Robot cleaner for managing inaccessible areas and methods thereof

Abstract

A robot cleaner is disclosed. The robot cleaner comprises: a communication unit; a traveling unit; at least one sensor; a camera; memory; and a processor. The processor: controls the traveling unit and a cleaning module so that the robot cleaner cleans while traveling in a space in which the robot cleaner is located; when inaccessible areas the robot cleaner is unable to enter while traveling are identified, controls the camera to capture images of the inaccessible areas; transmits the captured images to at least one external device through the communication unit; and when at least one management area is set among the inaccessible areas, stores information about the set management area in the memory, and monitors the contamination progress of the management area.

Description

Robot vacuum cleaners and methods for managing inaccessible areas

[0001] The present invention relates to a robot vacuum cleaner and a method thereof for managing a no-entry area.

[0002] Advances in electronic technology have led to the emergence of a variety of electronic devices used in homes. These devices include robot vacuum cleaners.

[0003] Robot vacuum cleaners can move freely within a space and perform cleaning, but they have limitations in that they cannot physically enter a space that is narrower than the width of the robot vacuum cleaner or lower than the height of the robot vacuum cleaner, and thus cannot clean.

[0004] Therefore, a method was needed that would allow users to manage areas that robot vacuums cannot clean.

[0005] According to at least one embodiment of the present disclosure, a robot cleaner includes a driving unit for moving the robot cleaner, a cleaning module, a communication unit, a memory, at least one sensor, a camera, and a processor. The processor controls the driving unit and the cleaning module to perform cleaning while driving within a space where the robot cleaner is located, and when an inaccessible area into which the robot cleaner cannot enter is identified based on a sensing value sensed by the at least one sensor during the driving, the processor controls the camera to photograph the inaccessible area and transmits the photographed image to at least one external device via the communication unit, and when at least one management area among the inaccessible areas is set by the at least one external device, the processor stores information on the set management area in the memory, and monitors the contamination progress of the management area.

[0006] Additionally, according to at least one embodiment of the present disclosure, the user terminal device

[0007] It includes a communication unit, a display, a memory, and a processor. When a cleaning report including at least one inaccessible area into which a robot cleaner cannot enter is received through the communication unit, the processor stores the cleaning report in the memory, controls the display to display the cleaning report, and when at least one management area is set among the at least one inaccessible area, transmits information about the set management area to the robot cleaner or a server device controlling the robot cleaner through the communication unit.

[0008] In addition, a method for managing a robot cleaner according to at least one embodiment of the present disclosure includes a step of performing cleaning while driving within a space in which the robot cleaner is located, a step of identifying an inaccessible area into which the robot cleaner cannot enter based on a sensing value sensed by at least one sensor provided in the robot cleaner during the driving, a step of transmitting a photographed image of the inaccessible area to at least one external device, a step of receiving and storing information on the set management area when at least one management area among the inaccessible areas is set by the at least one external device, and a step of monitoring the progress of contamination in the management area.

[0009] FIG. 1 is a drawing for explaining the operation of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0010] FIG. 2 is a block diagram illustrating a configuration of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0011] FIG. 3 is a drawing for explaining a method for identifying an inaccessible area in a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0012] FIG. 4 is a diagram illustrating examples of UI screens displayed on a user terminal device according to at least one embodiment of the present disclosure.

[0013] FIGS. 5 and 6 are diagrams showing examples of UI screens for setting a management method in a user terminal device according to at least one embodiment of the present disclosure.

[0014] FIG. 7 is a drawing for explaining an operation of a robot cleaner according to at least one embodiment of the present disclosure to identify and photograph an inaccessible area.

[0015] FIG. 8 is a drawing showing an example of a UI screen for setting a notification generation area in a user terminal device according to at least one embodiment of the present disclosure.

[0016] FIG. 9 is a block diagram illustrating a configuration of a user terminal device according to at least one embodiment of the present disclosure.

[0017] FIG. 10 is a flowchart illustrating a management method of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0018] FIG. 11 is a sequence diagram showing the order in which a robot cleaner and a user terminal device according to at least one embodiment of the present disclosure operate.

[0019] The terms used in the various embodiments of this disclosure have been selected from widely used, current terms, taking into account the functions of this disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the description of the relevant disclosure. Therefore, the terms used in this disclosure should be defined based on the meaning of the terms and the overall content of this disclosure, rather than simply their names.

[0020] It should be understood that the various embodiments of the present disclosure and the terminology used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, but include various modifications, equivalents, or substitutes of the embodiments.

[0021] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0022] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0023] In this disclosure, 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" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0024] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0025] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0026] Terms such as "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the present disclosure, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0027] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0028] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0029] In the present disclosure, a "module" or "part" performs at least one function or operation and may be implemented as hardware or software, or as a combination of hardware and software. Furthermore, multiple "modules" or multiple "parts" may be integrated into at least one module and implemented as at least one processor (not shown), excluding any "modules" or "parts" that need to be implemented as specific hardware.

[0030] In this disclosure, the term user may refer to a person using an electronic device or a device used by the person.

[0031] An embodiment of the present disclosure will be described in more detail with reference to the attached drawings below.

[0032] FIG. 1 is a drawing for explaining the operation of a robot vacuum cleaner (100) according to at least one embodiment of the present disclosure.

[0033] A robot cleaner (100) is a device that performs cleaning while autonomously driving within a space (10). When the robot cleaner (100) is equipped with a communication function, the robot cleaner (100) can communicate with various external devices such as a server device (300) or a user terminal device (200). For convenience of explanation, in the present disclosure, electronic devices (200, 300) other than the robot cleaner (100) may also be referred to as external devices.

