiments of the disclosure may be stored, and the processor 130 may control the operations of the cleaner 100 by executing the various types of software modules stored in the memory 120. That is, the memory 120 may be accessed by the processor 130, and reading / recording / correction / deletion / update, etc. of data by the processor 130 may be performed.

[0098] Meanwhile, in the disclosure, the term memory 120 may be used as a meaning including the memory 120, ROM and RAM inside the processor 130, or a memory card (e.g., a micro SD card, a memory stick) installed on the cleaner 100.

[0099] The memory 120 may include a regular change of the tilt of the cleaner 100 as pattern information. The pattern information of the change of the tilt of the cleaner 100 as above may include information on the suctioning strength of the cleaner 100 and a rotation speed of the head attachment regarding the type of an area to be cleaned.

[0100] For example, the pattern information of the change of the tilt may include a first pattern wherein a change of the tilt is repeated to the front side and the rear side of the cleaner 100, and a second pattern wherein a change of the tilt rotating to the left / right sides of the cleaner 100 is generated, with the tilt when the cleaner 100 is mounted on a station (not shown) as a base tilt. For the first and second patterns, default values provided by the manufacturer initially may be used, or they may be updated by the use by the user.

[0101] However, the pattern information of the change of the tilt of the cleaner 100 is not necessarily limited to the first and second patterns, and it may additionally further include pattern information regarding various changes of the tilt in another embodiment.

[0102] The processor 130 controls the overall operations of the cleaner 100. Specifically, the processor 130 may control the overall operations of the cleaner 100 by executing the at least one instruction stored in the memory 120 as described above.

[0103] The processor 130 may consist of one or a plurality of processors. Here, the one or plurality of processors 130 may include at least one of a central processing unit (CPU), a graphic processing unit (GPU), or a neural processing unit (NPU), but the processors 130 are not limited to the aforementioned examples of the processors 130.

[0104] A CPU is a generic-purpose processor that can perform not only general operations but also artificial intelligence operations, and it can effectively execute a complex program through a multilayer cache structure. A CPU is advantageous for a serial processing method that enables a systemic linking between the previous calculation result and the next calculation result through sequential calculations. A generic-purpose processor is not limited to the aforementioned examples excluding cases wherein it is specified as the aforementioned CPU.

[0105] A GPU is a processor for mass operations such as a floating point operation used for graphic processing, etc., and it can perform mass operations in parallel by massively integrating cores. In particular, a GPU may be advantageous for a parallel processing method such as a convolution operation, etc. compared to a CPU. Also, a GPU may be used as a co-processor for supplementing the function of a CPU. A processor for mass operations is not limited to the aforementioned examples excluding cases wherein it is specified as the aforementioned GPU.

[0106] An NPU is a processor specialized for an artificial intelligence operation using an artificial neural network, and it can implement each layer constituting an artificial neural network as hardware (e.g., silicon). Here, the NPU is designed to be specialized according to the required specification of a company, and thus it has a lower degree of freedom compared to a CPU or a GPU, but it can effectively process an artificial intelligence operation required by the company. Meanwhile, as a processor specialized for an artificial intelligence operation, an NPU may be implemented in various forms such as a tensor processing unit (TPU), an intelligence processing unit (IPU), a vision processing unit (VPU), etc. An artificial intelligence processor is not limited to the aforementioned examples excluding cases wherein it is specified as the aforementioned NPU.

[0107] Also, the one or plurality of processors 130 may be implemented as a system on chip (SoC). Here, in the SoC, the memory 120, and a network interface such as a bus for data communication between the processor 130 and the memory 120, etc. may be further included other than the one or plurality of processors 130.

[0108] In case the plurality of processors 130 are included in the SoC included in the cleaner 100, the cleaner 100 may perform an operation related to artificial intelligence (e.g., an operation related to learning or inference of an artificial intelligence model) by using some processors 130 among the plurality of processors 130. For example, the cleaner 100 may perform an operation related to artificial intelligence by using at least one of a GPU, an NPU, a VPU, a TPU, or a hardware accelerator specified for artificial intelligence operations such as a convolution operation, a matrix product operation, etc. among the plurality of processors 130. However, this is merely an example, and the cleaner 100 can obviously process an operation related to artificial intelligence by using the generic-purpose processor 130 such as a CPU, etc.

[0109] Also, the cleaner 100 may perform operations regarding functions related to artificial intelligence by using a multicore (e.g., a dual core, a quad core, etc.) included in one processor 130. In particular, the cleaner 100 may perform artificial intelligence operations such as a convolution operation, a matrix product operation, etc. in parallel by using the multicore included in the processor 130.

[0110] The one or plurality of processors 130 perform control to process input data according to predefined operation rules or an artificial intelligence model stored in the memory 120. The predefined operation rules or the artificial intelligence model are characterized in that they are made through learning.

[0111] Here, being made through learning means that a learning algorithm is applied to a plurality of training data, and predefined operation rules or an artificial intelligence model having desired characteristics are thereby made. Such learning may be performed in a device itself wherein artificial intelligence is performed according to the disclosure, or through a separate server / system.

[0112] An artificial intelligence model may consist of a plurality of neural network layers. At least one layer has at least one weight value, and performs an operation of the layer through the operation result of the previous layer and at least one defined operation. As examples of a neural network, there are a convolutional neural network (CNN), a deep neural network (DNN), a recurrent neural network (RNN), a restricted Boltzmann Machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), deep Q-networks, and a transformer, but the neural network in the disclosure is not limited to the aforementioned examples excluding specified cases.

[0113] A learning algorithm is a method of training a specific subject device (e.g., a robot) by using a plurality of training data and thereby making the specific subject device make a decision or make prediction by itself. As examples of learning algorithms, there are supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but learning algorithms in the disclosure are not limited to the aforementioned examples excluding specified cases.

[0114] In particular, according to an embodiment, the processor 130 may identify the type of an area to be cleaned correctly, and perform an operation appropriate for the identified type of the area to be cleaned. Specifically, the processor 130 may perform a process related to the various embodiments according to the disclosure by using a plurality of modules.

[0115] The plurality of modules may be implemented as a hardware module or a software module, and at least some modules may include a neural network model. Hereinafter, for the convenience of explanation, explanation will be described based on the premise of a case wherein all of the plurality of modules are implemented through the memory 120 and the processor 130 of the cleaner 100, but depending on embodiments, at least some modules among the plurality of modules may be implemented by an external device or a server.

[0116] The processor 130 determines the suctioning strength to be applied to the cleaner 100. For example, the suctioning strength may be determined by using the use pattern information of the user, the sensor information detected in the sensor 110, etc., and there may be various methods of using the aforementioned information.

[0117] Specifically, in the case of identifying the type of an area to be cleaned based on the sensor information detected in the sensor 110, the processor 130 may identify the type of the area to be cleaned based on the tilt information of the cleaner 100 detected in the sensor 110.

[0118] Then, the processor 130 may determine the suctioning strength to be applied to the cleaner 100 by using the identified type of the area to be cleaned.

[0119] For example, in case it was identified that the type of the area to be cleaned is a space between furniture and a bottom surface or a gap space between the upper surface of furniture or furniture and a wall surface based on the sensor information in the sensor 110, the processor 130 may determine such that the suctioning strength of the cleaner 100 has a strong suction force.

