Electronic device, method, and non-transitory computer-readable recording medium for identifying location of external device

Abstract

An electronic device is disclosed. The electronic device may transmit, through a communication circuit, a command to start cleaning to a cleaning robot for sucking foreign substances while moving around a cleaning area on the basis of a map of the cleaning area. The electronic device may transmit, to at least one external electronic device through the communication circuit, a command to transmit sound data for a sound signal measured by the at least one external electronic device. The electronic device may identify the location of the at least one external electronic device on the map on the basis of the sound data and location information of the cleaning robot during the cleaning.

Description

Electronic device, method, and non-transitory computer-readable recording medium for identifying the location of an external device

[0001] The following descriptions relate to electronic devices, methods, and non-transitory computer-readable recording media for identifying the location of an external device.

[0002] The Internet of Things (IoT) can refer to a network that connects electronic devices that are not normally connected to the Internet, such as sensors, home appliances, and meters, to servers, computers, and smartphones to enable data exchange.

[0003] The above information may be provided as background art to aid in understanding the present disclosure. No claim or determination is made as to whether any of the above-described matters constitute prior art related to the present disclosure.

[0004] An electronic device is disclosed. The electronic device may include a communication circuit, a processor, and a memory storing instructions. The instructions, when executed by the processor, may cause the electronic device to transmit, through the communication circuit, a command to a cleaning robot to initiate cleaning based on a map of the cleaning area and to move within the cleaning area and to suck up foreign substances. The instructions, when executed by the processor, may cause the electronic device to transmit, through the communication circuit, a command to at least one external electronic device to transmit sound data regarding a sound signal measured by the at least one external electronic device. The instructions, when executed by the processor, may cause the electronic device to identify a location of the at least one external electronic device on the map based on location information of the cleaning robot during the cleaning and the sound data.

[0005] A method is disclosed. The method can be performed in an electronic device including a communication circuit. The method can include an operation of transmitting, through the communication circuit, a command to initiate cleaning to a cleaning robot that moves in a cleaning area and sucks up foreign substances based on a map of the cleaning area. The method can include an operation of transmitting, through the communication circuit, a command to transmit sound data for a sound signal measured by the at least one external electronic device to at least one external electronic device. The method can include an operation of identifying a location of the at least one external electronic device on the map based on location information of the cleaning robot during the cleaning and the sound data.

[0006] A non-transitory computer-readable storage medium is disclosed. The non-transitory computer-readable storage medium may store a program including instructions. The instructions, when executed by a processor of an electronic device including a communication circuit, may cause the electronic device to transmit, through the communication circuit, a command to initiate cleaning to a cleaning robot that moves through a cleaning area and sucks up foreign substances based on a map of the cleaning area. The instructions, when executed by the processor, may cause the electronic device to transmit, through the communication circuit, a command to transmit sound data for a sound signal measured by the at least one external electronic device. The instructions, when executed by the processor, may cause the electronic device to identify a location of the at least one external electronic device on the map based on location information of the cleaning robot during the cleaning and the sound data.

[0007] FIG. 1 is a block diagram of an electronic device within a network environment according to various embodiments.

[0008] FIG. 2A is a block diagram of electronic devices according to one embodiment.

[0009] FIG. 2b illustrates programs or databases (DB) according to one embodiment.

[0010] Figure 3 is a flowchart illustrating an operation for updating a location.

[0011] FIG. 4 illustrates an example of a floor plan of a house in which electronic devices are arranged, according to one embodiment.

[0012] Figure 5a shows an example of a spectrogram.

[0013] FIG. 5b illustrates an example of an operation of an electronic device identifying a location of the electronic device based on sound data, according to one embodiment.

[0014] FIG. 6 illustrates an example of a floor plan of a house with updated locations of electronic devices, according to one embodiment.

[0015] Figure 7 is a block diagram of electronic devices according to one embodiment.

[0016] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings 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. In connection with the description of the drawings, the same or similar reference numerals may be used for the same or similar components. In addition, in the drawings and related descriptions, descriptions of well-known functions and configurations may be omitted for clarity and conciseness.

[0017] FIG. 1 is a block diagram of an electronic device (101) within a network environment (100) according to various embodiments.

[0018] Referring to FIG. 1, in a network environment (100), an electronic device (101) may communicate with an electronic device (102) via a first network (198) (e.g., a short-range wireless communication network), or may communicate with at least one of an electronic device (104) or a server (108) via a second network (199) (e.g., a long-range wireless communication network). According to one embodiment, the electronic device (101) may communicate with the electronic device (104) via the server (108). According to one embodiment, the electronic device (101) may include a processor (120), a memory (130), an input module (150), an audio output module (155), a display module (160), an audio module (170), a sensor module (176), an interface (177), a connection terminal (178), a haptic module (179), a camera module (180), a power management module (188), a battery (189), a communication module (190), a subscriber identification module (196), or an antenna module (197). In some embodiments, the electronic device (101) may omit at least one of these components (e.g., the connection terminal (178)), or may have one or more other components added. In some embodiments, some of these components (e.g., the sensor module (176), the camera module (180), or the antenna module (197)) may be integrated into one component (e.g., the display module (160)).

[0019] The processor (120) may, for example, execute software (e.g., a program (140)) to control at least one other component (e.g., a hardware or software component) of the electronic device (101) connected to the processor (120) and perform various data processing or operations. According to one embodiment, as at least a part of the data processing or operations, the processor (120) may store commands or data received from other components (e.g., a sensor module (176) or a communication module (190)) in a volatile memory (132), process the commands or data stored in the volatile memory (132), and store result data in a non-volatile memory (134). According to one embodiment, the processor (120) may include a main processor (121) (e.g., a central processing unit or an application processor) or an auxiliary processor (123) (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together with the main processor (121). For example, when the electronic device (101) includes the main processor (121) and the auxiliary processor (123), the auxiliary processor (123) may be configured to use less power than the main processor (121) or to be specialized for a given function. The auxiliary processor (123) may be implemented separately from the main processor (121) or as a part thereof.

[0020] The auxiliary processor (123) may control at least a portion of functions or states associated with at least one component (e.g., a display module (160), a sensor module (176), or a communication module (190)) of the electronic device (101), for example, on behalf of the main processor (121) while the main processor (121) is in an inactive (e.g., sleep) state, or together with the main processor (121) while the main processor (121) is in an active (e.g., application execution) state. In one embodiment, the auxiliary processor (123) (e.g., an image signal processor or a communication processor) may be implemented as a part of another functionally related component (e.g., a camera module (180) or a communication module (190)). In one embodiment, the auxiliary processor (123) (e.g., a neural network processing unit) may include a hardware structure specialized for processing artificial intelligence models. The artificial intelligence models may be generated through machine learning. This learning can be performed, for example, on the electronic device (101) itself where the artificial intelligence model is executed, or can be performed through a separate server (e.g., server (108)). The learning algorithm can include, for example, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but is not limited to the examples described above. The artificial intelligence model can include multiple artificial neural network layers.The artificial neural network may be one of a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a restricted Boltzmann machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), a deep Q-network, or a combination of two or more of the above, but is not limited to the examples described above. In addition to, or alternatively to, a hardware structure, an artificial intelligence model may include a software structure.

[0021] The memory (130) can store various data used by at least one component (e.g., processor (120) or sensor module (176)) of the electronic device (101). The data can include, for example, software (e.g., program (140)) and input data or output data for commands related thereto. The memory (130) can include volatile memory (132) or non-volatile memory (134).

[0022] The program (140) may be stored as software in the memory (130) and may include, for example, an operating system (142), middleware (144), or an application (146).

[0023] The input module (150) can receive commands or data to be used in a component of the electronic device (101) (e.g., a processor (120)) from an external source (e.g., a user) of the electronic device (101). The input module (150) can include, for example, a microphone, a mouse, a keyboard, a key (e.g., a button), or a digital pen (e.g., a stylus pen).

[0024] The audio output module (155) can output audio signals to the outside of the electronic device (101). The audio output module (155) can include, for example, a speaker or a receiver. The speaker can be used for general purposes, such as multimedia playback or recording playback. The receiver can be used to receive incoming calls. In one embodiment, the receiver can be implemented separately from the speaker or as part of the speaker.

[0025] The display module (160) can visually provide information to an external party (e.g., a user) of the electronic device (101). The display module (160) may include, for example, a display, a holographic device, or a projector and a control circuit for controlling the device. According to one embodiment, the display module (160) may include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by the touch.

[0026] The audio module (170) can convert sound into an electrical signal, or vice versa, convert an electrical signal into sound. According to one embodiment, the audio module (170) can acquire sound through the input module (150), output sound through the sound output module (155), or an external electronic device (e.g., electronic device (102)) (e.g., speaker or headphone) directly or wirelessly connected to the electronic device (101).

[0027] The sensor module (176) can detect the operating status (e.g., power or temperature) of the electronic device (101) or the external environmental status (e.g., user status) and generate an electrical signal or data value corresponding to the detected status. According to one embodiment, the sensor module (176) can include, for example, a gesture sensor, a gyro sensor, a barometric pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an IR (infrared) sensor, a biometric sensor, a temperature sensor, a humidity sensor, or an illuminance sensor.