[0034] The robot cleaner (100) can sense the location within the space (10), the characteristics of the floor surface, the shape of the space, the location and shape of objects (such as home appliances or furniture) within the space, etc., by using various sensors such as a lidar sensor, an infrared sensor, an image sensor, and an ultrasonic sensor. In Fig. 1, the space (10) where the robot cleaner (100) is located can be various indoor and outdoor environments such as a home, an office, the inside of a building, a factory, and a public office.

[0035] A user terminal device (200) may be an electronic device used by a user. While FIG. 1 illustrates the user terminal device (200) as a smartphone, the user terminal device (200) may be implemented as a variety of devices, such as a tablet PC, laptop PC, PC, TV, kiosk smartwatch, or smart gear. The configuration of the user terminal device (200) will be described in detail later.

[0036] The server device (300) is a device that performs various operations, such as controlling the operation of the robot cleaner (100) or providing the status of the robot cleaner (100) to the user terminal device (200), by performing communication with the robot cleaner (100) and the user terminal device (200). The server device (300) can be implemented as various computing devices, such as a workstation, a cloud, a data drive, and a data station.

[0037] A user can access a server device (300) through a user terminal device (200) and create his / her own account. For example, a user can access a server device (300) by executing an application installed on the user terminal device (200).

[0038] The server device (300) can store information about the created account. The user can register identification information (e.g., IP address, SSID, device serial number, etc.) of various devices, including the robot cleaner (100), in his / her account. The server device (300) can communicate with the robot cleaner (100) based on the registered identification information, and transmit and receive various signals or data. The user terminal device (200) can display the execution screen when the application is executed. The execution screen can include a control menu for controlling the registered devices, including the robot cleaner (100), and information indicating the status of each device.

[0039] For example, when a robot cleaner (100) completes cleaning while driving inside a space (10), a cleaning report may be provided to a user terminal device (200) through a server device (300). The cleaning report may display an inaccessible area into which the robot cleaner (100) cannot enter. The inaccessible area may include not only an area that is lower than the height of the robot cleaner (100) or narrower than the width of the robot cleaner (100) and into which the robot cleaner (100) cannot physically enter, but also an area into which the robot cleaner (100) can enter but has difficulty performing normal operations or is at risk of damage, and an area set by a user not to enter.

[0040] A user can check the inaccessible areas through the user terminal device (200) and set at least one of them as a management area. Once the management area is set, the robot cleaner (100) can store information about the management area and continuously monitor the contamination progress of the management area. The robot cleaner (100) can periodically or intermittently transmit the monitoring results to the user terminal device (200) or server device (300).

[0041] Below, the operation of the robot vacuum cleaner (100) will be specifically described along with a specific configuration example.

[0042] FIG. 2 is a block diagram illustrating the configuration of a robot vacuum cleaner (100) according to at least one embodiment of the present disclosure.

[0043] Referring to FIG. 2, the robot vacuum cleaner (100) includes a driving unit (110), at least one sensor (120), a camera (130), a memory (140), a communication unit (150), a cleaning module (160), and a processor (170).

[0044] The driving unit (110) is a component for moving the main body of the robot cleaner (100). The driving unit (110) may include components such as a plurality of wheels, a driving motor for rotating each of the plurality of wheels, a gear, and a shaft. The plurality of wheels are provided on the lower or side of the main body of the robot cleaner (100) and support the main body of the robot cleaner (100) from the floor surface. When the driving motor operates and the driving force is transmitted to the plurality of wheels so that each wheel rotates, the robot cleaner (100) can move by the frictional force between the floor surface and the wheels. In addition, the driving unit (110) may vary the rotational speed of at least one wheel among the plurality of wheels or adjust the alignment direction of the wheels differently when changing direction. Depending on the roughness, frictional force, etc. of the floor surface, an infinite track or the like may be used instead of the wheels.

[0045] At least one sensor (120) is a sensor for detecting the surrounding environment. Specifically, it may include at least one or more of a LiDAR sensor, a vision sensor, an image sensor, an infrared sensor, an ultrasonic sensor, a gyro sensor, an acceleration sensor, and a proximity sensor.

[0046] The sensing value of at least one sensor (120) may be provided to a processor (170), etc. The processor (170) may detect the distance to a wall or obstacle in the space to be cleaned based on the sensing value of at least one sensor (120).

[0047] When at least one sensor (120) includes a 3D LIDAR (Light Detection and Ranging) sensor, the 3D LIDAR sensor can irradiate light, for example, a laser, to a surrounding object and then receive light reflected from the object. The processor (170) can analyze the received light to identify physical properties of the surrounding object, for example, distance, direction, speed, temperature, material distribution, and concentration characteristics.

[0048] The camera (130) is configured to capture the surroundings. In FIG. 2, one camera (130) is illustrated, but the camera (130) may include multiple cameras such as a stereo camera, a 3D camera, a TOF (Time of Flight) camera, a depth camera, a multi-lens array camera, a stereo vision system, a fused lidar camera, etc. Among these, the 3D camera is a camera used to capture and create three-dimensional images or videos. Unlike a general 2D camera, it captures images including depth information and can accurately determine the distance and spatial position of an object through the depth information, and is utilized in various application fields.

[0049] Although the camera (130) is described in FIG. 2, the camera (130) may also be implemented in the form of a camera module that further includes a light. The light is configured to output illumination so that the camera (130) can achieve a certain level of illumination or greater when performing a photograph. When equipped with a light, the camera (130) can also perform photographing in dark areas.

[0050] The processor (170) can generate a map for the space (10) based on the captured image of the camera (130) and the sensing value of at least one sensor (120).