[0120] The suctioning strength may be information indicating one of each operation in the case of dividing the minimum suction force to the maximum suction force of the cleaner 100 into a plurality of operations. For example, in the case of supporting three suctioning strengths (or suctioning operations), the determined suctioning strength may be one of the aforementioned three suctioning strengths. Such suctioning strength may also be referred to as a suction force, a suctioning degree, suctioning intensity, cleaning strength, cleaning intensity, etc.

[0121] Also, the processor 130 may not only determine the suctioning strength, but also determine a rotation speed of the head attachment by using the identified type of the bottom and the pattern information.

[0122] When the rotation speed of the head attachment is determined, the processor 130 may control the driving device such that the head attachment rotates at the determined rotation speed. Here, the driving device may be the second driving device, and the second driving device may include the second motor.

[0123] Meanwhile, if a user instruction for adjusting the suctioning strength is input while operating by the suctioning strength determined through the aforementioned process, the processor 130 may adjust the current suctioning strength to the suctioning strength corresponding to the user instruction. Regarding the explanation in this regard, contents overlapping with what was explained above will be omitted.

[0124] FIG. 3 is a diagram for illustrating a configuration of a cleaner according to an embodiment of the disclosure. FIG. 4 is a diagram illustrating a display example on a display of a cleaner according to an embodiment of the disclosure.

[0125] Referring to FIG. 3, the cleaner 100 may include a sensor 110, memory 120, a processor 130, a display 140, a communication device 150, a driving device 160, a lighting device 170, a water spray module 180, and a length adjustment module 190.

[0126] As the sensor 110, the memory 120, and the processor 130 were explained above in FIG. 2, only operations different from the operations explained above will be explained below.

[0127] Referring to FIG. 4, the display 140 may display various types of information supported by the cleaner 100. Such a display 140 may be a display such as an LCD, etc., and it may also be implemented as a touch screen that can perform the aforementioned function of the input device together.

[0128] The display 140 may display information such as an operation state of the cleaner 100 (a clean mode, an AI mode, a manual mode), the suctioning degree of the cleaner 100, the battery state, etc.

[0129] Also, if the suctioning strength is changed, the processor 130 may control the display 140 such that the changed suctioning strength is displayed. In addition, if the operation mode of the cleaner 100 is changed, the processor 130 may control the display 140 such that the changed operation mode is displayed.

[0130] Referring to FIG. 3, the communication device 150 is formed to connect the cleaner 100 to an external device (specifically, a terminal device, a home server, an external server, etc.), and may be connected not only by a near field wireless communication method (e.g., Bluetooth, Wi-Fi, Wi-Fi Direct), but also by a long distance wireless communication method (e.g., wireless communication such as GSM, UMTS, LTE, WiBRO, etc.).

[0131] The communication device 150 may include at least one of a Wi-Fi module, a Bluetooth module, a wireless communication module, an NFC module, or an ultra-wide band (UWB) module. Specifically, each of a Wi-Fi module and a Bluetooth module may perform communication by a Wi-Fi method and a Bluetooth method. In the case of using a Wi-Fi module or a Bluetooth module, various types of connection information such as an SSID, etc. is transmitted and received first, and connection of communication is performed by using the information, and various types of information can be transmitted and received thereafter.

[0132] Also, a wireless communication module may perform communication according to various communication standards such as IEEE, Zigbee, 3rd Generation (3G), 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), 5th Generation (5G), etc. In addition, an NFC module may perform communication by a near field communication (NFC) method using a 13.56 MHz band among various RF-ID frequency bands such as 135 kHz, 13.56 MHz, 433 MHz, 860-960 MHz, 2.45 GHZ, etc.

[0133] The driving device 160 controls the motor. Specifically, the cleaner according to an embodiment of the disclosure may include two motors (e.g., a first motor, a second motor). In order that each motor can rotate at the rotation speed determined in the processor 130, the driving device 160 may provide driving power and / or a control signal corresponding to the determined rotation speed to each motor.

[0134] Specifically, the driving device 160 may include a first driving device and a second driving device. The first driving device may provide a control signal to the first motor, and the second driving device may provide a control signal to the second motor.

[0135] Here, the first motor may be a main motor that determines the suctioning strength of the cleaner 100, and the second motor may be a motor that determines a rotation speed of the head attachment.

[0136] The processor 130 may determine the suctioning strength of the cleaner 100 through the process as described above in FIG. 2. Then, if the detected tilt of the cleaner 100 is within a predetermined range, the processor 130 may control the driving device 160 to increase the rotation speed of the main motor and / or the head attachment.

[0137] Specifically, if the tilt of the cleaner 100 detected in the sensor 110 is within the predetermined range, the processor 130 may control the first driving device such that the rotation speed of the main motor of the cleaner 100 increases.

[0138] In case a head attachment is included in the cleaner 100, if the tilt of the cleaner 100 detected in the sensor 110 is within the predetermined range, the processor 130 may control the second driving device such that the rotation speed of the head attachment increases.

[0139] In case a plurality of head attachments are included, the second driving device may independently rotate the plurality of head attachments. In this case, if the tilt of the cleaner 100 detected in the sensor 110 is within the predetermined range, the processor 130 may control the second driving device such that the rotation speed of the head attachment corresponding to the tilt direction among the plurality of head attachments increases.

[0140] The lighting device 170 is a component for illuminating the front side of the head attachment. The lighting device 170 may be provided on the head attachment.

[0141] If the tilt of the cleaner 100 detected in the sensor 110 is within the predetermined range, the processor 130 may control the lighting device 170 to output illumination.

[0142] The water spray module 180 is a component that is included in the head attachment and is provided to spray water to the front side of the cleaner 100. If a change of the tilt of the cleaner 100 detected in the sensor 110 is a predetermined pattern, the processor 130 may control the water spray module 180 to spray water. Detailed explanation in this regard will be described below in FIGS. 9 and 10.

[0143] The length adjustment module 190 is a component for adjusting the length of the stick 20. The processor 130 may control the length adjustment module 190 such that the length of the stick 20 becomes a predetermined length corresponding to the tilt of the cleaner 100 detected in the sensor 110. Detailed explanation in this regard will be described below in FIG. 11.

[0144] In the above, it was explained that the suctioning strength and a rotation speed of the head attachment are changed based on the tilt information of the cleaner 100, but the suctioning strength of the cleaner 100 and / or a rotation speed of the head attachment may also be changed by a specific operation of the user.

[0145] For example, if a pattern of a user behavior (or a gesture pattern) of repeatedly moving in a specific area is identified in sensing information input through the acceleration sensor, the processor 130 may determine suctioning strength that has been increased more than the current suctioning strength. Alternatively, the processor 130 may determine a rotation speed that has been increased more than the current rotation speed of the head attachment.

[0146] That is, in case a specific operation of the user falls under a predetermined pattern, the processor 130 may adjust the suctioning strength of the cleaner 100 and / or a rotation speed of the head attachment to the suctioning strength corresponding thereto. Here, the predetermined pattern may mean a pattern regarding a change of the tilt of the cleaner detected in the sensor 110. The predetermined pattern here may be different from the predetermined pattern as a condition for controlling water spraying of the water spray module described above. For this, the predetermined pattern will be explained by being divided into a first pattern and a second pattern in the explanation below.

[0147] Meanwhile, the predetermined range regarding the tilt of the cleaner 100 mentioned above may be a first range to a third range, and detailed explanation in this regard will be described from FIG. 5 below.