[0028] The interface (177) may support one or more designated protocols that may be used to directly or wirelessly connect the electronic device (101) with an external electronic device (e.g., the electronic device (102)). In one embodiment, the interface (177) may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.

[0029] The connection terminal (178) may include a connector through which the electronic device (101) may be physically connected to an external electronic device (e.g., electronic device (102)). According to one embodiment, the connection terminal (178) may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (e.g., a headphone connector).

[0030] The haptic module (179) can convert electrical signals into mechanical stimuli (e.g., vibration or movement) or electrical stimuli that a user can perceive through tactile or kinesthetic sensations. According to one embodiment, the haptic module (179) can include, for example, a motor, a piezoelectric element, or an electrical stimulation device.

[0031] The camera module (180) can capture still images and videos. According to one embodiment, the camera module (180) may include one or more lenses, image sensors, image signal processors, or flashes.

[0032] The power management module (188) can manage power supplied to the electronic device (101). According to one embodiment, the power management module (188) can be implemented as, for example, at least a part of a power management integrated circuit (PMIC).

[0033] A battery (189) may power at least one component of the electronic device (101). In one embodiment, the battery (189) may include, for example, a non-rechargeable primary battery, a rechargeable secondary battery, or a fuel cell.

[0034] The communication module (190) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (101) and an external electronic device (e.g., electronic device (102), electronic device (104), or server (108)), and the performance of communication through the established communication channel. The communication module (190) may operate independently from the processor (120) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (190) may include a wireless communication module (192) (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (194) (e.g., a local area network (LAN) communication module, or a power line communication module). Among these communication modules, the corresponding communication module can communicate with an external electronic device (104) via a first network (198) (e.g., a short-range communication network such as Bluetooth, wireless fidelity (WiFi) direct, or infrared data association (IrDA)) or a second network (199) (e.g., a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)). These various types of communication modules can be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips). The wireless communication module (192) can verify or authenticate the electronic device (101) within a communication network such as the first network (198) or the second network (199) by using subscriber information (e.g., an international mobile subscriber identity (IMSI)) stored in the subscriber identification module (196).

[0035] The wireless communication module (192) can support 5G networks and next-generation communication technologies following the 4G network, such as NR access technology (new radio access technology). The NR access technology can support high-speed transmission of high-capacity data (eMBB (enhanced mobile broadband)), minimization of terminal power and connection of multiple terminals (mMTC (massive machine type communications)), or high reliability and low latency (URLLC (ultra-reliable and low-latency communications)). The wireless communication module (192) can support, for example, a high-frequency band (e.g., mmWave band) to achieve a high data transmission rate. The wireless communication module (192) can support various technologies for securing performance in a high-frequency band, such as beamforming, massive multiple-input and multiple-output (MIMO), full dimensional MIMO (FD-MIMO), array antenna, analog beam-forming, or large scale antenna. The wireless communication module (192) can support various requirements specified in the electronic device (101), an external electronic device (e.g., the electronic device (104)), or a network system (e.g., the second network (199)). According to one embodiment, the wireless communication module (192) can support a peak data rate (e.g., 20 Gbps or more) for eMBB realization, a loss coverage (e.g., 664 dB or less) for mMTC realization, or a U-plane latency (e.g., 0.5 ms or less for downlink (DL) and uplink (UL), or 6 ms or less for round trip) for URLLC realization.

[0036] The antenna module (197) can transmit or receive signals or power to or from an external device (e.g., an external electronic device). In one embodiment, the antenna module (197) may include an antenna including a radiator formed of a conductor or a conductive pattern formed on a substrate (e.g., a PCB). In one embodiment, the antenna module (197) may include a plurality of antennas (e.g., an array antenna). In this case, at least one antenna suitable for a communication method used in a communication network, such as the first network (198) or the second network (199), may be selected from the plurality of antennas, for example, by the communication module (190). A signal or power may be transmitted or received between the communication module (190) and an external electronic device via the at least one selected antenna. In some embodiments, in addition to the radiator, another component (e.g., a radio frequency integrated circuit (RFIC)) may be additionally formed as a part of the antenna module (197).

[0037] According to various embodiments, the antenna module (197) may form a mmWave antenna module. In one embodiment, the mmWave antenna module may include a printed circuit board, an RFIC disposed on or adjacent a first side (e.g., a bottom side) of the printed circuit board and capable of supporting a designated high-frequency band (e.g., a mmWave band), and a plurality of antennas (e.g., an array antenna) disposed on or adjacent a second side (e.g., a top side or a side side) of the printed circuit board and capable of transmitting or receiving signals in the designated high-frequency band.

[0038] At least some of the above components can be interconnected and exchange signals (e.g., commands or data) with each other via a communication method between peripheral devices (e.g., a bus, GPIO (general purpose input and output), SPI (serial peripheral interface), or MIPI (mobile industry processor interface)).

[0039] According to one embodiment, commands or data may be transmitted or received between the electronic device (101) and an external electronic device (104) via a server (108) connected to a second network (199). Each of the external electronic devices (102 or 104) may be the same or a different type of device as the electronic device (101). According to one embodiment, all or part of the operations executed in the electronic device (101) may be executed in one or more of the external electronic devices (102, 104, or 108). For example, when the electronic device (101) is to perform a certain function or service automatically or in response to a request from a user or another device, the electronic device (101) may, instead of or in addition to executing the function or service itself, request one or more external electronic devices to perform the function or at least a part of the service. One or more external electronic devices that receive the request may execute at least a portion of the requested function or service, or an additional function or service related to the request, and transmit the result of the execution to the electronic device (101). The electronic device (101) may process the result as is or additionally and provide it as at least a portion of a response to the request. For this purpose, cloud computing, distributed computing, mobile edge computing (MEC), or client-server computing technology may be used, for example. The electronic device (101) may provide an ultra-low latency service by using distributed computing or mobile edge computing, for example. In another embodiment, the external electronic device (104) may include an Internet of Things (IoT) device. The server (108) may be an intelligent server utilizing machine learning and / or a neural network. According to one embodiment, the external electronic device (104) or the server (108) may be included in the second network (199).The electronic device (101) can be applied to intelligent services (e.g., smart home, smart city, smart car, or healthcare) based on 5G communication technology and IoT-related technology.

[0040] FIG. 2A is a block diagram of electronic devices according to one embodiment.

[0041] Referring to FIG. 2A, the electronic device (101) may include a processor (120), a memory (130), a display (260), and a communication circuit (290).

[0042] In one embodiment, the processor (120) may be used to execute the operations of the electronic device (101) exemplified in the descriptions of FIGS. 3 to 6. For example, the processor (120) may include at least a portion of the processor (120) of FIG. 1 or may correspond to at least a portion of the processor (120) of FIG. 1. For example, the processor (120) may include one or more processors, including an application processor (AP) and / or a communication processor (CP). For example, the processor (120) may be implemented as a single chip, such as a system on chip (SoC), or may be implemented as multiple chips. For example, the processor (120) may be implemented as a single integrated circuit or may be implemented as multiple integrated circuits. For example, the processor (120) may be distributedly arranged within the electronic device (101).

[0043] In one embodiment, the memory (130) may (at least temporarily) store instructions for executing operations of the electronic device (101) exemplified in the descriptions of FIGS. 3 to 6. The instructions may be executed by the processor (120). The instructions may be included in one or more programs stored in the memory (130). For example, the memory (130) may include at least a portion of the memory (130) of FIG. 1 (or at least a portion of the non-volatile memory (134)) or may correspond to at least a portion of the memory (130) of FIG. 1 (or at least a portion of the non-volatile memory (134)). For example, the memory (130) may include a main memory (e.g., a random access memory (RAM), a register for the processor (120), a cache for the processor (120), a register for the communication circuit (290), a buffer (or soft buffer) for the communication circuit (290), and / or an auxiliary memory (e.g., a hard disk drive (HDD), a solid state drive (SSD)) of the electronic device (101) within the electronic device (101). For example, the memory (130) may be implemented as a single chip or may be implemented as multiple chips. For example, the memory (130) may be implemented as one integrated circuit or may be implemented as multiple integrated circuits. For example, the memory (130) may be distributedly arranged within the electronic device (101).

[0044] In one embodiment, the display (260) can display visual content. For example, the display (260) can include at least a portion of the display module (160) of FIG. 1 or can correspond to at least a portion of the display module (160) of FIG. 1.

[0045] In one embodiment, the communication circuit (290) may be used to support wireless communication between the electronic device (101) and other electronic devices (e.g., the cleaning robot (210) and / or electronic devices (221, 223, 225)). For example, the communication circuit (290) may include at least a portion of the communication module (190) (or the wireless communication module (192)) of FIG. 1, or may correspond to at least a portion of the communication module (190) (or the wireless communication module (192)) of FIG. 1. For example, the communication circuit (290) may include a communication circuit for a long-distance communication network. For example, the communication circuit (290) may be used to establish a communication link. For example, the communication circuit (290) may be implemented as a single chip or may be implemented as multiple chips. For example, the communication circuit (290) may be implemented as a single integrated circuit or as multiple integrated circuits. For example, the communication circuit (290) may be distributedly arranged within the electronic device (101).