[0051] Map generation can be performed in various ways. For example, the processor (170) identifies the initial location of the robot cleaner (100) within the space (10) based on the sensing value of at least one sensor (120), and then controls the driving unit (110) to move in one direction based on the initial location so as to approach an object located at the end of that direction. The processor (170) can then change direction to one side (e.g., to the right) at a location adjacent to the object and move all the way to approach an object at the right end. In this way, the processor (170) can collect the driving direction, driving distance, etc. while driving within the space (10) to determine the shape and size of the area where the robot cleaner (100) is located within the entire space (10). If a passageway (e.g., a door) that allows the processor (170) to escape the area is found, the processor (170) can move to the next area through the passageway and repeat the same operation, thereby determining the shape and size of each sub-area. The processor (170) can generate a map of the entire space in this way.

[0052] The processor (170) can store the generated map in the memory (140). In addition, the processor (170) can also transmit the generated map to the user terminal device via the communication unit (150). At this time, the map generated by the robot cleaner (100) may be in 2D or 3D form. For convenience of explanation, the map generated by the robot cleaner (100) may be described as a cleaning map in the present disclosure. If the robot cleaner (100) includes a vision sensor or a camera (130), the cleaning map can also be generated as a 3D map.

[0053] The memory (140) is configured to store or record various information, data, commands, programs, etc. required for the operation of the robot vacuum cleaner (100).

[0054] The memory (140) may be implemented as at least one of various memories, such as volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM)), non-volatile memory (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD).

[0055] In FIG. 2, one memory (140) is illustrated, but the memory (140) may be implemented to include a plurality of memories (140) that each store different types of data or each store data generated at different stages, and at least one of these memories (140) may be implemented as a single chip integrated with the processor (170).

[0056] The memory (140) can store data such as a cleaning map, etc. In addition, the memory (140) can also store information about the above-described inaccessible areas, management areas, etc.

[0057] The communication unit (150) is configured to communicate with various types of external devices. When connected to a server device (300) or a user terminal device (200) through the communication unit (150), a user can input various user operations through the user terminal device (200). The communication unit (150) receives a control signal corresponding to the user operation from the server device (300) or the user terminal device (200) and transmits it to the processor (170). Accordingly, the user can also remotely control the operation of the robot cleaner (100).

[0058] The communication unit (150) may include at least one wireless communication module, at least one wired communication module, etc. Each communication module may be implemented in the form of at least one hardware chip. For example, the wireless communication module may include at least one module among a Wi-Fi module, a Bluetooth module, an infrared communication module, or other communication modules. In addition, the communication unit may include at least one communication chip that performs communication according to various wireless communication standards such as Zigbee, 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), LTE-A (LTE Advanced), 4G (4th Generation), 5G (5th Generation), etc. The wired communication module may include, for example, at least one among a LAN (Local Area Network) module, an Ethernet module, a pair cable, a coaxial cable, a fiber optic cable, or a UWB (Ultra Wide-Band) module.

[0059] In addition, the communication unit (150) may further include at least one wired input / output interface among HDMI (High Definition Multimedia Interface), MHL (Mobile High-Definition Link), USB (Universal Serial Bus), USB C-type, DP (Display Port), Thunderbolt, VGA (Video Graphics Array) port, RGB port, D-SUB (Dsubminiature), and DVI (Digital Visual Interface).

[0060] The communication unit (150) can receive information about the above-described set management area or other various data and signals from connected external devices.

[0061] The cleaning module (160) is configured to perform cleaning. The cleaning module (160) may include at least one of a suction module and a wet cleaning module. The suction module is a module for performing dry cleaning by sucking up foreign substances using a suction motor.

[0062] The suction module may include various components such as a suction port formed on the bottom surface of the robot cleaner (100), a passage extending from the suction port, a filter, a suction motor, and a suction fan. When the suction motor is driven, outside air is sucked in through the suction port, and various foreign substances around the suction port may be sucked in together. The wet cleaning module is a component for performing wet cleaning. The wet cleaning module may include a morphing pad to which a mop or other cotton cleaning member can be attached, a rotation motor for rotating the morphing pad, etc. When the robot cleaner (100) moves and rotates the morphing pad while the moist cleaning member is attached to the morphing pad, water cleaning of the floor can be performed. Depending on the type of robot cleaner (100), the cleaning module (160) may include both a suction module and a wet cleaning module, or one of them.

[0063] The processor (170) is configured to control the overall operation of the robot vacuum cleaner (100). The processor (170) may be implemented as a digital signal processor (DSP), a microprocessor, etc. that processes digital signals. However, the present invention is not limited thereto, and may include one or more of a central processing unit (CPU), a microcontroller unit (MCU), a microprocessing unit (MPU), a controller, an application processor (AP), a communication processor (CP), an ARM processor, an artificial intelligence (AI) processor, or may be defined by the relevant term. In addition, the processor (170) may be implemented as a system on chip (SoC) or large scale integration (LSI) having a built-in processing algorithm, or may be implemented in the form of a field programmable gate array (FPGA). The processor (170) may perform various functions by executing computer executable instructions stored in the memory (140). In FIG. 2, only one processor (170) is illustrated, but the number of processors (170) may be plural. It can also be implemented as a dog.

[0064] When a cleaning start command is input from a user or a preset cleaning start timing arrives, the processor (170) can control the driving unit (110) and the cleaning module (160) to perform cleaning while driving within the space where the robot cleaner (100) is located.