[0148] FIGS. 5 and 6 are diagrams schematically illustrating a reference axis measuring a tilt of a cleaner and acceleration according to various embodiments of the disclosure.

[0149] The sensor 110 may be provided on the body 10. The sensor 110 may include an IMU module, and the IMU module may include an acceleration sensor and a gyro sensor. Like this, the IMU module may calculate a value of a change of an operation of the cleaner 100 regarding six axes in total which is a sum of the three axes of the acceleration sensor and the three axes of the gyro sensor.

[0150] Meanwhile, the components of the sensor 110 are not necessarily limited to the aforementioned acceleration sensor and gyro sensor, and in case the sensor 110 further includes a geomagnetic sensor, the sensor 110 may calculate a value of a change of an operation of the cleaner 100 regarding nine axes in total. However, hereinafter, a case wherein the IMU module includes an acceleration sensor and a gyro sensor will be explained.

[0151] Referring to FIG. 5, the acceleration sensor may measure the acceleration of the cleaner 100 based on three axes of a g axis parallel to gravity, a z axis having a tilt of θ from the g axis, and a y axis that is perpendicular to and has a tilt of θ from the g axis. Here, θ may be a value oftan-1⁢yz.In the formula, z may mean an output value of the acceleration sensor for the z axis, and y may mean an output value of the acceleration sensor for the y axis.Referring to FIG. 6, the gyro sensor may measure the tilt of the cleaner 100 based on the three axes of pitch, roll, and yaw by using a portion of the body 10 wherein the sensor 110 is provided as the origin.

[0153] The pitch axis may be an axis regarding a direction that is completely opposite to gravity. The roll and yaw axes may be axes that are tilted from the pitch axis by an angle of 90 degrees, and may be axes parallel to the ground surface. The roll and yaw axes may be axes orthogonal to each other. However, the pitch axis, the roll axis, and the yaw axis are not necessarily limited thereto, and they may indicate different directions according to the arrangement direction of the sensor 110.

[0154] The gyro sensor may sense by what angle the cleaner 100 is tilted with respect to the aforementioned three axes of pitch, roll, and yaw.

[0155] The information sensed in the acceleration sensor and the gyro sensor may be transmitted to the processor 130, and the processor 130 may perform control for various types of components of the cleaner 100 based on the information transmitted from the sensor 110.

[0156] FIGS. 7 and 8 are diagrams illustrating a change of a tilt of a cleaner sensed in a sensor of the cleaner by expressing it as a graph according to various embodiments of the disclosure.

[0157] Referring to FIG. 7, the sensor 110 may detect a change of a tilt of the cleaner 100 with respect to the pitch axis.

[0158] Specifically, the initial tilt in case the cleaner 100 is mounted on a station or a charger may be referred to as a base tilt. For example, if a sensing value regarding the pitch axis when the cleaner 100 has the base tilt is assumed as 0, in case the cleaner 100 is tilted in one direction from the base tilt, the value sensed in the sensor 110 may have a positive value, and the sensed value may become bigger in proportion to the tilted angle getting bigger.

[0159] Meanwhile, in case the cleaner 100 is tilted by more than 90 degrees in one direction from the base tilt, the value sensed in the sensor 110 may have a negative value, and the sensed value may become smaller in inverse proportion to the tilted angle getting bigger. However, as the sensed value in this case has a negative value, the absolute value of the sensed value may become bigger in proportion to the tilted angle getting bigger.

[0160] The horizontal axis in FIG. 7 means time, and the vertical axis means a value sensed in the sensor 110. When the initial time is 0, the value sensed in the sensor 110 is 0, and as the time flows afterwards, it can be seen that the value sensed in the A area becomes gradually bigger as a positive value. This may mean that, when the user operates the cleaner 100, the tilted angle of the cleaner 100 becomes bigger with respect to the initial base tilt.

[0161] That is, in case the user locates the head of the cleaner 100 to be close to the ground surface, a tilt value as above may be sensed. For example, in case an area to be cleaned is a lower space of furniture, i.e., an area such as a gap space between furniture and a bottom surface, a change of the tilt as in the A area may be detected by the sensor 110. If such a tilt value is detected by the sensor 110, the processor 130 may determine that the type of the current area to be cleaned is a space between a lower surface of furniture and the bottom. Here, the tilt value corresponding to the type of the area to be cleaned may be set in advance when the manufacturer manufactures the cleaner 100.

[0162] Afterwards, as a cleaning process for the area to be cleaned such as the lower space of furniture is completed and the cleaner is lifted up from the ground surface, the tilt value sensed in the sensor 110 may become close to the base tilt.

[0163] Next, in the case of the B area in FIG. 7, it illustrates a case wherein a negative value is detected by the sensor 110 contrary to the A area. That is, in the case of the B area, the cleaner 100 may be in a state of being tilted by more than 90 degrees from the base tilt. For example, in case an area to be cleaned is an upper surface of furniture, i.e., an upper surface of furniture higher than the user's height, a change of the tilt as in the B area may be detected by the sensor 110.

[0164] The A area and the B area in FIG. 7 may be of a predetermined range regarding a tilt of the cleaner 100 on the pitch axis, and may specifically be of a first range.

[0165] If it is detected by the sensor 110 that the tilt of the cleaner 100 on the pitch axis is of the first range, the processor 130 may determine that the type of the current area to be cleaned is a space between an upper surface of furniture or a lower surface of furniture and the bottom.

[0166] If it is determined that the type of the area to be cleaned is a space between an upper surface of furniture or a lower surface of furniture and the bottom, the processor 130 may control the first driving device such that the rotation speed of the main motor of the cleaner 100 increases.

[0167] In the aforementioned example, a case wherein the type of an area to be cleaned is determined based on a tilt on the pitch axis, and then the rotation speed of the main motor is adjusted according to the type was explained. However, depending on implementation examples, an instruction for immediately adjusting the rotation speed of the main motor to correspond to a tilt on the pitch axis may be stored in the memory 120. In this case, a process of determining the type of an area to be cleaned is omitted.

[0168] Also, in case a head attachment is included in the cleaner 100, if it is determined that the type of an area to be cleaned is a space between an upper surface of furniture or a lower surface of furniture and the bottom, the processor 130 may control the second driving device such that the rotation speed of the head attachment increases.

[0169] Referring to FIG. 8, the sensor 110 may detect a change of the tilt of the cleaner 100 with respect to the roll axis. In this case, the sensor 110 may not only be provided on the body 10, but also on the head part 30. That is, in the case of FIG. 8, the sensor 110 may sense an angle by which the head part 30 rotated from the base tilt.

[0170] In case the user wants to clean a narrow gap of furniture, etc., it may be difficult to push the head part 30 into the gap as the horizontal length of the head part 30 is long. In this case, the head part 30 may be rotated to the right side or the left side, and may be pushed into the gap in a vertical direction.

[0171] Specifically, in case the cleaner 100 is mounted on the station and / or was removed from the station right before, a tilt on the roll axis that the head part 30 has with respect to the body 10 may be referred to as a base tilt. Afterwards, in case the head part 30 rotates in one direction on the roll axis with respect to the body 10, a value sensed by the sensor 110 may be a positive value, and may be a big value in proportion to the rotation angle.