[0046] In one embodiment, the cleaning robot (210) can clean dust accumulated on the floor while moving around the cleaning area without user operation.

[0047] In one embodiment, the cleaning robot (210) may include a processor (211), a memory (231), a speaker (261), and a communication circuit (291). However, the present invention is not limited thereto. In one embodiment, the cleaning robot (210) may include mechanical components. In one embodiment, the mechanical components that may be included in the cleaning robot (210) may include wheels, a suction unit, a drum brush, a motor, and / or a gear unit. In one embodiment, the wheels may be powered by a motor (or a drive motor) of the cleaning robot (210) to allow the cleaning robot (210) to move around the cleaning area. In one embodiment, the suction unit may be located at the bottom of the cleaning robot (210), and may suck in dust and air and discharge the sucked air through a passage. In one embodiment, the drum brush may be arranged to sweep up dust from the floor. In one embodiment, the motor may generate power to allow the cleaning robot (210) to move. In one embodiment, the gear unit may transmit the rotational motion by the motor to other mechanical components (e.g., wheels) of the cleaning robot (210). In one embodiment, the cleaning robot (210) may generate noise (e.g., physical operation sound of the motor and / or gear, movement sound of gas generated from the suction unit, friction sound of the drum brush against the floor) at least by the mechanical components while cleaning the cleaning area, but is not limited thereto.

[0048] In one embodiment, the processor (211) may include at least a portion of the processor (120) of FIG. 1 or may correspond to at least a portion of the processor (120) of FIG. 1.

[0049] In one embodiment, the memory (231) may (at least temporarily) store instructions for executing operations of the cleaning robot (210) exemplified in the descriptions of FIGS. 3 to 6. The instructions may be executed by the processor (211). The instructions may be included in one or more programs stored in the memory (231).

[0050] In one embodiment, the speaker (261) may output an audio signal externally. For example, the speaker (261) may include at least a portion of the audio module (170) and / or the audio output module (155) of FIG. 1, or may correspond to at least a portion of the audio module (170) and / or the audio output module (155) of FIG. 1.

[0051] In one embodiment, the speaker (261) can generate sound according to a command from the processor (221). In one embodiment, the sound can be generated by playing a specified sound source. In one embodiment, the speaker (261) can generate sound of a specified frequency according to a command from the processor (221). For example, the speaker (261) can generate sound of a frequency other than an audible frequency (e.g., a frequency in the ultrasonic range).

[0052] In one embodiment, the sensor (271) can detect according to a command of the processor (211). In one embodiment, the sensor (271) can include a motion sensor, a gyro sensor, an impact detection sensor, and / or a lidar sensor. In one embodiment, the sensor (271) can include at least a part of the sensor module (176) of FIG. 1 or correspond to at least a part of the sensor module (176) of FIG. 1. In one embodiment, the sensor (271) can detect (or identify) a sensing value for detecting (or calculating) the movement of the cleaning robot (210) through the motion sensor and / or the gyro sensor. In one embodiment, the sensor (271) can include a sensor for detecting the operation of mechanical components (e.g., wheels, a suction unit, a drum brush, a motor, and / or a gear unit) within the cleaning robot (210). In one embodiment, the sensor (271) may detect (or identify) a sensing value for detecting an event that may significantly change the characteristics of the noise of the cleaning robot (210), such as an obstacle collision of the cleaning robot (210) and / or suction of an obstacle, through an impact detection sensor.

[0053] In one embodiment, the processor (211) may identify (or calculate) the location (or coordinates) of the cleaning robot (210) based on the sensing value of the sensor (271). In one embodiment, the processor (211) may identify (or calculate) the location (or coordinates) of the cleaning robot (210) based on the sensing result of the sensor (271) (e.g., the amount of movement of the cleaning robot (210) (or the moving distance of the cleaning robot (210)), the posture of the cleaning robot (210), and the surrounding image). In one embodiment, the processor (211) may identify (or calculate) the location (or coordinates) of the cleaning robot (210) based on a simultaneous localization and mapping (SLAM) algorithm. In one embodiment, the processor (211) may obtain map data for the cleaning area based on the SLAM algorithm. However, the present invention is not limited thereto.

[0054] In one embodiment, the processor (211) may detect (or calculate) the movement of the cleaning robot (210) based on the sensing value of the sensor (271). The sensing value may be detected (or identified) for the purpose. In one embodiment, the processor (211) may detect the operation of mechanical components (e.g., wheels, suction unit, drum brush, motor, and / or gear unit) within the cleaning robot (210) based on the sensing value of the sensor (271). In one embodiment, the processor (211) may detect an event that may significantly change the noise characteristics of the cleaning robot (210), such as collision with an obstacle and / or suction of an obstacle, based on the sensing value of the sensor (271).

[0055] In one embodiment, the communication circuit (291) may be used to support wireless communication between the cleaning robot (210) and the electronic device (101). For example, the communication circuit (290) may include at least a portion of the communication module (190) (or the wireless communication module (192)) of FIG. 1, or may correspond to at least a portion of the communication module (190) (or the wireless communication module (192)) of FIG. 1.

[0056] In one embodiment, the communication circuit (291) can obtain a synchronization signal to synchronize with the time of the electronic device (101) or a server (or the Internet).

[0057] In one embodiment, the electronic devices (221, 223, 225) may be a television, an audio device (e.g., a sound bar, a speaker, an AI (artificial intelligence) speaker), a kitchen appliance (e.g., a refrigerator, a dishwasher, a water purifier, an electric range, an oven, a microwave, a hood, an air fryer), a living appliance (e.g., a washing machine, a dryer, a clothes manager, a shoe manager, an air conditioner, an air purifier, a dehumidifier, a lighting device), and / or a personal computer (PC). For example, the electronic device (221) may be a television. For example, the electronic device (223) may be a refrigerator. For example, the electronic device (225) may be an air conditioner. However, the present invention is not limited thereto.

[0058] Electronic devices (221, 223, 225) may include a processor (213, 215, 217), memory (233, 235, 237), microphone (273, 275, 277), and communication circuitry (293, 295, 297).

[0059] In one embodiment, each of the processors (213, 215, 217) may include at least a portion of the processor (120) of FIG. 1 or may correspond to at least a portion of the processor (120) of FIG. 1.

[0060] In one embodiment, memories (233, 235, 237) may store (at least temporarily) instructions for executing operations of electronic devices (221, 223, 225) exemplified in the descriptions of FIGS. 3 through 6. The instructions may be executed by processors (213, 215, 217). The instructions may be included in one or more programs stored in memories (233, 235, 237).

[0061] In one embodiment, the microphones (273, 275, 277) may be used to acquire (or receive) audio signals corresponding to external sounds. For example, the microphones (273, 275, 277) may include at least a portion of the audio module (170) and / or the input module (150) of FIG. 1, or may correspond to at least a portion of the audio module (170) and / or the input module (150) of FIG. 1. For example, the microphones (273, 275, 277) may include a dynamic microphone, a condenser microphone, and / or a piezo microphone.

[0062] In one embodiment, the microphones (273, 275, 277) can acquire audio signals according to commands from the processors (213, 215, 217). For example, the microphones (273, 275, 277) can acquire audio signals corresponding to sounds of frequencies other than audible frequencies (e.g., frequencies in the ultrasonic range).

[0063] In one embodiment, the processors (213, 215, 217) can sample audio signals acquired by the microphones (273, 275, 277) at a specified frequency (e.g., 16 kHz). In one embodiment, the processors (213, 215, 217) can identify (or calculate) characteristics (e.g., sound pressure level (SPL), energy, power) of audio signals sampled at a specified frequency (e.g., 16 kHz) at specified time intervals (e.g., 1 second). In one embodiment, the processors (213, 215, 217) can identify the sound pressure level based on an average (or root mean square (RMS)) of a specified number (e.g., 1024) of sampled audio signals. In one embodiment, the processors (213, 215, 217) may identify the average (or root mean square) of sampled audio signals over a specified time interval as the sound pressure level. However, the present invention is not limited thereto. For example, the electronic devices (221, 223, 225) may transmit audio signals acquired by the microphones (273, 275, 277) to the electronic device (101). The electronic device (101) may process the audio signals.

[0064] In one embodiment, the communication circuits (293, 295, 297) may be used to support wireless communication between the cleaning robot (210) and the electronic device (101). For example, the communication circuits (293, 295, 297) may include at least a portion of the communication module (190) (or the wireless communication module (192)) of FIG. 1, or may correspond to at least a portion of the communication module (190) (or the wireless communication module (192)) of FIG. 1.

[0065] In one embodiment, the communication circuits (293, 295, 297) can obtain a synchronization signal to synchronize with the time of the electronic device (101) or a server (or the Internet).

[0066] FIG. 2b illustrates programs or databases (DB) according to one embodiment.

[0067] Figure 2b can be explained with reference to Figures 1 and 2a.