[0065] The processor (170) can recognize the location within a space based on values ​​sensed by a sensor while the robot cleaner (100) is performing cleaning, and determine the driving direction, path, and whether to take a picture. The processor (170) generates a cleaning map for an indoor space based on the driving path, and then stores the map in the memory (140). When the generation of the cleaning map for the entire space is completed, the processor (170) can transmit data on the generated cleaning map and the captured images to the user terminal device. The map is generated only during the first drive for the space (10), and the generated map can be used as is thereafter. However, this is not necessarily limited to this, and a new map can be generated for each cleaning, or an existing map can be updated and used.

[0066] The processor (170) can receive information about a management area set from an external device via the communication unit (150). The management area may be an area requiring management among the inaccessible areas that the robot cleaner (100) cannot enter. The management area may be described by various terms such as a notification area, a monitoring area, or an area of ​​interest, but is described as a management area in the present disclosure.

[0067] When at least one management area is set among the inaccessible areas by at least one external device, the processor (170) stores information about the set management area in the memory (140) and can monitor the contamination progress of the management area. Monitoring may be an operation that identifies the extent of contamination within the management area. Monitoring may also include a photographing operation of the management area. The setting of the management area will be described in detail with reference to the drawings in the following section.

[0068] In addition, the processor (170) can control various components of the robot cleaner (100) by executing a program stored in the memory (140). The processor (170) can perform cleaning by utilizing the stored map and information about the management area, and can take pictures of the management area and transmit the taken images to an external device.

[0069] Specifically, when a no-entry area into which the robot cleaner (100) cannot enter is identified based on a sensing value sensed by at least one sensor (120) while the robot cleaner (100) is driving, the processor (170) can control the camera (130) to capture an image of the no-entry area. The processor (170) can transmit the captured image to at least one external device via the communication unit (150).

[0070] The processor (170) can identify or obtain various information, such as an inaccessible area and the degree of contamination, based on values ​​sensed by at least one sensor (120).

[0071] Specifically, the processor (170) can identify the height and width of the lower space of an object located within the space based on the sensing value of at least one sensor (120). If at least one of the identified heights and widths is lower than the height and width of the robot cleaner (100) stored in the memory (140), the processor (170) can identify the aforementioned lower space as an inaccessible area.

[0072] The processor (170) can monitor the contamination progress of a management area when it reaches the periphery of a set management area while driving within a space. Methods for identifying inaccessible areas and monitoring the contamination progress will be described in detail in the following section.

[0073] FIG. 3 is a drawing for explaining a method for identifying an inaccessible area in a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0074] The processor (170) controls the driving wheels (111, 112) according to the driving path to move the main body and perform cleaning. While the robot cleaner (100) is driving, at least one sensor (120) can continuously measure the distance to surrounding objects, etc.

[0075] The processor (170) can identify an inaccessible area based on the sensing value of at least one sensor (120) or the captured image captured by the camera (130). FIG. 3 illustrates a state where a robot cleaner (100) is positioned in front of furniture (20) located within a space (10). When the furniture (20) is not in close contact with the floor, a space of a certain size is formed under the furniture (20). The processor (170) can identify that there is a lower space under the furniture (20) if the distance to the furniture (20) measured on the floor is greater than the distance to the furniture (20) measured based on the same height as at least one sensor (120). When at least one sensor (120) includes an infrared sensor, an ultrasonic sensor, or the like, the processor (120) can identify the size of the lower space of the furniture (20) by variously changing the output directions of ultraviolet and ultrasonic signals. Alternatively, the processor (120) can analyze a captured image taken using a camera (130) to identify the size and shape of the lower space.

[0076] The processor (170) can compare the identified size with the size of the robot cleaner (100) itself to determine whether entry is possible. For example, if the maximum height of the robot cleaner (100) is h2 and h2 is greater than h1, the processor (170) determines that the corresponding lower space (21) is an inaccessible area.

[0077] In Fig. 3, only the height (h1, h2) is shown, but the size of the lower space may include not only the vertical height but also the horizontal width, and the processor (170) may determine that it is an inaccessible area even if the maximum width of the robot cleaner (100) is greater than the width of the lower space (21).

[0078]

[0079] *Information on the height and width of the robot cleaner (100) may be measured in advance and stored in the memory (140). When the robot cleaner (100) is actually driven, there may be slight changes in the height or width due to the material of the floor surface or driving vibrations. Therefore, in order to determine an inaccessible area, a certain margin may be added to the height and width for comparison.

[0080] When identified as a no-entry area (21), the processor (170) can capture a photo of the no-entry area (21) through the camera (130) and transmit it through the communication unit or store it in the memory (140). Information about the no-entry area (21) does not necessarily have to be provided in the form of a captured image, i.e., a photograph, and may be expressed in various forms of information such as text, numbers, or location information related to the area. In addition, the captured image of the no-entry area (21) does not necessarily have to be provided in a form included in the cleaning report, and may be provided separately from the cleaning report.

[0081] FIG. 4 is a diagram illustrating examples of UI screens displayed on a user terminal device according to at least one embodiment of the present disclosure. FIG. 4 illustrates a screen of a user terminal device (200) implemented in the form of a mobile phone, but as described above, the user terminal device (200) may be implemented in various forms, and in this case, the layout, shape, size, content, etc. of the UI screen may be variously changed.

[0082] The user terminal device (200) can display a UI screen (410) including a cleaning report generated by the robot cleaner (100). As described above, if an application is installed on the user terminal device (200), and the user executes the application and selects a menu for the robot cleaner among the application's menus, a UI screen (410) as shown in FIG. 4 may be displayed.