[0172] In contrast, in case the head part 30 rotates in another direction opposite to one direction on the roll axis with respect to the body 10, a value sensed by the sensor 110 may be a negative value, and may be a small value in inverse proportion to the rotation angle. However, as the sensed value in this case has a negative value, the absolute value of the sensed value may become bigger in proportion to the rotation angle getting bigger.

[0173] For example, the C area and the D area in FIG. 8 may mean illustration of a value sensed in the sensor 110 in case the head part 30 rotates in one direction and in an opposite direction with respect to the roll axis of the body 10.

[0174] In the case of the C area and the D area, they indicate that the head part 30 maintains a state of having rotated by a specific angle to the roll axis with respect to the body 10.

[0175] The C area and the D area may be of a predetermined range regarding a tilt on the roll axis of the cleaner 100, and may specifically be of a first range.

[0176] If it is detected by the sensor 110 that the tilt on the roll axis of the cleaner 100 is of the first range, the processor 130 may determine that the area to be cleaned is a gap space between furniture and a wall surface.

[0177] When the type of the area to be cleaned is determined, the processor 130 may control the first and second driving devices such that the rotation speed of the main motor of the cleaner 100 and the rotation speed of the head attachment increase.

[0178] In the above, a process of calculating a tilt of the cleaner 100 based on three axes of pitch, roll, and yaw of the sensor 110 provided on the body 10 was explained. Hereinafter, a case wherein a tilt of the cleaner 100 is repeatedly changed to a specific pattern will be explained.

[0179] FIG. 9 is a diagram illustrating an appearance that water is sprayed from a head attachment of a cleaner according to an embodiment of the disclosure. FIG. 10 is a diagram illustrating moving of a cleaner to a specific direction according to an embodiment of the disclosure.

[0180] Referring to FIG. 9, the cleaner 100 may include a mopping pad. The mopping pad may be provided as a pair. That is, the cleaner 100 may include a head attachment in the head part 30, and the head attachment may be a mopping pad.

[0181] The mopping pad is a component wherein a mop is mounted, and may be provided as a circular form. In this case, the head attachment may include a water spray module.

[0182] In case a plurality of head attachments are provided, the plurality of head attachments may operate independently. That is, a pair of mopping pads may rotate independently. The plurality of mopping pads may rotate by receiving a driving force by the second driving device.

[0183] Specifically, in case a value on the roll axis of the cleaner 100 is not changed, a pair of mopping pads may rotate by the same rotation speed. However, in this case, the rotation directions of the pair of mopping pads may be opposite to each other.

[0184] If a tilt of the cleaner 100 detected in the sensor 110 is within the second range, the rotation speed of one of the pair of mopping pads may increase.

[0185] The second range may be a range wherein the value on the roll axis of the body 10 is changed. For example, the second range may be a range wherein a tilt of greater than or equal to + / −30 to the roll axis is maintained as in the C area and the D area in FIG. 8.

[0186] In case the tilt of the cleaner 100 is changed in one direction based on the roll axis, if it is detected that the value on the roll axis increases to a +value, the rotation speed of one mopping pad arranged on the side of the one direction may increase.

[0187] In contrast, in case it is detected that the value on the roll axis of the cleaner 100 decreases to a-value, the tilt of the cleaner 100 may be changed in another direction opposite to the one direction. In this case, the rotation speed of the other mopping pad arranged on the side of the another direction may increase.

[0188] As described above, in a corresponding manner to a change of the tilt of the cleaner 100, the rotation speed of the head attachment corresponding to the tilt direction increases, and accordingly, water cleaning for a surface to be cleaned can be performed more effectively.

[0189] Meanwhile, the rotation speed of the plurality of head attachments as described above may be controlled by the processor 130.

[0190] That is, if the tilt of the cleaner 100 detected in the sensor 110 is within the second range, the processor 130 may control the second driving device such that the rotation speed of a head attachment corresponding to the changed tilt direction among the plurality of head attachments increases.

[0191] The water spray module 31 is a component for spraying water on a surface to be cleaned such that the cleaner 100 on which a mopping pad is mounted can perform water cleaning. The water spray module may be provided between a pair of mopping pads. The water spray module may be provided to spray water to the front side of the cleaner 100. Here, the front side of the cleaner 100 may mean the direction which the head part 30 of the cleaner 100 is toward in case the user performs cleaning for a surface to be cleaned by using the cleaner 100.

[0192] Meanwhile, in case a change of the tilt of the cleaner 100 detected in the sensor 110 provided on the body 10 of the cleaner 100 falls under a specific pattern, the water spray module may be controlled to spray water by the processor 130.

[0193] Here, the specific pattern may be referred to as a first pattern. Information on the first pattern may be stored in the memory 120. The first pattern may be a pattern of changes of location information of the cleaner 100 with respect to the yaw axis.

[0194] Specifically, the first pattern may be a pattern wherein the value on the yaw axis of the cleaner 100 increase to a +value and then decreases to a −value as illustrated in FIG. 10.

[0195] For example, in case the sensor 110 is a gyro sensor, in case the value on the yaw axis of the gyro sensor increases to a +value, water may not be sprayed from the water spray module, but water may be sprayed from the water spray module in case the value on the yaw axis decreases to a −value.

[0196] Meanwhile, water spraying by the water spray module as described above may be controlled by the processor 130.

[0197] That is, if a change of the tilt of the cleaner 100 detected in the sensor 110 is a predetermined first pattern, the processor 130 may control the water spray module to spray water.

[0198] FIG. 11 is a diagram illustrating an appearance that the length of a stick of a cleaner is changed according to an embodiment of the disclosure.

[0199] Referring to FIG. 11, the cleaner 100 may include a length adjustment module. The length adjustment module is a component for adjusting the length of the stick 20. Although not illustrated in the drawing, the length adjustment module may be of a rack and pinion mechanism or a lead screw mechanism. However, the structure of the length adjustment module is not necessarily limited to them, and it may be implemented as various embodiments.

[0200] One end of the stick 20 may be coupled to the body 10. To the other end opposing the one end of the stick 20, the head part 30 may be coupled. That is, the stick 20 may be a component connecting the body 10 and the head part 30. The inside of the stick 20 may be of a tube shape that is void such that foreign substances such as dust, etc. suctioned from a surface to be cleaned can flow to the side of the body from the head part 30.

[0201] In this case, the processor 130 may control the length adjustment module such that the stick 20 becomes a predetermined length corresponding to a tilt of the cleaner 100 detected in the sensor 110.

[0202] Specifically, in the cleaner 100, a specific tilt may be stored as a basic value. As the heights of users usings the cleaner 100 may be diverse, in case the user grips the cleaner 100, the tilt of the cleaner 100 may be a tilt other than the basic value. In case the tilt of the cleaner 100 is sensed as a tilt other than the basic value in the sensor 110, the processor 130 may control the length adjustment module such that the tilt of the cleaner 100 coincides with the predetermined basic value. The length adjustment module may adjust the length of the stick 20 as it is controlled by the processor 130.

[0203] Here, the tilt of the cleaner100 may mean an angle constituted by the cleaner 100 with a virtual axis P while the head part 30 contacts the ground surface.

[0204] That is, an angle between the virtual axis P that passes through a contact point of the head part 30 and the ground surface and is perpendicular to the ground surface, and the cleaner 100 may be the tilt of the cleaner 100.