[0068] The cleaning robot control module (241), the electronic device control module (243), the data processing module (245), and the location information update determination module (247) of FIG. 2B may be stored as programs in the memory (130) of the electronic device (101). In one embodiment, the cleaning robot control module (241), the electronic device control module (243), the data processing module (245), and the location information update determination module (247) may be executed by the processor (120).

[0069] The state data database (DB) (251) and the map DB (253) of FIG. 2b may be stored in the memory (130) of the electronic device (101). In one embodiment, the state data DB (251) and the map DB (253) may be accessible by the processor (120).

[0070] In one embodiment, the status data DB (251) may store status data of each of the electronic devices (221, 223, 225). In one embodiment, the status data may indicate the current status (e.g., running, waiting) of each of the electronic devices (221, 223, 225). In one embodiment, the status data may indicate information (e.g., identification information, presence or absence of a microphone, presence or absence of a speaker) of each of the electronic devices (221, 223, 225). In one embodiment, the status data may include sound data of each of the electronic devices (221, 223, 225). In one embodiment, the sound data may include identification information, track information, time information, and / or sound information (e.g., raw signal, sound characteristic information (e.g., sound pressure level (SPL), energy, power)) of each of the electronic devices (221, 223, 225). In one embodiment, the status data may be accumulated according to the track information. In one embodiment, the track information may be information generated by the electronic device (101) to distinguish location updates.

[0071] In one embodiment, the map DB (253) may include location information of each of the electronic devices (221, 223, 225). In one embodiment, the map DB (253) may include location information of each of the electronic devices (221, 223, 225) on the map. In one embodiment, the map may be divided into one or more areas (e.g., bedroom, living room, kitchen, bathroom).

[0072] The situation judgment policy (255) of FIG. 2B can designate situations requiring location information updates. For example, situations requiring location information updates can be determined based on the status of each of the electronic devices (221, 223, 225). For example, situations where a new device is registered and / or a location change of an existing registered device occurs can be designated as situations requiring location information updates. For example, situations where a location change occurs for a device set as a fixed device (e.g., a television, refrigerator, air conditioner) can be designated as situations requiring location information updates. For example, situations where a location change occurs for a device set as a non-fixed device (e.g., an AI speaker) can be designated as situations where a location information update is not required. For example, situations requiring location information updates can be determined based on the location information update cycle, but are not limited thereto.

[0073] In one embodiment, the situation judgment policy (255) may designate a situation in which location information can be updated. The situation in which location information can be updated may be determined based on the status of each of the electronic devices (221, 223, 225) requiring location information updates. For example, a state in which an electronic device requiring location information updates is powered (e.g., in operation or on standby) may be designated as a situation in which location information can be updated. For example, when an electronic device requiring location information updates exists, a state in which ambient noise (e.g., noise from a television) is below a standard may be designated as a situation in which location information can be updated. For example, when an electronic device requiring location information updates exists, a state in which cleaning is possible (e.g., during the day) may be designated as a situation in which location information can be updated. For example, when an electronic device requiring location information updates exists, a state in which no one is present in the cleaning area may be designated as a situation in which location information can be updated.

[0074] In one embodiment, the situation judgment policy (255) may designate a situation in which location information cannot be updated. The situation in which location information cannot be updated may be determined based on the status of each of the electronic devices (221, 223, 225) requiring location information updates. For example, a state in which power is not supplied to an electronic device requiring location information updates may be designated as a situation in which location information cannot be updated. For example, when an electronic device requiring location information updates exists, a state in which ambient noise (e.g., noise from a television) exceeds a standard may be designated as a situation in which location information cannot be updated. For example, when an electronic device requiring location information updates exists, a state in which cleaning is not possible (e.g., dawn) may be designated as a situation in which location information cannot be updated. For example, when an electronic device requiring location information updates exists, a state in which a person is present in the cleaning area may be designated as a situation in which location information cannot be updated.

[0075] In one embodiment, the location information update determination module (247) may determine (or identify) whether to update location information based on a situation determination policy (255). In one embodiment, the location information update determination module (247) may determine (or identify) whether to update location information based on status information (e.g., new registration, reconnection after disconnection, location change) of each of the electronic devices (221, 223, 225).

[0076] For example, the location information update determination module (247) may determine that a location update is required if an electronic device that is not registered to a user account is newly registered. For example, the location information update determination module (247) may determine that a location update is required if an electronic device registered to a user account is reconnected to communication. For example, the location information update determination module (247) may determine that a location update is required if the location of an electronic device registered to a user account has changed.

[0077] In one embodiment, the location information update determination module (247) may determine whether to proceed with updating the location information based on the situation determination policy (255). For example, the location information update determination module (247) may determine to proceed with updating the location information if power is supplied to an electronic device requiring location information update. For example, the location information update determination module (247) may determine to proceed with updating the location information if the ambient noise (e.g., noise from a television) is below a standard. For example, the location information update determination module (247) may determine to proceed with updating the location information if it is a cleaning-available time (e.g., daytime). For example, the location information update determination module (247) may determine to proceed with updating the location information if there is no person present in the cleaning area.

[0078] In one embodiment, the location information update determination module (247) may output a notification indicating that an operation for updating location information is performed based on determining the progress of updating location information. In one embodiment, the location information update determination module (247) may output a notification indicating that an operation for updating location information is performed through a display (260) and / or a speaker (e.g., an audio module (170)).

[0079] In one embodiment, the location information update determination module (247) may control the cleaning robot (210) and electronic devices (221, 223, 225) through the cleaning robot control module (241) and / or the electronic device control module (243) based on determining the progress of updating the location information.

[0080] In one embodiment, the cleaning robot control module (241) may communicate with the cleaning robot (210). In one embodiment, the cleaning robot control module (241) may transmit a command to the cleaning robot (210) to start cleaning based on the location information update determination module (247) determining the progress of updating the location information. In one embodiment, the command to start cleaning may be referred to as a cleaning command. In one embodiment, the cleaning command may instruct whether to output a sound signal of a specified frequency through the speaker (261) during cleaning. In one embodiment, the cleaning command may instruct whether to output a sound signal of a specified frequency through the speaker (261) during cleaning. In one embodiment, the cleaning command may instruct position measurement of the cleaning robot (210) during cleaning. In one embodiment, the cleaning command may instruct reporting (or transmitting) of the position measured during cleaning. In one embodiment, the cleaning command may direct the identification of an event during cleaning.

[0081] In one embodiment, the electronic device control module (243) may communicate with each of the electronic devices (221, 223, 225). In one embodiment, the electronic device control module (243) may transmit a command to each of the electronic devices (221, 223, 225) to measure a sound signal based on the location information update determination module (247) determining the progress of updating the location information. In one embodiment, the command to measure a sound signal may be referred to as a sound signal measurement command. In one embodiment, the sound signal measurement command may instruct measurement of a sound signal through a microphone (273, 275, 277). In one embodiment, the sound signal measurement command may instruct measurement of a sound signal of a specified frequency through a microphone (273, 275, 277). In one embodiment, the sound signal measurement command may instruct transmission of sound data for the measured sound signal. In one embodiment, the sound signal measurement command may direct the output of a notification indicating that sound measurement for updating location information is being performed. For example, each of the electronic devices (221, 223, 225) may output a notification indicating that sound measurement for updating location information is being performed through a display based on the sound signal measurement command.

[0082] In one embodiment, the data processing module (245) may obtain data through the cleaning robot control module (241) and / or the electronic device control module (243). In one embodiment, the data obtained from the cleaning robot control module (241) may be referred to as cleaning data. In one embodiment, the data obtained from the electronic device control module (243) may be referred to as sound data.

[0083] In one embodiment, the cleaning data may include identification information, track information, location information, time information, and / or event information of the cleaning robot (210). In one embodiment, the track information may be information generated by the electronic device (101) to distinguish location updates. In one embodiment, the track information may be transmitted to the cleaning robot (210) via a cleaning command. In one embodiment, the track information may be transmitted to each of the electronic devices (221, 223, 225) via a sound signal measurement command. In one embodiment, the time information may indicate a time synchronized to one device (e.g., the electronic device (101) or the server (108)).

[0084] In one embodiment, the data processing module (245) can identify a time-position relationship of the cleaning robot (210) based on the cleaning data. For example, the data processing module (245) can identify a time-position relationship of the cleaning robot (210) based on the cleaning data as shown in Table 1 below.

[0085] Identification informationTrack informationLocation informationTime informationEvent ID_1Track_IDX1, Y1T1Event 1ID_1Track_IDX2, Y2T2-… … … … … ID_1Track_IDXN, YNTN-

[0086] In Table 1, Event 1 may include an event in which the cleaning robot (210) collides with an obstacle. In one embodiment, Event 1 may include an event in which the cleaning robot (210) changes the driving characteristics (e.g., revolutions per minute (RPM)) of the motor of the cleaning robot (210).

[0087] In one embodiment, the sound data may include identification information of the electronic device (221, 223, 225), track information, time information, and / or sound information (e.g., (raw) audio signal, sound characteristic information (e.g., sound pressure level (SPL), energy, power).

