Pest control system including robot cleaner and pest control method

Abstract

A pest control method according to one embodiment comprises: by a robot cleaner, tracking a pest on the basis of the pest being identified in a space corresponding to a cleaning map; and by a user device, providing pest control information comprising a pest control method according to a movement path of the pest on the cleaning map and a type of the pest.

Description

Pest control system and pest control method including a robot vacuum cleaner

[0001] The present invention relates to a pest control method including a robot vacuum cleaner.

[0002] Robots were developed for industrial use and have played a role in factory automation. Recently, the scope of robot application has expanded, with the development of medical robots, aerospace robots, service robots, and even domestic robots for general use. Among these robots, those capable of autonomous navigation are called mobile robots.

[0003] A representative example of a mobile robot is a robot vacuum cleaner that cleans indoor spaces. As it moves through an indoor space, the mobile robot can identify objects within the space and create a map of the space. Using this map, the mobile robot can clean the space. Furthermore, the mobile robot can collect environmental data about the indoor space.

[0004] One aspect of the present disclosure may provide a solution for a robot vacuum cleaner to track pests and exterminate pests based on data obtained.

[0005] One aspect of the present disclosure is that a robot vacuum cleaner can increase user convenience by directly exterminating pests.

[0006] One aspect of the present disclosure is that pests can be eradicated even in dark spaces where pests are difficult to observe.

[0007] A pest extermination method according to one embodiment of the present disclosure may include: a robot cleaner tracking a pest in response to the pest being identified in a space corresponding to a cleaning map; and a user device providing pest extermination information including a pest extermination method according to a movement path of the pest in the cleaning map and a type of the pest.

[0008] A pest extermination system according to one embodiment of the present disclosure may include a robot cleaner that tracks a pest in response to the pest being identified in a space corresponding to a cleaning map; and a user device that provides pest extermination information including a movement path of the pest in the cleaning map and a pest extermination method according to the type of the pest.

[0009] FIG. 1 illustrates a network system including a robot vacuum cleaner according to one embodiment.

[0010] FIG. 2 illustrates an example of the appearance of a robot vacuum cleaner according to one embodiment.

[0011] Figure 3 illustrates a side view of the robot vacuum cleaner illustrated in Figure 2.

[0012] FIG. 4 illustrates an example of a control block diagram of a robot vacuum cleaner according to one embodiment.

[0013] FIG. 5 is a flowchart illustrating a process by which a robot cleaner generates a cleaning map according to one embodiment.

[0014] Figure 6 illustrates an example of a cleaning map according to one embodiment.

[0015] Figure 7 illustrates an example of how a cleaning map is output from a user device.

[0016] FIG. 8 illustrates a robot vacuum cleaner according to one embodiment moving to be coupled to a docking station.

[0017] FIG. 9 illustrates a robot vacuum cleaner according to one embodiment coupled to a docking station.

[0018] Figure 10 is a control block diagram of a docking station according to one embodiment.

[0019] Fig. 11 is a flowchart illustrating an example of a pest control method according to one embodiment.

[0020] Figure 12 illustrates an example of an interface provided for selecting a pest of interest.

[0021] FIGS. 13 to 16 illustrate an example of a user device providing pest control information according to one embodiment.

[0022] Fig. 17 is a flowchart illustrating an example of a process in which a robot vacuum cleaner tracks pests according to one embodiment.

[0023] FIG. 18 illustrates a robot vacuum cleaner according to one embodiment irradiating light toward pests.

[0024] FIG. 19 illustrates a docking station spraying pesticide according to one embodiment.

[0025] The embodiments described in this specification and the configurations illustrated in the drawings are merely preferred examples of the disclosed invention, and there may be various modified examples that can replace the embodiments and drawings of this specification at the time of filing of this application.

[0026] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit and / or restrict the disclosed invention.

[0027] For example, in this specification, a singular expression may include a plural expression unless the context clearly indicates otherwise.

[0028] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" can include any one of the items listed together in that phrase, or all possible combinations thereof. For example, "at least one of A or B" can include 'A', 'B', 'A and B'. "At least one of A and B" can include 'A', 'B', 'A and B'. As another example, "at least one of A, B, or C" can include 'A', 'B', 'C', 'A and B', 'B and C', 'A and C', 'A, B, and C'. "At least one of A, B, and C" can include 'A', 'B', 'C', 'A and B', 'B and C', 'A and C', 'A, B, and C'.

[0029] In this document, the term "and / or" may include a combination of multiple related described elements or any element among multiple related described elements. For example, A, B, and / or C may include 'A', 'B', 'C', 'A and B', 'B and C', 'A and C', 'A, B, and C'.

[0030] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0031] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0032] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0033] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0034] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0035] Additionally, terms such as "~part", "~device", "~block", "~absence", and "~module" may refer to a unit that processes at least one function or operation. For example, the terms may refer to at least one hardware such as an FPGA (field-programmable gate array) / ASIC (application specific integrated circuit), at least one software stored in a memory, or at least one process processed by a processor.

[0036] The symbols attached to each step are used to identify each step and do not indicate the order of the steps, and the steps may be performed in a different order than stated unless the context clearly indicates a specific order.

[0037] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0038] FIG. 1 illustrates a network system including a robot vacuum cleaner according to one embodiment.

[0039] Referring to FIG. 1, a network system according to one embodiment may include a robot vacuum cleaner (1), a user device (2), a server (3), a home appliance (4), and / or a docking station (5).

[0040] According to various embodiments, the pest control system may include a robot vacuum cleaner (1), a user device (2), a server (3), an appliance (4), and / or a docking station (5). For example, the pest control system may include a robot vacuum cleaner (1) and a user device (2).

[0041] A robot cleaner (1) may include a communication module capable of communicating with a user device (2), a server (3), a home appliance (4), and / or a docking station (5), a user interface for receiving user input or outputting information, at least one processor for controlling the operation of the robot cleaner (1), and / or at least one memory storing a program for controlling the operation of the robot cleaner (1).

[0042] The home appliance (4) may include various types of electronic products. For example, the home appliance (4) may include at least one of a refrigerator (41), a dishwasher (42), an electric range (43), an electric oven (44), an air conditioner (45), a clothes manager (46), a clothes processor (e.g., a washing machine or dryer) (47), and a microwave oven (48). The aforementioned home appliances are merely examples, and therefore, in addition to the aforementioned home appliances, various types of electronic products such as a dehumidifier and a television may also be included in the home appliance (4).

[0043] The server (3) may include a communication module capable of communicating with a robot cleaner (1), another server, a user device (2), a home appliance (4), and / or a docking station (5). The server (3) may include at least one processor capable of processing data received from the robot cleaner (1), another server, a user device (2), a home appliance (4), and / or a docking station (5), and at least one memory capable of storing a program for processing data or processed data. The server (3) may be implemented as a variety of computing devices such as a workstation, a cloud, a data drive, a data station, etc. The server (3) may be implemented as one or more servers that are physically or logically separated based on functions, detailed configurations of functions, or data, and may transmit and receive data and process the transmitted and received data through communication between each server.

[0044] The server (3) may store and / or manage user accounts, register a robot cleaner (1), a user device (2), an appliance (4), and / or a docking station (5) by linking the robot cleaner (1), the user device (2), the appliance (4), and / or the docking station (5) to the user account, and perform functions of managing or controlling the registered robot cleaner (1), the user device (2), the appliance (4), and / or the docking station (5). For example, a user may access the server (3) through the user device (2) and create a user account. The user account may be identified by an ID and password set by the user. The user may access the server (3) through the user device (2) and manage the user account. The server (3) may register a robot cleaner (1), a user device (2), an appliance (4), and / or a docking station (5) to the user account according to a set procedure. For example, the server (3) can register, manage, and control the robot cleaner (1) by linking the identification information (e.g., serial number or MAC address) of the robot cleaner (1) to a user account. Similarly, the server (3) can register and control a user device (2), a home appliance (4), and / or a docking station (5) to a user account.

[0045] The server (3) can receive various information from the robot vacuum cleaner (1), user device (2), home appliance (4), and / or docking station (5) registered to the user account.

[0046] According to various embodiments, the server (3) may include multiple servers.

[0047] For example, the server (3) may include a first server and a second server. The first server may create and / or manage user account information, and register and / or manage information on the robot cleaner (1), the home appliance (4), and / or the docking station (5) in the user account information. The second server may receive registration information on the robot cleaner (1), the home appliance (4), and / or the docking station (5) from the first server, and control the robot cleaner (1), the home appliance (4), and / or the docking station (5).

[0048] As another example, the second server may perform the management function of the robot cleaner (1), home appliance (4), and / or docking station (5) registered to the first server on behalf of the first server.

[0049] The number of servers (3) is not limited thereto, and the server (3) may include multiple servers for performing the same operation and / or different operations.

[0050] For example, the server (3) may include a first server that creates and / or manages user account information and registers and / or manages information on a robot vacuum cleaner (1), a home appliance (4), and / or a docking station (5) in the user account information, and a second server that stores a pest database. The pest database may include information on pests (e.g., pest types, extermination methods, appearances, images, etc.).

[0051] The user device (2) may include a communication module capable of communicating with a robot vacuum cleaner (1), a server (3), a home appliance (4), and / or a docking station (5). The user device (2) may include a user interface for receiving user input or outputting information to the user. The user device (2) may include at least one processor for controlling the operation of the user device (2) and at least one memory for storing a program for controlling the operation of the user device (2).

[0052] The user device (2) may be carried by the user or placed in the user's home or office, etc. The user device (2) may include, but is not limited to, a personal computer, a terminal, a mobile phone, a smart phone, a handheld device, a wearable device, a display device, etc.

[0053] The memory of the user device (2) may store a program, i.e., an application, for controlling the robot vacuum cleaner (1), home appliance (4), and / or docking station (5). The application may be sold installed on the user device (2) or downloaded and installed from an external server.

[0054] A user can access a server (3) by executing an application installed on a user device (2), create a user account, and communicate with the server (3) based on the logged-in user account to register a robot vacuum cleaner (1), home appliance (4), and / or docking station (5).

[0055] For example, if the robot cleaner (1) is operated so that the robot cleaner (1) can be connected to the server (3) according to the procedure guided by the application installed on the user device (2), the robot cleaner (1) can be registered in the user account by registering the identification information (e.g., serial number or MAC address) of the robot cleaner (1) in the corresponding user account on the server (3). The home appliance (4) and / or the docking station (5) can also be registered in the user account in the same manner. It goes without saying that the information required to register devices such as the robot cleaner (1), the home appliance (4), and / or the docking station (5) in the user account may be other information that can identify the device in addition to the serial number or MAC address of the device.

[0056] A user can control a robot cleaner (1), an appliance (4), and / or a docking station (5) using an application installed on a user device (2). For example, when a user logs into a user account using an application installed on the user device (2), interface elements corresponding to the robot cleaner (1), the appliance (4), and / or the docking station (5) registered to the user account may appear. When a control command for the robot cleaner (1), the appliance (4), and / or the docking station (5) is input from the user device (2), the user device (2) can transmit the control command to the robot cleaner (1), the appliance (4), and / or the docking station (5) via a server (3) or directly.

[0057] As another example, when the server (3) includes multiple servers, if the user account and the identification information of the device are connected to each other in the first server, the connection information can be registered in the application of the user device (2). Thereafter, when the user logs in to the user account using the application of the user device (2), the second server communicates with the user device (2), and the second server receives control information of the robot cleaner (1), the home appliance (4), and / or the docking station (5) from the user device (2), thereby controlling the robot cleaner (1), the home appliance (4), and / or the docking station (5). The control information generated in the robot cleaner (1), the home appliance (4), and / or the docking station (5) and the communication information between the devices can be stored in the second server and also transmitted to the user device (2).

[0058] The user device (2) can receive various information from the server (3) or directly from the robot vacuum cleaner (1), home appliance (4), and / or docking station (5) registered to the user account.

[0059] A network can include both wired and wireless networks. Wired networks include cable networks or telephone networks, while wireless networks can include any network that transmits and receives signals via radio waves. Wired and wireless networks can be interconnected.

[0060] A network may include a wide area network (WAN) such as the Internet, a local area network (LAN) formed around an access point (AP), and a short-range wireless network that does not use an access point (AP). Short-range wireless networks may include, but are not limited to, Bluetooth (IEEE 802.15.1), Zigbee (IEEE 802.15.4), Wi-Fi Direct, Near Field Communication (NFC), Z-Wave, etc.

[0061] An access point (AP) can connect a robot cleaner (1), a user device (2), an appliance (4), and / or a docking station (5) to a wide area network (WAN) to which a server (3) is connected. The robot cleaner (1), a user device (2), an appliance (4), and / or a docking station (5) can be connected to the server (3) via the wide area network (WAN).

[0062] The access point (AP) communicates with the robot vacuum cleaner (1), user device (2), home appliance (4), and / or docking station (5) using wireless communication such as Wi-Fi (IEEE 802.11), Bluetooth (IEEE 802.15.1), or Zigbee (IEEE 802.15.4), and can connect to a wide area network (WAN) using wired communication, but the wireless communication method of the access point (AP) is not limited to this.

[0063] According to various embodiments, the robot cleaner (1) may be directly connected to a user device (2), a server (3), a home appliance (4), and / or a docking station (5) without going through an access point (AP).

[0064] The robot vacuum cleaner (1) can be connected to a user device (2), a server (3), a home appliance (4), and / or a docking station (5) via a long-range wireless network or a short-range wireless network.

[0065] For example, the robot cleaner (1) may be connected to a user device (2), a home appliance (4), and / or a docking station (5) via a short-range wireless network (e.g., Wi-Fi Direct, Bluetooth, NFC). As another example, the robot cleaner (1) may be connected to a user device (2), a server (3), a home appliance (4), and / or a docking station (5) via a wide area network (WAN) using a long-range wireless network (e.g., a cellular communication module).