[0205] The basic value of the tilt may be determined as a specific value by the manufacturer in the manufacturing process of the cleaner 100. For example, the basic value of the tilt of the cleaner 100 may be a tilt at which cleaning of a surface to be cleaned can be performed effectively by using the cleaner 100.

[0206] Part (a) of FIG. 11 indicates a case wherein a tilt of the cleaner 100 with respect to the virtual axis P corresponds to the basic value R0. Here, the length of the stick 20 of the cleaner 100 may be the basic length L1.

[0207] In the case of part (b) of FIG. 11, it indicates a case wherein, when the user grips the cleaner 100, the tilt of the cleaner 100 with respect to the virtual axis P becomes smaller than the basic value R0. Here, the angle R1 constituted by the cleaner 100 with the virtual axis P may be an angle that is not appropriate for the cleaner 100 to perform cleaning for a surface to be cleaned effectively.

[0208] In the case of part (c) of FIG. 11, it indicates a state wherein the length L2 of the stick 20 became longer than the basic length L1 as the length adjustment module was controlled by the processor 130 as the tilt R1 of the cleaner 100 was detected as a smaller tilt compared to the basic value R0 in part (b) of FIG. 11. As the length of the stick 20 becomes longer, the tilt of the cleaner 100 may be adjusted to correspond to the basic value R0.

[0209] Meanwhile, although not illustrated in the drawing, in case the tilt of the cleaner 100 when the user grips the cleaner 100 is bigger than the basic value R0 contrary to the above case, the processor 130 may control the length adjustment module such that the length of the stick 20 is reduced. As the length of the stick 20 is reduced, the cleaner 100 may have a tilt corresponding to the basic value R0.

[0210] As described above, even if a tilt constituted by the cleaner 100 with the virtual axis P varies according to the height of a user, as the length of the stick 20 is adjusted, the tilt of the cleaner 100 may be maintained as a tilt appropriate for performing cleaning for a surface to be cleaned effectively.

[0211] FIG. 12 is a flow chart for illustrating a control method of a cleaner according to an embodiment of the disclosure.

[0212] Referring to FIG. 12, a control method of a cleaner according to the disclosure may include the operation of detecting a tilt of the cleaner at operation S1210. For example, a sensor including an IMU module may include an acceleration sensor and a gyro sensor. The IMU module may detect a change of a tilt of the cleaner regarding six axes in total which is a sum of the three axes of the acceleration sensor and the three axes of the gyro sensor.

[0213] Then, the control method may include the operation of determining a rotation speed of a main motor of the cleaner according to the detected tilt of the cleaner at operation S1220. For example, a type of an area to be cleaned may be identified based on sensing information detected in the sensor, and suctioning strength to be applied to the cleaner may be determined by using the identified information on the area to be cleaned. Here, the tilt of the cleaner may be an angle between one axis among the three axes of the gyro sensor and the cleaner.

[0214] For example, the type of an area to be cleaned may be identified according to a tilt on the pitch axis or the roll axis of the cleaner.

[0215] The tilt on the pitch axis of the cleaner may be an angle between the stick and the head part. Regarding the tilt on the pitch axis of the cleaner, the tilt when the cleaner is mounted on the station may be used as the base tilt. The tilt on the pitch axis may mean an angle of separation from the base tilt as the reference angle. In case the tilt on the pitch axis of the cleaner becomes bigger, i.e., in case an angle of separation from the reference angle becomes bigger than a specific angle, the cleaner may identify the type of the area to be cleaned as an upper surface of furniture or a lower space of furniture.

[0216] Here, the lower space of the furniture may be a space between the lower surface of the furniture and the bottom surface supporting the furniture. The specific angle may be a range other than the tilt on the pitch axis of the cleaner when cleaning a general bottom surface, and it is not necessarily limited to be within a specific angle range, and the manufacturer of the cleaner can set it in advance when designing and manufacturing the cleaner. Meanwhile, the specific angle may be input by the user's instruction, and in case a user instruction is input, the type of the area to be cleaned may be identified preferentially based on the user instruction instead of a predetermined range.

[0217] The tilt on the roll axis of the cleaner may be the rotation angle of the head part. The head part of the cleaner may be rotatably coupled to the stick. The tilt on the roll axis may be the angle of the head part with respect to the body.

[0218] The tilt on the roll axis that the head part has with respect to the body when the cleaner is mounted on the station may be referred to as a base tilt. For example, when the cleaner is mounted on the station, the angle on the roll axis that the head part has with respect to the body while being aligned to the body may be referred to as a base tilt.

[0219] In case the tilt on the roll axis of the cleaner becomes bigger, the cleaner may identify the type of the area to be cleaned as a gap space. That is, in case it is sensed that the tilt on the roll axis of the cleaner is included in a specific range, the cleaner may recognize that the area to be cleaned is a gap space.

[0220] Here, the specific range may overlap with the explanation regarding the specific range of the tilt on the pitch axis above. That is, the specific range is not limited to a specific value, and may be set by the manufacturer or the user. Meanwhile, here, the specific range may be a range other than the range of the tilt on the roll axis of the head part when the cleaner cleans a general surface to be cleaned.

[0221] As described above, a tilt on the pitch axis of the cleaner and / or a tilt on the roll axis of the cleaner are sensed, and according to the respective tilt values sensed, the type of an area to be cleaned corresponding thereto may be identified, and the suctioning strength of the cleaner may be determined according to the identified type of the area to be cleaned.

[0222] Here, the suctioning strength of the cleaner may mean the rotation speed of the motor of the cleaner. The feature that the suctioning strength is big may mean that the rotation speed of the motor of the cleaner is high.

[0223] The motor of the cleaner may include a first motor and a second motor. The first motor is a main motor and may be a component that determines the suction force of the cleaner. The second motor is a motor provided in the head part of the cleaner, and may be a component that determines the rotation speed of the head attachment.

[0224] The suctioning strength of the cleaner may mean the rotation speed of the first motor and the second motor. In case the rotation speed of the first motor increases, the rotation speed of the second motor may also increase together. In case the rotation speed of the first motor decreases, the rotation speed of the second motor may also decrease together.

[0225] In case the type of an area to be cleaned is determined as an upper surface of furniture or a lower space of furniture, the cleaner may determine the suctioning strength of the cleaner as high suctioning strength. Here, high suctioning strength may be a value higher than suctioning strength when the cleaner cleans a general bottom surface, i.e., when the type of an area to be cleaned is identified as a general bottom surface.

[0226] In case the type of an area to be cleaned is identified as a gap space, the cleaner may determine the suctioning strength of the cleaner as high suctioning strength.

[0227] Then, the control method may include the operation of controlling the main motor of the cleaner by using the determined suctioning strength at operation S1230. Specifically, if the tilt detected in the sensor is within a predetermined range, the cleaner may control the first driving device such that the rotation speed of the main motor increases.

[0228] Meanwhile, the cleaner may determine the rotation speed of the head attachment of the cleaner, and control the rotation speed of the head based on the determined rotation speed of the head attachment.

[0229] Specifically, if the detected tilt of the cleaner is within the first range, the cleaner may control the second driving device such that the rotation speed of the head attachment increases. The second driving device may be provided on the head part. The first range may be a range of the tilt of the cleaner when cleaning of an area to be cleaned which is a lower surface of furniture or an upper surface of furniture higher than the user's height is being performed. For cleaning a lower surface of furniture, the user uses the cleaner by laying it to be almost parallel to the bottom. Also, in the case of wanting to clean a location higher than the user's height (e.g., an upper surface of furniture), the cleaner is laid to be almost parallel to the upper surface of the furniture. Accordingly, the first range may be determined to be greater than or equal to a specific size based on an angle parallel to the bottom. Information on the first range as above may be set in advance when the manufacturer manufactures the cleaner. For example, the first range may be a range indicated by the A area and the B area in FIG. 7.