[0083] According to Fig. 4, a cleaning report can be expressed as a map (411). The robot cleaner (100) can generate a cleaning report that shows different colors or shades, etc., of cleaned and uncleaned areas in the entire cleaning map (411). Fig. 4 shows a state in which three inaccessible areas (411-1 to 411-3) are found. In addition, the robot cleaner (100) can also add identifiers (412-1 to 412-3) corresponding to each inaccessible area (411-1 to 411-3) to the cleaning report. In Fig. 4, star-shaped identifiers (412-1 to 412-3) are illustrated, but the size, shape, color, etc. of the identifiers can be expressed in various ways. The identifiers can be described in various ways, such as indicators, markers, and pointers, but are described as identifiers in the present disclosure.

[0084] A user can click on an identifier (e.g., 412-2) within a UI screen (410) of a user terminal device (200). In this case, the user terminal device (200) displays a UI screen (420) corresponding to the user selection. For convenience of explanation, the screens of FIG. 4, which are sequentially represented, are referred to as first to third UI screens (410, 420, 430). The second UI screen (420) may include a captured image (421) of a no-entry area (411-2) selected by the user, text (422) related to the area (411-2), and various selection menus (423, 424). The user can refer to the captured image (421) and text (422) to decide whether to set the area as a management area, and then select one of the selection menus (423, 424). When the YES menu (423) is selected, the user terminal device (200) displays a third UI screen (430). The third UI screen (430) may include a cleaning map (411) similar to the first UI screen (410). However, among the identifiers (412-1 to 412-3) on the cleaning map (411), only the display status of the identifier (412-2) of the area selected by the user as a management area may be displayed differently. In this way, the user can directly select one or more management areas on the UI screens.

[0085] The processor (170) of the robot cleaner (100) receives data on the management area set in the user terminal device (200) through the communication unit (150), and can then monitor the progress of contamination in the management area.

[0086] Monitoring can be done in a variety of ways.

[0087] For example, the processor (170) can monitor the contamination progress based on the captured images of the management area. Specifically, the processor (170) can determine whether the robot cleaner (100) reaches a location where capturing of the set management area is possible each time it drives within the space (10). The location where capturing of the management area is possible may be a surrounding area of ​​the management area. The processor (170) can control the camera (130) to capture the management area each time it reaches a location where capturing is possible during each drive. The processor (170) accumulates and stores each captured image in the memory (140). When a specific event occurs, the processor (170) can determine the contamination progress of the management area based on existing and new captured images among the accumulated and stored plurality of captured images. A specific event may include various events, such as an event in which a preset time period arrives, an event in which a robot cleaner (100) passes around a management area, an event in which a confirmation request for the management area is received from a user terminal device (200) or a server device (300), an event in which the robot cleaner (100) starts or completes cleaning, an event in which the robot cleaner (100) is turned on, etc.

[0088] The processor (170) can identify a portion corresponding to an area of ​​interest in each of the captured images, and then compare the specified portion to identify newly added foreign substances compared to the previous captured image. Alternatively, the processor (170) can estimate the degree of dust accumulation by checking the change in pixel values ​​of the specified portion. For example, for one captured image, the processor (170) divides the image into multiple pixel groups and extracts a representative value for each pixel group. The processor (170) compares the representative values ​​of each pixel group and detects a portion where representative values ​​in a similar range are continuously connected. The processor (170) can identify the detected pixel groups as the boundary of a single object. As shown in FIG. 3, when the lower space (21) of a sofa-shaped piece of furniture (20) is a management area, the management area can be identified as a rectangular shape formed by the bottom of the sofa and the legs. The processor (170) tracks an area identified in one captured image in the same manner in a subsequent captured image, and then compares the pixel values ​​within the area. As a result of the comparison, if a new object is extracted from the corresponding area, the processor (170) can determine that a new foreign substance has entered under the sofa (20). In this case, the processor (170) can determine that the contamination has progressed significantly. In addition, if dust accumulates on the floor surface of the lower space (21), the color may gradually turn white. In this case, the pixel values ​​included in the corresponding area change sequentially in multiple captured images. If the change in these pixel values ​​exceeds a threshold condition, the processor (170) can determine that the contamination has progressed significantly.

[0089] As another example, the processor (170) may monitor the progress of contamination using at least one sensor (120). That is, if a lump of foreign matter is added to the lower space (21) or dust accumulates to a certain thickness or more on the bottom surface of the lower space (21), the amount of reflected light or reflected signal for light or other signals projected from at least one sensor (120) may change. If the processor (170) detects a change in the amount of reflected light or the reception intensity of the reflected signal based on the sensing value sensed by at least one sensor (120), it may determine that contamination has progressed significantly.

[0090] Meanwhile, the degree of contamination may be perceived subjectively differently by each individual. Therefore, the robot cleaner (100) may receive user feedback on the contamination status of the management area and estimate the contamination status based on that feedback.

[0091] That is, the processor (170) can control the camera (130) to capture images of the management area when the robot cleaner (100) reaches a position where capturing images of the management area is possible while driving within the space (10). The processor (170) can transmit the captured images to an external device such as a user terminal device (200).

[0092] When a captured image is displayed on a user terminal device (200), the user can directly set the current contamination level of the management area by viewing the captured image. The contamination level may be a differentiated step for quantifying the degree of contamination. Fig. 5 illustrates an example of a UI screen for setting the contamination level. According to Fig. 5, the user terminal device (200) may display a UI screen (510) including a captured image (511) of the management area.

[0093] The UI screen (510) may further include a graph (512) indicating the contamination level of the management area, a notification cycle setting area (514), and various menus (515, 516).

[0094] A user-draggable pointer (513) may be displayed on the graph (512). The user may view the captured image (511) and move the pointer (513) according to the level of contamination he or she perceives. While FIG. 5 illustrates that the contamination level can be set within a range of 1 to 10, the contamination level may be set within a variety of ranges. For example, the contamination level may be simply categorized as upper, middle, and lower, or it may be implemented so that it can be set within a wider range of levels 10 or higher.