[0066] The robot cleaner (1) can transmit information about its operation or status to a user device (2), a server (3), a home appliance (4), and / or a docking station (5) via a network. For example, when a request is received from the server (3) or when a specific event occurs in the robot cleaner (1), the robot cleaner (1) can transmit information about its operation or status to the user device (2), the server (3), the home appliance (4), and / or the docking station (5) periodically or in real time.

[0067] The robot cleaner (1) can transmit control commands to a user device (2), a server (3), an appliance (4), and / or a docking station (5) via a network. For example, when a specific event occurs, the robot cleaner (1) can transmit a control command corresponding to the specific event to the user device (2), the server (3), the appliance (4), and / or the docking station (5).

[0068] When information is received from a robot cleaner (1), a home appliance (4), and / or a docking station (5), the server (3) updates the stored information of the robot cleaner (1), the home appliance (4), and / or the docking station (5), and transmits the updated information of the robot cleaner (1), the home appliance (4), and / or the docking station (5) to the user device (2) via the network. Here, updating information may include various operations in which existing information is changed, such as an operation of adding new information to existing information, an operation of replacing existing information with new information, etc.

[0069] The robot cleaner (1) can obtain various information from a user device (2), a server (3), a home appliance (4), and / or a docking station (5), and provide the obtained information to the user. For example, the robot cleaner (1) can obtain information related to the function of the robot cleaner (1) and various environmental information (e.g., weather, temperature, humidity, etc.) from the server (3), and output the obtained information through a user interface.

[0070] The robot vacuum cleaner (1) can obtain various sensor data (e.g., image data, radar data, etc.) from at least one sensor and transmit the sensor data to a user device (2), a server (3), a home appliance (4), and / or a docking station (5).

[0071] The robot cleaner (1) can obtain various information from a user device (2), a server (3), a home appliance (4), and / or a docking station (5), and provide the obtained information to the user. For example, the robot cleaner (1) can obtain information related to the function of the robot cleaner (1) and various environmental information (e.g., weather, temperature, humidity, etc.) from the server (3).

[0072] The robot cleaner (1), the home appliance (4), and / or the docking station (5) can operate according to control commands received from the user device (2) and / or the server (3). For example, if the robot cleaner (1), the home appliance (4), and / or the docking station (5) obtains prior approval from the user so that the robot cleaner (1), the home appliance (4), and / or the docking station (5) can operate according to control commands from the server (3) even without user input through the user device (2), the robot cleaner (1) can operate according to control commands received from the server (3). Here, the control commands received from the server (3) may include, but are not limited to, control commands input by the user through the user device (2) or control commands based on preset conditions.

[0073] According to various embodiments, the robot cleaner (1), the home appliance (4), and / or the docking station (5) may operate according to control commands received from each other. For example, the docking station (5) may operate according to control commands received from the robot cleaner (1), the user device (2), and / or the home appliance (4) even without a user input. Here, the control commands received from the robot cleaner (1), the user device (2), and / or the home appliance (4) may include, but are not limited to, control commands input by the user through the robot cleaner (1), the user device (2), and / or the home appliance (4), or control commands based on preset conditions. In one embodiment, the control commands received by the robot cleaner (1), the user device (2), and / or the home appliance (4) may be transmitted to the robot cleaner (1), the user device (2), and / or the home appliance (4) via the server (3).

[0074] The user device (2) can transmit information about the user to the robot vacuum cleaner (1), the server (3), the home appliance (4), and / or the docking station (5) via the communication module. For example, the user device (2) can transmit information about the user's location, the user's health status, the user's preferences, the user's schedule, etc. to the server (3). The user device (2) can transmit information about the user to the server (3) with the user's prior consent.

[0075] The robot cleaner (1), the user device (2), the server (3), the home appliance (4), and / or the docking station (5) can determine control commands using artificial intelligence technology. For example, the server (3) can process information about the operation or status of the robot cleaner (1), the home appliance (4), and / or the docking station (5) and information about the user of the user device (2) using artificial intelligence technology, and transmit the processing result or control command to the robot cleaner (1), the user device (2), the home appliance (4), and / or the docking station (5) based on the processing result.

[0076] According to various embodiments, the robot cleaner (1) may store an artificial intelligence model capable of identifying pests based on sensor data (e.g., image data) collected from at least one sensor. The robot cleaner (1) may use the artificial intelligence model to identify pests based on sensor data (e.g., image data). Identifying pests may include detecting the presence of pests and / or identifying the type of pest.

[0077] According to various embodiments, the server (3) may store an artificial intelligence model capable of identifying pests based on sensor data (e.g., image data) collected from at least one sensor of the robot cleaner (1). The server (3) may receive sensor data from the robot cleaner (1) and use the artificial intelligence model to identify pests based on the sensor data (e.g., image data). The server (3) may use the artificial intelligence model to identify the type of pest based on the sensor data (e.g., image data).

[0078] In one embodiment, the robot cleaner (1) transmits sensor data to the server (3), and the server (3) can detect the presence of pests based on the sensor data, identify the type of pests, and transmit information about the pests to the robot cleaner (1).

[0079] In one embodiment, the robot cleaner (1) can detect the presence of a pest based on sensor data, transmit the sensor data to a server (3), and the server (3) can identify the type of pest based on the sensor data and transmit information about the pest to the robot cleaner (1).

[0080] In one embodiment, the robot cleaner (1) can detect the presence of pests based on sensor data, identify the type of pest, and transmit information about the pests to the server (3).

[0081] The robot vacuum cleaner (1) may include a robot capable of autonomous driving. The robot vacuum cleaner (1) may have a function capable of autonomously cleaning an indoor space.

[0082] Fig. 2 illustrates an example of the exterior appearance of a robot vacuum cleaner according to one embodiment. Fig. 3 illustrates a side view of the robot vacuum cleaner illustrated in Fig. 2. Fig. 4 illustrates an example of a control block diagram of a robot vacuum cleaner according to one embodiment.

[0083] In FIGS. 2 to 4, terms such as "front," "rear," "up," "down," "left," and "right" are defined based on the forward movement direction of the robot cleaner (1), and the shape and position of each component are not limited by these terms. Furthermore, expressions indicating directions are used to ensure a clear understanding of the present invention, and each direction may be defined differently.

[0084] Referring to FIGS. 2 to 4, a robot cleaner (1) may include a main body (10) and a driving device (30) that is rotatable around an axis that is horizontal to the ground and moves the main body (10). The main body (10) may include a case that forms an outer shape. The driving device (30) may include at least one wheel. For example, two or more wheels may be provided at the bottom of the main body (10). The driving device (30) may include a wheel motor, and the wheels may rotate by the rotational force generated by the wheel motor.

[0085] A brush assembly (20) may be provided at the front of the main body (10). The brush can scatter foreign substances existing on the travel path of the main body (10). The brush is provided in a suction port formed on the bottom surface of the main body (10), and rotates around a rotation axis perpendicular to the front of the main body (10) to scatter foreign substances into the suction port.

[0086] According to various embodiments, a cleaning device (40) for cleaning foreign substances may be provided inside the main body (10). A dust bin (41; see FIG. 9) for storing foreign substances may be provided inside the main body (10).

[0087] The cleaning device (40) may include a suction device and / or a mop device that generates suction force.

[0088] The suction device may include a suction fan and a suction motor. The suction fan may be operated by the rotational force generated by the suction motor, thereby generating suction force. Foreign substances may be sucked by the suction device and enter a dust bin (41; see FIG. 9) provided inside the main body (10).

[0089] The mop device may include a mop pad and a mop motor for rotating the mop pad. The mop pad rotates due to the rotational force generated by the mop motor, thereby cleaning the surface. According to various embodiments, the mop in the present disclosure may be formed of various materials capable of absorbing water, such as a sponge and / or cotton.

[0090] A user interface (60) may be provided on the main body (10). In FIG. 2, the user interface (60) is illustrated as being provided on the upper surface of the main body (10), but is not limited thereto. The user interface (60) can obtain user input. The user interface (60) can provide various information regarding the operation of the robot cleaner (1). The user interface (60) may include at least one input interface (61) and at least one output interface (62).

[0091] According to various embodiments, the input interface (61) may convert sensory information received from the user into electrical signals. For example, at least one input interface (61) may include a touchpad, a touch screen, and / or buttons for converting tactile information into electrical signals, and / or a microphone (70) for converting auditory information into electrical signals. The microphone (70) for detecting external sounds may detect the user's voice.

[0092] At least one output interface (62) can transmit various information related to the operation of the robot cleaner (1) to the user by outputting sensory information.

[0093] For example, at least one output interface (62) can transmit information collected by the robot cleaner (1) to the user. The information collected by the robot cleaner (1) can be output as sensory information such as a screen, indicator, or voice. The at least one output interface (62) can include, for example, a display (e.g., a liquid crystal display (LCD) panel, a light emitting diode (LED) panel, a light emitting diode (LED) module) and / or a speaker (80).

[0094] The robot vacuum cleaner (1) may include a speaker (80) for outputting various sound effects and / or voices related to the operation of the robot vacuum cleaner (1). The microphone (70) and the speaker (80) may be provided inside the main body (10), but the positions of the microphone (70) and the speaker (80) are not limited thereto.

[0095] The robot cleaner (1) may include various sensors (100). For example, the robot cleaner (1) may include at least one of a camera (110), a light detection and ranging (Lidar) sensor (120), a temperature sensor (130), a humidity sensor (140), an illuminance sensor (150), and a dust sensor (160). The sensor may be provided inside the main body (10). The sensor may also be provided so that at least a portion of the sensor is exposed to the outside of the main body (10).

[0096] A camera (110) may be provided at the front of the main body (10). The camera (110) may have a field of view (FOV) facing the front of the main body (10) and may generate an image. The location of the camera (110) is not limited to the front of the main body (10). The camera (110) may be provided at various locations to capture the surroundings of the robot cleaner (1). The camera (110) may also be provided at the side and / or rear of the main body (10).

[0097] The camera (110) may include an image sensor that collects light incident from the outside and generates image data. For example, the camera (110) may include at least one of an RGB camera that collects visible light and generates a color image and an infrared camera that generates an infrared image. The camera (110) may include a binocular camera (stereo camera). The binocular camera can obtain depth information to an object by utilizing the disparity between the two eyes. The image data obtained by the camera (110) may be transmitted to the control unit (200) of the robot cleaner (1). The control unit (200) can process the image data to identify an external object.

[0098] The lidar sensor (120) can emit light (pulse laser) to the outside and receive light in a preset direction among the light reflected from external objects. The lidar sensor (120) can rotate 360 ​​degrees clockwise or counterclockwise. Since the lidar sensor (120) can emit light and receive reflected light in 360 degrees, the robot cleaner (1) can detect external objects in all directions using the lidar sensor (120). According to various embodiments, the lidar sensor (120) may be provided on the rear cover (12) of the main body (10), but the location of the lidar sensor (120) is not limited thereto.

[0099] The lidar data generated by the lidar sensor (120) can be transmitted to the control unit (200) of the robot cleaner (1). The lidar data can include information on the direction of light propagation and distance information to external objects. The control unit (200) can process the lidar data to perform three-dimensional modeling of an indoor space. The control unit (200) can process the lidar data to obtain three-dimensional data regarding external objects.

[0100] The control unit (200) can detect objects in the vicinity of the robot cleaner (1) based on image data acquired through the camera (110) and / or lidar data acquired through the lidar sensor (120). In one embodiment, the memory (220) can store an artificial intelligence model for detecting objects in the vicinity based on the image data and / or lidar data.

[0101] The temperature sensor (130) can obtain temperature data of an indoor space in which the robot cleaner (1) runs. The temperature sensor (130) can transmit an electrical signal corresponding to the obtained temperature data to the control unit (200). The humidity sensor (140) can obtain humidity data of an indoor space in which the robot cleaner (1) runs. The humidity sensor (140) can transmit an electrical signal corresponding to the obtained humidity data to the control unit (200).

[0102] The illuminance sensor (150) can obtain illuminance data of an indoor space in which the robot cleaner (1) moves. The illuminance sensor (150) can detect sunlight incident on the indoor space. The illuminance sensor (150) can also detect sunlight reflected from objects in the indoor space. The illuminance sensor (150) can also detect illumination light emitted from lighting devices installed in the indoor space. The illuminance sensor (150) can transmit an electrical signal corresponding to the obtained illuminance data to the control unit (200).

[0103] The dust sensor (160) can acquire dust data in the indoor space where the robot cleaner (1) moves. The dust data can include the concentration of dust in the air. The dust data can correspond to air quality data.

[0104] In addition to the exemplified ones, the robot cleaner (1) may be provided with various sensors. For example, the robot cleaner (1) may include various sensors such as a gas sensor for detecting harmful gases in the air, an air flow meter for measuring the air volume in an indoor space, an impact sensor (170) for detecting an impact with an external object, a gyro sensor for detecting the movement of the robot cleaner (1), an inertial sensor for detecting the acceleration, speed, and direction of the robot cleaner (1), a ToF (Time-of-Flight) sensor for measuring the distance to an external object, an RF (Radio Frequency) sensor, an ultrasonic sensor, and a radar sensor.

[0105] The control unit (200) can control components of the robot cleaner (1). The control unit (200) can include a processor (210) and a memory (220). The processor (210) is hardware and can include logic circuits and arithmetic circuits. The processor (210) can control components of the robot cleaner (1) that are electrically connected using programs, instructions, and / or data stored in the memory (220) for the operation of the robot cleaner (1). The control unit (200) can be implemented as a control circuit including circuit elements such as capacitors, inductors, and resistors. The processor (210) and the memory (220) can be implemented as separate chips or as a single chip. In addition, the control unit (200) can include a plurality of processors and a plurality of memories.

