Robot that detects floor and travels, and control method therefor

Abstract

A cleaning robot that detects the floor and travels, and a cleaning robot control method are provided. The cleaning robot in the method identifies a fiber floor area through a floor detection sensor while traveling in a cleaning area, determines whether the fiber floor area is a defecation pad area on the basis of the size of the fiber floor area and / or the position of the fiber floor area on a map of the cleaning area, and avoids the fiber floor area and travels on the basis of determining that the fiber floor area is the defecation pad area.

Description

A robot that detects the floor and drives and a control method thereof

[0001] The present disclosure relates to a robot that detects the floor and drives, a method for controlling the robot, and a computer-readable recording medium having recorded thereon a computer program for performing the method for controlling the robot.

[0002] As cleaning robots evolve, their capabilities are expanding. For example, cleaning robots can perform a variety of cleaning functions and drive according to user settings. Furthermore, cleaning robots can recognize appliances or furniture through object recognition and perform cleaning operations tailored to the identified appliances or furniture. Furthermore, cleaning robots can prevent falls using fall prevention sensors. Furthermore, cleaning robots can detect carpets and increase suction power when driving on them.

[0003] However, there may be areas within a cleaning robot's cleaning area that it is desirable for the robot to avoid. For example, if a cleaning robot passes over a litter pad in a cleaning area, there is a risk that pet feces on the litter pad will be inhaled by the robot or spread throughout the surrounding area.

[0004] The above information is provided solely as background information to aid in understanding the present disclosure. No determination has been made, and no assertion is made, as to whether any of the above is applicable as prior art in connection with the present disclosure.

[0005] Aspects of the present disclosure address at least the problems and / or disadvantages mentioned above, and provide at least the advantages described below. Accordingly, one aspect of the present invention provides a robot that detects a floor while moving, a method for controlling the robot, and a computer-readable recording medium recording a computer program for executing the method.

[0006] Additional aspects will be partly explained in the following description, partly will be apparent from the description, or may be learned by practice of the presented embodiments.

[0007] According to one aspect of the present disclosure, a cleaning robot that detects a floor and drives is provided. The cleaning robot includes a driving circuit, a floor detection sensor, a memory storing one or more computer programs, and one or more processors communicatively coupled to the driving circuit, the floor detection sensor, and the memory, and the one or more computer programs include computer-executable instructions that, when the one or more processors are individually or collectively executed, cause the cleaning robot to identify a fiber floor area through the floor detection sensor while driving in a cleaning area, determine whether the fiber floor area is a toilet pad area based on at least one of a size of the fiber floor area or a location of the fiber floor area on a map of the cleaning area, and control a driving module based on the determination that the fiber floor area is a toilet pad area to drive while avoiding the fiber floor area.

[0008] According to another aspect of the present disclosure, a method is provided for detecting a floor while moving, performed by a cleaning robot. The method may include: identifying a fiber floor area while the cleaning robot is moving in a cleaning area; determining, by the cleaning robot, whether the fiber floor area is a toilet pad area based on at least one of a size of the fiber floor area or a location of the fiber floor area on a map of the cleaning area; and avoiding the fiber floor area while moving based on the cleaning robot determining that the fiber floor area is a toilet pad area.

[0009] According to another aspect of the present disclosure, one or more computer-readable recording media are provided storing one or more computer programs comprising computer-executable instructions that, when individually or collectively executed by one or more processors of a cleaning robot, cause the cleaning robot to perform operations. The operations may include: identifying a fiber floor area while the cleaning robot is driving in a cleaning area; determining, by the cleaning robot, whether the fiber floor area is a toilet pad area based on at least one of a size of the fiber floor area or a location of the fiber floor area on a map of the cleaning area; and driving while avoiding the fiber floor area based on determining, by the cleaning robot, that the fiber floor area is a toilet pad area.

[0010] Other aspects, advantages and salient features of the present disclosure will become apparent to those skilled in the art from the following detailed description of various embodiments of the present disclosure taken in conjunction with the accompanying drawings.

[0011] The above and other aspects, features and advantages of specific embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings.

[0012] FIG. 1 illustrates an environment in which a cleaning robot determines whether to enter a fiber floor area based on at least one of the size or location of the fiber floor area, according to one embodiment of the present disclosure.

[0013] FIG. 2 illustrates a block diagram of a cleaning robot according to one embodiment of the present disclosure.

[0014] FIG. 3 illustrates a flowchart of a method for a cleaning robot to drive based on at least one of a size or a position of a fiber floor area, according to one embodiment of the present disclosure.

[0015] FIG. 4 illustrates a method for a cleaning robot to detect a floor material according to one embodiment of the present disclosure.

[0016] FIG. 5 illustrates a method for a cleaning robot to clean a fiber floor area according to one embodiment of the present disclosure.

[0017] FIGS. 6A to 6C illustrate a method for a cleaning robot to identify a fiber floor area according to various embodiments of the present disclosure.

[0018] FIGS. 7A and 7B illustrate a method for a cleaning robot to identify a fiber floor area close to a wall, according to various embodiments of the present disclosure.

[0019] FIG. 8 illustrates a method for a cleaning robot to determine the use of fibers laid on a fiber floor area based on the size of the fiber floor area, according to one embodiment of the present disclosure.

[0020] FIG. 9 illustrates a method for a cleaning robot to determine the use of fibers laid on a fiber floor area based on the location of the fiber floor area, according to one embodiment of the present disclosure.

[0021] FIG. 10 illustrates a method for a cleaning robot to determine the use of fibers laid on a fiber floor area based on the size and location of the fiber floor area, according to one embodiment of the present disclosure.

[0022] FIG. 11 illustrates a method for a cleaning robot to drive while avoiding a toilet pad according to one embodiment of the present disclosure.

[0023] FIG. 12 is a flowchart of a method for a cleaning robot to avoid a litter pad area based on a user input setting a fiber floor area as a litter pad area, according to one embodiment of the present disclosure.

[0024] FIG. 13 illustrates a user interface for determining whether a fiber floor area detected by a cleaning robot is a pee pad area based on user confirmation, according to one embodiment of the present disclosure.

[0025] FIG. 14 illustrates a user interface for entering a use for a fiber floor area identified by a cleaning robot according to one embodiment of the present disclosure.

[0026] FIG. 15 is a flowchart of a method for cleaning a fiber floor area based on a user input setting a fecal pad detectable area by a cleaning robot according to one embodiment of the present disclosure.

[0027] FIG. 16 illustrates a user interface for setting a stool pad detectable area on a map according to one embodiment of the present disclosure.

[0028] FIG. 17 illustrates a flowchart illustrating a method for a cleaning robot to detect a fiber floor area according to a driving mode, according to one embodiment of the present disclosure.

[0029] FIG. 18 is a flowchart of a method for a cleaning robot to avoid a litter pad by referring to a litter pad area on a map according to one embodiment of the present disclosure.

[0030] FIGS. 19A and 19B illustrate a method for a cleaning robot to avoid a litter pad by referencing a litter pad area on a map, according to various embodiments of the present disclosure.

[0031] FIG. 20 is a flowchart of a method for a cleaning robot to avoid a litter pad by referring to a litter pad area on a map, according to one embodiment of the present disclosure.

[0032] FIG. 21 illustrates a method for a cleaning robot to avoid a litter pad by referring to a litter pad area on a map, according to one embodiment of the present disclosure.

[0033] FIG. 22 illustrates a block diagram of a cleaning robot according to one embodiment of the present disclosure.

[0034] It should be noted that throughout the drawings, similar reference numbers are used to describe identical or similar elements, features and structures.

[0035] The following description, with reference to the accompanying drawings, is provided to facilitate a comprehensive understanding of various embodiments of the disclosure as defined by the claims and their equivalents. While it includes numerous specific details to aid understanding, these should be considered merely illustrative. Accordingly, those skilled in the art will recognize that various modifications and variations can be made to the various embodiments described herein without departing from the scope and spirit of the present disclosure. Furthermore, descriptions of known functions and configurations may be omitted for clarity and brevity.

[0036] The terms and words used in the following description and claims are not to be construed as limited to their bibliographic meanings, but rather have been used by the inventors solely to facilitate a clear and consistent understanding of the present disclosure. Therefore, it should be apparent to those skilled in the art that the following description of various embodiments of the present disclosure is provided for illustrative purposes only and is not intended to limit the present disclosure as defined by the appended claims and their equivalents.

[0037] The singular forms "a," "an," and "the" should be understood to include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a surface of a part" includes reference to one or more such surfaces.

[0038] In this disclosure, the expression “at least one of a, b or c” may refer to “a”, “b”, “c”, “a and b”, “a and c”, “b and c”, “all of a, b and c”, or variations thereof.

[0039] Below, with reference to the attached drawings, embodiments of the present disclosure are described in detail so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. Furthermore, in the drawings, parts irrelevant to the description are omitted for clarity of description of the present disclosure, and similar parts are designated with similar reference numerals throughout the specification.

[0040] The terms used in this disclosure are described as currently common terms, taking into account the functions mentioned herein. However, these terms may mean various other terms depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Therefore, the terms used in this disclosure should not be interpreted solely based on their names, but rather based on the meanings of the terms and the overall content of this disclosure.

[0041] Additionally, while terms such as first, second, etc. may be used to describe various components, the components should not be limited by these terms. These terms are used to distinguish one component from another.

[0042] Furthermore, the terminology used in this disclosure is merely used to describe specific embodiments and is not intended to limit the present disclosure. Furthermore, throughout the specification, when a part is said to be "connected" to another part, this includes not only cases where it is "directly connected," but also cases where it is "electrically connected" with another element in between. Furthermore, when a part is said to "include" a component, this does not exclude other components unless specifically stated otherwise, but rather means that it may further include other components.

[0043] The phrases “in some embodiments” or “in an embodiment” appearing in various places throughout this specification are not necessarily all referring to the same embodiment.

[0044] One embodiment of the present disclosure provides a cleaning robot for identifying a fiber floor area and a control method thereof.

[0045] In addition, one embodiment of the present disclosure provides a cleaning robot that distinguishes between other fibers and a diaper pad and a control method thereof.

[0046] In addition, one embodiment of the present disclosure provides a cleaning robot that drives while avoiding a toilet pad and a control method thereof.

[0047] In addition, one embodiment of the present disclosure provides a cleaning robot that identifies a carpet or rug and a control method thereof.

[0048] It should be recognized that each block of the flowchart and the combination of flowcharts can be performed by one or more computer programs containing computer-executable instructions. The one or more computer programs may be stored entirely in a single memory device, or the one or more computer programs may be divided into different parts stored in different memory devices.

[0049] Any function or operation described herein may be processed by a single processor or a combination of processors. A single processor or a combination of processors is a circuit that performs processing, and may include an application processor (AP, e.g., a central processing unit (CPU)), a communication processor (CP, e.g., a modem), a graphics processing unit (e.g., a CPU), a neural processing unit (NPU) (e.g., an artificial intelligence (AI) chip), a Wi-Fi chip, or a Bluetooth chip. TMIt includes circuits such as chips, global positioning system (GPS) chips, near field communication (NFC) chips, connection chips, sensor controllers, touch controllers, fingerprint sensor controllers, display driver integrated circuits (ICs), audio codec chips, universal serial bus (USB) controllers, camera controllers, image processing ICs, microprocessor units (MPUs), systems on chips (SoCs), ICs, etc.