[0095] Additionally, the user can set the desired notification cycle in the notification cycle setting area (514), and can also directly decide whether to receive notifications by selecting a menu (515) to skip notifications when there is no status change.

[0096] The user terminal device (200) can transmit various setting information input through the UI screen (510) to the robot cleaner (100).

[0097] When the processor (170) of the robot cleaner (100) receives information on the contamination level set by the user through the communication unit (150) in the same manner as in FIG. 5, it can match the transmitted photographed image (511) and the contamination level and store them in the memory (140).

[0098] The processor (170) can estimate the contamination level of various management areas to be photographed later by referring to the stored contamination level. That is, when re-photographing of the set management area is performed during the next driving of the robot cleaner (100), the processor (170) can estimate the contamination level of the re-photographed image based on the contamination level matched to the photographed image. For example, if the user sets the contamination level to level 5 when about 3 foreign substances are identified in a state in which about 3 foreign substances are identified, the processor (170) can estimate the contamination level to level 5 in the same manner when about 3 foreign substances are identified in the management area and other management areas. On the other hand, the processor can estimate the contamination level to level 7 when 4 foreign substances are identified. When providing a photographed image of a no-entry area in a cleaning report, the processor (170) can also include the contamination level estimated for the area in the above-described manner.

[0099] In general, users may not be aware of the criteria for contamination levels, making it difficult to accurately determine the level of contamination within the captured image they are viewing. In this case, if the processor (170) provides an example of the estimated contamination level in the cleaning report, the user can intuitively determine the level of contamination in other management areas based on this information.

[0100] Meanwhile, various setting information set by the user in the UI screen (510) of FIG. 5 may be used as conditions for notifying the monitoring results of the management area. For example, whenever the notification cycle set by the user in FIG. 5 arrives, the robot cleaner (100) may perform a re-photograph of the management area and transmit the photographing results to the user terminal device (200). In addition, if a menu (515) for omitting notifications when there is no change in status is selected, the processor (170) of the robot cleaner (100) may transmit information on the contamination progress to the user terminal device (200) only when the identified contamination progress satisfies a preset threshold condition. If the threshold condition is not met, the processor (170) may discard the identification result without separate transmission or store it in the memory (140). The threshold condition may be preset for each item that can determine the presence or absence of contamination, such as the number of foreign substances, dust thickness, and pixel value changes, and may be stored in the memory (140).

[0101] Fig. 6 illustrates another example of a UI screen for setting a notification time. According to Fig. 6, the UI screen (610) may include a captured image (611) of a management area, an area (611) for setting a notification time, an area (612) for omitting notifications, etc. As described in Fig. 5, various setting information set through the UI screen (610) of Fig. 6 may also be transmitted to the robot cleaner (100) and stored in the memory (140) of the robot cleaner (100). Since the method of utilizing the setting information has already been described in Fig. 5, a duplicate description will be omitted.

[0102] FIG. 7 is a diagram illustrating a method for a robot vacuum cleaner according to at least one embodiment of the present disclosure to monitor a management area. FIG. 7 corresponds to a plan view of the entire space (400) viewed from above. FIG. 7 illustrates a state in which a total of four inaccessible areas (410, 420, 430, 440) are included within the entire space (400), and two of these areas are set as management areas (420, 430). For convenience of explanation, these areas are hereinafter referred to as the first and second management areas (420, 430).

[0103] The processor (170) of the robot cleaner (100) can create a map for the entire space (400), set a driving path based on the map, and then perform cleaning while driving along the driving path. The processor (170) can identify no-entry areas (410, 420, 430, 440) while driving and transmit the information to the user terminal device (200) via the communication unit (150). Accordingly, as described in the above-described section, a management area (420, 430) can be set.

[0104] When the processor (170) reaches a position where a photographing is possible for the management area (420, 430) while driving along the driving path, the processor (170) photographs the management area (420, 430). In FIG. 7, for the first management area (420), photography is possible at two positions (Pn, Pn+1), and for the second management area (430), photography is possible at four positions (P1 to P4). When the processor (170) reaches a corresponding position (P1, P2, P3, P4, Pn, Pn+1) while driving along the driving path, the processor (170) can control the camera (130) to perform photography. When the camera (130) is arranged in the front direction of the robot cleaner (100), the processor (170) can perform photography when the robot cleaner (100) is facing the management area. As shown in Fig. 7, when the second management area (430) is horizontally elongated, shooting may be possible at three locations (P1, P2, P3) in the horizontal direction. Depending on the embodiment, shooting may be performed at each location, or shooting may be performed only at the second location (P2), which is the most central location. In addition, in order to prevent shaking when shooting while driving, the processor (170) may control the driving unit (110) to temporarily stop upon reaching the shooting location, and then perform shooting.

[0105] In addition, when the illumination of the management area is low, making it difficult to identify the captured image, the processor (170) may perform shooting by operating a separately provided light (not shown) to illuminate the management area.

[0106] Meanwhile, in Fig. 4, a case in which a user directly selects a management area on a cleaning map is described, but the user may also directly input the setting conditions of the management area.

[0107] FIG. 8 illustrates an example of a UI screen for setting a management area in a user terminal device according to at least one embodiment of the present disclosure.

[0108] According to FIG. 8, the UI screen (810) displayed on the user terminal device (200) displays areas (811) in which the user can directly input the minimum size of the area in which he or she wants to receive notifications, i.e., the management area.