[0106] The memory (220) can store programs, applications, and / or data for the operation of the robot cleaner (1), and can store data generated by the processor (210). The memory (220) can include non-volatile memory such as ROM (Read Only Memory) and flash memory for long-term storage of data. The memory (220) can include volatile memory such as S-RAM (Static Random Access Memory) and D-RAM (Dynamic Random Access Memory) for temporarily storing data.

[0107] The brush assembly (20) may include a brush and a brush motor. The rotational force generated by the brush motor may rotate the brush. The rotational speed of the brush may be adjusted by adjusting the rotational speed of the brush motor. Depending on the rotational speed of the brush, the degree of scattering of foreign substances along the travel path of the robot cleaner (1) may vary.

[0108] The driving device (30) can move the main body (10). The driving device (30) includes a wheel and a wheel motor, and the wheel can rotate by the rotational force generated by the wheel motor. A plurality of wheels may be provided, and each of the plurality of wheels can be independently controlled. The driving direction of the robot cleaner (1) can be changed as the rotational direction of the plurality of wheels is changed. In addition, the driving speed of the robot cleaner (1) can be adjusted as the rotational speed of each of the plurality of wheels is adjusted.

[0109] The cleaning device (40) can suck up foreign substances scattered by the brush assembly (20) and move them into the dust bin (41; see FIG. 9). When the cleaning device (40) includes a suction device, the suction fan rotates by the rotational force of the suction motor, and as the suction fan rotates, a suction force can be generated to suck up foreign substances. The suction force can be adjusted as the rotational speed of the suction fan is adjusted.

[0110] If the cleaning device (40) includes a mop device, the mop pad can be rotated by the rotational force of the mop motor.

[0111] The communication unit (50) can communicate with the user device (2), the server (3), the home appliance (4), and / or the docking station (5) via a network. The control unit (200) can obtain various information, various signals, and / or various data from the user device (2), the server (3), the home appliance (4), and / or the docking station (5) via the communication unit (50). For example, the communication unit (50) can receive a remote control signal from the user device (2). The control unit (200) can obtain an artificial intelligence model used to process various data (e.g., image data) from the server (3) via the communication unit (50).

[0112] According to various embodiments, the communication unit (50) may include a short-range communication module and / or a long-range communication module. The communication unit (50) may directly communicate with the user device (2), the home appliance (4), and / or the docking station (5) through the short-range communication module, or may communicate with the user device (2), the home appliance (4), and / or the docking station (5) via the server (3) through the long-range communication module.

[0113] The control unit (200) can transmit various information, various signals, and / or various data to the user device (2), server (3), home appliance (4), and / or docking station (5) via the communication unit (50). For example, the control unit (200) can transmit cleaning report information via the communication unit (50) based on the completion of cleaning of a predefined space corresponding to a cleaning map.

[0114] Cleaning report information may include various information related to cleaning of a predefined space, such as information about ungroomed areas and / or information about cleaned areas.

[0115] An ungroomed area may refer to an area in which cleaning has not been performed even after the robot cleaner (1) has completed cleaning a predefined space according to a predefined cleaning schedule. The ungroomed area may refer to an area in which cleaning is required but into which the robot cleaner (1) has not moved. For example, the ungroomed area may include an area in which the robot cleaner (1) has not entered due to obstacles or other obstructions. The ungroomed area may refer to an area in which cleaning has not been performed according to a predefined cleaning schedule. The ungroomed area may refer to an area that should be cleaned according to a predefined cleaning schedule but which has been determined by the robot cleaner (1) to be inaccessible.

[0116] In one embodiment, the control unit (200) may control the communication unit (50) to transmit sensor data collected from at least one sensor (100) to the server (3) during cleaning and / or movement. In one embodiment, the control unit (200) may control the communication unit (50) to transmit sensor data collected from the sensor (100) to the server (3) only when a predetermined condition is satisfied. For example, the control unit (200) may control the communication unit (50) to transmit sensor data collected from the sensor (100) to the server (3) while tracking pests.

[0117] The control unit (200) can receive various information and / or commands from a user device (2), a server (3), a home appliance (4), and / or a docking station (5) via the communication unit (50). For example, the control unit (200) can receive information about a cleaning schedule via the communication unit (50).

[0118] The communication unit (50) may include various communication circuits. The communication unit (50) may include wireless communication circuits and / or wired communication circuits. The wireless communication circuits may support various wireless communications, such as wireless local area network (LAN), home radio frequency (RF), infrared communication, ultra-wide band (UWB) communication, Wi-Fi, Bluetooth, Zigbee, and / or long-distance wireless networks (e.g., cellular communication).

[0119] The user interface (60) can obtain user input. The user interface (60) can provide various information regarding the operation of the robot cleaner (1). The user interface (60) can include an input interface (61) and an output interface (62).

[0120] The input interface (61) can convert sensory information received from the user into an electrical signal. The electrical signal can correspond to a user input. The user input can include various commands. For example, the input interface (61) can obtain a power-on command, a power-off command, an operation start command, an operation stop command, or a charging command. The user input can also be obtained from the user device (2) via the communication unit (50). The input interface (61) can transmit an electrical signal (voltage or current) corresponding to the user input to the control unit (200).

[0121] The input interface (61) may include at least one of various buttons and dials that can convert tactile information into an electrical signal. For example, the input interface (61) may include at least one of a power button for turning the robot cleaner (1) on or off, a start / stop button for starting or stopping a cleaning operation, and a docking button for returning the robot cleaner (1) to a charging station. The buttons may be physical buttons or touch buttons. The input interface (61) may include a microphone (70) that can convert auditory information into an electrical signal. The microphone (70) can detect external sounds such as a user's voice. The microphone (70) can convert the user's voice, which is an analog signal, into a data signal and transmit the data signal to the control unit (200). The control unit (200) can analyze the user's voice to identify a command included in the user's voice, and control the operation of the robot cleaner (1) based on the identified command.

[0122] In one embodiment, the control unit (200) may include a voice recognition system for recognizing a user voice received through a microphone (70).

[0123] The voice recognition system may include a STT (Speech to Text) engine that converts a user's speech command input through a microphone (70) into text information and a dialogue manager that analyzes the text to determine the user's intention included in the speech command.

[0124] The conversation manager can apply natural language understanding technology to text to understand the user's intent corresponding to the spoken command.

[0125] According to various embodiments, the voice recognition system may further include a Text-To-Speech (TTS) module for communication with a user. The TTS module may convert text-based information into speech and output the speech through an output interface (62) (e.g., a speaker (80)).

[0126] The output interface (62) can output information related to the operation of the robot cleaner (1). The output interface (62) can display information input by the user or information provided to the user on various screens. The output interface (62) can display information related to the operation of the robot cleaner (1) in the form of at least one of an image or text. For example, the output interface (62) can output battery information. In addition, the output interface (62) can display a graphical user interface (GUI) that enables control of the robot cleaner (1). That is, the output interface (62) can display a user interface element (UI element) such as an icon.

[0127] The output interface (62) may be implemented as a variety of devices capable of outputting sensory information. For example, the output interface (62) may include a display that outputs visual information and / or a speaker (80) that outputs auditory information.

[0128] For example, the output interface (62) may include a liquid crystal display panel (LCD Panel), a light emitting diode panel (LED Panel), an organic light emitting diode panel (OLED Panel), or a micro LED panel. The output interface (62) may include a touch display that also functions as an input device.

[0129] The output interface (62) and the input interface (61) may be provided as separate devices or as one device (e.g., a touch display).

[0130] The output interface (62) can output information related to the operation of the robot vacuum cleaner (1) as well as information for communicating with the user.

[0131] The control unit (200) can control the operation of the robot cleaner (1) based on a command received through the input interface (61) and / or a command received from an external device (e.g., a user device (2), a server (3), a home appliance (4), and / or a docking station (5)) through the communication unit (50).

[0132] The control unit (200) can output information acquired by the robot cleaner (1) through the output interface (62) or transmit it to an external device through the communication unit (50).

[0133] The speaker (80) can output information input by the user or information provided to the user in various sounds.

[0134] According to various embodiments, the robot cleaner (1) may further include a light emitting unit (111). The light emitting unit (111) may be an example of an output interface (62).

[0135] The light emitting unit (111) is a component for irradiating light and can irradiate light toward the ground, a wall, or a front object. The light emitting unit (111) may include a laser generator and / or an LED. Visual information can be projected onto the ground, a wall, or a front object by the light irradiated by the light emitting unit (111).

[0136] The battery (90) can supply power to various electronic components included in the robot cleaner (1). For example, the battery (90) can supply power to the driving device (30), the cleaning device (40), the communication unit (50), the user interface (60), the light emitting unit (111), the sensor (100), and / or the control unit (200). The power supplied from the battery (90) may be converted by the control unit (200) and then supplied to each electronic component.

[0137] As described above, the sensor (100) may include an image sensor that has a field of view toward the outside of the main body (10) and acquires image data, and a non-image sensor that acquires data regarding the environment outside the main body (10) and the movement of the robot cleaner (1). The image sensor may include a camera (110) and a lidar sensor (120). The non-image sensor may include a temperature sensor (130), a humidity sensor (140), an illuminance sensor (150), a dust sensor (160), and / or a shock sensor (170). In addition, the non-image sensor may include at least one of a gas sensor that detects harmful gases in the air, a wind speed meter that measures the amount of wind in an indoor space, a wheel sensor that detects the rotation speed of a wheel, a gyro sensor that detects a change in the attitude of the main body (10), and an inertial sensor (IMU: Inertial Measurement Unit) that detects acceleration, speed, and direction of the robot cleaner (1).

[0138] The control unit (200) can identify an external object (e.g., a pest) from at least one of image data and lidar data using an artificial intelligence model obtained from the memory (220) or the server (3), and can detect characteristics of the external object. For example, the control unit (200) can detect the size, shape, brightness, clarity, transparency, location, and / or color of the external object. The control unit (200) can search for the type of the external object (e.g., a pest) and / or an extermination method using a database obtained from the memory (220) or the server (3). As described below, the control unit (200) can process at least one of the image data and the lidar data to identify a pest existing in the field of view of the robot cleaner (1), and control the driving device (30) to track the pest.

[0139] The control unit (200) can estimate the distance to an external object and the height of the external object using depth information included in at least one of the image data and the lidar data. The control unit (200) can identify an obstacle existing on the driving path of the robot cleaner (1) by processing at least one of the image data and the lidar data, and can control the driving device (30) to avoid the obstacle. Although the camera (110) and the lidar sensor (120) are exemplified as sensors used to identify the external object, the present invention is not limited thereto. The external object may also be identified from data acquired using various sensors such as an ultrasonic sensor or a radar sensor.

[0140] According to various embodiments, the control unit (200) may also obtain environmental data from other environmental sensors installed in the indoor space. For example, at least one of a light sensor, a temperature sensor, a humidity sensor, and a dust sensor may be installed on the ceiling, walls, windows, etc. of the indoor space. The other environmental sensors installed in the indoor space may communicate with the robot cleaner (1).

[0141] The components of the robot cleaner (1) are not limited to those illustrated in FIGS. 2 to 4. Some of the components illustrated in FIG. 4 may be omitted, or other components may be further included in the robot cleaner (1). For example, the robot cleaner (1) may include only at least one sensor among the sensors (110, 120, 130, 140, 150, 160, 170) described as an example of the sensor (100), and may further include additional sensors. As another example, the robot cleaner (1) may not include a light-emitting unit (111). As another example, the robot cleaner (1) may further include a sensor for detecting foreign substances collected in a dust collector (40a; see FIG. 9) as an example of the sensor (100).

[0142] For example, the robot cleaner (1) may include a light sensor using LEDs instead of a lidar sensor (120) that irradiates pulsed lasers. As another example, the robot cleaner (1) may include only a camera (110) without a lidar sensor (120).

[0143] FIG. 5 is a flowchart illustrating a process by which a robot cleaner generates a cleaning map according to one embodiment.

[0144] The control unit (200) of the robot cleaner (1) can identify multiple areas (e.g., multiple rooms) of the indoor space based on data acquired from the sensor (100) while the robot cleaner (1) moves in the indoor space, and can generate a map (hereinafter, “cleaning map”) of the indoor space including the multiple areas. The control unit (200) can generate various types of maps regarding the multiple areas within the indoor space based on various data acquired by the sensor (100).

[0145] For example, the control unit (200) can generate a cleaning map of an indoor space using at least one of image data and lidar data acquired while the robot cleaner (1) is driving in the indoor space, and can identify the location of the robot cleaner (1) within the indoor space. A SLAM (Simultaneous Localization And Mapping) algorithm can be used to generate the cleaning map. SLAM is an algorithm that can create a map of the space in which the robot cleaner (1) is driving and simultaneously estimate the location of the robot cleaner (1) within the created map. The cleaning map can include structural information of the indoor space. The cleaning map can be stored in the memory (220). The control unit (200) can update the cleaning map at predetermined intervals or whenever a changed indoor structure is detected.

[0146] Referring to FIG. 5, the robot cleaner (1) can receive a cleaning map scan command (1000). For example, a user can input a cleaning map scan command through a user device (2), or the cleaning map scan command can be received by the communication unit (50) of the robot cleaner (1) through a server (3). As another example, the user can input the cleaning map scan command through an input interface (61). As another example, when a user inputs a cleaning map scan command into the user device (2), the cleaning map scan command can be directly received by the communication unit (50) of the robot cleaner (1) without going through the server (3). The direct communication can be performed through Wi-Fi Direct, Bluetooth communication, NFC communication, or the like, which enable direct communication between devices.

[0147] The cleaning map scan command may be a command to request the robot cleaner (1) to create a cleaning map for an indoor space.