[0050] FIG. 1 illustrates an environment in which a cleaning robot (1000) determines whether to enter a fiber floor area based on at least one of the size or location of the fiber floor area, according to one embodiment of the present disclosure.

[0051] Referring to FIG. 1, the cleaning robot (1000, shown in FIGS. 2 and 4) can identify a fiber floor area (10 or 20) and determine the purpose or type of object of the fibers laid on the fiber floor area (10 or 20) based on at least one of the size of the identified fiber floor area (10 or 20) or the location on the map (100).

[0052] The fiber floor area (10 or 20) may refer to an area of ​​a floor made of fiber. The cleaning robot (1000) can detect the material of the floor on which the cleaning robot (1000) is located through a floor detection sensor. For example, the cleaning robot (1000) can determine whether the material of the floor is a fiber material through an infrared sensor provided on the lower surface of the cleaning robot (1000). Upon detecting a fiber material floor, the cleaning robot (1000) can begin to identify the size and location of the fiber floor area (10 or 20).

[0053] The cleaning robot (1000) can detect multiple surrounding locations where the fiber floor is detected based on a predetermined driving pattern as the fiber floor is detected through the floor detection sensor. Based on the multiple surrounding locations where the fiber floor is detected, the cleaning robot (1000) can identify the fiber floor area (10 or 20).

[0054] The cleaning robot (1000) can determine the purpose or type of object of the fibers laid on the fiber floor area (10 or 20) based on at least one of the size of the identified fiber floor area (10 or 20) or the location on the map (100). For example, if the size of the fiber floor area (20) is larger than the reference pad size, the cleaning robot (1000) can determine the purpose of the fibers as a carpet. In addition, for example, if the location of the fiber floor area is near the border between adjacent rooms, the cleaning robot (1000) can determine the purpose of the fibers as a rug. In addition, for example, if the size of the fiber floor area (10) is smaller than the reference pad size and the location of the fiber floor area (10) is a hallway, the cleaning robot (1000) can determine the purpose of the fibers as a toilet pad.

[0055] The cleaning robot (1000) can determine whether to enter the fiber floor area (10 or 20) based on the purpose of the fibers laid on the fiber floor area (10 or 20). For example, if the fiber floor area (10 or 20) is a carpet or a rug, the cleaning robot (1000) can enter the fiber floor area (10 or 20) and perform dry cleaning. In addition, for example, if the fiber floor area (10 or 20) is a toilet pad, the cleaning robot (1000) can avoid the fiber floor area (10 or 20) and drive accordingly.

[0056] According to one embodiment of the present disclosure, the cleaning robot (1000) can move over the fiber floor area (10 or 20) with increased suction power based on determining that the fiber floor area (10 or 20) is not an area of ​​a toilet pad.

[0057] According to one embodiment of the present disclosure, the cleaning robot (1000) can determine that the fiber floor area (10 or 20) is a toilet pad area based on the size of the fiber floor area. The cleaning robot (1000) can update the map of the cleaning area to include the location of the toilet pad area. According to one embodiment of the present disclosure, the cleaning robot (1000) can move while avoiding the fiber floor area (10 or 20) by driving away from the fiber floor area (10 or 20) by a predetermined distance.

[0058] According to one embodiment of the present disclosure, the cleaning robot (1000) may output a notification indicating that a fecal pad has been detected when the fiber floor area (10 or 20) is a fecal pad.

[0059] According to one embodiment of the present disclosure, the cleaning robot (1000) can determine the identified fiber floor area (10 or 20) as a toilet pad area based on a user input setting the identified fiber floor area (10 or 20) as a toilet pad area.

[0060] According to one embodiment of the present disclosure, the cleaning robot (1000) can determine the fiber floor area (10 or 20) as a toilet pad area based on whether the fiber floor area (10 or 20) is located within a toilet pad detectable area set by the user.

[0061] According to one embodiment of the present disclosure, the user device (2000) can receive a user input for setting a fiber floor area (10 or 20) indicated on a map (100) as a no-entry area. Based on receiving information indicating that the fiber floor area (10 or 20) is set as a no-entry area, the cleaning robot (1000) can drive while avoiding the fiber floor area (10 or 20). By distinguishing between carpets, rugs, and toilet pads, the cleaning robot (1000) can solve the problem of driving on toilet pads.

[0062] FIG. 2 illustrates a block diagram of a cleaning robot (1000) according to one embodiment of the present disclosure.

[0063] Referring to FIG. 2, the cleaning robot (1000) may include a processor (1100), memory (1400), a floor detection sensor (1710), and a driving module (1800).

[0064] The cleaning robot (1000) may include a dry cleaning robot, a wet cleaning robot for mopping, and a cleaning robot that performs dry cleaning and wet cleaning simultaneously.

[0065] The processor (1100) can control the overall operation of the cleaning robot (1000). The processor (1100) can control the driving module (1800) and the floor detection sensor (1710) by executing at least one instruction or program stored in the memory (1400).

[0066] The memory (1400) can store instructions or programs for processing and controlling the processor (1100).

[0067] The driving module (1800) moves the main body of the cleaning robot (1000). The driving module (1800) is driven according to a control signal set by the processor (1100). The processor (1100) sets a driving path, generates a control signal to move the cleaning robot (1000) according to the driving path, and outputs the control signal to the driving module (1800). The driving module (1800) may include a motor that rotates the wheels of the robot (1000) and a timing belt that is installed to transmit power generated from the rear wheels to the front wheels.

[0068] The floor detection sensor (1710) may include, but is not limited to, an infrared sensor, an ultrasonic sensor, an RGB sensor, and an infrared camera. The floor detection sensor (1710) is provided on the underside of the cleaning robot (1000) and can receive light reflected from the floor.

[0069] For example, if the floor detection sensor (1710) is an infrared light sensor, the processor (1100) can control the infrared light sensor to periodically irradiate infrared light toward the floor and receive infrared light reflected from the floor. If the ratio of the amount of infrared light reflected from the floor and received by the infrared light sensor to the amount of infrared light irradiated by the infrared light sensor is less than or equal to a reference ratio, the processor (1100) can determine that the material of the floor is fiber.

[0070] According to one embodiment of the present disclosure, the processor (1100) can identify a fiber floor area through the floor detection sensor (1710) while the cleaning robot (1000) is driving in the cleaning area. In addition, the processor (1100) can determine whether to enter the fiber floor area based on at least one of the size of the fiber floor area or the location of the fiber floor area on the map of the cleaning area. In addition, the processor (1100) can control the driving module to move while avoiding the fiber floor area based on the determination that the cleaning robot (1000) will not enter the fiber floor area.

[0071] FIG. 3 illustrates a flowchart of a method for a cleaning robot (1000) to drive based on at least one of the size or position of a fiber floor area according to one embodiment of the present disclosure.

[0072] In step S310, the cleaning robot (1000) can identify a fiber floor area while driving in the cleaning area.

[0073] The cleaning robot (1000) can detect a fiber floor using a floor detection sensor while moving in the cleaning area. Upon detecting a fiber floor, the cleaning robot (1000) can initiate a process of identifying the fiber floor area. For example, the cleaning robot (1000) can detect multiple surrounding locations where a fiber floor is detected based on a predetermined driving pattern, and identify the fiber floor area based on the multiple surrounding locations.

[0074] In step S320, the cleaning robot (1000) can determine whether the fiber floor area is a toilet pad area based on at least one of the size of the fiber floor area or the location of the fiber floor area on a map of the cleaning area.

[0075] The cleaning robot (1000) can determine whether the fiber floor area is a toilet pad area based on the size of the fiber floor area. For example, the cleaning robot (1000) can determine that the fiber floor area is a carpet based on determining that the size of the fiber floor area is larger than the reference pad size.

[0076] The cleaning robot (1000) can determine whether the fiber floor area is a toilet pad area based on the location of the fiber floor area on the map. For example, if the location of the fiber floor area is a wall or a corner of a wall, the cleaning robot (1000) can determine that the fiber floor area is a toilet pad area.

[0077] The cleaning robot (1000) may determine that the fiber floor area is a toilet pad area based on the size of the fiber floor area and the location of the fiber floor area on the map. For example, the cleaning robot (1000) may determine that the fiber floor area is a toilet pad area based on the size of the fiber floor area being smaller than the reference pad size and the location of the fiber floor area being within a predetermined location range on the map.

[0078] Additionally, for example, the cleaning robot (1000) may determine that the fiber floor area is a toilet pad area based on the fact that the size of the fiber floor area is smaller than the reference pad size and the location of the fiber floor area is not near the boundary between rooms within the map.

[0079] Additionally, for example, the cleaning robot (1000) may determine that a rug is placed on a fiber floor area based on the size of the fiber floor area being smaller than or equal to the reference pad size and the location of the fiber floor area being near the boundary between rooms within the map.

[0080] Additionally, for example, the cleaning robot (1000) may determine that a fecal pad is placed on the fiber floor area based on the fact that the size of the fiber floor area is smaller than or equal to the reference pad size and the location of the fiber floor area is near the end of a corridor within the map or near the corner of a wall.

[0081] The cleaning robot (1000) can determine whether the fiber floor area is a toilet pad area based on at least one of the size of the fiber floor area, the location of the fiber floor area on a map, or the shape of the fiber floor area. For example, the cleaning robot (1000) can capture a photo of the fiber floor area using an image sensor, identify the shape of the fiber floor area in the captured image, and if the identified shape is not a predetermined rectangle, ellipse, or circle, determine that the fiber floor area is not a toilet pad area even if the size and location conditions are satisfied.

[0082] The cleaning robot (1000) can determine whether the fiber floor area is a pee pad area based on a user input setting the fiber floor area as a pee pad area. For example, the cleaning robot (1000) can transmit information regarding the location of the fiber floor area to a server. Furthermore, the cleaning robot (1000) can receive information from the server indicating that the fiber floor area is a pee pad area based on a user input setting the fiber floor area as a pee pad area on a map. Furthermore, the cleaning robot (1000) can determine that the fiber floor area is a pee pad area based on the received information.

[0083] The cleaning robot (1000) can determine whether a fiber floor area is a pee pad area based on a pee pad detectable area set by a user. For example, the cleaning robot (1000) can receive map information including a pee pad detectable area from a server based on a user input that sets a portion of a cleaning area on a map of a cleaning area as a pee pad detectable area. In addition, the cleaning robot (1000) can determine that a fiber floor area is a pee pad area based on the fiber floor area being located within the pee pad detectable area.

[0084] In step S330, the cleaning robot (1000) can drive while avoiding the fiber floor area based on determining that the fiber floor area is a fecal pad area.

[0085] The cleaning robot (1000) can drive at a predetermined distance from the toilet pad area.

[0086] The cleaning robot (1000) may output a blinking or alarm sound indicating that it has discovered a toilet pad area based on determining that the fiber floor area is a toilet pad area.

[0087] The cleaning robot (1000) may stop wet cleaning and perform dry cleaning within the fiber floor area based on a determination that it is entering a fiber floor area while performing wet cleaning together with dry cleaning.