[0109] As shown in Fig. 8, if the user sets the width to 200 mm or more and the height to 80 mm or more, the robot cleaner (100) that has received the setting information will not perform the aforementioned monitoring for the lower space that is less than 200 mm in width and less than 80 mm in height. That is, if the processor (170) receives the setting information for specifying the management area from the user terminal device (200), it can store the setting information in the memory (140) and identify the management area based thereon.

[0110] Specifically, when the height and width of the lower space of an object located within a space (10) are identified based on the sensing values ​​of at least one sensor (120), the processor (170) checks whether the identified height and width match the setting information stored in the memory (140). If the result of the check matches, the processor (170) can identify the space as a management area.

[0111] While FIG. 8 illustrates a case where a user sets a management area they wish to manage, this can be changed to a form where the user sets information for areas that do not need to be managed. For example, if the width and height are set to a specific value or less, the processor (170) may identify the area below the specific value as an area that does not require management and may not conduct separate monitoring.

[0112] For example, in the case of heavy, large objects such as refrigerators or washing machines, cleaning the lower space is difficult even if there is a lower space. Therefore, there is no need to monitor the lower space of these objects. On the other hand, for relatively light or small objects, the user can move the object and clean the lower space as needed. Therefore, monitoring the lower space of these objects is necessary, and the user can configure this condition in advance. This can prevent frequent notifications for areas that do not require maintenance.

[0113] FIG. 9 is a block diagram illustrating the configuration of a user terminal device (200) according to at least one embodiment of the present disclosure. The user terminal device (200) may include a communication unit (210), a display (220), a memory (230), and a processor (240). Specific examples of the processor (240), the memory (230), and the communication unit (210) have been described in the section regarding FIG. 2, and therefore, redundant description is omitted.

[0114] The display (220) is configured to display various screens. For example, the processor (240) controls the display (220) to display a generated map or cleaning report. The display (220) can be implemented in various forms, such as a liquid crystal display (LCD), an organic light-emitting diode (OLED), a liquid crystal on silicon (LCoS), a digital light processing (DLP), a quantum dot (QD) display panel, a quantum dot light-emitting diodes (QLED), a micro light-emitting diodes (μLED), a mini LED, etc. Meanwhile, the display (220) can also be implemented as a touch screen combined with a touch sensor, a flexible display, a rollable display, a 3D display, a display in which a plurality of display modules are physically connected, etc.

[0115] The memory (230) may store various data, programs, commands, etc. used in the user terminal device (100). In addition, the memory (230) may store an application that can communicate with the server device (300) and the robot cleaner (100) described above to control the robot cleaner (100) and other home appliances. As described above, when the user executes the application, the processor (240) configures the execution screen of the application and displays it through the display (220). When the user selects some electronic device, for example, the robot cleaner (100), on the UI screen, the processor (240) may display a UI screen that indicates a cleaning report, such as management area settings. Examples of the UI screen are illustrated in FIGS. 4, 5, 6, and 8, but other UI screens with various configurations may be provided.

[0116] When a cleaning report including at least one inaccessible area into which the robot cleaner (100) cannot enter is received through the communication unit (210), the processor (240) can store the cleaning report in the memory (230). The processor (240) can control the display (220) to display the cleaning report. When the user sets at least one management area through the display (220), information about the set management area can be transmitted to the robot cleaner or server device through the communication unit (210). In addition, the processor (240) can also transmit various setting information set by the user through the UI screens such as those shown in FIGS. 4, 5, 6, and 8 to the robot cleaner or server device through the communication unit (210).

[0117] FIG. 10 is a flowchart illustrating a method for managing a no-entry area of ​​a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0118] According to Fig. 10, the robot cleaner performs cleaning while moving within the space in which it is located (S101).

[0119] The robot cleaner identifies an inaccessible area into which the robot cleaner cannot enter based on a sensing value sensed by at least one sensor (S102).

[0120] After the robot vacuum cleaner has captured an identified inaccessible area, it can transmit the captured image to at least one external device (S103). The at least one external device may be a server device (300) or a user terminal device (200).

[0121] As described above, a user can use the user terminal device (200) to set at least one of the inaccessible areas as a management area. Once at least one management area is set, the robot cleaner receives and stores information about the set management area (S104).

[0122] The robot cleaner monitors the contamination progress of the stored management area when it drives through the space later (S105).

[0123] Since the method for identifying a no-entry area, the method for setting a management area, and the method for monitoring the progress of contamination have been described in the various embodiments described above, a duplicate description will be omitted.

[0124] FIG. 11 is a sequence diagram illustrating an operation order of a robot cleaner (100) and a user terminal device (200) according to at least one embodiment of the present disclosure. In FIG. 11, the robot cleaner (100) and the user terminal device (200) are illustrated as directly communicating, but this is not necessarily limited to the above, and as illustrated in FIG. 1, a server device (300) may also relay communication between the robot cleaner (100) and the user terminal device (200).

[0125] Referring to Fig. 11, a robot cleaner (100) performs cleaning while driving within a space in which it is located (S11). The robot cleaner (100) obtains information on a cleaning report and transmits it to a user terminal device (200). The user terminal device (200) displays the received cleaning report through a display (S12). Based on the cleaning report displayed on the user terminal device (200), the user sets a management area (S13). The user terminal device (200) transmits the set management area information to the robot cleaner (100). The robot cleaner (100) stores the transmitted management area information in its memory (S14).

[0126] When performing subsequent cleaning (S15), the robot vacuum cleaner (100) identifies the contamination status of the management area stored in memory (S16). The specific identification method has been described in the above section, so a detailed explanation will be omitted.

[0127] The robot cleaner (100) determines whether the contamination progress satisfies a preset threshold condition (S17), and if so, transmits relevant information to the user terminal device (200). The user terminal device (200) displays the transmitted information on the contamination progress (S18).