[0148] The robot cleaner (1) can drive through a cleaning space to create a cleaning map based on a command to scan the cleaning map (1100). According to various embodiments, the robot cleaner (1) can drive through the cleaning space autonomously or under user control. The cleaning space may primarily be an indoor space, but may also include an outdoor space such as a balcony.

[0149] The control unit (200) can control the driving device (30) to drive to acquire data for all spaces in the room based on receiving a cleaning map scan command.

[0150] The robot vacuum cleaner (1) can create a cleaning map based on data obtained from a sensor (100) while moving to create a cleaning map.

[0151] The robot vacuum cleaner (1) can acquire data on all indoor spaces and complete the creation of a cleaning map when there are no more indoor spaces to acquire (1200).

[0152] According to various embodiments, the robot cleaner (1) may complete the creation of a cleaning map only for the area in the indoor space where the robot cleaner (1) has driven based on the satisfaction of a driving termination condition (e.g., battery exhaustion, receipt of user input for driving termination) during the creation of the cleaning map.

[0153] The robot vacuum cleaner (1) can save the created cleaning map.

[0154] The robot vacuum cleaner (1) can transmit the completed cleaning map to an external device (e.g., a user device (2), a server (3), a home appliance (4), and / or a docking station (5)) (1300).

[0155] According to various embodiments, the robot cleaner (1) can transmit a cleaning map to a server (3), and the server (3) can transmit the cleaning map to another device (e.g., a user device (2), a home appliance (4), and / or a docking station (5)).

[0156] After the cleaning map is created, the robot cleaner (1) can perform cleaning for the cleaning space corresponding to the cleaning map.

[0157] As another example, the robot vacuum cleaner (1) can perform cleaning on some cleanable areas in the created cleaning map even if the creation of the cleaning map for all indoor spaces to be cleaned is not completed while creating a cleaning map for each area of ​​the cleaning space.

[0158] According to various embodiments, the cleaning map may be transmitted to the robot cleaner (1) and / or the server (3) by the user uploading a drawing corresponding to the indoor space through the user device (2).

[0159] Figure 6 illustrates an example of a cleaning map according to one embodiment.

[0160] Referring to Fig. 6, an example of a cleaning map (M) can be seen.

[0161] As described above, the robot cleaner (1) can create a map (cleaning map) of an indoor space while driving in the indoor space. The robot cleaner (1) can create a cleaning map (M) including multiple areas within the indoor space by using at least one of image data and lidar data acquired while driving in the indoor space. In Fig. 6, the indoor space is illustrated as being divided into five rooms. The indoor space can be divided into at least one room (e.g., Room 1, Room 2, Room 3, Room 4, and Room 5).

[0162] Each of at least one room can be divided by at least one partitioning member (e.g., a door). The robot cleaner (1) can recognize each independent space that can be divided by at least one partitioning member as a room, and can define different rooms as different cleaning target areas within the overall cleaning area.

[0163] According to various embodiments, information regarding areas (e.g., bathrooms) into which the robot cleaner (1) cannot enter may not be acquired. According to various embodiments, when a user directly inputs a map of an indoor space through a user device (2), information regarding areas (e.g., bathrooms) into which the robot cleaner (1) cannot enter may also be updated in the cleaning map (M).

[0164] Figure 7 illustrates an example of how a cleaning map is output from a user device.

[0165] Referring to Fig. 7, it can be seen that the cleaning map (M) generated by the robot cleaner (1) is transmitted to the user device (2) and the user device (2) displays the cleaning map (M).

[0166] In the present disclosure, it goes without saying that the user performing various settings through the user device (2) can be replaced by the user performing various settings through the user interface (60) of the robot cleaner (1).

[0167] The user can perform various settings, such as setting a cleaning schedule based on the cleaning map (M) displayed on the user device (2), setting a name for each of at least one room, or setting a pest monitoring mode.

[0168] For example, a user can change the name of Room 1 to 'Study', Room 2 to 'Master Room', Room 3 to 'Son's Room', Room 4 to 'Living Room', and Room 5 to 'Storage'.

[0169] A user can set a cleaning schedule for at least one room via the user device (2). For example, the user can set a cleaning schedule including a cleaning cycle, cleaning order, cleaning date, and / or cleaning time for at least one room, and the set cleaning schedule can be transmitted to the server (3) and / or the robot cleaner (1).

[0170] The cleaning schedule stored in the server (3) can be transmitted to the robot cleaner (1), and the robot cleaner (1) can perform cleaning according to the cleaning schedule set by the user. As another example, the cleaning schedule set in the user device (2) can be directly transmitted to the robot cleaner (1). As another example, the cleaning schedule set in the user device (2) can be directly transmitted to the robot cleaner (1). As another example, the user can also directly input the cleaning schedule through the user interface of the robot cleaner (1).

[0171] According to various embodiments, the robot cleaner (1) may perform cleaning according to a cleaning schedule set by a user and then transmit cleaning report information to a server (3). The server (3) may transmit the cleaning report information to a user device (2), a home appliance (4), and / or a docking station (5). As another example, the cleaning report information generated by the robot cleaner (1) may be directly transmitted from the robot cleaner (1) to the user device (2).

[0172] In one embodiment, the user device (2) may output a user interface element (K) for setting a pest surveillance mode.

[0173] Pest monitoring mode can be defined as a mode in which the robot vacuum cleaner (1) is driven for the primary purpose of exterminating pests rather than for the primary purpose of cleaning.

[0174] For example, the robot vacuum cleaner (1) can operate the cleaning device (40) in pest monitoring mode only when a predetermined event occurs (e.g., when the distance to the pest is less than a predetermined distance).

[0175] Instead of driving every nook and cranny of the space corresponding to the cleaning map (M) in pest monitoring mode, the robot vacuum cleaner (1) can drive only to the extent that it can acquire sensor data (e.g., image data) for all spaces corresponding to the cleaning map (M).

[0176] For example, a robot vacuum cleaner (1) can rotate 360 ​​degrees in place and monitor pests based on their entry into each room in pest monitoring mode.

[0177] The robot vacuum cleaner (1) can track pests based on the pests discovered while operating in pest monitoring mode. In one embodiment, if pest monitoring is set as a priority even while performing cleaning according to a cleaning schedule, pests can be tracked based on the pests discovered.

[0178] The user device (2) may provide an interface for setting a pest monitoring mode based on the selection of the user interface element (K).

[0179] An interface for setting a pest monitoring mode may include elements for setting priorities for cleaning operations and pest tracking operations, and / or elements for setting a pest monitoring schedule (e.g., pest monitoring start time, pest monitoring order for multiple rooms, pest monitoring end time, pest monitoring cycle, and / or pest monitoring date, etc.).

[0180] In one embodiment, if a user has given priority to the cleaning operation through an element for setting priorities for the cleaning operation and the pest tracking operation, the robot cleaner (1) can perform cleaning according to a predetermined cleaning schedule instead of tracking the pest even if a pest is identified during the cleaning operation.

[0181] In one embodiment, if the user has given priority to the pest tracking operation through an element for setting priorities between the cleaning operation and the pest tracking operation, the robot cleaner (1) can stop cleaning and track the pest if a pest is identified during the cleaning operation.

[0182] In one embodiment, a user can set a pest monitoring schedule separately from the cleaning schedule through an element for setting a pest monitoring schedule. The robot cleaner (1) can receive the pest monitoring schedule received through the user device (2) through the server (3) or directly. The robot cleaner (1) can perform pest monitoring driving based on the pest monitoring schedule.

[0183] According to the present disclosure, a user may use a robot vacuum cleaner for the purpose of pest monitoring.

[0184] The pest monitoring mode is described in detail later.

[0185] In this disclosure, "pests" may include any insect that may appear in an indoor space corresponding to the cleaning map (M). Regardless of whether the insect is harmful to humans, any insect that may appear in an indoor space may be considered a pest. In this disclosure, "pests" may include beneficial insects.

[0186] FIG. 8 illustrates a robot cleaner according to one embodiment moving to be coupled to a docking station. FIG. 9 illustrates a robot cleaner according to one embodiment coupled to a docking station.

[0187] Referring to FIGS. 8 and 9, the robot cleaner (1) can be coupled (docked) with a docking station (5).

[0188] The robot cleaner (1) can move to the docking station based on the satisfaction of certain conditions. For example, the robot cleaner (1) can move to the docking station (5) based on the completion of cleaning according to the cleaning schedule, the completion of pest monitoring driving according to the pest monitoring schedule, the suction of pests, the discharge of the battery, and / or the dust collector (40a) being full of foreign substances.

[0189] A docking station (5) may be provided to accommodate a robot cleaner (1). The docking station (5) may include a cleaner mounting portion (53) on which the robot cleaner (1) is mounted. When the robot cleaner (1) is mounted on the cleaner mounting portion (53), the docking station (5) may charge the battery (90) of the robot cleaner (1) or collect foreign substances collected in the dust collector (40a) of the robot cleaner (1).

[0190] A connecting opening (54) may be formed in the vacuum cleaner mounting portion (53) to be connected to one end of a guide member that can be connected to the dust collection container of the robot vacuum cleaner (1) and to connect the collection path (P) to the outside.

[0191] The brush assembly (20) may include a cleaner inlet (23) and a brush (26).

[0192] A cleaner inlet (23) may be formed in the main body (10) of the robot cleaner (1). The cleaner inlet (23) may be formed toward the surface to be cleaned. The cleaner inlet (23) may be formed by penetrating the bottom surface of the main body (10). Foreign substances on the surface to be cleaned may be introduced into the cleaning device (40) together with air through the cleaner inlet (23).

[0193] A brush (26) may be placed in the vacuum cleaner inlet (23). The brush (26) may be rotatably mounted relative to the main body (10). The brush (26) may strike the surface to be cleaned to scatter foreign substances. The scattered foreign substances may be drawn into the vacuum cleaner inlet (23) together with the surrounding air.

[0194] Foreign substances and / or air drawn in through the vacuum cleaner inlet (23) by the suction force generated by the cleaning device (e.g., suction device) (40) can move to the dust collector (40a) through the foreign substance inlet (40b).

[0195] A vacuum cleaner discharge port (40c) may be provided in the main body (10). The vacuum cleaner discharge port (40c) may be arranged on the rear side of the robot cleaner (1). The vacuum cleaner discharge port (40c) may discharge air drawn in through the vacuum cleaner inlet (23) by the suction force generated by the cleaning device (40) to the outside of the robot cleaner (1).

[0196] A cleaning device (e.g., suction device) (40) may be placed on the air path between the cleaner inlet (23) and the cleaner discharge port (14).

[0197] When the robot cleaner (1) is coupled to the docking station (5) and a discharge process is performed in which foreign substances collected in the dust collector (40a) are discharged to the docking station (5), the cleaning device (40) can operate while periodically changing the suction power. Through this, the internal pressure of the dust collector (40a) fluctuates, so that foreign substances in the dust collector (40a) can be discharged more efficiently.

[0198] The cleaning device (40) may be configured to filter and collect foreign substances introduced through the vacuum cleaner inlet (23). The cleaning device (40) may include a dust collector (40a) in which foreign substances are collected, a foreign substance inlet (40b) through which foreign substances and / or air are introduced, a foreign substance discharge port (563) for discharging foreign substances to a docking station (5), a dust collector door (564) for opening and closing the foreign substance discharge port (563), and a door magnet (566) provided on the dust collector door (564). The dust collector (40a) may include a foreign substance inlet (40b), a foreign substance discharge port (563), and a dust collector door (564), and the dust collector door (564) may open or close the dust collector (40a) by opening and closing the foreign substance discharge port (563). The dust collector door (564) can be automatically opened by the door magnet (566) when the robot cleaner (1) is docked to the docking station (5).

[0199] The dust collector (40a) can collect foreign substances separated from the air containing foreign substances sucked in by the robot cleaner (1). The dust collector (40a) can be connected to the outside through a foreign substance discharge port (563). A device for separating foreign substances from the air can be placed in the dust collector (40a). A cyclone unit (not shown) can be placed in the dust collector (40a).

[0200] The foreign matter discharge port (563) can be opened and closed by the dust collector door (564). The foreign matter discharge port (563) can be formed on the bottom surface of the dust collector (40a). The foreign matter discharge port (563) can be selectively connected to the connection opening (54) of the station (5).

[0201] The dust collector door (564) can rotate with respect to the cleaning device (40) and open and close the foreign matter discharge port (563).

[0202] The door magnet (566) may be configured to include a magnet. The door magnet (566) may be provided to correspond to the lever magnet of the lever device (560) of the docking station (5) that opens the dust collector door (564). The door magnet (566) may be provided so that an attractive force is applied between it and the lever magnet. The door magnet (566) may be located approximately at the center of the dust collector door (564).

[0203] The air filtered of foreign substances in the cleaning device (40) can pass through the air outlet by the suction power of the cleaning device (40) and then move to the vacuum cleaner discharge port (40c).

[0204] The docking station (5) may include a station housing (51) in which a receiving space is formed inside, and a cleaner mounting portion (53) on which a robot cleaner (1) is mounted.

[0205] At least a portion of a collection device (590) for collecting foreign substances collected in the dust collector (40a) of the robot cleaner (1) may be placed inside the station housing (51). In addition, electrical components for charging the battery (90) of the robot cleaner (1) may be placed inside the station housing (51).

[0206] A station exhaust port may be formed in the station housing (51). The station exhaust port may be provided so that the suction device (550) of the docking station (5) exhausts air sucked from the dust collector (40a) of the robot cleaner (1) to the outside of the docking station (5). The station exhaust port may be arranged on the back of the station housing (51).

[0207] The suction device (550) may include a suction fan and a suction motor.

[0208] The station housing (51) may be provided with an exhaust filter (58) arranged to filter air discharged from the station exhaust port. The exhaust filter (58) may be arranged to filter air discharged from the suction device (550). The exhaust filter (58) may be arranged adjacent to the station exhaust port. The exhaust filter (58) may be configured to include a HEPA filter (high efficiency particulate air filter).