[0088] The cleaning robot (1000) can identify a fiber floor area based on a predetermined pattern, determine that the identified fiber floor area is a toilet pad area, and store map information indicating that the identified fiber floor area is a toilet pad area. In addition, the cleaning robot (1000) can drive while avoiding the toilet pad area based on the stored map information.

[0089] After the identified pee pad area is stored as map information, the cleaning robot (1000) can start driving based on the stored map during the next drive. In this case, the cleaning robot (1000) can determine that the detected pee pad is part of the pee pad based on the detection of a fiber floor within a surrounding area including the pee pad area while driving based on the stored map. In addition, the cleaning robot (1000) can drive while avoiding the detected pee pad without identifying the fiber floor area including the detected pee pad based on the determination that the detected pee pad is part of the pee pad.

[0090] Additionally, the cleaning robot (1000) can update the location of the toilet pad area on the map based on the detection of a fiber floor within a surrounding area including the toilet pad area while driving based on stored map information. Additionally, the cleaning robot (1000) can drive while avoiding the updated toilet pad area.

[0091] FIG. 4 illustrates a method for a cleaning robot (1000) to detect a material of a floor according to one embodiment of the present disclosure.

[0092] Referring to FIG. 4, the cleaning robot (1000) can detect the material of the floor on which the cleaning robot (1000) is located through the floor detection sensor (1710).

[0093] As shown in the left picture of FIG. 4, the cleaning robot (1000) may be positioned on a non-fiber floor (410). The non-fiber floor (410) may be a finished floor of a room finished with a material such as ceramic tile, marble tile, porcelain tile, wood, vinyl tile, or vinyl flooring. In addition, the non-fiber floor (410) may include a vinyl mat, wooden mat, or plastic mat laid on the finished floor.

[0094] Additionally, as shown in the right picture of FIG. 4, the cleaning robot (1000) can detect a fiber floor (420). The fiber floor (420) may include a carpet, rug, or excrement pad laid on a non-fiber floor (410). Additionally, the fiber floor (420) may be a finished floor in a room finished with a carpet material.

[0095] The floor detection sensor (1710) may be positioned at the front of the cleaning robot (1000). For example, the floor detection sensor (1710) may be positioned ahead of the battery, brush, wheel, and mop pad devices. Accordingly, the cleaning robot (1000) can identify the floor material as being made of fiber through the floor detection sensor (1710) before the brush, wheel, and mop pad touch the fiber floor.

[0096] The floor detection sensor (1710) may be installed at a height of 30 mm from the floor, but is not limited thereto.

[0097] The floor detection sensor (1710) may include, but is not limited to, an infrared sensor, an ultrasonic sensor, an RGB sensor, and an infrared camera.

[0098] When the floor detection sensor (1710) is an infrared sensor or an ultrasonic sensor, the floor detection sensor (1710) can irradiate infrared light or ultrasonic waves toward the floor. When the floor is a hard floor such as a wooden or ceramic floor, most of the infrared light or ultrasonic waves irradiated to the floor are reflected and can be received again by the floor detection sensor (1710). However, when the floor is a fibrous material such as a carpet, rug, or toilet pad, the infrared light or ultrasonic waves irradiated to the floor are diffusely reflected and only a portion of them are received by the floor detection sensor (1710).

[0099] According to one embodiment of the present disclosure, the processor (1100) can control an infrared light sensor to periodically irradiate infrared light toward the floor and receive infrared light reflected from the floor. If the ratio of the amount of infrared light reflected from the floor and received by the infrared light sensor to the amount of infrared light irradiated by the infrared light sensor is less than or equal to a reference ratio, the processor (1100) can determine that the material of the floor is fiber.

[0100] According to one embodiment of the present disclosure, the processor (1100) can control an ultrasonic sensor to periodically irradiate ultrasonic waves toward the floor and receive ultrasonic waves reflected from the floor. If the ratio of the amount of ultrasonic waves reflected from the floor and received by the ultrasonic sensor to the amount of ultrasonic waves irradiated by the ultrasonic sensor is less than or equal to a reference ratio, the processor (1100) can determine that the material of the floor is fiber.

[0101] According to one embodiment of the present disclosure, when the floor detection sensor (1710) is an RGB camera, the floor detection sensor (1710) can capture a picture of the floor where the cleaning robot (1000) is located or the floor located in front of the cleaning robot (1000). The processor (1100) can capture a picture of the floor through the RGB camera and perform object recognition to detect a carpet, rug, or toilet pad within the captured image.

[0102] According to one embodiment of the present disclosure, when the floor detection sensor (1710) is an infrared camera, the floor detection sensor (1710) can irradiate infrared light in a predetermined pattern shape toward the floor. In addition, the floor detection sensor (1710) can receive infrared light reflected from the floor through the infrared light sensor. The processor (1100) can generate an infrared light image based on the infrared light received by the floor detection sensor (1710), and if the coincidence rate between the shape in the generated image and the predetermined pattern shape is below a standard, the processor can determine that the material of the floor is fiber.

[0103] According to one embodiment of the present disclosure, the processor (1100) may determine whether the floor is made of a fabric material based on at least one of a load of a brush motor, a load of a wheel motor, or a sensor value of an IMU (Inertial Measurement Unit) sensor. For example, if the load of the brush motor or the load of the wheel motor is higher than a reference value, the processor (1100) may determine that the floor on which the cleaning robot (1000) is located is made of a fabric material. In addition, for example, even if the load of the brush motor or the load of the wheel motor is higher than a reference value, the processor (1100) may determine that the floor on which the cleaning robot (1000) is located is not made of a fabric material if the sensor value of the IMU sensor is outside a reference range. The IMU sensor may detect the inertia of a device equipped with the IMU sensor. In addition, the IMU sensor may detect the inclination of the device equipped with the IMU sensor. In addition, the IMU sensor may include at least one of a gyroscope, an acceleration sensor, or a geomagnetic sensor.

[0104] FIG. 5 illustrates a method for a cleaning robot (1000) to clean a fiber floor area according to one embodiment of the present disclosure.

[0105] Referring to the left side of FIG. 5, the cleaning robot (1000) may determine to initiate carpet cleaning based on determining that the fiber floor area is a carpet while performing dry and wet cleaning in parallel. Upon determining to initiate carpet cleaning, the cleaning robot (1000) may stop the operation of the wet cleaning module, raise the mop pad, and then ascend onto the carpet. This prevents the carpet from becoming wet or dirty due to the mop pad.

[0106] Additionally, the cleaning robot (1000) can increase suction power to a preset level corresponding to a carpet based on determining that the fiber floor area is a carpet. Accordingly, dust caught in the carpet can be more strongly sucked up.

[0107] Referring to the right side of FIG. 5, the cleaning robot (1000) can detect a non-fiber floor while cleaning the carpet on the carpet. The non-fiber floor may be a hard finished floor.

[0108] Based on the detection of a non-fiber floor, the cleaning robot (1000) may decide to stop cleaning the carpet and move down to the non-fiber floor. Alternatively, based on the completion of carpet cleaning, the cleaning robot (1000) may decide to stop cleaning the carpet and move down to the non-fiber floor.

[0109] Based on the decision to descend to a non-fabric floor, the cleaning robot (1000) can lower the mop pad and resume operation of the wet cleaning module. Additionally, the cleaning robot (1000) can lower the suction power back to the level it had before carpet cleaning.

[0110] FIGS. 6A to 6C illustrate a method for a cleaning robot (1000) to identify a fiber floor area according to various embodiments of the present disclosure.

[0111] Referring to FIG. 6a, the cleaning robot (1000) can search the surrounding area based on a predetermined driving pattern as the fiber material floor is detected through the floor detection sensor (1710).

[0112] The predetermined driving pattern may be, for example, a pattern of moving backwards, then turning counterclockwise, and moving in an elliptical motion to the upper left. Alternatively, the predetermined driving pattern may be, for example, a pattern of moving backwards, then turning clockwise, and moving in an elliptical motion to the upper right.

[0113] The cleaning robot (1000) can detect a fiber floor as shown in Figure ② through the floor detection sensor (1710) while driving straight as shown in Figure ①. Upon detecting the fiber floor, the cleaning robot (1000) can decide to start an identification process for the fiber floor area (610) based on a predetermined driving pattern. In addition, the cleaning robot (1000) can store a location on a map corresponding to a location (620a, also referred to as a first location) where the fiber floor is detected.

[0114] First, as shown in Figure ③, the cleaning robot (1000) can move backward a predetermined distance. Then, as shown in Figure ④, the cleaning robot (1000) can rotate a predetermined angle (e.g., 45 degrees) in a clockwise direction. Subsequently, the cleaning robot (1000) can move to the upper left according to the first pattern as shown in Figure ⑤, and then move to the upper left according to the second pattern as shown in Figure ⑥. Based on the detection of a fiber floor again while moving along the predetermined pattern, the cleaning robot (1000) can store a location on the map corresponding to the location (620b, also referred to as the second location) where the fiber floor is detected.

[0115] Referring to FIG. 6b, the cleaning robot (1000) can detect a plurality of fiber material floors along the perimeter of the fiber floor area (610) by repeating driving in a predetermined driving pattern.

[0116] The predetermined driving pattern may be, for example, a pattern of rotating a predetermined angle counterclockwise and then moving in an elliptical pattern to the upper left.

[0117] As illustrated in FIG. 6B, the cleaning robot (1000) can detect a fiber floor at a first position (620a) while driving. Based on the detection of the fiber floor while driving, the cleaning robot (1000) can determine to start an identification process for the fiber floor area (610). By determining to start the identification process for the fiber floor area (610), the cleaning robot (1000) can detect a second position (620b) to an eighth position (620h) of the fiber floor area (610) by repeating driving in a predetermined pattern.

[0118] For example, as illustrated in FIG. 6B, the cleaning robot (1000) can detect a fiber floor at a second location (620b) by driving based on a predetermined driving pattern at a location (620a) where a fiber floor is first detected. Subsequently, the cleaning robot (1000) can detect a fiber floor at a third location (620c) by driving based on the predetermined driving pattern at the second location (620b). Using the same pattern, the cleaning robot (1000) can detect a fiber floor at the fourth to eighth locations (620d, 620e, 620f, 620g, 620h).

[0119] Additionally, the cleaning robot (1000) can determine locations on the map of the cleaning area corresponding to the first location (620a) to the eighth location (620h). For example, the cleaning robot (1000) can identify a location on the map corresponding to the first location (620a) where a fiber-material floor is detected based on the current location of the cleaning robot (1000) on the map.

[0120] Referring to the first left picture of FIG. 6c, the cleaning robot (1000) can detect a plurality of fiber material floors (620a to 620f) along the perimeter of the fiber floor area (610).

[0121] Referring to the second picture from the left in FIG. 6c, the cleaning robot (1000) can create a closed loop (630) by connecting the floors (620a to 620f) made of fiber material.

[0122] According to one embodiment of the present disclosure, the cleaning robot (1000) can connect adjacent locations by detecting locations (620a to 620f) where a fiber-material floor is detected. If a closed loop (630) is created when connecting adjacent locations (620a to 620f), the cleaning robot (1000) can stop detecting the surrounding locations of the fiber-material.