[0230] Also, in this case, the cleaner may control the lighting device that is provided on the head attachment, and is provided to illuminate the front side of the head attachment to output illumination.

[0231] In case there are a plurality of head attachments, the cleaner may determine the rotation speed of each of the plurality of head attachments, and if the detected tilt of the cleaner is within the second range, the cleaner may control the second driving device such that a rotation speed of a head attachment corresponding to the tilt direction among the plurality of head attachments increases. The second range may mean a range of angles by which the head part rotates with respect to the body of the cleaner.

[0232] Here, a separate sensor may be provided in the head part, and detect a rotation angle of the head part. A range of changes of the angle of the head part meant by the second range may be set in advance in a process wherein the manufacturer manufactures the cleaner. For example, the second range may be a range wherein a tilt of greater than or equal to + / −30 to the roll axis of the head part is maintained as in the C area and the D area in FIG. 8.

[0233] As the rotation speed of the head attachment corresponding to the direction in which the head part rotates among the plurality of head attachment increases, cleaning for a surface to be cleaned by using the cleaner can be performed effectively.

[0234] If the detected tilt of the cleaner is within the third range, the cleaner may control the length adjustment module such that the length of the stick connecting the body and the head part becomes a predetermined length corresponding to the detected tilt. As the length of the stick is adjusted, an angle constituted by the cleaner gripped by the user with the ground surface may get beyond the third range.

[0235] Here, the third range may mean a range wherein an angle constituted by the cleaner with the ground surface is greater than or equal to a specific angle. Also, the third range may mean a range wherein the tilt of the cleaner is changed from the basic value of the tilt of the cleaner by a specific angle or more. The third range regarding the tilt of the cleaner may be set in advance in a process wherein the manufacturer manufactures the cleaner. For example, the third range may mean a range wherein an angle constituted by the cleaner with a virtual axis has an angle other than R0 in FIG. 11.

[0236] In other words, as explained in FIG. 11, the most effective angle for the cleaner to clean a surface to be cleaned may be set as the basic value. According to the height of the user using the cleaner, an angle constituted by the cleaner with the ground surface may vary, and in case an angle constituted by the cleaner with the ground surface is bigger than or smaller than the basic value, the length adjustment module may be controlled such that the stick has a length corresponding thereto. As the length of the stick increases or decreases by the length adjustment module, the tilt of the cleaner may become the basic value.

[0237] By virtue of this, even if heights of users vary, the length of the stick of the cleaner is adjusted, and thus the head part of the cleaner adheres to a surface to be cleaned, and cleaning of the surface to be cleaned can be performed effectively.

[0238] Meanwhile, the cleaner may store information on a tilt and information on the length of the stick in a state wherein the cleaner is mounted on the station. In case the tilt of the cleaner is maintained to be identical to the tilt in a state of being mounted on the station during a specific time or longer, the cleaner may control the driving device to decrease the rotation speed of the main motor and the head attachment. Here, the decreased rotation speed of the main motor and the head attachment may be diverse, and is not necessarily limited to a specific rotation speed. Also, in this case, the cleaner may control the length adjustment module to adjust the length of the stick to correspond to the length of the stick in a state wherein the cleaner is mounted on the station.

[0239] Alternatively, for cleaning the lower side of furniture or a gap, etc., the user may lay the cleaner on the bottom or rotate the head part. In this case, the cleaner may increase the length of the stick by controlling the length adjustment module so that cleaning to a deeper space can become possible. Also, in such a state, the cleaner may control the driving device to increase the rotation speed.

[0240] Meanwhile, in case the user pulls out the cleaner after finishing cleaning of the lower side of furniture or a gap, the tilt of the cleaner may return to a normal range from the first range or the second range. The normal range may be a range of the tilt in a general state other than the first range or the second range. In this case, the cleaner may adjust the length of the stick, or the rotation speed of the main motor and the head attachment to the previous state again.

[0241] Also, if a detected change of the tilt of the cleaner is a predetermined first pattern, the cleaner may control the water spray module that is provided to spray water to the front side of the head attachment. For example, the first pattern may be a pattern wherein the cleaner repeatedly moves to the front side and the rear side. That is, the first pattern may be a pattern of changes regarding the tilt on the pitch axis of the cleaner. Here, the water spray module may be controlled to spray water when the cleaner moves to the rear side. Here, the front side and the rear side may be set based on the direction wherein the cleaner proceeds. That is, the front side direction of the cleaner may mean the front side, and the rear side direction of the cleaner may mean the rear side.

[0242] Further, if a detected change of the tilt of the cleaner is a predetermined second pattern, the cleaner may control the first driving device such that the main motor rotates in a rotation speed corresponding to the second pattern. The second pattern may be set in advance in a process wherein the manufacturer manufactures the cleaner. Alternatively, the second pattern may be additionally stored in a process wherein the user uses the cleaner.

[0243] For example, in case the body of the cleaner moves by a specific number of times in a specific direction, the cleaner may control the speed of the main motor such that the suctioning strength of the cleaner increases or decreases. Here, the specific direction and the specific number of times may fall under the second pattern, and information on increase or decrease of the suctioning strength corresponding thereto may be stored in the cleaner.

[0244] According to an embodiment, in case a change of the tilt on the pitch axis of the cleaner is repeated by ml number of times during a time of n, the cleaner may control the speed of the main motor such that the suctioning strength increases. Alternatively, in case a change of the tilt on the pitch axis of the cleaner is repeated by m2 number of times during a time of n, the cleaner may control the speed of the main motor such that the suctioning strength decreases.

[0245] In a similar manner to this, in case a change of the tilt on the roll axis of the cleaner is repeated by ml number of times or m2 number of times during a time of n, the cleaner may control the speed of the main motor such that the suctioning strength increases or decreases.

[0246] As described above, the second pattern regarding a change of the tilt of the cleaner may be diverse, and is not necessarily limited to a specific number of times in a specific direction of the cleaner.

[0247] A program for executing a control method of a cleaner may be stored in a non-transitory computer-readable recording medium.

[0248] Specifically, a control method of determining a rotation speed of a main motor of the cleaner, and controlling the main motor of the cleaner based on the determined rotation speed may be stored in a recording medium. Here, the operation of determining the rotation speed of the main motor may be an operation of, based on a tilt of the cleaner detected in a sensor in the cleaner being within a predetermined range, increasing the rotation speed of the main motor.

[0249] Meanwhile, in the aforementioned various embodiments, it was explained that the cleaner assumes a tilt of the cleaner or an operation state of the cleaner, and the type of an area to be cleaned, etc. based on values sensed in the sensor, and controls operations of each motor and other components in accordance thereto. Such an operation may be performed based on instructions or rules stored in advance in the memory of the cleaner, but the disclosure is not limited thereto, and an artificial intelligence model may be used. That is, the cleaner may input a sensing value of the sensor into an artificial intelligence model, and assume a tilt or an operation state of the cleaner, and the type of an area to be cleaned, etc., or determine the rotation speed of various types of motors based on the output value.