[0209] A station power board (57) may be provided in the station housing (51). The station power board (57) may be configured to receive power from an external source and convert it to a power suitable for the docking station (5).

[0210] A station control unit (500) may be provided in the station housing (51). The station control unit (500) may be electrically connected to the power board (57) of the docking station (5). The station control unit (500) may control the lever device (560). The station control unit (500) may control the lever device (560) to be driven when the robot cleaner (1) is placed on the docking station (5). The station control unit (500) may control the suction device (550). The station control unit (500) may control the station charging terminal (56).

[0211] The collection device (590) may be arranged to collect foreign substances collected in the dust collection container (40a) when the guide member (593) and the dust collection container (40a) of the robot cleaner (1) are connected as the lever device (560) opens the dust collection container door (564). The collection device (590) may include a suction device (550), a dust collection container (592), a guide member (593), and an extension member (594).

[0212] The suction device (550) can generate a suction force to suck up foreign substances in the dust collection container (40a) when the robot cleaner (1) is seated on the docking station (5), i.e., when the dust collection container (40a) is connected to the guide member (593). The suction device (550) can suck up foreign substances and / or air from the dust collection container (40a) of the robot cleaner (1), collect the foreign substances in the dust collection container (592), and discharge the air to the outside of the docking station (5) through the station exhaust port.

[0213] In one embodiment, the suction device (550) may operate by periodically changing the suction force when the robot cleaner (1) is coupled to the docking station (5) and a discharge process is performed in which foreign substances collected in the dust bin (40a) are discharged to the docking station (5).

[0214] The dust collector (592) can filter and collect foreign substances and / or foreign substances in the air that have been introduced into the interior of the docking station (5) by the suction device (550). The dust collector (592) can be provided with a device (not shown) for filtering foreign substances from the foreign substances and / or air guided by the guide member (593) and the extension member (594).

[0215] The guide member (593) and the extension member (594) can be provided to guide foreign substances flowing into the connection opening (54) to the dust collector (592).

[0216] The guide member (593) can extend approximately horizontally to the cleaner mounting portion (53). One end of the guide member (593) can be connected to the connection opening (54), and the other end can be connected to one end of the extension member (594). A lever of the lever device (560) can be positioned at one end of the guide member (593) connected to the connection opening (54).

[0217] The extension member (594) can extend approximately in an up-down direction from the rear of the station housing (51). One end of the extension member (594) can be connected to the guide member (593), and the other end can be connected to the dust collector (592).

[0218] The vacuum cleaner mounting portion (53) can be provided to allow the robot vacuum cleaner (1) to be mounted thereon. The vacuum cleaner mounting portion (53) can support the lower portion of the station housing (51).

[0219] A station charging terminal (56) for charging the battery (90) of the robot cleaner (1) may be provided on the vacuum cleaner mounting portion (53). The station charging terminal (206) may be electrically connected to the battery (90) of the robot cleaner (1) to supply power when the robot cleaner (1) is mounted on the vacuum cleaner mounting portion (53). The station charging terminal (56) may also charge the battery (90) of the robot cleaner (1) in a wireless charging manner.

[0220] In one embodiment, the sensor (100) of the robot cleaner (1) and / or the mounting detection sensor (510; see FIG. 10) of the docking station (5) can detect that the robot cleaner (1) is positioned on the cleaner mounting portion (53) and transmit the detection to the station control unit (500). The station control unit (500) controls the lever device (560) to be driven. In addition, the station control unit (500) can control the station charging terminal (56) to charge the battery (90) of the robot cleaner (1).

[0221] A lever device (560) may be arranged on the cleaner mounting portion (53). The lever device (560) may be provided to selectively connect the collection device (590) and the cleaning device (40) of the robot cleaner (1). The lever device (560) may be configured to open the dust collection box door (564) when the robot cleaner (1) is mounted on the cleaner mounting portion (53).

[0222] As the lever device (560) opens the dust collector door (564), the collection device (590) can suck up foreign substances inside the cleaning device (40). The foreign substances in the cleaning device (40) move to the dust collector (592) along the guide member (593) and the extension member (594). The foreign substances are collected in the dust collector (592), and the foreign substances and air are filtered by passing through the exhaust filter (58) before being discharged through the station exhaust port (55) after passing through the suction device (550). The air filtered in the exhaust filter (58) can be discharged to the outside through the station exhaust port (55).

[0223] In one embodiment, the docking station (5) may include a pesticide device (580).

[0224] The insecticide device (580) may include a storage unit (581) for storing insecticide, a radiation unit (582) for radiating the insecticide stored in the storage unit (581), and / or a storage unit door (583) for opening and closing the storage unit (581).

[0225] The user can open the storage door (583) to fill the pesticide into the storage compartment (581).

[0226] In one embodiment, the storage door (583) can be opened manually by a user. In one embodiment, the storage door (583) can also be opened automatically by an actuator that operates in response to user input.

[0227] The pesticide device (580) may further include a sensor (not shown) that detects the amount of pesticide contained in the storage unit (581). The docking station (5) may output sensory information requesting a refill of the pesticide based on the amount of pesticide contained in the storage unit (581) falling below a predetermined amount.

[0228] The radiator (582) can radiate the pesticide based on the control signal of the control unit (500).

[0229] The radiation direction of the radiator (582) may be directed toward the dust collector (592). In one embodiment, the radiator (582) may include a pressure system, such as a pump, to radiate the pesticide.

[0230] By emitting the pesticide toward the dust collector (592) from the radiation unit (582), pests contained in the dust collector (592) can be eradicated.

[0231] According to the present disclosure, by providing a pesticide device (580) in the docking station (5), pests contained in the dust collector (592) can be prevented from breeding within the dust collector (592).

[0232] Figure 10 is a control block diagram of a docking station according to one embodiment.

[0233] Referring to FIG. 10, the docking station (5) may include a control unit (500), a mounting detection sensor (510), a dust collector sensor (520), a suction device (5509), a communication unit (555), and / or a pesticide device (580).

[0234] The mounting detection sensor (510) can detect whether the robot cleaner (1) is positioned on the mounting portion (53). To this end, the mounting detection sensor (510) may be provided as an infrared sensor, and there is no limitation on the type of sensor as long as it can detect the position of the robot cleaner (1). For example, the mounting detection sensor (510) may be employed as a variety of sensors capable of monitoring the pressure applied to the mounting portion (53).

[0235] The dust collector sensor (520) can detect whether the dust collector sensor (592) is saturated. To this end, the dust collector sensor (520) can be provided as an infrared sensor, and there is no limitation on the type of sensor as long as it can detect whether the dust collector sensor (592) is saturated.

[0236] According to one embodiment, the communication unit (555) can transmit and receive information with the robot vacuum cleaner (1). To this end, the communication unit (555) can be provided as a communication module for a known type of communication protocol.

[0237] The docking station (5) can communicate with an external device (e.g., a robot vacuum cleaner (1), a user device (2), a server (3), and / or a home appliance (4)) through a communication unit (555).

[0238] In one embodiment, the docking station (5) can communicate directly with the robot cleaner (1) via a communication unit (555). For this purpose, the communication unit (555) may include a short-range communication module (e.g., a Bluetooth communication module).

[0239] In one embodiment, the docking station (5) can communicate with the server (3) via the communication unit (555). For this purpose, the communication unit (555) can include a remote communication module.

[0240] The control unit (500) can control components of the docking station (5). The control unit (500) can include a processor (501) and a memory (502). The processor (501) is hardware and can include logic circuits and arithmetic circuits. The processor (501) can control components of the docking station (5) that are electrically connected using programs, instructions, and / or data stored in the memory (502) for the operation of the docking station (5). The control unit (500) can be implemented as a control circuit including circuit elements such as capacitors, inductors, and resistors. The processor (501) and the memory (502) can be implemented as separate chips or as a single chip. In addition, the control unit (500) can include a plurality of processors and a plurality of memories.

[0241] The memory (502) can store programs, applications, and / or data for the operation of the docking station (5), and can store data generated by the processor (501). The memory (502) can include non-volatile memory such as ROM (Read Only Memory) and flash memory for long-term storage of data. The memory (220) can include volatile memory such as S-RAM (Static Random Access Memory) and D-RAM (Dynamic Random Access Memory) for temporarily storing data.

[0242] The control unit (500) can operate the suction device (550) based on the satisfaction of a predetermined condition. For example, the control unit (500) can operate the suction device (550) for a predetermined period of time in response to receiving a control signal for operating the suction device (550) from an external device (e.g., a robot cleaner (1), a user device (2), a server (3), and / or a home appliance (4)) through the communication unit (555).

[0243] A user can input a control command to operate the suction device (550) through the user device (2), and the control command can be transmitted to the communication unit (555) directly or via the server (3).

[0244] The robot cleaner (1) can transmit a control command to the communication unit (555) to operate the suction device (550) based on the satisfaction of a predetermined condition (e.g., being mounted on a docking station (5)).

[0245] As another example, the control unit (500) can operate the suction device (550) for a predetermined period of time based on the detection of docking of the robot cleaner (1) through the mounting detection sensor (510).

[0246] The control unit (500) can operate the pesticide device (580) based on the satisfaction of a predetermined condition. For example, the control unit (500) can operate the pesticide device (580) in response to receiving a control signal for operating the pesticide device (580) from an external device (e.g., a robot vacuum cleaner (1), a user device (2), a server (3), and / or a home appliance (4)) through the communication unit (555).

[0247] A user can input a control command to operate the suction device (550) through the user device (2), and the control command can be transmitted to the communication unit (555) directly or via the server (3).

[0248] For example, the control unit (500) can operate the pesticide device (580) based on receiving a control signal for operating the pesticide device (580) from the robot cleaner (1) through the communication unit (555).

[0249] The components of the docking station (5) are not limited to those illustrated in FIGS. 8 to 10. Some of the components illustrated in FIGS. 8 to 10 may be omitted, or other components may be further included in the docking station (5). For example, the docking station (5) may further include a user interface.

[0250] The user interface of the docking station (5) can receive user input for operating the suction device (550) and / or user input for operating the pesticide device (580).

[0251] The control unit (500) can control components of the docking station (5) (e.g., the suction device (550) and / or the insecticide device (580)) based on user input received through the user interface.

[0252] In one embodiment, the control unit (500) may output sensory information through the user interface. For example, the control unit (500) may control the user interface to output sensory information requesting a refill of the pesticide based on the amount of pesticide contained in the storage unit (581) falling below a predetermined amount. For example, the control unit (500) may control the user interface to output sensory information requesting a cleaning of the dust collector (592) based on the detection of saturation of the dust collector (592) by the dust collector sensor (520).

[0253] Fig. 11 is a flowchart illustrating an example of a pest control method according to one embodiment.

[0254] Referring to FIG. 11, the pest control system can identify pests in a space corresponding to a cleaning map (M) based on sensor data collected by at least one sensor (100) of the robot cleaner (1) (2000). The entity identifying pests in a space corresponding to the cleaning map (M) based on the sensor data may be the robot cleaner (1) and / or the server (3).

[0255] In one embodiment, the robot cleaner (1) can identify pests in a space corresponding to a cleaning map (M) based on sensor data collected by at least one sensor (100).

[0256] For example, a robot cleaner (1) can identify pests based on image data collected by a camera (110). To this end, the robot cleaner (1) can store an artificial intelligence model capable of identifying pests based on sensor data (e.g., image data) collected from at least one sensor (100). The artificial intelligence model capable of identifying pests can determine the type of pest.

[0257] If the robot cleaner (1) can identify the type of pest based on sensor data, it can transmit information about the type of pest to the server (3).

[0258] According to the present disclosure, the robot cleaner (1) can identify pests in real time, and thus can quickly and efficiently perform pest tracking operations to be described later.

[0259] In one embodiment, the robot cleaner (1) transmits sensor data collected by at least one sensor (100) to the server (3), and the server (3) can identify pests in a space corresponding to the cleaning map (M) based on the sensor data received from the robot cleaner (1).

[0260] For example, the robot cleaner (1) transmits image data collected by the camera (110) to the server (3), and the server (3) can identify pests based on the image data received from the robot cleaner (1). Based on the processed sensor data, the server (3) can transmit information about the pests (e.g., the location and / or type of the pests) to the robot cleaner (1).

[0261] To this end, the server (3) can store an artificial intelligence model capable of identifying pests based on sensor data (e.g., image data) collected from at least one sensor (100).

[0262] According to the present disclosure, the accuracy of pest identification can be improved by having a server (3) capable of storing various algorithms and artificial intelligence models identify pests.

[0263] In one embodiment, the robot cleaner (1) can identify the presence of a pest based on sensor data collected by at least one sensor (100). Based on the identification of the presence of a pest based on the sensor data collected by at least one sensor (100), the robot cleaner (1) can transmit a signal to the server (3) notifying the presence of the pest.

[0264] In response to receiving a signal from the robot cleaner (1) indicating the presence of pests, the server (3) processes sensor data received from the robot cleaner (1) and can identify the type of pest.

[0265] According to the present disclosure, a relatively simple operation for identifying the presence of pests is performed by a robot vacuum cleaner (1), so that pest tracking operations can be performed quickly and efficiently, and an operation for identifying the type of pest is performed by a server (3), so that the accuracy of pest identification can be improved.

[0266] In one embodiment, the user device (2) may output a notification indicating the discovery of a pest based on the pest being identified by the robot vacuum cleaner (1) and / or the server (3). The notification indicating the discovery of a pest may be output as various types of sensory information that may indicate the discovery of a pest. For example, the notification indicating the discovery of a pest may be output as visual information (e.g., text), auditory information (e.g., sound), and / or tactile information (e.g., vibration).