[0123] According to one embodiment of the present disclosure, when the last position where the floor of the fiber material was detected is between adjacent positions among previously detected positions (620a to 620f), the cleaning robot (1000) may stop detecting the surrounding positions of the fiber material and connect the previously detected positions (620a to 620f) between adjacent positions to create a closed loop (630).

[0124] Referring to the third picture from the left in FIG. 6c, the cleaning robot (1000) can determine the area (650) surrounding the closed loop (630) as the area representing the fiber floor area (610).

[0125] According to one embodiment of the present disclosure, the cleaning robot (1000) can determine a rectangular area (650) having four sides separated by a predetermined margin distance (α in the third drawing of FIG. 6c) from the outer points (620b, 620c, 620e, 620f) of the closed loop (630) as an area representing the fiber floor area (610).

[0126] Accordingly, referring to the fourth picture from the left in FIG. 6c, the area (650) representing the fiber bottom area (610) may be larger than the actual fiber bottom area (610).

[0127] Additionally, the cleaning robot (1000) can store the location of the area (650) representing the fiber floor area (610) as map information. In addition, referring to the right picture of FIG. 6C, the user device (2000) can display an image (655) of the area (650) representing the fiber floor area (610) when displaying a map image (601) of the cleaning area.

[0128] FIGS. 7A and 7B illustrate a method for a cleaning robot (1000) to identify a fiber floor area close to a wall, according to various embodiments of the present disclosure.

[0129] Referring to FIG. 7A, the cleaning robot (1000) can detect the location of a wall using a position recognition sensor (e.g., LiDAR) while driving. Based on determining that the fiber floor area (710) is close to the wall, the cleaning robot (1000) can identify the wall as the boundary of the fiber floor area (710).

[0130] Referring to the left picture of FIG. 7A, the cleaning robot (1000) can detect a floor made of fiber material while driving, and store the location on the map of the cleaning area corresponding to the detected location (720a). In addition, the cleaning robot (1000) can detect a floor made of fiber material at a second location (720b) ​​by driving based on a predetermined driving pattern from the first detected location (720a). For example, as shown in Figure ①, the cleaning robot (1000) can detect a floor made of fiber material at the second location (720b) ​​by rotating counterclockwise in place at a predetermined angle from the first location (720a) and then driving clockwise while drawing an ellipse. Subsequently, as shown in Figure ②, the cleaning robot (1000) can detect a floor made of fiber material at a third location (720c) by driving based on a predetermined driving pattern from the second location (720b).

[0131] If the fiber floor area (710) is located close to a wall, as shown in Figure ③, the cleaning robot (1000) may hit a wall when driving based on the same driving pattern at the third position (720c). If the cleaning robot hits a wall while identifying the fiber floor area (710), as shown in Figure ④, the cleaning robot (1000) may move to a non-detected position. For example, the cleaning robot (1000) may search for a fiber floor while moving from the first position (720a) to a point (725) located in the opposite direction from the direction from the first position (720a) to the second position (720b). If the fiber floor is not detected while moving to the point (725) located in the opposite direction, the cleaning robot (1000) may identify the fiber floor area (710) while driving in a pattern opposite to the previous driving pattern.

[0132] For example, as shown in Figure ⑤, the cleaning robot (1000) may detect a fiber floor at the fourth position (720d) while moving counterclockwise in an ellipse. Subsequently, the cleaning robot (1000) may rotate clockwise at the fourth position (720d) and then may collide with a wall while moving counterclockwise in an ellipse. In this case, the cleaning robot (1000) may stop detecting the fiber floor around the fiber floor area (710) and identify the position and size of the fiber floor area (710) based on the detected positions (720a to 720d).

[0133] Referring to the right side of FIG. 7a, the cleaning robot (1000) connects adjacent locations, and among the locations (720a to 720d) where a floor made of fiber material is detected, the locations (720c, 720d) adjacent to the wall are connected perpendicularly to the wall, thereby creating a closed loop (730) including the wall surface.

[0134] According to one embodiment of the present disclosure, the cleaning robot (1000) may determine a rectangular area (750) surrounding the closed loop (730) as an area representing a fiber floor area (710). In this case, the cleaning robot (1000) may determine a rectangular area (750) having sides separated by a predetermined margin distance (α in the right drawing of FIG. 7A) from the outer points (720b, 720c, 720d) of the closed loop (730) as three sides of the rectangle and a wall as one side as an area representing a fiber floor area (710). Accordingly, the area (750) representing the fiber floor area (710) may be larger than the actual fiber floor area (710).

[0135] Referring to FIG. 7b, when a fiber floor area (710) is located at an edge where two walls meet, the cleaning robot (1000) can identify the fiber floor area (710) by considering the two walls.

[0136] Referring to the left picture of FIG. 7B, the cleaning robot (1000) can detect a floor made of fiber material while driving, and store a location on the map of the cleaning area corresponding to the detected location (730a, also referred to as the first location). In addition, the cleaning robot (1000) can detect a floor made of fiber material at a second location (730b) as it drives based on a predetermined driving pattern from the first detected location (730a). For example, as shown in Figure ①, the cleaning robot (1000) can detect a floor made of fiber material at the second location (730b) as it rotates counterclockwise in place at a predetermined angle from the first location (730a) and then drives clockwise while drawing an ellipse. Subsequently, as shown in Figure ②, the cleaning robot (1000) can detect a floor made of fiber material at a third location (730c) as it drives based on a predetermined driving pattern from the second location (730b).

[0137] When the fiber floor area (710) is located close to a wall, as shown in Figure ③, the cleaning robot (1000) may hit a wall while driving based on the same driving pattern at the third position (730c). When hitting a wall while identifying the fiber floor area (710), the cleaning robot (1000) may move to a non-detected position, as shown in Figure ④. For example, the cleaning robot (1000) may search for a fiber floor while moving in the opposite direction from the first position (730a) to the second position (730b), based on the first position (730a). Based on hitting a wall again while moving in the opposite direction, the cleaning robot (1000) may stop detecting the fiber floor around the fiber floor area (710) and identify the position and size of the fiber floor area (710) based on the detected positions (730a to 730c).

[0138] Referring to the right picture of FIG. 7b, the cleaning robot (1000) connects adjacent positions, and among the positions (730a to 730c) where a floor made of fiber material is detected, positions (730a, 730c) adjacent to a wall are connected perpendicularly to the wall, thereby creating a closed loop (735) including the wall surface.

[0139] According to one embodiment of the present disclosure, the cleaning robot (1000) may determine a rectangular area (760) surrounding the closed loop (735) as an area representing a fiber floor area (710). In this case, the cleaning robot (1000) may determine a rectangular area (760) having sides separated by a predetermined margin distance (α in the right drawing of FIG. 7B) from the outer points (730b, 730c) of the closed loop (735) as two sides of a rectangle, and having two walls as two sides, as an area representing a fiber floor area (710). Accordingly, the area (760) representing the fiber floor area (710) may be larger than the actual fiber floor area (710).

[0140] FIG. 8 illustrates a method for a cleaning robot (1000) to determine the use of fibers laid on a fiber floor area based on the size of the fiber floor area, according to one embodiment of the present disclosure.

[0141] Referring to FIG. 8, the cleaning robot (1000) can determine the size of the fiber floor area (810a to 810d) and, based on the determined size, determine the purpose of the fiber or the type of object laid on the fiber floor area (810a to 810d).

[0142] The cleaning robot (1000) can calculate the area of ​​the fiber floor area based on the horizontal and vertical lengths of the rectangular fiber floor areas (810a, 810c). In addition, the cleaning robot (1000) can calculate the area of ​​the fiber floor area based on the diameter of the circular fiber floor area (810d). In addition, the cleaning robot (1000) can calculate the area of ​​the fiber floor area based on the long and short axes of the elliptical fiber floor area (810b).

[0143] According to one embodiment of the present disclosure, the cleaning robot (1000) may determine the use of the fibers laid on the fiber floor areas (810a to 810d) as a pet peeve pad when the area of ​​the fiber floor areas (810a to 810d) is smaller than the area threshold. In addition, the cleaning robot (1000) may determine the use of the fibers laid on the fiber floor areas (810a to 810d) as a rug or carpet when the area of ​​the fiber floor areas (810a to 810d) is greater than the area threshold.

[0144] According to one embodiment of the present disclosure, the width threshold of the fiber floor area (810a to 810d) may be preset based on the size of the pet peeve pad sold.

[0145] For example, if the small size of the pee pad is 50 cm * 40 cm and the largest extra-large size among the pee pad sizes is 110 cm * 80 cm, the area threshold of the fiber bottom areas (810a to 810d) may be the area of ​​the extra-large size. Also, for example, the area threshold of the fiber bottom areas (810a to 810d) may be the area of ​​the medium size (60 cm * 45 cm) that is most popularly used. The area threshold may be, for example, 2000 cm2 to 88,000 cm2 based on the size of the pet pee pad being sold.

[0146] According to one embodiment of the present disclosure, the width threshold of the fiber floor areas (810a to 810d) can be set by the user. The user device (2000) can receive a user input for setting the width threshold of the fiber floor areas (810a to 810d) through an application. For example, the user device (2000) can display a user interface for selecting the size of the currently used diaper pad, and transmit the size of the diaper pad received through the user interface as the width threshold of the fiber floor areas (810a to 810d) to the cleaning robot (1000) through a server.

[0147] FIG. 9 illustrates a method for a cleaning robot (1000) to determine the use of fibers laid on a fiber floor area based on the location of the fiber floor area, according to one embodiment of the present disclosure.

[0148] Referring to FIG. 9, the cleaning robot (1000) can determine the purpose of the fiber or the type of object laid on the fiber floor area based on the location on the map of the fiber floor area.

[0149] According to one embodiment of the present disclosure, if the location on the map of the detected fiber floor area is a kitchen, a dining room, or near the boundary between adjacent rooms (e.g., near the boundary between a hallway and a room), the cleaning robot (1000) may determine the use of the fibers laid in the fiber floor area as a rug. Referring to FIG. 9, the cleaning robot (1000) may determine the use of the fibers laid in the fiber floor area (920) located at the boundary between the hallway and the children's room 2, the fiber floor area (930) located in the dining room, and the fiber floor area (940) located in the kitchen as rugs.

[0150] According to one embodiment of the present disclosure, if the location of the detected fiber floor area on the map is a corridor excluding the vicinity of the boundary between rooms, the end of the corridor, or the vicinity of a wall or a corner of a wall, the cleaning robot (1000) may determine the use of the fibers laid in the fiber floor area as a toilet pad. For example, if the location of the detected fiber floor area on the map is a location in close contact with a wall, the cleaning robot (1000) may determine the use of the fibers laid in the fiber floor area as a toilet pad. Referring to FIG. 9, the cleaning robot (1000) may determine the use of the fibers in the fiber floor area (910) located in close contact with the wall of the corridor as a toilet pad.

[0151] According to one embodiment of the present disclosure, a location on a map where a fiber floor area is determined to be a rug and a location on a map where a fiber floor area is determined to be a toilet pad can be preset in a cleaning robot (1000) based on the usage patterns of users.