[0088] In one embodiment, the data processing module (245) can sample sound information (or raw audio signal) (or audio signal) included in sound data at a specified frequency (e.g., 16 kHz). In one embodiment, the data processing module (245) can identify (or calculate) characteristics (e.g., sound pressure level (SPL), energy, power) of audio signals sampled at a specified frequency (e.g., 16 kHz) at a specified time interval (e.g., 1 second). In one embodiment, the data processing module (245) can identify the sound pressure level based on an average (or root mean square (RMS)) of a specified number (e.g., 1024) of sampled audio signals. In one embodiment, the data processing module (245) can identify an average (or root mean square) of sampled audio signals during a specified time interval as the sound pressure level.

[0089] In one embodiment, the data processing module (245) may process sound data based on the cleaning data. For example, the data processing module (245) may adjust the intensity of the sound signal at which an event occurs among the intensity of the sound signal according to the sound data (e.g., the average or root mean square of the intensity of the audio signal). For example, the data processing module (245) may reduce the intensity of the sound signal at which an event occurs by a specified value or change it to a specified set value. For example, the data processing module (245) may replace the intensity of the sound signal at which an event occurs with the average of intensity values ​​acquired at adjacent times. For example, the data processing module (245) may ignore the sound signal at which an event occurs. For example, ignoring the sound signal may mean not using the sound signal at which an event occurs to identify the location of the electronic device.

[0090] In one embodiment, the data processing module (245) can identify a time-sound intensity relationship of each of the electronic devices (221, 223, 225) based on sound data. For example, the data processing module (245) can identify a time-sound intensity relationship of each of the electronic devices (221, 223, 225) based on sound data as shown in Table 2 below.

[0091] Identification information Track information Century information Time information ID_2 Track_ID70T1 ID_2 Track_ID90T2… … … … ID_2 Track_ID60TN ID_3 Track_ID10T1 ID_3 Track_ID15T2… … … … ID_3 Track_ID30TN

[0092] In Table 2, ID_2 may be identification information of the electronic device (221), and ID_3 may be identification information of the electronic device (223). In one embodiment, since the intensity of the sound signal (e.g., 90) measured by the electronic device (221) at the same time point (e.g., T2) is greater than the intensity of the sound signal (e.g., 15) measured by the electronic device (223), it can be seen that the cleaning robot (210) is closer to the electronic device (221) than to the electronic device (223) at time point T2.

[0093] In one embodiment, the data processing module (245) may identify the location of each of the electronic devices (221, 223, 225) on the map based on sound data and / or cleaning data. For example, the data processing module (245) may identify a correlation between the location of the cleaning robot (210) and the intensity of the sound signal measured by each of the electronic devices (221, 223, 225) based on the sound data and / or cleaning data. For example, the data processing module (245) may identify the location of each of the electronic devices (221, 223, 225) on the map based on the correlation. For example, the correlation may be exemplified as shown in Table 3 below.

[0094] Identification informationTrack informationCentury informationLocation informationTime informationID_2Track_ID70X1, Y1T1ID_2Track_ID90X2, Y2T2… … … … …ID_2Track_ID60XN, YNTNID_3Track_ID10X1, Y1T1ID_3Track_ID15X2, Y2T2… … … … …ID_3Track_ID30XN, YNTN

[0095] For example, referring to Table 3, when the location of the cleaning robot (210) is {X2, Y2}, since the sound signal of the electronic device (221) has the greatest intensity, it can be determined that the electronic device (221) is located around {X2, Y2}. For example, when the location of the cleaning robot (210) is {X1, Y1}, {X2, Y2}, … {XN, YN}, since the sound signal of the electronic device (223) has a relatively low intensity, it can be determined that the electronic device (223) is not located around {X1, Y1}, {X2, Y2}, … {XN, YN}.

[0096] In one embodiment, the data processing module (245) may identify, for each of the electronic devices (221, 223, 225), a location area indicating the highest sound signal intensity among the sound signal intensities according to the locations of the cleaning robot (210). However, the present invention is not limited thereto. In one embodiment, the data processing module (245) may identify the locations of each of the electronic devices (221, 223, 225) through a specified algorithm (e.g., an artificial neural network or linear prediction).

[0097] In one embodiment, the data processing module (245) can update the identified locations of each of the electronic devices (221, 223, 225) in the map DB (253). In one embodiment, the data processing module (245) can update the locations of each of the electronic devices (221, 223, 225) by using the new locations of each of the electronic devices (221, 223, 225) identified based on the existing locations and sound data and / or cleaning data of each of the electronic devices (221, 223, 225) stored in the map DB (253). For example, in one embodiment, the data processing module (245) can discard the existing locations and store the new locations in the map DB (253) when the new locations are more than a threshold distance away from the existing locations. For example, in one embodiment, the data processing module (245) may update the positions of each of the electronic devices (221, 223, 225) with an average (or weighted average) position between the existing position and the new position if the new position is within a threshold distance from the existing position, but is not limited thereto.

[0098] In one embodiment, the cleaning robot control module (241) may obtain a signal indicating cleaning completion from the cleaning robot (210). In one embodiment, the electronic device control module (243) may command each of the electronic devices (221, 223, 225) to stop transmitting sound data based on obtaining the signal indicating cleaning completion.

[0099] In one embodiment, the electronic device (101) may obtain an input. In one embodiment, the input may be a touch input on a screen displayed through a display (260). In one embodiment, the input may be a voice input obtained through an audio module (e.g., an audio module (170) of FIG. 1).

[0100] In one embodiment, the electronic device (101) may receive a voice input such as "Turn on the lights around the air conditioner." In one embodiment, the electronic device (101) may identify an area where the air conditioner is located in the map DB (253) based on the voice input, and transmit a command to the lights to turn on the lights around the air conditioner within the identified area.

[0101] As described above, the electronic device (101) can identify the location of each of the electronic devices (221, 223, 225) based on the intensity of the sound generated by the cleaning robot (210) measured by each of the electronic devices (221, 223, 225). Accordingly, the inconvenience of the user having to register the location of the electronic device can be reduced. In addition, by identifying the location of each of the electronic devices (221, 223, 225) through the sound generated by the cleaning robot (210) moving by itself during cleaning, the location of each of the electronic devices (221, 223, 225) can be continuously tracked.

[0102] Figure 3 is a flowchart illustrating an operation for updating a location.

[0103] Figure 3 can be explained with reference to Figures 1, 2a and 2b.

[0104] In the following examples, the operations may be performed sequentially, but are not necessarily sequential. For example, the order of the operations may be changed, and at least two operations may be performed in parallel.

[0105] Referring to FIG. 3, in operation 310, the electronic device (101) may identify the need for a location update.

[0106] In one embodiment, the electronic device (101) may identify the need for a location update when a new device is registered and / or a location change occurs for an existing registered device. In one embodiment, the electronic device (101) may identify the need for a location update when a location change occurs for a specified type of device (e.g., a device that is fixedly used).

[0107] In one embodiment, the electronic device (101) may identify the need for a location update based on an input requesting a location update. In one embodiment, the electronic device (101) may determine that a location update is needed when an input requesting a location update is received. In one embodiment, the input may be an input on a screen displayed through the display (260) of the electronic device (101). In one embodiment, the input may be an input to a designated button on the screen displayed through the display (260) of the electronic device (101). In one embodiment, the designated button may be a button mapped to a function for requesting a location update.

[0108] In operation 320, the electronic device (101) may request cleaning from the cleaning robot (210). In one embodiment, the cleaning request may include track information.

[0109] In one embodiment, the electronic device (101) may request the cleaning robot (210) to generate a sound signal of a specified frequency through the speaker (261) of the cleaning robot (210) during cleaning. The electronic device (101) may request the cleaning robot (210) to output a sound signal of a specified frequency through the speaker (261) during cleaning. In one embodiment, the specified frequency may be a frequency other than an audible frequency (e.g., ultrasonic), but is not limited thereto. In one embodiment, the specified frequency may be specified within an audible frequency.

[0110] In operation 330, the cleaning robot (210) may start cleaning. In one embodiment, the cleaning robot (210) may start cleaning in response to receiving a request from the electronic device (101). In one embodiment, the cleaning robot (210) may generate a sound signal of a specified frequency through the speaker (261) during cleaning in response to the request from the electronic device (101).

[0111] In operation 340, the cleaning robot (210) may obtain cleaning data. In one embodiment, the cleaning robot (210) may obtain cleaning data while cleaning. In one embodiment, the cleaning data may include location information, time information, and / or event information of the cleaning robot (210). In one embodiment, the location information may be identified based on a SLAM algorithm. In one embodiment, the location information may be identified based on a sensing result of a sensor (271) of the cleaning robot (210) (e.g., the amount of movement of the cleaning robot (210) (or, the movement distance of the cleaning robot (210)), the posture of the cleaning robot (210), and a surrounding image). In one embodiment, the event information may indicate an event in which the cleaning robot (210) bumps into an obstacle (e.g., a wall, furniture). In one embodiment, the event information may indicate an event in which the material of the floor (e.g., carpet, cement, tile) of the cleaning robot (210) changes. In one embodiment, the event information may represent an event in which the cleaning robot (210) changes the driving characteristics (e.g., RPM) of the motor of the cleaning robot (210), but is not limited thereto.