[0267] The robot vacuum cleaner (1) can transmit a signal to the server (3) indicating the presence of a pest based on the presence of the pest being identified. The signal indicating the presence of the pest can cause the server (3) to transmit a signal to the user device (2) indicating the presence of the pest. The signal indicating the presence of the pest can cause the user device (2) to output a notification indicating the discovery of the pest.

[0268] As another example, the server (3) may transmit a signal to the user device (2) indicating the presence of a pest based on the presence of the pest being identified. The signal indicating the presence of the pest may cause the user device (2) to output a notification indicating the discovery of the pest.

[0269] According to the present disclosure, if a pest is identified in a space corresponding to a cleaning map (M), the user can be immediately notified of this, thereby allowing the user to take measures to exterminate the pest.

[0270] Pest control in the present disclosure may be a concept including extermination of pests and / or prevention of pests.

[0271] The notification informing of the discovery of a pest may be output in the form of a pop-up window through the display of the user device (2), output in the form of sound through the speaker of the user device (2), output in the form of vibration through the vibration element of the user device (2), or output in the form of vibration, sound, or a pop-up window. However, the method by which the user device (2) outputs the notification informing of the discovery of a pest is not limited to the examples described above.

[0272] Figure 12 illustrates an example of an interface provided for selecting a pest of interest.

[0273] Users may want to monitor for all pests, or they may only want to monitor for some pests they dislike.

[0274] Referring to FIG. 12, a user can select a pest of interest through a user device (2).

[0275] The user device (2) may provide an interface for selecting pests of interest. The interface for selecting pests of interest may include a first element (K1) for selecting all types of pests and / or a second element (K2) for selecting some types of pests among the various types of pests.

[0276] The user device (2) may include an interface for selecting a pest of interest, which may include information about the type of pest (e.g., the name of each type of pest and / or an image of each type of pest). The types of pests may be comprised of pests frequently found in indoor spaces. For example, the types of pests may refer to pest species such as cockroaches, ants, centipedes, or silverfish.

[0277] According to the present disclosure, an interface for selecting a pest of interest includes images of each type of pest, so that a user can intuitively select a pest of interest even if he or she does not know the name of the pest type.

[0278] The user device (2) can receive pests of interest from the user. The user device (2) can directly transmit information about the selected pests of interest to the robot cleaner (1) or to the server (3). The server (3) can transmit information about the pests of interest to the robot cleaner (1).

[0279] In one embodiment, the robot cleaner (1) and / or the server (3) may perform a pest tracking operation (2100) to be described later based on the identification of a pest of interest based on sensor data.

[0280] However, if the embodiment of selecting a pest of interest is not applied, the robot cleaner (1) and / or the server (3) can perform pest tracking operation regardless of which type of pest is identified based on sensor data.

[0281] In one embodiment, the user device (2) may output a notification notifying the discovery of a pest based on the pest of interest being identified by the robot cleaner (1) and / or the server (3).

[0282] For example, a robot cleaner (1) may transmit a signal to a server (3) notifying the presence of a pest based on the identification of the presence of the pest. The signal notifying the presence of the pest may enable the server (3) to identify the type of pest. When the server (3) receives the signal notifying the presence of the pest, the server (3) may identify the type of pest based on sensor data. When the server (3) identifies the pest as a pest of interest, the server (3) may transmit a signal notifying the presence of the pest to the user device (2). The signal notifying the presence of the pest may enable the user device (2) to output a notification notifying the discovery of the pest.

[0283] As another example, the robot vacuum cleaner (1) may transmit a signal to the server (3) indicating the presence of a pest based on the identification of the pest of interest. The signal indicating the presence of the pest may cause the server (3) to output a notification to the user device (2) notifying the discovery of the pest of interest.

[0284] As another example, the server (3) may transmit a signal to the user device (2) indicating the presence of a pest based on the identification of the presence of the pest of interest. The signal indicating the presence of the pest may cause the user device (2) to output a notification indicating the discovery of the pest.

[0285] According to the present disclosure, user convenience is increased because the user is notified only about pests that the user wishes to monitor and does not receive unnecessary notifications.

[0286] According to the present disclosure, since the robot cleaner (1) performs pest tracking operation only for pests that the user wants to monitor, it is possible to prevent the robot cleaner (1) from unnecessarily tracking pests and thus delaying the cleaning time.

[0287] Referring again to FIG. 11, the robot cleaner (1) can track pests based on the pests being identified in the space corresponding to the cleaning map (M) (2100).

[0288] The control unit (200) can control the driving device (30) to allow the robot cleaner (1) to track the pest based on the pest being identified based on sensor data.

[0289] The control unit (200) can control the driving device (30) to allow the robot cleaner (1) to track the pest based on information about the pest (e.g., location information of the pest) received from the server (3).

[0290] In one embodiment, the robot vacuum cleaner (1) can track pests based on the pests identified while performing cleaning according to a cleaning schedule.

[0291] When tracking a pest based on the pest being identified while performing cleaning according to the cleaning schedule, the robot cleaner (1) can stop the operation of the cleaning device (40).

[0292] The control unit (200) can stop the operation of the cleaning device (40) when tracking a pest based on the pest being identified while performing cleaning according to the cleaning schedule.

[0293] In one embodiment, the robot vacuum cleaner (1) can track pests based on the pests identified while driving for pest surveillance according to a pest surveillance schedule.

[0294] When driving for pest monitoring according to the pest monitoring schedule, the robot cleaner (1) may not operate the cleaning device (40).

[0295] The control unit (200) may not operate the cleaning device (40) when driving for pest monitoring according to the pest monitoring schedule.

[0296] According to the present disclosure, the possibility of capturing pests can be increased by preventing pests from escaping due to noise and / or vibration generated by the cleaning device (40).

[0297] In one embodiment, the robot cleaner (1) can track pests by moving the cleaning device (40) to a position where the pests can be sucked up.

[0298] For example, the robot vacuum cleaner (1) can move so that the vacuum cleaner inlet (23) faces the pest.

[0299] The control unit (200) can control the driving device (30) to move the cleaning device (40) to a position where it can suck up pests. For example, the control unit (200) can control the driving device (30) to direct the cleaner inlet (23) toward the pests.

[0300] In one embodiment, the robot cleaner (1) can track the pest until the pest is sucked into the dust collector (40a) by the cleaning device (40) or until the pest disappears from the sight of the robot cleaner (1).

[0301] In one embodiment, the disappearance of a pest from the field of view of the robot cleaner (1) may include the pest not being identified based on sensor data.

[0302] That is, the disappearance of a pest from the field of view of the robot vacuum cleaner (1) may mean that the pest is not detected by at least one sensor (100) for a predetermined period of time.

[0303] For example, a pest disappearing from the field of view of a robot vacuum cleaner (1) may include the pest not being identified within the shooting area of ​​a camera (110) for a predetermined period of time.

[0304] As another example, the disappearance of a pest from the field of view of the robot vacuum cleaner (1) may include the pest not being identified within the detection area of ​​the lidar sensor (120) for a predetermined period of time.

[0305] In one embodiment, the disappearance of the pest from the view of the robot cleaner (1) may include the pest being located in an area where the robot cleaner (1) cannot move.

[0306] That is, the disappearance of the pest from the sight of the robot cleaner (1) may include the pest being identified in a location where the robot cleaner (1) cannot move (e.g., on a wall).

[0307] The control unit (200) can control the driving device (30) to stop tracking the pest based on the pest disappearing from the field of view of the robot cleaner (1).

[0308] If the robot cleaner (1) performs an operation (2100) to track pests while cleaning according to a cleaning schedule, the robot cleaner (1) can perform cleaning again based on the disappearance of pests from its field of vision.

[0309] When the control unit (200) performs an operation (2100) to track pests while the robot cleaner (1) is performing cleaning according to a cleaning schedule, the control unit (200) can control the driving device (30) and the cleaning device (40) to perform cleaning again based on the disappearance of pests from the field of view.

[0310] If the robot cleaner (1) performs an operation (2100) to track pests while driving for pest surveillance according to the pest surveillance schedule, the robot cleaner (1) can drive for pest surveillance again based on the disappearance of pests from its field of vision.

[0311] When the control unit (200) performs an operation (2100) to track pests while the robot cleaner (1) is driving for pest monitoring according to the pest monitoring schedule, the control unit (200) can control the driving device (30) to perform pest monitoring again based on the disappearance of pests from the field of view.

[0312] According to the present disclosure, the robot vacuum cleaner (1) can save unnecessary time required for pest tracking by performing a preset action when the pest disappears from sight.

[0313] In one embodiment, the robot cleaner (1) can perform a predetermined operation based on the fact that pests have been sucked into the dust collector (40a) by the cleaning device (40). The predetermined operation will be described later with reference to FIG. 17.

[0314] In one embodiment, the robot cleaner (1) may include a sensor for detecting foreign substances collected in the dust collector (40a), and may determine that the pest has been sucked in by the cleaning device (40) based on the pest being identified within the dust collector (40a) by the sensor for detecting foreign substances collected in the dust collector (40a).

[0315] In one embodiment, the robot cleaner (1) may determine that the pest has been sucked up by the cleaning device (40) based on the pest not being identified for a predetermined period of time after the robot cleaner (1) moves so that the pest is located on the bottom surface of the main body (10).

[0316] In one embodiment, the user device (2) may output a notification indicating the capture of a pest based on the pest being sucked up by the cleaning device (40). The notification indicating the capture of a pest may be output as various types of sensory information that may indicate the capture of a pest. For example, the notification indicating the capture of a pest may be output as visual information (e.g., text), auditory information (e.g., sound), and / or tactile information (e.g., vibration).

[0317] The robot vacuum cleaner (1) can transmit a signal to the user device (2) notifying the capture of a pest based on the determination that the pest has been sucked up by the cleaning device (40). The user device (2) notifying the capture of the pest can be caused to output a notification notifying the capture of the pest.

[0318] As another example, the robot cleaner (1) may transmit a signal to the server (3) notifying the capture of a pest based on the determination that the pest has been sucked up by the cleaning device (40). The server (3) notifying the capture of the pest may be caused to transmit a signal notifying the capture of the pest to the user device (2). The user device (2) notifying the capture of the pest may be caused to output a notification notifying the capture of the pest.

[0319] In one embodiment, during the pest tracking operation (2100), the movement path of the pest on the cleaning map (M) can be identified by the robot cleaner (1) and / or the server (3).

[0320] For example, the robot cleaner (1) can reflect the movement path of the pest in the cleaning map (M) based on the pest being identified. The robot cleaner (1) can transmit the cleaning map (M) reflecting the movement path of the pest to the server (3).

[0321] As another example, the server (3) can reflect the movement path of the pest in the cleaning map (M) based on the pest being identified.

[0322] Reflecting the movement path of pests on the cleaning map (M) may include indicating the movement path of pests on the cleaning map (M).

[0323] A pest's movement path may include a pest discovery point, a disappearance point, and / or a capture point. A pest discovery point refers to the location where the pest was first identified on the cleaning map (M). A pest disappearance point refers to the location where the pest was last identified on the cleaning map (M) when the robot cleaner (1) terminated its pest tracking operation. A pest capture point refers to the location where the robot cleaner (1) captured the pest.

[0324] Reflecting the movement path of the pest in the cleaning map (M) may include updating the cleaning map (M) to display the movement path of the pest and temporarily and / or permanently storing the updated cleaning map (M).

[0325] In one embodiment, information about the movement path of pests in the cleaning map (M) can be transmitted to the user device (2). The user device (2) can provide the movement path of pests as pest extermination information.

[0326] In one embodiment, the robot cleaner (1) and / or the server (3) may search for a pest extermination method based on the type of pest. For example, the robot cleaner (1) may search for a cockroach extermination method based on the identification of the pest as a cockroach. In another example, the server (3) may search for a cockroach extermination method based on the identification of the pest as a cockroach.

[0327] In one embodiment, a pest control method according to the type of pest may be stored in a database of a server (3). To this end, the server (3) may include at least one first server that registers, manages, and / or controls information on a robot cleaner (1), a home appliance (4), and / or a docking station (5) in user account information, and a second server that stores a pest database.

[0328] The robot vacuum cleaner (1) and / or the first server can access the second server storing the pest database and search for an extermination method corresponding to the type of identified pest.

[0329] The pest extermination method according to the type of pest detected by the robot cleaner (1) and / or server (3) can be transmitted to the user device (2). The user device (2) can provide the pest extermination method as pest extermination information.

[0330] In one embodiment, the user device (2) can receive information on the type of pest from the robot cleaner (1) and / or the server (3). The user device (2) can search for a pest extermination method based on the information on the type of pest. For example, the user device (2) can access the server (3) where a pest database is stored and search for an extermination method corresponding to the type of pest. However, examples of the robot cleaner (1), the user device (2), and / or the server (3) searching for an extermination method corresponding to the type of pest are not limited to the examples described above, and can of course be implemented through various search engines.

[0331] The user device (2) can provide pest control information including the movement path of the pest and / or the pest control method according to the type of pest in the cleaning map (M) (2200).

[0332] For example, the user device (2) can output pest control information through a user interface.

[0333] FIGS. 13 to 16 illustrate an example of a user device providing pest control information according to one embodiment.

[0334] Referring to FIG. 13, the user device (2) may output a notification (D1) notifying the discovery of a pest based on receiving a signal notifying the discovery of a pest from the robot vacuum cleaner (1) and / or the server (3). The notification (D1) notifying the discovery of a pest may be, for example, text such as "Pest detected," but is not limited thereto.

[0335] The notification (D1) informing of the discovery of pests can be implemented in the form of a pop-up window.

[0336] A user can check pest control information by executing an application installed on the user device (2) after confirming a notification (D1) indicating the discovery of a pest. In one embodiment, the user device (2) may automatically execute the application based on the selection of the notification (D1).