[0152] According to one embodiment of the present disclosure, a user device may receive a user input for setting the location of a carpet, a rug, or a litter pad. The user device may transmit the location of the carpet, the location of the rug, or the location of the litter pad set by the user to a server. The cleaning robot (1000) may receive the location of the carpet, the location of the rug, and the location of the litter pad set by the user from the server.

[0153] FIG. 10 illustrates a method for a cleaning robot (1000) to determine the use of fibers laid on a fiber floor area based on the size and location of the fiber floor area, according to one embodiment of the present disclosure.

[0154] Referring to FIG. 10, the cleaning robot (1000) can determine the purpose of the fiber or the type of object laid on the fiber floor area based on the size of the fiber floor area and the location on the map.

[0155] According to one embodiment of the present disclosure, if the area of ​​the fiber floor area is smaller than an area threshold, the cleaning robot (1000) may determine the use of the fibers laid on the fiber floor area as a pet peeve pad or rug. If the area of ​​the fiber floor area is greater than or equal to the area threshold, the cleaning robot (1000) may determine the use of the fibers laid on the fiber floor area as a carpet.

[0156] Accordingly, the cleaning robot (1000) can determine the use of the fiber floor area (110) exceeding the width threshold as a carpet. In addition, the cleaning robot (1000) can determine the use of the fiber floor areas (910, 920, 930, 940) smaller than the width threshold as a rug or a toilet pad.

[0157] In addition, the cleaning robot (1000) may determine the use of fiber floor areas (920, 930, 940) located near the kitchen, dining room, or border between adjacent rooms among fiber floor areas (910, 920, 930, 940) smaller than the width threshold as a rug, and may determine the use of fiber floor areas (910) in close contact with the wall of the hallway as a toilet pad.

[0158] FIG. 11 illustrates a method for a cleaning robot (1000) to drive while avoiding a toilet pad according to one embodiment of the present disclosure.

[0159] Referring to FIG. 11, the cleaning robot (1000) can travel a predetermined distance away from the area of ​​the excrement pad.

[0160] The cleaning robot (1000) can avoid the area of ​​the excrement pad by driving away from the boundary of the area of ​​the excrement pad by a predetermined distance based on determining that the detected fiber floor area is the area of ​​the excrement pad.

[0161] When the cleaning robot (1000) drives based on a pre-stored map (100), it can set a driving path to drive at a predetermined distance (115) from the boundary of the area (113) of the excrement pad on the map.

[0162] According to one embodiment of the present disclosure, when the cleaning robot (1000) drives based on a pre-stored map (100), the cleaning robot (1000) controls an image sensor (e.g., an RGB camera, a 3D camera) to determine whether a pee pad is present at a location of an actual cleaning area corresponding to a location of an area (113) of a pee pad on the map, and based on determining that a pee pad is present at the location of the actual cleaning area, the cleaning robot can set a driving path to drive at a predetermined distance (115) from the boundary of the area (113) of the pee pad.

[0163] According to one embodiment of the present disclosure, when the cleaning robot (1000) drives based on a previously stored map (100), it can delete the area of ​​the toilet pad (113) on the map and drive while cleaning the area of ​​the toilet pad (113) as a general cleaning area based on determining that there is no toilet pad at the location of the actual cleaning area corresponding to the location of the area of ​​the toilet pad (113) on the map.

[0164] FIG. 12 is a flowchart of a method for a cleaning robot (1000) to avoid a pee pad area based on a user input that sets a fiber floor area as a pee pad area according to one embodiment of the present disclosure.

[0165] In step S1210, the cleaning robot (1000) can transmit information about the location of the fiber floor area to the server.

[0166] According to one embodiment of the present disclosure, the cleaning robot (1000) can transmit identification information of the cleaning robot (1000) and location information on a map of the fiber floor area to a server based on the identification of the fiber floor area.

[0167] According to one embodiment of the present disclosure, the cleaning robot (1000) may transmit map location information of the fiber floor area determined to be a pee pad to a server based on determining that the identified fiber floor area is a pee pad. The cleaning robot (1000) may transmit identification information of the cleaning robot (1000) and information regarding the map location of the fiber floor area to the server.

[0168] According to one embodiment of the present disclosure, the cleaning robot (1000) may, while driving with reference to a previously stored map, transmit information on the location of a fiber floor area on the map to a server based on a new excrement pad being detected in an area other than an excrement pad on the map.

[0169] According to one embodiment of the present disclosure, the cleaning robot (1000) can transmit image information of a fiber floor area taken along with information about the location of the fiber floor area on a map to a server.

[0170] The cleaning robot (1000) can drive while avoiding the identified fiber floor area, as it determines that the identified fiber floor area is a toilet pad.

[0171] In step S1220, the cleaning robot (1000) may receive information from the server indicating that the fiber floor area is a fecal pad area based on a user input that sets the fiber floor area on the map as a fecal pad area.

[0172] The server can transmit information indicating the location information on the map of the fiber floor area and a request for confirmation as to whether the fiber floor area is a toilet pad area to the user device (2000) corresponding to the identification information of the cleaning robot (1000).

[0173] According to one embodiment of the present disclosure, upon receiving information about the location of a fiber floor area on a map from a cleaning robot (1000), the server may transmit information indicating a confirmation request to a user device (2000) as push notification information.

[0174] The user device (2000) may display a map showing a fiber floor area based on information about the location of the fiber floor area on the map, and may display a user interface asking whether to set the displayed fiber floor area as a pee pad area.

[0175] According to one embodiment of the present disclosure, the user device (2000) may display a push notification for checking a pee pad area, and when a user input for selecting the push notification is received, display a map showing a fiber floor area, and display a user interface asking whether to set the displayed fiber floor area as a pee pad area.

[0176] According to one embodiment of the present disclosure, the user device (2000) can display image information of a fiber floor area captured together with a map showing the fiber floor area.

[0177] Based on a user input that sets a fiber floor area displayed on a map as a poop pad area, the cleaning robot (1000) can transmit to the server information indicating that the user account and the received fiber floor area are poop pad areas. The server can transmit map information indicating that the fiber floor area is a poop pad area to the cleaning robot (1000) corresponding to the user account.

[0178] Based on a user input selecting that the fiber floor area displayed on the map is not a pee pad area, the cleaning robot (1000) may transmit to the server information indicating the user account and that the fiber floor area is not a pee pad area. The server may transmit to the cleaning robot (1000) corresponding to the user account map information indicating that the fiber floor area is not a pee pad area.

[0179] Based on a user input indicating that the fiber floor area displayed on the map is a rug or carpet, the cleaning robot (1000) may transmit to the server information indicating the user account and the fiber floor area being a rug or carpet. The server may transmit map information indicating that the fiber floor area is a rug or carpet to the cleaning robot (1000) corresponding to the user account.

[0180] In step S1230, the cleaning robot (1000) can drive while avoiding the fiber floor area based on the received information.

[0181] The cleaning robot (1000) can continue driving without returning to the detected fiber floor area based on receiving map information that the fiber floor area is set as the excrement pad area.

[0182] The cleaning robot (1000) determines that the fiber floor area is not a fecal pad based on receiving map information indicating that the fiber floor area is not a fecal pad area while driving, and returns to the fiber floor area to clean.

[0183] Additionally, the cleaning robot (1000) stores map information indicating that the fiber floor area is not a toilet pad, and when the fiber floor area is detected in the same area during the next drive, it can determine that the fiber floor area is not a toilet pad.

[0184] Additionally, the cleaning robot (1000) may determine that the fiber floor area is a rug or carpet when, based on receiving map information indicating that the fiber floor area is a rug or carpet, a fiber floor area is detected in the same area during the next drive.

[0185] FIG. 13 illustrates a user interface for determining whether a fiber floor area detected by a cleaning robot (1000) is a pee pad area based on user confirmation according to one embodiment of the present disclosure.

[0186] Referring to FIG. 13, the user device (2000) may display a user interface for determining whether the fiber floor area is a diaper pad area based on user confirmation based on location information on the map of the fiber floor area received from the server.

[0187] The user device (2000) may display a map image (1380) of the cleaning area and an image (1315) representing the fiber floor area on the map based on the location information of the fiber floor area on the map received from the server. According to one embodiment of the present disclosure, the user device (2000) may display a photographed image (1390) of the fiber floor area received from the server and an image (1318) representing the direction and location of the cleaning robot (1000) at the time of photographing.

[0188] Additionally, the user device (2000) may display a button interface (1330) for selecting whether the fiber floor area shown on the map is a pee pad area.

[0189] Based on receiving a user input that selects that the fiber floor area shown on the map is a pee pad area and presses a confirmation button (1340), the user device (2000) can transmit information to the server indicating that the fiber floor area is a pee pad area.

[0190] Based on receiving a user input that selects that the fiber floor area shown on the map is not a pee pad area and presses the confirm button (1340), the user device (2000) can transmit information to the server indicating that the fiber floor area is not a pee pad area.

[0191] According to one embodiment of the present disclosure, based on a user input selecting that the fiber floor area displayed on the map is not a diaper pad area, the user device (2000) may display a user interface asking whether the fiber floor area displayed on the map is another fiber material object. For example, the user device (2000) may display a user interface for selecting one of a carpet, a rug, a piece of clothing, a towel, or paper.

[0192] Based on receiving information from the user device (2000) indicating that the fiber floor area is not a toilet pad area, the server may transmit map information indicating that the fiber floor area is not a toilet pad area to the cleaning robot (1000). The cleaning robot (1000) may store the map information indicating that the fiber floor area is not a toilet pad area. Additionally, while driving, the cleaning robot (1000) may return to the fiber floor area and clean.

[0193] According to one embodiment of the present disclosure, when the cleaning robot (1000) receives the type of object selected by the user corresponding to the fiber floor area from the server while driving, if the type of object is a carpet, rug, or paper, the cleaning robot can return to the fiber floor area and clean it, and if the type of object is clothes or towels, the cleaning robot can continue driving without returning to the fiber floor area.

[0194] According to one embodiment of the present disclosure, a user device (2000) may display a user interface for setting a fiber floor area indicated on a map as a no-entry area. Based on receiving information from the user device (2000) indicating that the fiber floor area is a no-entry area, the server may transmit map information indicating that the fiber floor area is a no-entry area to the cleaning robot (1000).

[0195] FIG. 14 illustrates a user interface for entering a use of a fiber floor area identified by a cleaning robot (1000) according to one embodiment of the present disclosure.

[0196] Referring to FIG. 14, after cleaning is completed, the user device (2000) can display a user interface for inputting the purpose of the fiber floor area based on the location information on the map of the fiber floor areas received from the server.

[0197] Referring to the left figure of FIG. 14, based on receiving a user input for selecting a menu for checking a cleaning report after cleaning is completed, the user device (2000) can display a map image (1410) of the cleaning area and images (1411, 1412, 1413, 1414) representing fiber floor areas on the map.

[0198] Additionally, the user device (2000) may display a notification text (1430) indicating that the user can input the purpose of the fiber floor area by selecting images (1411, 1412, 1413, 1414) representing the fiber floor areas.

[0199] Based on receiving user input for selecting an area on a map, the user device (2000) can display a user interface for selecting a type of object corresponding to the selected area.