[0112] In one embodiment, the cleaning robot (210) may obtain cleaning data including identification information, track information, location information, time information, and / or events, as shown in Table 1.

[0113] In operation 350, the cleaning robot (210) may transmit cleaning data to the electronic device (101). In one embodiment, the cleaning robot (210) may transmit cleaning data acquired periodically to the electronic device (101). In one embodiment, the cleaning robot (210) may transmit cleaning data to the electronic device (101) during cleaning.

[0114] In operation 361, the electronic device (101) may request transmission of sound data to the electronic device (221). In operation 363, the electronic device (101) may request transmission of sound data to the electronic device (223). In operation 365, the electronic device (101) may request transmission of sound data to the electronic device (225).

[0115] In one embodiment, the electronic device (101) may request the electronic devices (221, 223, 225) to transmit sound data for a sound signal of a specified frequency. In one embodiment, the specified frequency may be a frequency other than an audible frequency. In one embodiment, the specified frequency may be an operating frequency of a motor of the cleaning robot (210) (e.g., a frequency according to RPM). However, the present invention is not limited thereto.

[0116] In one embodiment, the electronic device (101) may request transmission of sound data to electronic devices (221, 223, 225) that require location updates among a plurality of electronic devices registered to a user account. However, the present invention is not limited thereto. In one embodiment, the electronic device (101) may request transmission of sound data to all electronic devices registered to the user account.

[0117] In operation 371, the electronic device (221) may obtain sound data. In operation 373, the electronic device (223) may obtain sound data. In operation 375, the electronic device (225) may obtain sound data. In one embodiment, the electronic devices (221, 223, 225) may collect (or measure) (or obtain) sound signals via microphones (273, 275, 277). In one embodiment, operations 361, 363, and 365 may trigger the performance of operations 371, 373, and 375.

[0118] In operation 381, the electronic device (221) can transmit sound data to the electronic device (101). In operation 383, the electronic device (223) can transmit sound data to the electronic device (101). In operation 385, the electronic device (225) can transmit sound data to the electronic device (101). In one embodiment, the sound data may include identification information, track information, time information, and / or sound information (e.g., (raw) audio signals, sound feature information (e.g., sound pressure level (SPL), energy, power) of the electronic devices (221, 223, 225). For example, the sound data may include features (e.g., sound pressure level (SPL), energy, power) of audio signals acquired from audio signals in each of the electronic devices (221, 223, 225), and / or sound pressure levels based on an average (or root mean square (RMS)) of a specified number (e.g., 1024) of sampled audio signals. However, the present invention is not limited thereto. For example, the sound data may include only raw audio signals without processing the audio signals in each of the electronic devices (221, 223, 225). In this case, the electronic device (101) may obtain features (e.g., sound pressure level (SPL), energy, power) of audio signals from the raw audio signals. The sound pressure level can be obtained based on the average (or root mean square (RMS)) of a specified number (e.g., 1024) of sampled audio signals, and / or the level (SPL), energy, power).

[0119] In one embodiment, the cleaning robot (210) can continuously transmit cleaning data to the electronic device (101) during cleaning. In one embodiment, the electronic devices (221, 223, 225) can continuously transmit sound data to the electronic device (101).

[0120] In operation 390, the cleaning robot (210) may transmit a signal indicating the end of cleaning to the electronic device (101). In operations 391, 393, and 395, the electronic device (101) may request the end of sound data transmission to the electronic devices (221, 223, and 225) based on confirmation of the end of cleaning by the cleaning robot (210).

[0121] In operation 397, the electronic device (101) may update the location. In one embodiment, the electronic device (101) may identify the location of each of the electronic devices (221, 223, 225) on the map based on sound data and / or cleaning data. In one embodiment, the electronic device (101) may identify, for each of the electronic devices (221, 223, 225), a location area indicating the highest sound signal intensity among the sound signal intensities according to the locations of the cleaning robot (210), as the location of each of the electronic devices (221, 223, 225). In one embodiment, the electronic device (101) may update the identified location of each of the electronic devices (221, 223, 225) in the map DB (253).

[0122] FIG. 4 illustrates an example of a floor plan of a house in which electronic devices are placed. FIG. 5A illustrates an example of a spectrogram. FIG. 5B illustrates an example of an operation of an electronic device (101) to identify the location of an electronic device based on sound data, according to an embodiment. FIG. 6 illustrates an example of a floor plan of a house in which the locations of electronic devices have been updated.

[0123] FIG. 4, FIG. 5a, FIG. 5b, and FIG. 6 can be explained with reference to FIG. 1, FIG. 2a, FIG. 2b, and FIG. 3.

[0124] The house (or the floor plan of the house) of FIG. 4 may include one or more spaces (411, 413, 415, 417, 419, 431, 433, 435, 437, 439, 451, 453, 455, 457). Each of the one or more spaces (411, 413, 415, 417, 419, 431, 433, 435, 437, 439, 451, 453, 455, 457) may have one or more devices (421 to 427, 441 to 449, 461 to 467) arranged therein. For example, devices (421, 423, 425 to 427, 442, 446, 447, 449, 461 to 464, and 466) may be AI lights. For example, device (441) may be an electric sofa. For example, devices (443, 444) may be refrigerators.

[0125] In one embodiment, new electronic devices (221, 223, 225) may be connected to the electronic device (101). In one embodiment, the electronic device (101) may identify that new electronic devices (221, 223, 225) are registered to the user account.

[0126] In one embodiment, the electronic device (101) may determine to perform a location update based on the registration of new electronic devices (221, 223, 225). In one embodiment, the electronic device (101) may transmit a command to the cleaning robot (210) to initiate cleaning based on the determination to perform a location update. In one embodiment, the electronic device (101) may transmit a command to the electronic devices (221, 223, 225) to measure a sound signal based on the determination to perform a location update.

[0127] In one embodiment, the cleaning robot (210) can move and clean one or more spaces (411, 413, 415, 417, 419, 431, 433, 435, 437, 439, 451, 453, 455, 457) included in the map (400).

[0128] In one embodiment, the cleaning robot (210) may transmit cleaning data to the electronic device (101) during cleaning. In one embodiment, each of the electronic devices (221, 223, 225) may transmit sound data to the electronic device (101). In one embodiment, the sound data may include the intensity of a sound signal by frequency over time. In one embodiment, the sound data may include the intensity of a sound signal over time. For example, the graph (510) of FIG. 5A may represent the intensity of a sound signal by frequency over time. For example, the graph (510) of FIG. 5A may be referred to as a spectrogram. For example, the graph (520) of FIG. 5A may represent the intensity of a sound signal over time.

[0129] Referring to FIG. 5A, a region (511) may be determined by a point in time when the sound signal intensity is high (or a point where the intensity is greater than a specified intensity) and a frequency. Compared to region (511), region (512) may have a lower sound signal intensity. Compared to region (512), regions (513, 514) may be regions in which the sound signal intensity is low in a specific frequency range. Region (515) may be a frequency range in which a low sound signal is always measured regardless of the movement of the cleaning robot (210). The sound signal intensity of regions (511, 512, 513, 514) may change as the cleaning robot (210) approaches or moves away.

[0130] Referring to FIG. 5A, a line (521) may represent the intensity of an actually measured sound signal (e.g., sound pressure level (SPL), energy, power). A line (525) may represent a result of gently changing (or, LPF (loss pass filter) processing) a change in an actually measured sound signal. Alternatively, a line (525) may represent an average of the intensity of an actually measured sound signal in a specified time interval (e.g., 480 milliseconds (msec)). A graph (520) of FIG. 5A may represent the intensity of a sound signal when a cleaning robot (210) approaches an electronic device and then moves away from it.

[0131] In one embodiment, the electronic device (101) can identify the location of each of the electronic devices (221, 223, 225) on the map (400) based on sound data and / or cleaning data. For example, the electronic device (101) can identify a correlation between the location of the cleaning robot (210) and the intensity of the sound signal measured by each of the electronic devices (221, 223, 225) based on the sound data and / or cleaning data. For example, the electronic device (101) can identify the location of each of the electronic devices (221, 223, 225) on the map based on the correlation. For example, the correlation between the location and intensity can be represented in the cleaning area (530) as shown in FIG. 5B. The cleaning area (530) of FIG. 5B may correspond to the cleaning area (431) of FIG. 4. For example, the cleaning area (530) of FIG. 5b may correspond to the cleaning area (431) of FIG. 4 rotated 90 degrees clockwise.

[0132] Referring to the cleaning area (530) of FIG. 5B, the intensity of the sound signal measured by the electronic device (221) may increase from area (549) to area (541). For example, the intensity of the sound signal in area (547) may be greater than that in area (549). For example, the intensity of the sound signal in area (545) may be greater than that in area (547). For example, the intensity of the sound signal in area (543) may be greater than that in area (545). For example, the intensity of the sound signal in area (541) may be the greatest. In one embodiment, the electronic device (101) may identify the location of the electronic device (221) in area (541) where the intensity of the sound signal is the greatest.