[0337] The user device (2) can provide pest control information.

[0338] Pest control information may include pest movement paths on the cleaning map (M).

[0339] The movement path (RA) of the pest in the cleaning map (M) may include the pest discovery point (DA1), the pest disappearance point (DA2), and / or the pest capture point.

[0340] The pest movement path (RA) can be visually displayed on the cleaning map (M). For example, the pest movement path (RA) can be expressed as a line of a predetermined shape on the cleaning map (M), but is not limited thereto.

[0341] The portions corresponding to the pest discovery point (DA1), the pest disappearance point (DA2), and / or the pest capture point may be visually distinguished from other portions in the cleaning map (M). For example, the portions corresponding to the pest discovery point (DA1), the pest disappearance point (DA2), and / or the pest capture point may be expressed in a predetermined color or shade in the cleaning map (M), but are not limited thereto.

[0342] In one embodiment, the pest control information provided by the user device (2) may include information about the type of pest (e.g., cockroach).

[0343] For example, if the pest is identified as a cockroach, the pest control information provided by the user device (2) may include visual information (e.g., text or an image) indicating that the pest is a cockroach.

[0344] In one embodiment, the user device (2) may provide a third element (K3) for playing back images acquired by the camera (110) of the robot cleaner (1) while tracking pests.

[0345] The user can select the third element (K3) to play a real-time tracking video to check the video acquired by the robot cleaner (1) while tracking the pest.

[0346] In one embodiment, the robot cleaner (1) may transmit image data to the server (3) when performing a pest tracking operation (2100).

[0347] The server (3) can temporarily and / or permanently store image data acquired when the robot cleaner (1) performs pest tracking operation (2100).

[0348] According to the present disclosure, since only the image data acquired when the robot cleaner (1) performs a pest tracking operation (2100) is stored in the server (3), the capacity of the server (3) can be efficiently managed.

[0349] The user device (2) can request the server (3) for image data acquired while the robot cleaner (1) performs a pest tracking operation (2100) based on the selection of the third element (K3).

[0350] The server (3) can transmit to the user device (2) the image data acquired by the robot cleaner (1) while performing a pest tracking operation (2100) based on receiving a request for image data from the user device (2). The user device (2) can download and play the image data received from the server (3) or play it in a real-time streaming manner.

[0351] According to the present disclosure, a user can check a tracking video of a pest and resolve any questions about the pest.

[0352] Referring to FIG. 14, the pest control information may include a pest control method.

[0353] The pest control method may include a recommended location (KA) of pesticides on the cleaning map (M).

[0354] The robot vacuum cleaner (1), the user device (2), and / or the server (3) can determine the recommended location (KA) of the pesticide.

[0355] In one embodiment, the robot vacuum cleaner (1), the user device (2), and / or the server (3) can determine the expected location of pest appearance based on the pest discovery history.

[0356] Information on pest discovery history can be stored in the robot cleaner (1), user device (2), and / or server (3) whenever pests are identified in a space corresponding to the cleaning map (M).

[0357] Information about pest detection history may include information about the pest's movement path. As previously described, information about the pest's movement path may include the location of the pest's discovery, the location of the pest's disappearance, and / or the location of the pest's capture.

[0358] The robot vacuum cleaner (1), the user device (2), and / or the server (3) can determine the expected location of pest appearance based on information about the location of pest discovery included in the pest discovery history information.

[0359] For example, a point with a large number of pest discovery history information may be determined as a predicted pest appearance point. That is, the robot vacuum cleaner (1), the user device (2), and / or the server (3) may determine a point with a large number of pest discovery history information as a predicted pest appearance point.

[0360] As another example, a location with a large number of pest disappearance points in the pest discovery history information may be determined as a predicted pest appearance point. That is, the robot vacuum cleaner (1), user device (2), and / or server (3) may determine a location with a large number of pest disappearance points as a predicted pest appearance point.

[0361] According to various embodiments, the robot cleaner (1), the user device (2), and / or the server (3) may store an artificial intelligence model that can determine the expected location of pest appearance based on pest discovery history information.

[0362] The robot vacuum cleaner (1), user device (2), and / or server (3) can obtain the expected pest appearance point as an output value by inputting pest discovery history information into an artificial intelligence model.

[0363] In one embodiment, the robot cleaner (1), the user device (2), and / or the server (3) can determine an expected location of pest appearance based on sensor data (e.g., temperature data, humidity data, illuminance data, and / or dust data, etc.) acquired by at least one sensor (100) of the robot cleaner (1).

[0364] The robot cleaner (1), the user device (2), and / or the server (3) can determine the expected location of pest appearance based on various environmental information (temperature information, humidity information, illuminance information, and / or dust information, etc.) acquired by at least one sensor (100) of the robot cleaner (1).

[0365] For example, the robot cleaner (1), the user device (2), and / or the server (3) may determine a high temperature, low humidity, and dark spot among the spaces corresponding to the cleaning map (M) as an expected pest infestation spot. As another example, the robot cleaner (1), the user device (2), and / or the server (3) may determine a dusty spot among the spaces corresponding to the cleaning map (M) as an expected pest infestation spot.

[0366] According to various embodiments, the robot cleaner (1), the user device (2), and / or the server (3) may store an artificial intelligence model capable of determining an expected pest appearance point based on sensor data acquired by at least one sensor (100).

[0367] The robot vacuum cleaner (1), user device (2), and / or server (3) can obtain the predicted location of pest appearance as an output value by inputting sensor data into an artificial intelligence model.

[0368] The pest control method may include a recommended location (KA) of pesticide on the cleaning map (M). The user device (2) may provide the expected location of pest appearance on the cleaning map (M) as the recommended location (KA) of pesticide.

[0369] The user can prevent pests by checking the recommended location (KA) of the pesticide provided by the user device (2) and installing the pesticide at the recommended location (KA).

[0370] In the present disclosure, pesticides may include not only chemicals such as pesticides that can chemically kill pests, but also traps that can physically capture or kill pests.

[0371] The user device (2) may include a fourth element (K4) capable of checking the previous discovery history of pests, a fifth element (K5) capable of checking pesticide information according to the type of identified pest, a sixth element (K6) capable of checking the recommended location (KA) of the pesticide in more detail, and / or a seventh element (K7) for determining a factor used to determine the recommended location (KA) of the pesticide to be displayed on the cleaning map (M).

[0372] The user device (2) can provide information on the pest discovery history based on the selection of the fourth element (K4). The information on the pest discovery history can include various information, such as information on the discovered pest, information on the date and time of the pest discovery, and / or information on the pest's movement path.

[0373] By selecting the fourth element (K4), the user can check the locations where pests were found in the past, the time when pests were found in the past, and the types of pests found in the past.

[0374] According to the present disclosure, a user can devise a countermeasure for pest extermination by checking the pest discovery history.

[0375] The user device (2) can provide information on pesticides according to the type of pest based on the selection of the fifth element (K5). The information on pesticides can include information on pesticides used to eradicate the identified pests.

[0376] Information about pesticides may include information on purchasing pesticides. For example, the user device (2) may provide a website for purchasing pesticides to eradicate pests identified based on the selection of the fifth element (K5).

[0377] According to the present disclosure, users can check information on necessary pesticides and easily purchase them.

[0378] The user device (2) can provide detailed location information of the recommended location (KA) based on the selection of the sixth element (K6). The detailed location information of the recommended location (KA) can include image information and / or text information corresponding to the recommended location (KA).

[0379] For example, the detailed location information of the recommended location (KA) may include image information about the recommended location (KA) acquired by the robot cleaner (1). As another example, the detailed location information of the recommended location (KA) may include text information describing the detailed location of the recommended location (KA) (e.g., 'under the desk in Room 5'). However, examples of providing the detailed location information of the recommended location (KA) are not limited to the examples described above.

[0380] According to the present disclosure, a user can accurately recognize the recommended location of a pesticide and install the pesticide.

[0381] The user device (2) can select a method for determining the recommended location (KA) based on the selection for the seventh element (K7).

[0382] For example, based on the selection of an element (e.g., 'discovery point') corresponding to any one of the seventh elements (K7), the robot cleaner (1), the user device (2), and / or the server (3) can determine an expected point of pest appearance based on the pest discovery history.

[0383] As another example, based on the selection of an element (e.g., 'expected point') corresponding to another one of the seventh elements (K7), the robot cleaner (1), the user device (2), and / or the server (3) can determine an expected point of pest appearance based on sensor data (e.g., temperature data, humidity data, illuminance data, and / or dust data, etc.) acquired by at least one sensor (100) of the robot cleaner (1).

[0384] According to the present disclosure, a user can receive a recommendation location for a pesticide in a reliable manner by directly selecting a method used to determine a recommendation location for a pesticide.

[0385] Referring to Figures 15 and 16, pest control information may include the cause of pest occurrence. The cause of pest occurrence may vary. For example, pest occurrence may occur due to contamination in a given area, or due to high humidity in a given area.

[0386] In one embodiment, the robot cleaner (1), the user device (2), and / or the server (3) can determine the cause of pest occurrence based on sensor data collected from at least one sensor (100) of the robot cleaner (1). For example, the robot cleaner (1), the user device (2), and / or the server (3) can determine the cause of pest occurrence based on various environmental information (temperature information, humidity information, illuminance information, and / or dust information, etc.) acquired by at least one sensor (100) of the robot cleaner (1).

[0387] In one embodiment, the robot vacuum cleaner (1), the user device (2), and / or the server (3) may store an artificial intelligence model that can determine the cause of pest occurrence based on sensor data acquired by at least one sensor (100).

[0388] The robot vacuum cleaner (1), user device (2), and / or server (3) can obtain the cause of pest occurrence as an output value by inputting sensor data into an artificial intelligence model.

[0389] The cause of the pest outbreak may include the area (CA, YA) suspected to be the source of the pest outbreak and / or a problem in that area.

[0390] The user device (2) may provide visual information to notify the cause of pest occurrence. For example, the user device (2) may provide information on the area (CA, YA) suspected to be the cause of pest occurrence, and / or information on problems (temperature, humidity, dust, and / or illuminance) in the area.

[0391] Information about an area (CA, YA) suspected to be the source of pest infestation may include information about the location of the area on the cleaning map (M). The area (CA, YA) suspected to be the source of pest infestation may be visually distinguished from other parts of the cleaning map (M).

[0392] In one embodiment, the user device (2) may provide a method for eliminating a source of pest infestation. The method for eliminating a source of pest infestation may include a method that can be manually performed by a user and / or a method that can be automatically performed by a robot cleaner (1) and / or a home appliance (4).

[0393] Methods that can be performed manually by a user include, as previously described, installing pesticides. Furthermore, methods that can be performed manually by a user may include manual cleaning, manual operation of home appliances (4), opening windows, etc.

[0394] Methods that can be automatically performed by the robot cleaner (1) and / or the home appliance (4) may include automatic cleaning of the robot cleaner (1) and / or automatic operation of the home appliance (4).

[0395] In one embodiment, the user device (2) can receive a control command for eliminating the cause of pest occurrence. The user device (2) can transmit the control command for eliminating the cause of pest occurrence to a corresponding external device (e.g., a robot vacuum cleaner (1), a home appliance (4), and / or a docking station (5)) directly or through a server (3), and the external device can perform an operation corresponding to the control command.

[0396] Providing a method for eliminating a pest's cause may include outputting sensory information for notifying a method for eliminating a pest's cause. Providing a method for eliminating a pest's cause may include providing elements (K8, K10) for automatically performing the method for eliminating a pest's cause.

[0397] The element (K8, K10) for automatically performing the method for eliminating the cause of pest occurrence may include an eighth element (K8) for operating a robot cleaner (1) and / or a tenth element (K10) for operating a home appliance (4).

[0398] The user can input a control command to the user device (2) to eliminate the cause of pest occurrence by selecting an element (K8, K10) to automatically perform a method for eliminating the cause of pest occurrence.

[0399] The user device (2) can receive a control command for eliminating the cause of pest occurrence. For example, the user device (2) can transmit a control command corresponding to the selected element (K8, K10) to an external device (robot cleaner (1), server (3), home appliance (4), and / or docking station (5)) based on the selection of the element (K8, K10) so that a method for eliminating the cause of pest occurrence is automatically performed.

[0400] For example, a user may input a positive response to the eighth element (K8) that causes the robot cleaner (1) to perform a predetermined operation (e.g., carpet cleaning). Based on receiving the positive response to the eighth element (K8), the user device (2) may transmit a control command (e.g., carpet cleaning command) corresponding to the eighth element (K8) to the robot cleaner (1) directly or through the server (3).

[0401] As another example, a user may input a positive response to the tenth element (K10) to cause the home appliance (4) (e.g., an air conditioner (45)) to perform a predetermined operation (e.g., a dehumidifying operation). Based on receiving the positive response to the tenth element (K10), the user device (2) may transmit a control command (e.g., a dehumidifying operation command) corresponding to the tenth element (K8) to the home appliance (4) directly or through the server (3).

[0402] The home appliance (4) can be located in a space corresponding to the cleaning map (M) and can be linked to a user account as described above.

[0403] According to the present disclosure, a user can recognize a method for eliminating the cause of pest occurrence and directly exterminate pests.

[0404] According to the present disclosure, a method for eliminating the cause of pest occurrence can be performed by a user simply operating a user device (2).

[0405] Referring to Fig. 16, if a home appliance (4) capable of eliminating the cause of pest occurrence is not linked to a user account, the user device (2) may provide an interface for asking for the intention to purchase the home appliance (4).

[0406] The interface for asking about the intention to purchase a home appliance (4) may include a hyperlink element (K11) linked to a purchase site for the home appliance (4).