[0200] For example, referring to the right figure of FIG. 14, upon receiving a user input touching area A (1411) on the map, the user device (2000) may display a user interface (1450) for selecting one of a carpet, a rug, or a pee pad as the type of object corresponding to area A (1411). In addition, the user device (2000) may display an image indicating that area A (1411) has been selected on area A (1411).

[0201] Additionally, the user device (2000) can display a captured image (1440) for area A (1411) and an image (1470) indicating the angle and position of the cleaning robot (1000) at the time of capture. The captured image (1440) for area A (1411) and an image (1470) indicating the angle and position of the cleaning robot (1000) at the time of capture can be received from the cleaning robot (1000) to the user device (2000) via the server.

[0202] Based on receiving a user input of selecting a rug corresponding to area A (1411) and pressing a confirmation button (1460), the user device (2000) can transmit identification information of area A (1411) and information indicating that an object laid in area A (1411) is a rug to the server. The server can transmit map information indicating that an object laid in area A (1411) is a rug to the cleaning robot (1000). During the next cleaning run, the cleaning robot (1000) can enter area A (1411) based on the map information received from the server, and can increase dry cleaning and suction power during cleaning of area A (1411).

[0203] In addition, based on receiving a user input of selecting a pee pad corresponding to area A (1411) and pressing a confirmation button (1460), the cleaning robot (1000) can drive while avoiding area A (1411) during the next cleaning run.

[0204] FIG. 15 is a flowchart of a method for cleaning a fiber floor area based on a user input setting a fecal pad detectable area by a cleaning robot (1000) according to one embodiment of the present disclosure.

[0205] In step S1510, the cleaning robot (1000) can receive map information including a fecal pad detectable area from the server.

[0206] The user device (2000) may display a user interface for setting a pee pad detectable area on a map. Based on receiving a user input for setting a pee pad detectable area through the user interface, the identification information of the map and the location information of the set pee pad detectable area may be transmitted to the server. The server may transmit map information indicating the pee pad detectable area to the cleaning robot (1000).

[0207] In step S1520, the cleaning robot (1000) can identify a fiber floor area while driving in the cleaning area.

[0208] Step S1520 can be described with reference to step S310 of FIG. 3.

[0209] In step 1530, the cleaning robot (1000) can drive while avoiding the fiber floor area based on the fiber floor area being located within the fecal pad detectable area.

[0210] The cleaning robot (1000) can determine whether the fiber floor area is located within the fecal pad detectable area. Based on whether the fiber floor area is located within the fecal pad detectable area, the cleaning robot (1000) can determine the fiber floor area as the fecal pad area and drive while avoiding the fiber floor area.

[0211] According to one embodiment of the present disclosure, the cleaning robot (1000) can determine the fiber floor area as the excrement pad area if a standard ratio or more of the fiber floor area is located within the excrement pad detectable area, even if the entire area of ​​the fiber floor area is not located within the excrement pad detectable area.

[0212] According to one embodiment of the present disclosure, the cleaning robot (1000) can drive while avoiding the detectable area of ​​the pee pad, regardless of whether a fiber floor area is located within the detectable area of ​​the pee pad. The cleaning robot (1000) can drive while maintaining a predetermined distance from the detectable area of ​​the pee pad without cleaning the detectable area of ​​the pee pad.

[0213] According to one embodiment of the present disclosure, upon receiving a user input to start cleaning after the cleaning robot (1000) moves into a fecal pad detectable area, the cleaning robot (1000) can stop the wet cleaning module and the dry cleaning module and pad-up the mop pad until the cleaning robot (1000) moves out of a predetermined distance from the fecal pad detectable area.

[0214] FIG. 16 illustrates a user interface for setting a stool pad detectable area on a map according to one embodiment of the present disclosure.

[0215] Referring to FIG. 16, the user device (2000) may display a user interface for setting a fecal pad detectable area on the map based on receiving a user input for selecting a menu for setting a fecal pad detectable area on the map of the cleaning area.

[0216] The user device (2000) can receive a user input for setting a stool pad detectable area (1650) on a map image (1640).

[0217] Additionally, the user device (2000) may display a notification message (1630) indicating that the device recognizes the fiber floor area as a defecation pad and performs evasive driving when a fiber floor area is detected within the set defecation pad detectable area.

[0218] Based on receiving a user input of selecting a confirmation button (1670) after setting a fecal pad detection area (1650), the user device (2000) can transmit the identification information of the map and the location information of the set fecal pad detection area (1650) to the cleaning robot (1000) through the server.

[0219] FIG. 17 illustrates a flowchart showing a method for a cleaning robot (1000) to detect a fiber floor area according to a driving mode, according to one embodiment of the present disclosure.

[0220] In step S1710, the cleaning robot (1000) can identify a fiber floor while driving based on a previously stored map.

[0221] The cleaning robot (1000) can determine whether to detect a fiber floor area depending on the driving mode.

[0222] According to one embodiment of the present disclosure, the cleaning robot (1000) can operate in an automatic cleaning driving mode or a map drawing driving mode.

[0223] The self-cleaning driving mode may be a driving mode that simultaneously generates a map of the cleaning area while cleaning. The map drawing driving mode may be a driving mode that only generates a map of the cleaning area while driving without cleaning.

[0224] In the automatic cleaning driving mode, the cleaning robot (1000) can update the map while driving based on a previously stored map. In addition, in the automatic cleaning driving mode, if the cleaning robot (1000) determines that there is no previously stored map or that the currently cleaned area does not match the previously stored map, the cleaning robot (1000) can drive and clean while generating a new map.

[0225] The cleaning robot (1000) can detect a fiber floor while driving based on a pre-stored map.

[0226] In step S1720, the cleaning robot (1000) may determine that the detected fiber floor is part of the carpet based on whether the detected fiber floor is located within a carpet area on the map.

[0227] The cleaning robot (1000) can determine whether the detected fiber floor is located within a carpet area on the map. If the detected fiber floor is located within a carpet area on the map, the cleaning robot (1000) can determine that the identified fiber floor is part of the carpet without identifying the fiber floor area that includes the detected fiber floor.

[0228] The cleaning robot (1000) can efficiently determine whether a detected fiber floor is part of a carpet based on a pre-stored map, even without having to identify the fiber floor area each time it cleans. Since the location of a carpet rarely changes within a home, the pre-stored map can be used to quickly identify the carpet area.

[0229] According to one embodiment of the present disclosure, in the automatic cleaning driving mode, when driving based on a previously stored map, if a fiber floor is detected in at least a part of an actual area corresponding to a carpet area on the map, the cleaning robot (1000) may determine that the detected fiber floor is a carpet without identifying the fiber floor area.

[0230] In step S1730, the cleaning robot (1000) can stop wet cleaning on the carpet area on the map and increase suction power to clean and drive.

[0231] The cleaning robot (1000) may stop wet cleaning and increase suction power to clean and drive in a carpet area of ​​a pre-stored map based on determining that the detected fiber floor is part of the carpet. According to one embodiment of the present disclosure, in the automatic cleaning driving mode, the cleaning robot (1000) may identify a fiber floor area in a pee pad area on the map and an area within a reference distance from the pee pad area based on the pre-stored map while driving, and if the size of the identified fiber floor area is similar to the size of the pee pad area on the map, the robot may determine that the identified fiber floor area is a pee pad.

[0232] According to one embodiment of the present disclosure, when driving while drawing a map, the cleaning robot (1000) generates a new map without referring to a previously stored map, and thus, based on the detection of a fiber floor, the process of identifying an area of ​​the fiber floor can be started.

[0233] FIG. 18 is a flowchart of a method for a cleaning robot (1000) to avoid a toilet pad by referring to a toilet pad area on a map according to one embodiment of the present disclosure.

[0234] In step S1810, the cleaning robot (1000) can detect a fiber floor while driving based on the stored map.

[0235] The cleaning robot (1000) can detect a fiber floor while driving along a driving path based on a stored map.

[0236] In step S1820, the cleaning robot (1000) may determine that the detected fiber floor is part of the excrement pad based on the location of the detected fiber floor being within a surrounding area including the excrement pad area on the map.

[0237] As the fiber floor is detected, the cleaning robot (1000) can determine whether the location of the detected fiber floor is within a surrounding area including the toilet pad area on the map.

[0238] The surrounding area may be the area surrounding the pee pad area on the map. The surrounding area may include the pee pad area. For example, the surrounding area may be an area centered around the pee pad area, with the area of ​​the pee pad area increased by a predetermined multiple.

[0239] Additionally, the surrounding area may be a defecation pad detectable area set by the user (1650 in FIG. 16), as illustrated in FIG. 16.

[0240] Based on determining that the location of the detected fiber floor is within the surrounding area, the cleaning robot (1000) can determine that the detected fiber floor is part of the excrement pad.

[0241] In step S1830, the cleaning robot (1000) can drive while avoiding the detected fiber floor based on determining that the detected fiber floor is part of the excrement pad.

[0242] Based on the determination that the fiber floor is part of the excrement pad, the cleaning robot (1000) can drive while avoiding the detected fiber floor without identifying the fiber floor area. For example, when the cleaning robot (1000) determines that the fiber floor is part of the excrement pad, the cleaning robot (1000) can drive while avoiding the detected fiber floor and the excrement pad area on the map without performing the process of identifying the fiber floor area.

[0243] The cleaning robot (1000) can avoid the toilet pad area and then move along the driving path again.

[0244] Accordingly, after the size and location of the pee pad are identified and stored as map information, even if the pee pad is moved nearby, the cleaning robot (1000) can avoid the pee pad without having to re-identify the area of ​​the pee pad.

[0245] FIG. 19a and FIG. 19b illustrate a method for a cleaning robot (1000) to avoid a toilet pad by referring to a toilet pad area on a map, according to various embodiments of the present disclosure.

[0246] Referring to FIG. 19a, when a fiber floor is detected within the surrounding area of ​​the excrement pad while the cleaning robot (1000) is driving, the cleaning robot determines that the detected fiber floor is part of the excrement pad and can drive while avoiding the detected fiber floor.

[0247] Referring to the left drawing of FIG. 19A, the cleaning robot (1000) can drive along a driving path (1) based on a stored map. The map may include a pee pad area (191). The pee pad area (191) on the map may be an area where a pee pad was detected to have been placed by the cleaning robot (1000) during a previous drive. The cleaning robot (1000) can determine a driving path (1) that crosses the pee pad area (191) on the map.

[0248] After the stool pad area (191) is identified and stored as map information, as the stool pad is moved, the actual stool pad area (192) may be different from the stool pad area (191) on the map.

[0249] Referring to the right drawing of FIG. 19a, the cleaning robot (1000) detects a fiber floor (197) while driving along the driving path (1), and based on the location of the detected fiber floor (197) being within the surrounding area (195), it can determine that the detected fiber floor (197) is part of the excrement pad.

[0250] Based on determining that the detected fiber floor (197) is part of the excrement pad, the cleaning robot (1000) can drive to avoid the detected fiber floor (197) without performing a process of identifying the fiber floor area according to a predetermined pattern.

[0251] For example, the cleaning robot (1000) can drive backward to avoid the detected fiber floor (197) and the fecal pad area (191) on the map.