[0133] In one embodiment, the electronic device (101) may identify, for each of the electronic devices (221, 223, 225), a location area indicating the highest sound signal intensity among the sound signal intensities according to the locations of the cleaning robot (210). In one embodiment, the electronic device (101) may update the identified locations of each of the electronic devices (221, 223, 225) in the map DB (253). For example, referring to FIG. 6, the electronic device (101) may reposition the electronic devices (221, 225) in the cleaning area (431) of the updated map (600) and reposition the electronic device (223) in the cleaning area (435).

[0134] Figure 7 is a block diagram of electronic devices according to one embodiment.

[0135] Compared to FIGS. 2A and 2B, FIG. 7 may further include a server (708). In FIG. 7, the electronic device (101) may be an IoT hub. In one embodiment, the data processing module (245) and the location information update determination module (247) of FIG. 2B may be included in the server (708) rather than in the electronic device (101). In one embodiment, the data DB (251) and the map DB (253) of FIG. 2B may be included in the server (708) rather than in the electronic device (101). In one embodiment, the situation determination policy (255) of FIG. 2B may be included in the server (708) rather than in the electronic device (101).

[0136] In one embodiment, the electronic device (101) may transmit a signal to the server (708) indicating a change in the state of each of the electronic devices (221, 223, 225). In one embodiment, the signal indicating a change in state may include registration of a new device, a change in the location of an existing registered device, and / or a change in the state of the electronic device between running and waiting.

[0137] In one embodiment, the server (708) may determine (or identify) whether to update location information based on a signal indicating a change in status. In one embodiment, the server (708) may determine (or identify) whether to update location information based on status information (e.g., new registration, reconnection after disconnection, change in location) of each of the electronic devices (221, 223, 225).

[0138] In one embodiment, the server (708) may issue track information based on determining an update of location information. In one embodiment, the server (708) may transmit the track information to the electronic device (101).

[0139] In one embodiment, the electronic device (101) can transmit a cleaning command including track information to the cleaning robot (210). In one embodiment, the electronic device (101) can transmit a sound signal measurement command including track information to each of the track electronic devices (221, 223, 225).

[0140] In one embodiment, the cleaning robot (210) can perform cleaning in response to a cleaning command. In one embodiment, the cleaning robot (210) can transmit cleaning data to the server (708) during cleaning. For example, the cleaning robot (210) can directly transmit the cleaning data to the server (708) during cleaning. For example, the cleaning robot (210) can indirectly transmit the cleaning data to the server (708) via the electronic device (101) during cleaning. In one embodiment, the cleaning data can include identification information, track information, location information, time information, and / or event information of the cleaning robot (210).

[0141] In one embodiment, each of the electronic devices (221, 223, 225) can measure sound in response to a sound signal measurement command. In one embodiment, each of the electronic devices (221, 223, 225) can transmit sound data to the server (708) during sound measurement. For example, each of the electronic devices (221, 223, 225) can directly transmit sound data to the server (708) during sound measurement. For example, each of the electronic devices (221, 223, 225) can indirectly transmit sound data to the server (708) via the electronic device (101) during sound measurement. In one embodiment, the sound data may include identification information of the electronic device (221, 223, 225), track information, time information, and / or sound information (e.g., (raw) audio signal, sound characteristic information (e.g., sound pressure level (SPL), energy, power).

[0142] In one embodiment, the server (708) can identify the location of each of the electronic devices (221, 223, 225) on the map based on the sound data and / or the cleaning data. For example, the server (708) can identify a correlation between the location of the cleaning robot (210) and the intensity of the sound signal measured by each of the electronic devices (221, 223, 225) based on the sound data and / or the cleaning data. For example, the server (708) can identify the location of each of the electronic devices (221, 223, 225) on the map based on the correlation. In one embodiment, the server (708) can update the identified location of each of the electronic devices (221, 223, 225) in the map DB (253). In one embodiment, the server (708) may transmit the identified locations of each of the electronic devices (221, 223, 225) to the electronic device (101). Thereafter, the electronic device (101) may process a command, such as a voice input, “Turn on the lights around the air conditioner,” based on the identified locations.

[0143] In one embodiment, the electronic device (101) may obtain a signal indicating that cleaning is complete (or a signal indicating that cleaning is not complete) from the cleaning robot (210). In one embodiment, the electronic device (101) may, in response to the signal from the cleaning robot (210), transmit a command to each of the electronic devices (221, 223, 225) to stop measuring sound signals.

[0144] In FIG. 7, in one embodiment, the data processing module (245) and the location information update determination module (247) of FIG. 2B are illustrated as being included in the server (708) rather than the electronic device (101), but this is merely an example. In one embodiment, the data processing module (245) and the location information update determination module (247) may be included in a device with sufficient computational performance. For example, when the computational performance of the cleaning robot (210) is sufficient, the cleaning robot (210) may obtain sound data from each of the electronic devices (221, 223, 225) and identify the location of each of the electronic devices (221, 223, 225).

[0145] As described above, the electronic device (101) may include a communication circuit (290), a processor (120), and a memory (130) storing instructions. The instructions, when executed by the processor (120), may cause the electronic device (101) to transmit, through the communication circuit (290), a command to a cleaning robot (210) to start cleaning based on a map (400) of the cleaning area and to suck up foreign substances in the cleaning area. The instructions, when executed by the processor (120), may cause the electronic device (101) to transmit, through the communication circuit (290), a command to at least one external electronic device (221, 223, 225) to transmit sound data for a sound signal measured by the at least one external electronic device (221, 223, 225). The above instructions, when executed by the processor (120), may cause the electronic device (101) to identify the location of the at least one external electronic device (221, 223, 225) on the map (400) based on the location information of the cleaning robot (210) during the cleaning and the sound data.

[0146] The instructions, when executed by the processor (120), may cause the electronic device (101) to obtain status data of the at least one external electronic device (221, 223, 225) through the communication circuit (290). The instructions, when executed by the processor (120), may cause the electronic device (101) to identify whether a first external electronic device among the at least one external electronic device (221, 223, 225) generates sound based on the status data. The instructions, when executed by the processor (120), may cause the electronic device (101) to transmit a command to the cleaning robot (210) to generate sound in a specified frequency range during the cleaning based on the identification of sound generation.

[0147] In one embodiment, the specified frequency range may be a range other than the audible frequency range.

[0148] The instructions, when executed by the processor (120), may cause the electronic device (101) to obtain location data for location information during cleaning from the cleaning robot (210) via the communication circuit (290). The instructions, when executed by the processor (120), may cause the electronic device (101) to identify the location of the at least one external electronic device (221, 223, 225) on the map (400) based on a sound level according to the sound data at each of the locations during cleaning identified in the location information.

[0149] The above instructions, when executed by the processor (120), may cause the electronic device (101) to generate the map (400) for the cleaning area based on the location data.

[0150] The instructions, when executed by the processor (120), may cause the electronic device (101) to obtain event data related to the occurrence of an event during the cleaning from the cleaning robot (210) through the communication circuit (290). The instructions, when executed by the processor (120), may cause the electronic device (101) to identify the location of the at least one external electronic device (221, 223, 225) on the map (400) based on the loudness of sound according to the sound data at each of the locations during the cleaning except for the location where the event occurred.

[0151] In one embodiment, the event may include an event in which the cleaning robot (210) hits an obstacle.

[0152] In one embodiment, the event may include an event that changes the driving characteristics of the motor of the cleaning robot (210) for sucking up the foreign substance.

[0153] The above instructions, when executed by the processor (120), may cause the electronic device (101) to obtain a request for registering the at least one external electronic device (221, 223, 225) to a user account through the communication circuit (290). Based on obtaining the request, the instructions may cause the electronic device (101) to transmit the sound data to the at least one external electronic device (221, 223, 225) among the plurality of external electronic devices (101) registered to the user account.

[0154] The above instructions, when executed by the processor (120), may cause the electronic device (101) to obtain a signal indicating that the cleaning is complete from the cleaning robot (210) through the communication circuit (290). In response to obtaining the signal indicating that the cleaning is complete, the instructions may cause the electronic device (101) to transmit, through the communication circuit (290), a command to stop transmitting sound data to the at least one external electronic device (221, 223, 225).

[0155] As described above, the method can be performed in an electronic device (101) including a communication circuit (290). The method can include an operation of transmitting, through the communication circuit (290), a command to initiate cleaning to a cleaning robot (210) for moving in a cleaning area and sucking up foreign substances based on a map (400) of the cleaning area. The method can include an operation of transmitting, through the communication circuit (290), a command to transmit sound data for a sound signal measured by the at least one external electronic device (221, 223, 225). The method can include an operation of identifying a location of the at least one external electronic device (221, 223, 225) on the map (400) based on location information of the cleaning robot (210) during the cleaning and the sound data.

[0156] The method may include an operation of obtaining status data of the at least one external electronic device (221, 223, 225) through the communication circuit (290). The method may include an operation of identifying whether a first external electronic device among the at least one external electronic device (221, 223, 225) generates sound based on the status data. The method may include an operation of transmitting a command to the cleaning robot (210) to generate sound in a specified frequency range during the cleaning based on the identification of the sound generation.