[0250] An artificial intelligence model may be mounted on the memory of the cleaner, or mounted on a server device performing communication with the cleaner.

[0251] Depending on the content of training, the artificial intelligence model may be used in various tasks such as assumption of a tilt or an operation state of the cleaner, and the type of an area to be cleaned, etc., or determination of the rotation speed of various types of motors, etc.

[0252] Training of the artificial intelligence model may be performed by the server device, or performed by an electronic device that is separately provided. Alternatively, training may be performed in the cleaner itself. Hereinafter, explanation will be described based on a case wherein the artificial intelligence model is trained by the server device.

[0253] As an example, the artificial intelligence model may be trained to identify the type of an area to be cleaned. In this case, the server device may obtain sensing values of each sensor of the cleaner for various areas to be cleaned, and then input labeling data including the types of the areas to be cleaned or the suctioning strength for them, the rotation speed of each motor, etc. together with the sensing values into the artificial intelligence model, and thereby train the artificial intelligence model. The trained artificial intelligence model may be mounted on the memory.

[0254] Alternatively, the server device may train the AI model to assume the tilt of the cleaner based on the sensing values of each sensor.

[0255] Alternatively, the AI model may be trained to determine the rotation speed of the motors (e.g., the first motor and / or the second motor) based on the detected tilt data of the cleaner.

[0256] Meanwhile, the training data may include data obtained based on use states of the cleaner of various users. That is, heights or arm lengths may vary for each user, and postures when pushing or pulling the cleaner may vary. Accordingly, the tilt may vary even when cleaning the same area to be cleaned. The server device may train the artificial intelligence model by obtaining training data with such various users as targets.

[0257] Also, the training data may include data of changing the rotation speed of the motors according to the tilt. The manufacturer of the cleaner may obtain training data including the rotation speed of the motors corresponding to the tilt data through an experiment environment of controlling the rotation speed of the motors differently according to the tilt.

[0258] Training of the AI model may be performed by a separate electronic device.

[0259] An electronic device performing training may train the AI model by inputting various tilt values of each component of the cleaner, and labeling data in that regard when cleaning various types of areas to be cleaned into the AI model.

[0260] FIG. 13 is a diagram for illustrating a training method of an AI model according to an embodiment of the disclosure. Referring to FIG. 13, the AI model may consist of a plurality of neural network layers. Each layer has at least one weight value, and performs an operation of the layer through the operation result of the previous layer and at least one defined operation. As examples of a neural network, there are a convolutional neural network (CNN), a deep neural network (DNN), a recurrent neural network (RNN), a restricted Boltzmann Machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), deep Q-networks, and a transformer, but the neural network in the disclosure is not limited to the aforementioned examples excluding specified cases.

[0261] The neural network in FIG. 13 may have been trained by various learning algorithms such as supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, etc., and a training data set 1310 including information on various areas to be cleaned and tilt information corresponding to the areas, etc.

[0262] Specifically, a neural network may generally consist of an input layer 1320, one or more hidden layers 1330, and an output layer 1340. The input layer 1320 means the first layer that receives data in the neural network, and the hidden layers 1330 mean layers that are located between the input layer and the output layer and perform a core role in learning complex characteristics and patterns of data, and the output layer 1340 means a final layer of the neural network that performs a role of indicating an answer that the neural network derived for solving a problem.

[0263] The training device may constitute the training data set 1310 in a form of a 2D array of M features and N samples as in FIG. 13. Here, each feature means characteristic information such as tilt values collected during a cleaning job, etc., and the samples may be characteristic information for an area wherein cleaning is performed.

[0264] When the training data set 1310 is input, each node performs a predetermined operation by using a weight value for the input data, and sequentially outputs the result to the next layer. The hidden layers 1330 may learn the input information and extract bottom characteristic information and a credibility score through the learned information. The information extracted from the hidden layers 1330 may be finally output through the output layer 1340. The training device may repeatedly perform training by reinputting feedbacks for the output value.

[0265] Meanwhile, in the aforementioned embodiment, a case wherein the AI model is trained in a separate training device, and is then mounted on the cleaner or the server device was explained, but if the performance of the processor of the cleaner or the server device is supported, training may be performed directly in the cleaner or the server device.

[0266] The AI model may use at least one parameter for outputting output data. The AI model may obtain weight values applied to at least one parameter by using the training data. The AI model that finished learning may include the weight values corresponding to the at least one parameter.

[0267] The processor of the cleaner may input sensing values sensed in each sensor or tilt data obtained based on the sensing values into the AI model as input data. The processor may obtain the rotation speed of the motor corresponding to the tilt data from the AI model.

[0268] Accordingly, the cleaner may control the motor based on the rotation speed of the motor obtained by the AI model.

[0269] When the tilt of the cleaner varies, the rotation speed of the motor may be automatically changed based on the output data of the AI model.

[0270] In the case of using the AI model, the processor of the cleaner may be implemented as a processor specified for artificial intelligence operations as exemplified in the aforementioned part.

[0271] In the above, an AI model by which the rotation speed of the motor is controlled according to the tilt data of the cleaner was described, but according to an embodiment, the cleaner may store an AI model for controlling the length adjustment module such that the length of the stick is extended or reduced according to the detected tilt data. For example, the processor may input data regarding the tilt of the cleaner and the length of the stick in case the cleaner is mounted on the station into the AI model as input data. The processor may obtain data regarding the length of the stick at a specific tilt after the cleaner is removed from the station. The cleaner may input the data regarding the tilt and the length of the stick into the AI model, and obtain data regarding the length of the stick corresponding to the tilt data. The cleaner may control the length adjustment module based on the data regarding the length of the stick obtained by the AI model. Accordingly, if the tilt of the cleaner varies, the length of the stick may be automatically changed based on the output data of the AI model. For example, in case the cleaner is maintained at a tilt when mounted on the station for a specific time or longer during driving, the length of the stick may be adjusted to the length when mounted on the station.

[0272] Meanwhile, the rotation speed of the motor and the length of the stick do not necessarily have to be controlled independently according to the tilt of the cleaner. For example, in case the cleaner is maintained at a tilt when mounted on the station for a specific time or longer during driving, the length of the stick may be adjusted to the length when mounted on the station, and the rotation speed of the motor may also be controlled to decrease in this case.

[0273] In the above, it was described that each operation of controlling the cleaner is all linked to each other, but each operation for controlling the cleaner does not necessarily have to be linked to each other. For example, in case the tilt of the cleaner falls under a predetermined range, only the rotation speed of the main motor may be controlled. In contrast, the rotation speed of the main motor may not be controlled, but only the rotation speed of the head attachment may be controlled. Also, even if the rotation speed of the motor is not controlled by the driving device, whether water will be sprayed from the water spray module may only be controlled according to the change of the tilt of the cleaner. In other words, each operation for the control method of a cleaner explained in an embodiment of the disclosure may all be independently applied to the cleaner, and it is obvious that each operation is not necessarily in a successive relationship. Also, the first to third ranges, the first to second patterns, etc. may all mean different numerical values, but depending on cases, they may be divided to have more types, or may be merged to have fewer types.

[0274] In the above, each of the various embodiments of the disclosure was explained independently, but each embodiment does not necessarily have to be implemented solely, but the components and the operations of each embodiment may be implemented in combination with at least one other embodiment.