[0407] Users can easily purchase home appliances (4) required for pest control by selecting a hyperlink element (K11) linked to a purchase site for home appliances (4).

[0408] According to the present disclosure, users can conveniently purchase necessary home appliances.

[0409] According to the present disclosure, a manufacturer of a home appliance can induce a user to purchase the home appliance.

[0410] Fig. 17 is a flowchart illustrating an example of a process in which a robot vacuum cleaner tracks pests according to one embodiment.

[0411] The robot vacuum cleaner (1) can track pests based on the pests identified (2100).

[0412] Referring to FIG. 17, the robot cleaner (1) can stop the operation of the cleaning device (40) based on the identification of a pest (2110).

[0413] In one embodiment, the robot cleaner (1) may stop the operation of the cleaning device (40) based on the identification of a pest while operating in a cleaning mode to clean a space corresponding to a cleaning map (M) according to a cleaning schedule.

[0414] In one embodiment, the robot cleaner (1) may not operate the cleaning device (40) regardless of whether pests are identified while operating in a pest monitoring mode that monitors a space corresponding to a cleaning map (M) according to a pest monitoring schedule.

[0415] In one embodiment, the robot cleaner (1) can shine light toward the pest while tracking the pest (2120).

[0416] FIG. 18 illustrates a robot vacuum cleaner according to one embodiment irradiating light toward pests.

[0417] The control unit (200) can control the light emitting unit (111) to irradiate light (R2) toward the pest based on the location information of the pest. For example, the light emitting unit (111) can irradiate laser light (R2).

[0418] By irradiating light (R2) toward the pest with the light-emitting unit (111), light can be projected near the pest.

[0419] According to the present disclosure, when a user is near a robot vacuum cleaner (1), he / she can directly exterminate the pest by checking the light projected near the pest.

[0420] According to the present disclosure, a robot cleaner (1) tracks pests and the location of the pests can be clearly identified in an image acquired through a camera (110).

[0421] Referring again to FIG. 17, the robot cleaner (1) can track the pest while stopping the operation of the cleaning device (40) until the distance from the pest becomes closer than a predetermined distance (e.g., 20 cm).

[0422] The robot vacuum cleaner (1) can operate the cleaning device (40) (2140) based on the fact that the distance from the pest is closer than a predetermined distance (e.g., 20 cm) (example of 2130).

[0423] According to the present disclosure, pests can be prevented from running away due to noise and / or vibration generated by the cleaning device (40) of the robot vacuum cleaner (1).

[0424] According to the present disclosure, when the distance between the pest and the robot cleaner (1) becomes short, the robot cleaner (1) can prepare to capture the pest by operating the cleaning device (40).

[0425] The robot vacuum cleaner (1) can stop the operation of the cleaning device (40) when the distance from the pest becomes greater than a predetermined distance or when the pest is exterminated, even after the cleaning device (40) is operated.

[0426] The manner in which pests are exterminated includes cases in which pests are sucked in by the cleaning device (40) of the robot vacuum cleaner (1) (Example of 2160) and cases in which pests are directly exterminated by the user (No of 2160).

[0427] The robot cleaner (1) can return to the docking station (5) (2170) based on whether a pest has been sucked in by the cleaning device (40) of the robot cleaner (1) (example of 2160). The control unit (200) can control the driving device (30) to cause the robot cleaner (1) to return to the docking station (5) based on whether a pest has been sucked in by the cleaning device (40) of the robot cleaner (1).

[0428] According to the present disclosure, when a robot vacuum cleaner (1) has pests in its dust collection bin (40a), it returns to the docking station (5) immediately without performing any other actions, thereby preventing the pests from escaping or breeding.

[0429] The robot vacuum cleaner (1) can perform an operation of discharging pests into the dust collector (592) of the docking station (5) based on being combined with the docking station (5) (2180).

[0430] In one embodiment, the docking station (5) operates the suction device (550) based on the robot cleaner (1) being coupled to suck in foreign substances and / or air from the dust collector (40a) of the robot cleaner (1), so that the foreign substances can be collected in the dust collector (592).

[0431] In one embodiment, the robot cleaner (1) can transmit a control command to the docking station (5) to operate the suction device (550) through the communication unit (50) based on being coupled to the docking station (5).

[0432] In one embodiment, the docking station (5) can operate the suction device (550) based on the detection of the attachment of the robot cleaner (1) by the mounting detection sensor (510).

[0433] In the discharge stroke, the suction device (550) of the docking station (5) can be operated for a predetermined time.

[0434] The robot vacuum cleaner (1) can transmit a pesticide spraying command to the docking station (5) (2190).

[0435] For example, the robot vacuum cleaner (1) can transmit a pesticide spraying command to the docking station (5) based on the completion of the exhaust cycle of discharging pests into the dust collector (592) or during the exhaust cycle.

[0436] FIG. 19 illustrates a docking station spraying pesticide according to one embodiment.

[0437] The docking station (5) can operate the pesticide device (580) based on receiving a pesticide spraying command from the robot cleaner (1). The radiator (582) of the pesticide device (580) can spray pesticide based on receiving the pesticide spraying command.

[0438] Referring to FIG. 19, it can be seen that the pesticide device (580) is spraying pesticide toward pests captured in the dust collector (592).

[0439] Pests captured in the dust collector (592) can be eradicated without being able to escape or reproduce as pesticide is sprayed inside the dust collector (592).

[0440] According to the present disclosure, when a robot cleaner (1) captures a pest, it can effectively prevent the pest from escaping and breeding by immediately moving it to a docking station (5) and spraying pesticide.

[0441] According to various embodiments, the robot cleaner (1) may include an insecticide device for spraying an insecticide into the dust collector (40a). When the robot cleaner (1) includes an insecticide device for spraying an insecticide into the dust collector (40a), the insecticide may be sprayed into the dust collector (40a) based on the capture of pests without returning to the docking station (5).

[0442] Referring again to FIG. 17, the robot vacuum cleaner (1) can resume cleaning or surveillance driving (2165) based on whether the pest has been directly exterminated by the user (NO of 2160).

[0443] Although not shown in the drawing, the robot vacuum cleaner (1) can resume cleaning or surveillance driving based on the disappearance of pests (2165).

[0444] According to the present disclosure, if the robot cleaner (1) does not need to return to the docking station (5), the existing operation can be resumed.

[0445] A pest extermination method according to one embodiment of the present disclosure may include: a robot cleaner tracking a pest based on the pest being identified in a space corresponding to a cleaning map; and a user device providing pest extermination information including a pest extermination method according to a movement path of the pest in the cleaning map and a type of the pest.

[0446] In one embodiment, tracking the pest may include stopping operation of the cleaning device and tracking the pest.

[0447] Tracking the pest may include tracking the pest until the pest disappears from the field of view of the robot cleaner.

[0448] In one embodiment, tracking the pest may include moving the cleaning device of the robot cleaner to a position where the pest can be sucked up.

[0449] In one embodiment, the pest control method may further include the user device selecting a pest of interest from the user.

[0450] In one embodiment, tracking the pest may be performed based on the identification of the pest of interest.

[0451] In one embodiment, the pest control method may further include the user device outputting a notification notifying the discovery of the pest based on the pest being identified.

[0452] In one embodiment, outputting the notification may be performed based on the identification of the pest of interest.

[0453] In one embodiment, the movement path of the pest may include at least one of a point of discovery of the pest, a point of capture of the pest, or a point of disappearance of the pest.

[0454] In one embodiment, the pest control method may include recommending locations of pesticides on the cleaning map.

[0455] In one embodiment, the pest extermination method may further include the robot cleaner determining an expected location of the pest based on a pest discovery history or sensor data collected from at least one sensor.

[0456] In one embodiment, providing the pest control information may include providing the expected location of the pest as a recommended location for the pesticide.

[0457] In one embodiment, the pest extermination method may further include determining a cause of occurrence of the pest based on sensor data collected from at least one sensor of the robot cleaner.

[0458] In one embodiment, providing the pest control information may include providing a method for eliminating the cause of the pest occurrence.

[0459] In one embodiment, the pest control method may further include the user device receiving a control command to eliminate the cause of the pest occurrence; and the robot cleaner performing an operation corresponding to the control command.

[0460] In one embodiment, the pest control method may further include: the user device receiving a control command to eliminate the cause of the pest occurrence; and a home appliance located in a space corresponding to the cleaning map performing an operation corresponding to the control command.

[0461] In one embodiment, the pest extermination method may further include: the robot cleaner identifying the type of pest and transmitting information about the type of pest to a server; the server searching for a pest extermination method based on the type of pest; and the server transmitting the pest extermination information to the user device.

[0462] In one embodiment, the pest extermination method may further include: the robot cleaner transmitting sensor data collected from at least one sensor to a server; the server identifying a type of pest based on the sensor data; the server searching for a method for exterminating the pest based on the type of pest; and the server transmitting the pest extermination information to the user device.

[0463] In one embodiment, the pest extermination method may further include: the robot cleaner transmitting sensor data collected from at least one sensor to a server; the robot cleaner or the server identifying the type of pest based on the sensor data; the robot cleaner or the server transmitting information about the type of pest to the user device; and the user device searching for a pest extermination method based on the type of pest.

[0464] In one embodiment, the pest extermination method may further include the robot cleaner irradiating light toward the pest while tracking the pest.

[0465] In one embodiment, the pest extermination method may further include the user device outputting a notification notifying capture of the pest based on the pest being sucked up by the cleaning device of the robot cleaner.

[0466] In one embodiment, the pest extermination method may further include the robot cleaner returning to the docking station based on the pest being sucked up by the cleaning device of the robot cleaner; and discharging the pest into a dust collector of the docking station.

[0467] In one embodiment, the pest control method may further include the robot cleaner transmitting a pesticide spraying command to the docking station.

[0468] A pest extermination system according to one embodiment of the present disclosure may include a robot cleaner that tracks a pest in response to the pest being identified in a space corresponding to a cleaning map; and a user device that provides pest extermination information including a movement path of the pest in the cleaning map and a pest extermination method according to the type of the pest.

[0469] The above illustrates and describes specific embodiments. However, the invention is not limited to the above-described embodiments, and those skilled in the art will readily appreciate that various modifications and implementations can be made without departing from the spirit and scope of the invention as set forth in the claims below.

[0470] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing computer-executable instructions. The instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0471] Computer-readable storage media include all types of storage media that store instructions that can be deciphered by a computer. Examples include read-only memory (ROM), random access memory (RAM), magnetic tape, magnetic disks, flash memory, and optical data storage devices.

[0472] Additionally, a computer-readable recording medium may be provided in the form of a non-transitory storage medium. Here, the term "non-transitory storage medium" simply means a tangible device that does not contain signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is permanently stored in the storage medium and cases where data is temporarily stored. For example, a "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0473] According to one embodiment, the method according to various embodiments disclosed in the present document may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable recording medium (e.g., compact disc read only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) via an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be temporarily stored or temporarily generated on a machine-readable recording medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0474] The disclosed embodiments have been described with reference to the attached drawings as described above. Those skilled in the art will understand that the present invention can be implemented in forms other than the disclosed embodiments without modifying the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

Claims

1. A pest control method performed by a pest control system including a robot cleaner and a user device, The robot cleaner tracks pests based on the pests identified in a space corresponding to the cleaning map; A pest extermination method, comprising: providing pest extermination information including the pest extermination method according to the movement path of the pest in the cleaning map and the type of the pest; 2. In paragraph 1, Tracking the above pests, A pest control method comprising: tracking the pest until the pest disappears from the field of view of the robot cleaner.

3. In paragraph 1, Tracking the above pests, A method of exterminating pests, comprising: stopping the operation of a cleaning device and tracking said pests.

4. In paragraph 1, The user device further comprises: receiving a selection of a pest of interest from the user; Tracking the above pests, A pest control method performed based on the identification of the above pest of interest.

5. In paragraph 1, The above pest control method is, A pest control method including recommended locations of pesticides on the above cleaning map.

6. In paragraph 5, The robot cleaner further comprises determining an expected location of appearance of the pest based on the pest discovery history or sensor data collected from at least one sensor; Providing the above pest control information, A pest control method comprising: providing the expected location of the pests as a recommended location for the pesticide.

7. In paragraph 1, Further comprising: determining the cause of occurrence of the pest based on sensor data collected from at least one sensor of the robot cleaner; Providing the above pest control information, A pest control method comprising: providing a method for eliminating the cause of occurrence of the above pests.

8. In paragraph 7, The user device receives a control command to eliminate the cause of the pest occurrence; A pest control method further comprising: the robot cleaner performing an operation corresponding to the control command.

9. In paragraph 7, The user device receives a control command to eliminate the cause of the pest occurrence; A pest control method further comprising: a home appliance located in a space corresponding to the above cleaning map performing an operation corresponding to the above control command.

10. In paragraph 1, The robot cleaner identifies the type of pest and transmits information about the type of pest to the server; The server searches for the pest extermination method based on the type of the pest; A pest control method further comprising: the server transmitting the pest control information to the user device.

11. In paragraph 1, The robot cleaner transmits sensor data collected from at least one sensor to a server; The server identifies the type of pest based on the sensor data; The server searches for the pest extermination method based on the type of the pest; A pest control method further comprising: the server transmitting the pest control information to the user device.

12. In paragraph 1, A pest control method further comprising: the robot cleaner irradiating light toward the pest while tracking the pest.

13. In paragraph 1, A pest control method further comprising: the user device outputting a notification notifying capture of the pest based on the pest being sucked in by the cleaning device of the robot cleaner.

14. In paragraph 1, The robot cleaner returns to the docking station based on the pest being sucked up by the cleaning device of the robot cleaner; A pest control method further comprising: discharging the pests into a dust collector of the docking station.

15. In paragraph 14, A pest control method further comprising: the robot cleaner transmitting a pesticide spraying command to the docking station.

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