[0157] In one embodiment, the specified frequency range may be a range other than the audible frequency range.

[0158] The method may include an operation of obtaining location data for location information during cleaning from the cleaning robot (210) through the communication circuit (290). The method may include an operation of identifying the location of the at least one external electronic device (221, 223, 225) on the map (400) based on a sound level according to the sound data at each of the locations during cleaning identified in the location information.

[0159] The method may include an operation of generating a map (400) for the cleaning area based on the location data.

[0160] The method may include an operation of obtaining event data related to the occurrence of an event during the cleaning from the cleaning robot (210) through the communication circuit (290). The method may include an operation of identifying the location of the at least one external electronic device (221, 223, 225) on the map (400) based on the sound level according to the sound data at each of the locations excluding the location where the event occurred among the locations during the cleaning.

[0161] In one embodiment, the event may include an event in which the cleaning robot (210) hits an obstacle.

[0162] In one embodiment, the event may include an event that changes the driving characteristics of the motor of the cleaning robot (210) for sucking up the foreign substance.

[0163] The method may include an operation of obtaining a request for registration in a user account from at least one external electronic device (221, 223, 225) through the communication circuit (290). The method may include an operation of transmitting, based on obtaining the request, a command to transmit the sound data to at least one external electronic device (221, 223, 225) among a plurality of external electronic devices (101) registered to the user account.

[0164] The method may include an operation of obtaining a signal indicating that the cleaning is completed from the cleaning robot (210) through the communication circuit (290). The method may include an operation of transmitting, in response to obtaining the signal indicating that the cleaning is completed, a command to stop transmitting sound data to the at least one external electronic device (221, 223, 225) through the communication circuit (290).

[0165] As described above, a non-transitory computer readable storage medium can store a program including instructions. The instructions, when executed by a processor (120) of an electronic device (101) including a communication circuit (290), can cause the electronic device (101) to transmit, through the communication circuit (290), a command to initiate cleaning to a cleaning robot (210) for moving around a cleaning area and sucking up foreign substances based on a map (400) of the cleaning area. The instructions, when executed by the processor (120), can cause the electronic device (101) to transmit, through the communication circuit (290), a command to transmit sound data for a sound signal measured by the at least one external electronic device (221, 223, 225). The above instructions, when executed by the processor (120), may cause the electronic device (101) to identify the location of the at least one external electronic device (221, 223, 225) on the map (400) based on the location information of the cleaning robot (210) during the cleaning and the sound data.

[0166] Electronic devices according to the various embodiments disclosed in this document may take various forms. Electronic devices may include, for example, portable communication devices (e.g., smartphones), computer devices, portable multimedia devices, portable medical devices, cameras, wearable devices, or home appliances. Electronic devices according to the embodiments of this document are not limited to the aforementioned devices.

[0167] The various embodiments of this document and the terminology used therein are not intended to limit the technical features described in this document to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the items, unless the context clearly indicates otherwise. In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" can include any one of the items listed together in the corresponding phrase among those phrases, or all possible combinations thereof. Terms such as "first," "second," or "first" or "second" may be used merely to distinguish one component from another, and do not limit the components in any other respect (e.g., importance or order). When a component (e.g., a first component) is referred to as "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0168] The term "module" used in various embodiments of this document may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integral component, or a minimum unit or part of such a component that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0169] Various embodiments of the present document may be implemented as software (e.g., a program (140)) including one or more instructions stored in a storage medium (e.g., an internal memory (136) or an external memory (138)) readable by a machine (e.g., an electronic device (101)). For example, a processor (e.g., a processor (120)) of the machine (e.g., an electronic device (101)) may call at least one instruction among the one or more instructions stored from the storage medium and execute it. This enables the machine to operate to perform at least one function according to the at least one called instruction. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' simply means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently or temporarily on the storage medium.

[0170] According to one embodiment, the method according to various embodiments disclosed in this 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., a compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., by download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smart phones). In the case of online distribution, at least a portion of the computer program product 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.

[0171] According to various embodiments, each component (e.g., a module or a program) of the above-described components may include one or more entities, and some of the entities may be separated and arranged in other components. According to various embodiments, one or more components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (e.g., a module or a program) may be integrated into a single component. In such a case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. According to various embodiments, the operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

Claims

1. In an electronic device (101), Communication circuit (290), At least one processor (120) comprising a processing circuit; A memory (130) storing instructions and including one or more storage media, wherein the instructions, when individually or collectively executed by the at least one processor (120), cause the electronic device (101) to: Through the above communication circuit (290), a command is sent to the cleaning robot (210) to start cleaning based on the map (400) of the cleaning area and to suck up foreign substances. Through the above communication circuit (290), a command is transmitted to at least one external electronic device (221, 223, 225) to transmit sound data for a sound signal measured by the at least one external electronic device (221, 223, 225), Based on the location information of the cleaning robot (210) during the cleaning and the sound data, causing the location of at least one external electronic device (221, 223, 225) on the map (400) to be identified. Electronic devices.

2. In claim 1, The above instructions, when individually or collectively executed by the at least one processor (120), cause the electronic device (101) to: Through the above communication circuit (290), the status data of at least one external electronic device (221, 223, 225) is acquired, Based on the above status data, it is identified whether a sound is generated by a first external electronic device among the at least one external electronic device (221, 223, 225), Based on the identification of the above sound generation, causing the cleaning robot (210) to transmit a command to generate sound in a specified frequency range during the cleaning. Electronic devices.

3. In claim 2, The above specified frequency range is outside the audible frequency range. Electronic devices.

4. In any one of claims 1 to 3, The above instructions, when individually or collectively executed by the at least one processor (120), cause the electronic device (101) to: Through the above communication circuit (290), position data for position information during cleaning is obtained from the cleaning robot (210), Causing to identify the location of the at least one external electronic device (221, 223, 225) on the map (400) based on the sound level according to the sound data at each of the locations during the cleaning identified in the location information. Electronic devices.

5. In claim 4, The above instructions, when individually or collectively executed by the at least one processor (120), cause the electronic device (101) to: Based on the above location data, causing the map (400) for the cleaning area to be generated, Electronic devices.

6. In claim 4 or claim 5, The above instructions, when individually or collectively executed by the at least one processor (120), cause the electronic device (101) to: Through the above communication circuit (290), event data related to the occurrence of an event during the cleaning is obtained from the cleaning robot (210), Based on the sound level according to the sound data at each of the locations except the location where the event occurred among the locations during the cleaning, causing the location of the at least one external electronic device (221, 223, 225) on the map (400) to be identified. Electronic devices.

7. In claim 6, The above event includes an event in which the cleaning robot (210) collides with an obstacle. Electronic devices.

8. In claim 6 or claim 7, The above event includes an event that changes the driving characteristics of the motor of the cleaning robot (210) for sucking up the foreign substance. Electronic devices.

9. In any one of claims 1 to 8, The above instructions, when individually or collectively executed by the at least one processor (120), cause the electronic device (101) to: Obtaining a request for registering at least one external electronic device (221, 223, 225) to a user account through the above communication circuit (290), Based on obtaining the request, causing the command to be transmitted to at least one external electronic device (221, 223, 225) among the plurality of external electronic devices (101) registered to the user account to transmit the sound data. Electronic devices.

10. In any one of claims 1 to 9, The above instructions, when individually or collectively executed by the at least one processor (120), cause the electronic device (101) to: Through the above communication circuit (290), a signal indicating that the cleaning is completed is obtained from the cleaning robot (210), In response to obtaining the signal indicating that the cleaning is completed, causing the communication circuit (290) to transmit a command to the at least one external electronic device (221, 223, 225) to stop transmitting sound data. Electronic devices.

11. In a method of an electronic device (101) including a communication circuit (290), An operation of transmitting a command to a cleaning robot (210) to start cleaning by moving through a cleaning area and sucking up foreign substances based on a map (400) of the cleaning area through the above communication circuit (290). An operation of transmitting a command to transmit sound data for a sound signal measured by at least one external electronic device (221, 223, 225) through the above communication circuit (290), and An operation of identifying the location of at least one external electronic device (221, 223, 225) on the map (400) based on the location information of the cleaning robot (210) during the cleaning and the sound data. method.

12. In claim 11, An operation of obtaining status data of at least one external electronic device (221, 223, 225) through the above communication circuit (290). An operation of identifying whether a sound is generated by a first external electronic device among the at least one external electronic device (221, 223, 225) based on the above state data, and Based on the identification of the above sound generation, an action is included to transmit a command to the cleaning robot (210) to generate a sound of a specified frequency range during the cleaning. method.

13. In claim 12, The above specified frequency range is outside the audible frequency range. method.

14. In any one of claims 11 to 13, An operation of obtaining location data for location information during cleaning from the cleaning robot (210) through the communication circuit (290), and An operation of identifying the location of the at least one external electronic device (221, 223, 225) on the map (400) based on the sound level according to the sound data at each of the locations during the cleaning identified in the location information. method.

15. In claim 14, Based on the above location data, the operation of generating the map (400) for the cleaning area is included. method.

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