[0275] It will be appreciated that various embodiments of the disclosure according to the claims and description in the specification can be realized in the form of hardware, software or a combination of hardware and software.

[0276] Any such software may be stored in non-transitory computer readable storage media. The non-transitory computer readable storage media store one or more computer programs (software modules), the one or more computer programs include computer-executable instructions that, when executed by one or more processors of an electronic device individually or collectively, cause the electronic device to perform a method of the disclosure.

[0277] Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like read only memory (ROM), whether erasable or rewritable or not, or in the form of memory such as, for example, random access memory (RAM), memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a compact disk (CD), digital versatile disc (DVD), magnetic disk or magnetic tape or the like. It will be appreciated that the storage devices and storage media are various embodiments of non-transitory machine-readable storage that are suitable for storing a computer program or computer programs comprising instructions that, when executed, implement various embodiments of the disclosure. Accordingly, various embodiments provide a program comprising code for implementing apparatus or a method as claimed in any one of the claims of this specification and a non-transitory machine-readable storage storing such a program.

[0278] While the disclosure has been shown and described with reference to various embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents.

Claims

1. A cleaner comprising:a sensor configured to detect a tilt of the cleaner;memory, comprising one or more storage media, storing instructions; andone or more processors communicatively coupled to the sensor and the memory,wherein the instructions, when executed by the one or more processors individually or collectively, cause the cleaner to:determine a rotation speed of a main motor of the cleaner,control the cleaner based on the determined rotation speed, andbased on the tilt of the cleaner detected in the sensor being within a predetermined range, control a first driving device such that the rotation speed of the main motor of the cleaner increases.

2. The cleaner of claim 1, further comprising:a second driving device configured to control a rotation of a head attachment,wherein the instructions, when executed by the one or more processors individually or collectively, further cause the cleaner to:based on the tilt of the cleaner detected in the sensor being within a first range, control the second driving device such that the rotation speed of the head attachment increases.

3. The cleaner of claim 2, further comprising:a lighting device that is provided on the head attachment, and is provided to illuminate a front side of the head attachment,wherein the instructions, when executed by the one or more processors individually or collectively, further cause the cleaner to:based on the tilt of the cleaner detected in the sensor being within the first range, control the lighting device to output illumination.

4. The cleaner of claim 1, further comprising:a second driving device configured to independently rotate a plurality of head attachments,wherein the instructions, when executed by the one or more processors individually or collectively, further cause the cleaner to:based on the tilt of the cleaner detected in the sensor being within a second range, control the second driving device such that a rotation speed of a head attachment corresponding to a tilt direction among the plurality of head attachments increases.

5. The cleaner of claim 4, comprising:wherein the plurality of head attachments comprise:a water spray module that is provided to spray water to a front side of the cleaner, andwherein the instructions, when executed by the one or more processors individually or collectively, further cause the cleaner to:based on a change of the tilt of the cleaner detected in the sensor being a predetermined first pattern, control the water spray module to spray water.

6. The cleaner of claim 1,wherein the cleaner further comprises:a body wherein the sensor, the memory, the one or more processors, and the main motor are provided,a stick of which one end is coupled to the body,a head part coupled to the other end opposing the one end of the stick, anda length adjustment module configured to adjust a length of the stick, andwherein the instructions, when executed by the one or more processors individually or collectively, further cause the cleaner to:control the length adjustment module such that the stick becomes a predetermined length corresponding to the tilt of the cleaner detected in the sensor.

7. The cleaner of claim 1, wherein the instructions, when executed by the one or more processors individually or collectively, further cause the cleaner to:based on a change of the tilt of the cleaner detected in the sensor being a predetermined second pattern, control the first driving device such that the main motor rotates in a rotation speed corresponding to the predetermined second pattern.

8. A control method performed by a cleaner, the control method comprising:detecting a tilt of the cleaner;determining a rotation speed of a main motor of the cleaner according to the detected tilt of the cleaner; andcontrolling the main motor of the cleaner based on the determined rotation speed,wherein the controlling the main motor comprises:based on the detected tilt of the cleaner being within a predetermined range, controlling a first driving device such that the rotation speed of the main motor increases.

9. The control method of claim 8, further comprising:determining a rotation speed of a head attachment of the cleaner; andbased on the determined rotation speed of the head attachment, controlling the rotation speed of the head attachment,wherein the controlling the rotation speed of the head attachment comprises:based on the detected tilt of the cleaner being within a first range, controlling a second driving device such that the rotation speed of the head attachment increases.

10. The control method of claim 9, further comprising:based on the detected tilt of the cleaner being within the first range, controlling a lighting device that is provided on the head attachment, and is provided to illuminate a front side of the head attachment to output illumination.

11. The control method of claim 9, wherein the determining the rotation speed of the head attachment of the cleaner comprises:determining the rotation speed of each of a plurality of head attachments; andbased on the detected tilt of the cleaner being within a second range, controlling the second driving device such that a rotation speed of a head attachment corresponding to a tilt direction among the plurality of head attachments increases.

12. The control method of claim 8, further comprising:based on the detected tilt of the cleaner being within a third range, controlling a length adjustment module such that a stick connecting a body and a head part becomes a predetermined length corresponding to the detected tilt of the cleaner.

13. The control method of claim 9, further comprising:based on a change of the detected tilt of the cleaner being a predetermined first pattern, controlling a water spray module provided to spray water to a front side of the head attachment.

14. The control method of claim 8, further comprising:based on a change of the detected tilt of the cleaner being a predetermined second pattern, controlling the first driving device such that the main motor rotates in a rotation speed corresponding to the predetermined second pattern.

15. One or more non-transitory computer-readable storage media storing one or more computer programs including computer-executable instructions that, when executed by one or more processors of a cleaner individually or collectively, cause the cleaner to perform operations, the operations comprising:determining a rotation speed of a main motor of the cleaner; andcontrolling the main motor of the cleaner based on the determined rotation speed, wherein the determining of the rotation speed comprises:based on a tilt of the cleaner detected in a sensor inside the cleaner being within a predetermined range, increasing the rotation speed of the main motor.

16. The one or more non-transitory computer-readable storage media of claim 15, the operations further comprising:determining a rotation speed of a head attachment of the cleaner; andbased on the determined rotation speed of the head attachment, controlling the rotation speed of the head attachment,wherein the controlling the rotation speed of the head attachment comprises:based on the detected tilt of the cleaner being within a first range, controlling a second driving device such that the rotation speed of the head attachment increases.

17. The one or more non-transitory computer-readable storage media of claim 16, the operations further comprising:based on the detected tilt of the cleaner being within the first range, controlling a lighting device that is provided on the head attachment, and is provided to illuminate a front side of the head attachment to output illumination.

18. The one or more non-transitory computer-readable storage media of claim 15, the operations further comprising:based on the detected tilt of the cleaner being within a third range, controlling a length adjustment module such that a stick connecting a body and a head part becomes a predetermined length corresponding to the detected tilt of the cleaner.

19. The one or more non-transitory computer-readable storage media of claim 15, wherein the tilt of the cleaner is at least one of a detected amount of pitch of the cleaner as measured against a base tilt or a detected amount of roll of the cleaner as measured against the base tilt.

20. The one or more non-transitory computer-readable storage media of claim 15, the operations further comprising:training an artificial intelligence (AI) model to determine a rotation speed of the main motor based on data of the detected tilt of the cleaner.

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