[0252] Referring to FIG. 19b, the cleaning robot (1000) may start a process of identifying a fiber floor area according to a predetermined pattern based on determining that the location of the detected fiber floor is far from the excrement pad area.

[0253] The cleaning robot (1000) can identify a fiber floor area (192) including the detected fiber floor (197) according to a predetermined driving pattern based on determining that the location of the detected fiber floor (197) is outside the surrounding area (195).

[0254] Additionally, the cleaning robot (1000) can determine whether the identified fiber floor area (192) is a toilet pad area based on the location and size of the identified fiber floor area (192).

[0255] FIG. 20 is a flowchart of a method for a cleaning robot (1000) to avoid a toilet pad by referring to a toilet pad area on a map according to one embodiment of the present disclosure.

[0256] In step S2010, the cleaning robot (1000) can detect a fiber floor while driving based on the stored map.

[0257] The cleaning robot (1000) can detect a fiber floor while driving along a driving path based on a stored map.

[0258] In step S2020, the cleaning robot (1000) can update the location of the fecal pad area on the map based on the location of the detected fiber floor being within a surrounding area including the fecal pad area on the map.

[0259] As the fiber floor is detected, the cleaning robot (1000) can determine whether the location of the detected fiber floor is within a surrounding area including the toilet pad area on the map.

[0260] The surrounding area may be the surrounding area surrounding the pee pad area on the map. Additionally, the surrounding area may include the pee pad area.

[0261] Based on determining that the location of the detected fiber floor is within the surrounding area, the cleaning robot (1000) can determine that the detected fiber floor is part of the excrement pad.

[0262] Additionally, based on determining that the location of the detected fiber floor is within the surrounding area, the pee pad area on the map can be updated. For example, the cleaning robot (1000) can update the pee pad area by moving the pee pad area on the map so that the detected fiber floor is included within the pee pad area. Additionally, the cleaning robot (1000) can determine the moved pee pad area as the pee pad update area.

[0263] According to one embodiment of the present disclosure, the cleaning robot (1000) can update the litter pad area only when the litter pad is moved.

[0264] For example, based on determining that the location of the detected fiber floor is within the surrounding area, the cleaning robot (1000) can determine whether the location of the detected fiber floor is within the boundary range of the excrement pad area on the map.

[0265] The border range of the stool pad area may be an area within a predetermined distance from the border of the stool pad area. The predetermined distance may be, for example, 2 cm, but is not limited thereto.

[0266] Based on determining that the location of the detected fiber floor is outside the boundary range of the pee pad area on the map, the cleaning robot (1000) determines that the pee pad placed in the pee pad area on the map has moved, and can update the pee pad area on the map based on the location of the detected fiber floor.

[0267] Based on determining that the location of the detected fiber floor is within the boundary range of the toilet pad area on the map, the cleaning robot (1000) may not update the toilet pad area on the map.

[0268] In step S2030, the cleaning robot (1000) can drive while avoiding the updated toilet pad area.

[0269] The cleaning robot (1000) can avoid the toilet pad based on the location of the toilet pad update area.

[0270] After avoiding the pee pad and reaching the driving path, the cleaning robot (1000) can continue driving along the driving path. Furthermore, upon reaching the driving path, the cleaning robot (1000) can store the pee pad update area as the pee pad area.

[0271] Accordingly, even if the pee pad detected during the previous drive is moved nearby, the cleaning robot (1000) can identify the area of ​​the moved pee pad by using the location and size of the pee pad area on the previously stored map, without performing the process of identifying the area of ​​the pee pad by using a predetermined pattern.

[0272] FIG. 21 illustrates a method for a cleaning robot (1000) to avoid a toilet pad by referring to a toilet pad area on a map according to one embodiment of the present disclosure.

[0273] Referring to FIG. 21, even if the toilet pad has been moved, the cleaning robot (1000) can update the location of the toilet pad area by using the location and size of the toilet pad area on the previously stored map.

[0274] Referring to drawing ① of FIG. 21, the cleaning robot (1000) can detect a fiber floor (211) while driving along a driving path (1). Based on detecting the fiber floor (211), the cleaning robot (1000) can determine whether the detected fiber floor (211) is located within a surrounding area (195) on the map.

[0275] The surrounding area (195) may be an area surrounding the pee pad area (191) on the map. The surrounding area (195) may include the pee pad area (191). The pee pad area (191) on the map may be an area identified as having a pee pad placed during a previous drive. As illustrated in FIG. 21, as the pee pad placed in the pee pad area (191) moves, the actual pee pad area (192) and the pee pad area (191) on the map may differ.

[0276] Referring to the ② drawing of FIG. 21, based on the fact that the detected fiber floor (211) is located within the surrounding area (195) on the map, the cleaning robot (1000) can lower the position of the excrement pad area (191) so that the detected fiber floor (211) can be included within the excrement pad area (191). In this case, the cleaning robot (1000) can move the position of the excrement pad area (191) so that the detected fiber floor (211) is included in the excrement pad area (191) but the movement distance of the excrement pad area (191) is minimized. The cleaning robot (1000) can determine the position of the moved excrement pad area (191) as the first excrement pad update area (193a). In addition, the cleaning robot (1000) can re-determine the surrounding area based on the first excrement pad update area (193a).

[0277] Referring to Figure ③ of Figure 21, the cleaning robot (1000) can drive while avoiding the first toilet pad update area (193a). For example, the cleaning robot (1000) can drive along a driving path at a predetermined distance from the first toilet pad update area (193a) after moving backward.

[0278] Referring to Figure ④ of FIG. 21, the cleaning robot (1000) can detect the fiber floor (213) again while driving by avoiding the first defecation pad update area (193a). The cleaning robot (1000) can move the defecation pad area (191) so that all of the detected fiber floors (211, 213) are included in the defecation pad area (191), while minimizing the movement distance of the defecation pad area (191). The cleaning robot (1000) can determine the location to which the defecation pad area (191) has moved as the second defecation pad update area (193b).

[0279] Referring to Figure ⑤ of FIG. 21, the cleaning robot (1000) can drive while avoiding the second toilet pad update area (193b). For example, the cleaning robot (1000) can drive backwards and then drive along the driving path (1) at a predetermined distance from the second toilet pad update area (193b). Upon reaching the driving path, the cleaning robot (1000) can store the second toilet pad update area (193b) as the toilet pad area.

[0280] FIG. 22 illustrates a block diagram of a cleaning robot (1000) according to one embodiment of the present disclosure.

[0281] Referring to FIG. 22, the cleaning robot (1000) may include a processor (1100), a microphone (1200), a communication module (1300), a memory (1400), an input interface (1500), an output module (1600), a sensor (1700), a driving module (1800), and a cleaning module (1900). The same reference numbers are used for the same configuration as that illustrated in FIG. 2.

[0282] Not all of the components illustrated are essential components of the cleaning robot (1000). The cleaning robot (1000) may be implemented with more components than those illustrated in FIG. 22, or may be implemented with fewer components than those illustrated in FIG. 22.

[0283] The processor (1100) can control the overall operation of the cleaning robot (1000). The processor (1100) can control the microphone (1200), the communication module (1300), the input interface (1500), the output module (1600), the sensor (1700), the driving module (1800), and the cleaning module (1900) by executing at least one instruction or program stored in the memory (1400).

[0284] The processor (1100) may include a separate NPU that performs the operation of a machine learning model. In addition, the processor (1100) may include a central processing unit (CPU), a graphics processor (GPU; Graphic Processing Unit), etc.

[0285] The memory (1400) stores various information, data, commands, programs, etc. required for the operation of the cleaning robot (1000). The memory (1400) may include at least one of volatile memory or non-volatile memory, or a combination thereof. The memory (1400) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk. In addition, the cleaning robot (1000) may also operate a web storage or cloud server that performs a storage function on the Internet.

[0286] At least one processor (1100) and at least one memory (1400) may be included in one control unit. For example, at least one processor (1100) and at least one memory (1400) may be included in one microcontroller unit (MCU).

[0287] The communication module (1300) can transmit and receive information according to a protocol with an external device or external server under the control of the processor (1100). The communication module (1300) can include at least one communication module and at least one port for transmitting and receiving data with an external device (not shown).

[0288] Additionally, the communication module (1300) can communicate with an external device via at least one wired or wireless communication network. The communication module (1300) may include at least one of a short-range communication module (1310) or a long-range communication module (1320), or a combination thereof. The communication module (1300) may include at least one antenna for wirelessly communicating with another device.

[0289] The short-range communication module (1310) may include at least one communication module (not shown) that performs communication according to a communication standard such as Bluetooth, Wi-Fi, BLE (Bluetooth Low Energy), NFC / RFID, Wi-Fi Direct, UWB, or ZIGBEE. In addition, the long-range communication module (1320) may include a communication module (not shown) that performs communication via a network for Internet communication. In addition, the long-range communication module (1320) may include a mobile communication module that performs communication according to a communication standard such as 3G, 4G, 5G, and / or 6G.

[0290] Additionally, the communication module (1300) may include a communication module capable of receiving a control command from a remote controller (not shown) located at a close distance, for example, an IR (infrared) communication module.

[0291] The output module (1600) may include an audio output module (1620) and a display (1610).

[0292] The audio output module (1620) can output audio signals to the outside of the cleaning robot (1000). The audio output module (1620) can include, for example, a speaker or a receiver. The speaker can be used for general purposes, such as multimedia playback or recording playback.

[0293] The display (1610) can output image data processed by an image processing unit (not shown) through a display panel (not shown) under the control of the processor (1100). The display panel (not shown) can include at least one of a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a 3D display, and an electrophoretic display.

[0294] The input interface (1500) can receive user input for controlling the cleaning robot (1000). The input interface (1500) receives the user input and transmits it to the processor (1100).

[0295] The input interface (1500) may include, but is not limited to, user input electronic devices including a touch panel that detects a user's touch, a button that receives a user's push operation, a wheel that receives a user's rotation operation, a keyboard, and a dome switch.

[0296] Additionally, the input interface (1500) may include a voice recognition device for voice recognition. For example, the voice recognition device may be a microphone (1200), and the voice recognition device may receive a user's voice command or voice request. Accordingly, the processor (1100) may control the execution of an operation corresponding to the voice command or voice request.

[0297] The cleaning module (1900) may include a dry cleaning module (1910) and a wet cleaning module (1920). The dry cleaning module (1910) may include a brush, a dust bin, a dust separator, a suction motor, etc. The wet cleaning module (1920) may include a mop pad, a mop pad motor, a mop pad up-down device module, a water tank, a water supply motor, etc.

[0298] A suction motor (suction motor or vacuum motor) can suck air into the suction port (not shown) of the cleaning robot (1000) by rotating a fan (not shown) connected to the suction motor. The suction motor may include, but is not limited to, a DC (Direct Current) or BLDC (Brushless Direct Current) suction motor, a dry suction motor, and a wet suction motor.

[0299] The brush may be, but is not limited to, a brush having multiple bristles or a brush having fluff. The brush can rotate by driving force transmitted from a brush motor (not shown). The brush can sweep away dust or foreign substances stuck to the floor and move them to the suction port (not shown) of the cleaning robot (1000).

[0300] The dust bin can store dust that is sucked into the suction port (not shown) of the cleaning robot (1000) and filtered in the dust separator (not shown).

[0301] The mop pad motor can perform mopping by rotating the mop pad attached to the cleaning robot (1000). The mop pad up-down device module can perform pad-up, which brings the mop pad attached to the floor to the cleaning robot (1000), or pad-down, which brings the mop pad attached to the cleaning robot (1000) to the floor.

[0302] The sensor (1700) may include various types of sensors.

[0303] The sensor (1700) may include a floor detection sensor (1710), a position recognition sensor (1720), an obstacle detection sensor (1730), an object recognition sensor (1740), and a fall prevention sensor (1750).

[0304] The floor detection sensor (1710) can be described with reference to FIG. 2.

[0305] The location recognition sensor (1720) may include a TOF lidar sensor. The TOF lidar sensor may include an output unit that outputs a laser pulse signal and a receiver unit that receives a reflection signal of the output laser pulse signal. The processor (1100) may control the TOF lidar sensor to determine the distance from the cleaning robot (1000) to an object around the cleaning robot (1000) or the location of the objects on a map.

[0306] The obstacle detection sensor (1730) can output infrared or ultrasonic waves and receive reflected signals reflected from obstacles. The processor (1100) can control the obstacle detection sensor (1730) to detect whether there is an obstacle ahead.

[0307] The object recognition sensor (1740) may include a 2D camera sensor and a 3D camera sensor. The object recognition sensor (1740) can capture images of the front of the cleaning robot (1000) and identify the types and locations of objects within the captured images.

[0308] The fall prevention sensor (1750) may include an infrared emitting unit (not shown) and an infrared receiving unit (not shown) facing the floor. The processor (1100) may control the infrared emitting unit (not shown) of the fall prevention sensor (1750) to output infrared rays toward the floor and control the infrared receiving unit (not shown) to receive a reflected signal reflected from the floor. The processor (1100) may detect a distance from the cleaning robot (1000) to the floor based on the received reflected signal. For example, the processor (1100) may detect an amount of infrared light reflected from the floor and received, and may detect a distance from the cleaning robot (1000) to the floor based on the amount of infrared light detected. In addition, the processor (1100) may identify whether a fall is possible or a step based on the distance to the floor.

[0309] At least one processor (1100) can identify a fiber floor area through a floor detection sensor (1710) while driving in a cleaning area.

[0310] At least one processor (1100) can determine whether a fiber floor area is a diaper pad area based on at least one of a size of the fiber floor area or a location of the fiber floor area on a map of a cleaning area.

[0311] At least one processor (1100) can control the driving module (1800) to drive while avoiding the fiber floor area based on determining that the fiber floor area is a pee pad area.

[0312] At least one processor (1100) controls the dry cleaning module (1910) and the wet cleaning module (1920) to perform wet cleaning together with dry cleaning, and based on determining that the fiber floor area is not a toilet pad area, the wet cleaning module (1920) can be stopped and only the dry cleaning module (1910) can be controlled to clean within the fiber floor area.

[0313] At least one processor (1100) may determine that the fiber floor area is a defecation pad area based on the fact that the size of the fiber floor area is smaller than the reference pad size and the location of the fiber floor area is within a predetermined location range on the map. In addition, at least one processor (1100) may control the driving module (1800) to move while avoiding the fiber floor area.

[0314] At least one processor (1100) may determine that the fiber floor area is a stool pad area based on the size of the fiber floor area being smaller than the reference pad size and the location of the fiber floor area not being near a boundary between rooms within the map.

[0315] At least one processor (1100) may determine that a carpet is placed on the fiber floor area based on the size of the fiber floor area exceeding the reference pad size.

[0316] At least one processor (1100) may determine that a rug is placed on a fiber floor area based on the size of the fiber floor area being less than or equal to a reference pad size and the location of the fiber floor area being near a boundary between rooms within the map.

[0317] At least one processor (1100) may determine that a pee pad is placed on the fiber floor area based on the size of the fiber floor area being smaller than or equal to the reference pad size and the location of the fiber floor area being near the end of a corridor within the map or near the corner of a wall.

[0318] At least one processor (1100) may transmit information regarding the location of the fiber floor area to the server via the communication module (1300). In addition, at least one processor (1100) may receive information indicating that the fiber floor area is a pee pad area from the server via the communication module (1300) based on a user input that sets the fiber floor area as a pee pad area on the map. Based on receiving the information indicating that the fiber floor area is a pee pad area, at least one processor (1100) may determine that the fiber floor area is a pee pad area.

[0319] At least one processor (1100) may receive map information including a fecal pad detectable area from a server via the communication module (1300) based on a user input that sets a portion of a cleaning area on a map of a cleaning area as a fecal pad detectable area. In addition, at least one processor (1100) may determine that a fiber floor area is a fecal pad area based on the fiber floor area being located within the fecal pad detectable area.

[0320] At least one processor (1100) can detect a plurality of peripheral locations where a fiber floor is detected based on a predetermined driving pattern as the fiber floor is detected through the floor detection sensor (1710). In addition, at least one processor (1100) can identify a fiber floor area based on the plurality of peripheral locations.

[0321] At least one processor (1100) may determine that the fiber floor area is not a stool pad area based on determining that the size of the fiber floor area is greater than the reference pad size.

[0322] At least one processor (1100) may determine that the fiber floor area is a diaper pad area if the location of the fiber floor area is a wall surface or a corner of a wall surface.

[0323] A device-readable storage 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.

[0324] 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 storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) through an application 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 in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0325] While the present disclosure has been illustrated and described with reference to various embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents.

Claims

1. In the cleaning robot (1000), Driving circuit (1800); Floor detection sensor (1710); A memory (1400) storing one or more computer programs; and The driving circuit (1800), the floor detection sensor (1710) and the memory (1400) include one or more processors (1100) that are communicatively coupled, and the one or more computer programs cause the cleaning robot (1000) to, when the one or more processors (1100) are individually or collectively executed, While driving in the cleaning area, the fiber floor area is identified through the floor detection sensor (1710). determining whether the fiber floor area is a pee pad area based on at least one of the size of the fiber floor area or the location of the fiber floor area on a map of the cleaning area; A cleaning robot (1000) comprising computer-executable instructions for controlling the driving module (1800) to drive while avoiding the fiber floor area based on determining that the fiber floor area is the excrement pad area.

2. In paragraph 1, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: Store map information indicating that the above fiber floor area is the above diaper pad area, A cleaning robot comprising computer-executable commands that cause the robot to drive while avoiding a fiber floor detected within a surrounding area including the excrement pad area based on the map information while driving.

3. In paragraph 1 or 2, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: A cleaning robot comprising computer-executable instructions for determining that the fiber floor area is a toilet pad area based on a size of the fiber floor area being smaller than a reference pad size and a location of the fiber floor area being located within a predetermined location range on the map, and controlling the driving module to move while avoiding the fiber floor area.

4. In paragraph 3, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: A cleaning robot comprising computer-executable instructions that determine that the fiber floor area is a toilet pad area based on a size of the fiber floor area being smaller than the reference pad size and a location of the fiber floor area not near a boundary between rooms within the map.

5. In any one of paragraphs 1 to 4, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: Based on the size of the above fiber floor area exceeding the reference pad size, it is determined that a carpet is placed on the above fiber floor area, Based on the fact that the size of the fiber floor area is smaller than or equal to the reference pad size and the location of the fiber floor area is near the boundary between rooms within the map, it is determined that a rug is placed in the fiber floor area. A cleaning robot comprising computer-executable instructions that determine that the excrement pad is placed on the fiber floor area based on the size of the fiber floor area being smaller than or equal to the reference pad size and the location of the fiber floor area being near the end of a corridor or near the edge of a wall within the map.

6. In any one of paragraphs 1 to 5, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: A cleaning robot comprising computer-executable instructions for transmitting information about the location of the fiber floor area to a server, receiving information from the server indicating that the fiber floor area is the toilet pad area based on a user input setting the fiber floor area as the toilet pad area on the map, and determining that the fiber floor area is the toilet pad area.

7. In any one of paragraphs 1 to 6, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: A cleaning robot comprising computer-executable instructions for receiving map information including the fecal pad detectable area from a server based on a user input setting a portion of the cleaning area on a map of the cleaning area as a fecal pad detectable area, and determining that the fiber floor area is the fecal pad area based on the fiber floor area being located within the fecal pad detectable area.

8. In any one of paragraphs 1 to 7, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: A cleaning robot comprising computer-executable instructions for detecting a plurality of fiber-material floors along the perimeter of the fiber-material floor area based on a predetermined driving pattern when the fiber-material floor is detected by the floor detection sensor, and identifying the fiber-material floor area based on the positions of the plurality of fiber-material floors.

9. In any one of paragraphs 1 to 8, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: A cleaning robot comprising computer-executable instructions that identify the wall as a boundary of the fiber floor area based on the proximity of the fiber floor area to a wall.

10. In any one of paragraphs 1 to 9, The one or more computer programs, when individually or collectively executed by the one or more processors, cause the server device to: A cleaning robot comprising computer-executable commands that determine that the fiber floor area is the excrement pad area when the location of the fiber floor area is a wall surface or a corner of a wall surface, and cause the cleaning robot to drive while avoiding the excrement pad area.

11. A method performed by a cleaning robot to detect the floor while driving, A step of identifying a fiber floor area while moving through a cleaning area by the above cleaning robot; A step of determining, by the cleaning robot, whether the fiber floor area is a toilet pad area based on at least one of the size of the fiber floor area or the location of the fiber floor area on a map of the cleaning area; and A driving method, comprising a step of driving while avoiding the fiber floor area based on determining, by the cleaning robot, that the fiber floor area is the excrement pad area.

12. In paragraph 11, The above driving method is, A step of storing map information indicating that the above fiber floor area is the above diaper pad area; and A driving method further comprising a step of driving while avoiding the detected fiber floor based on detection of a fiber floor within a surrounding area including the defecation pad area while driving based on the map information.

13. In clause 11 or 12, The step of determining whether the above fiber floor area is a diaper pad area is: A driving method comprising the step of determining that the fiber floor area is a defecation pad area based on the size of the fiber floor area being smaller than the reference pad size and the location of the fiber floor area being located within a predetermined location range on the map.

14. In paragraph 13, The step of determining whether the above fiber floor area is a diaper pad area is: A driving method comprising the step of determining that the fiber floor area is a defecation pad area based on the size of the fiber floor area being smaller than the reference pad size and the location of the fiber floor area not being near a boundary between rooms within the map.

15. In any one of paragraphs 11 to 14, The above driving method is, A step of determining that a carpet is placed on the fiber floor area based on the size of the fiber floor area exceeding the reference pad size; A step of determining that a rug is placed in the fiber floor area based on the size of the fiber floor area being smaller than or equal to the reference pad size and the location of the fiber floor area being near the boundary between rooms within the map; and A driving method comprising a step of determining that the defecation pad is placed in the fiber floor area based on the size of the fiber floor area being smaller than or equal to the reference pad size and the location of the fiber floor area being located near the end of a corridor or near the edge of a wall within the map.

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