[0128] The user can easily grasp the status of the management area based on the information displayed on the user terminal device (200). If the user determines that the management area is severely contaminated, the user can move objects located in the management area and perform cleaning directly, or use a robot vacuum cleaner (100) to clean the area.

[0129] Meanwhile, if the robot cleaner (100) is equipped with an air injection device (not shown), the robot cleaner (100) can inject air into the management area to remove foreign substances within the management area even if it cannot directly enter the management area. The robot cleaner (100) can clean the foreign substances blown out by the air using the cleaning module (160). In this case, a message asking whether to remove the foreign substances by air injection may be additionally displayed on the UI screen displayed on the user terminal device (200). If the user responds to the message, the robot cleaner (100) can clean the management area in the above-described manner.

[0130] Alternatively, if the robot cleaner (100) has a suction port protruding to the outside, the management area can be cleaned by inserting the suction port into the management area and sucking up foreign substances.

[0131] Meanwhile, in the above-described embodiments, the robot cleaner (100) is depicted and described as directly monitoring the contamination progress, but this is not necessarily limited to this, and the server device (300) may also perform the monitoring. For example, the robot cleaner (100) may transmit a photographed image taken of the management area to the server device (300). The server device (300) accumulates and stores the transmitted photographed images, and may monitor the contamination progress by comparing existing and new photographed images.

[0132] The server device (300) may utilize an artificial intelligence model to determine the level of contamination. For example, the server device (300) may communicate with multiple robot vacuum cleaners, receive images captured by each robot vacuum cleaner, and information on the level of contamination directly input by the user in the manner illustrated in FIG. 5 for the captured images. The artificial intelligence model of the server device (300) may be trained based on this contamination level information and captured images. Accordingly, the level of contamination may be determined to correspond to the degree of contamination that typical users perceive.

[0133] While the above description assumes a robot vacuum cleaner monitoring a managed area, this is not necessarily limited to robot vacuum cleaners. Various electronic devices equipped with navigation capabilities can perform the same operation. For example, mobile projectors or other mobile robots can freely navigate within a space while equipped with cameras. If these types of electronic devices are provided with information about the managed area, they can photograph or sense the managed area each time they pass by, identifying the progress of contamination in the managed area and transmitting this information to a user terminal device.

[0134] The various embodiments described above may be implemented as a single embodiment, or at least one embodiment may be combined with each other in whole or in part and implemented together in one device.

[0135] According to the various embodiments described above, users can manage areas that the robot vacuum cleaner cannot enter. In other words, convenience can be enhanced by having the robot vacuum monitor and notify the user of inaccessible areas.

[0136] Various embodiments of the present disclosure may be implemented as software stored in a machine-readable storage media that can be installed or connected to a robot vacuum cleaner, a user terminal device, or other various electronic devices (e.g., a computer).

[0137] Specifically, a non-transitory readable storage medium may be provided in which software is stored for sequentially performing the steps of: performing cleaning while driving within a space where a robot cleaner is located; identifying a no-entry area based on a sensing value sensed by at least one sensor provided in the robot cleaner while driving; transmitting a photographed image of the no-entry area to at least one external device; receiving and storing information about the set management area when at least one management area is set from among the no-entry areas by the at least one external device; and monitoring the progress of contamination in the management area.

[0138] A device equipped with such a non-transitory readable medium can perform various management operations, such as determining an inaccessible area, setting a management area, and monitoring the progress of contamination, as described in the various embodiments described above.

[0139] In the context of non-transitory readable storage media, 'non-transitory' means that the storage medium does not contain signals and is tangible, but does not distinguish between whether data is stored semi-permanently or temporarily on the storage medium.

[0140] Alternatively, a program for performing the method according to the various embodiments described above may be distributed online through an application store. In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated on a storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0141] Each component (e.g., a module or a program) according to various embodiments may be composed of one or more entities, and some of the aforementioned sub-components may be omitted, or other sub-components may be further included in various embodiments. Alternatively or additionally, some components (e.g., a module or a program) may be integrated into a single entity, which may perform the same or similar functions as those performed by each of the respective components prior to integration. Operations performed by a module, program, or other component according to various embodiments may be executed sequentially, in parallel, iteratively, or heuristically, or at least some operations may be executed in a different order, omitted, or other operations may be added.

[0142] Although the preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art to which the present disclosure pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

Claims

1. In robot vacuum cleaners, A driving unit for moving the above robot cleaner; Cleaning module; Department of Communications; memory; At least one sensor; camera; and a processor; including; The above processor controls the driving unit and the cleaning module to perform cleaning while driving within the space where the robot cleaner is located. If an inaccessible area into which the robot cleaner cannot enter is identified based on a sensing value sensed by at least one sensor during the driving, the camera is controlled to photograph the inaccessible area and the photographed image is transmitted to at least one external device through the communication unit. A robot cleaner, wherein when at least one management area is set among the inaccessible areas by at least one external device, information about the set management area is stored in the memory, and the contamination progress of the management area is monitored.

2. In paragraph 1, The above processor, A robot cleaner, which controls the camera to photograph the management area when it reaches a position where photographing of the management area is possible during each drive within the space, stores the photographed image in the memory, monitors the contamination progress of the management area by comparing a plurality of photographed images accumulated and stored in the memory, and transmits the monitoring result to the at least one external device through the communication unit.

3. In paragraph 2, The above processor, The contamination progress is identified by comparing at least one previously captured image and a new captured image among the plurality of captured images, and if the identified contamination progress satisfies a preset threshold condition, information on the contamination progress of the management area is transmitted to at least one external device through the communication unit. A robot cleaner that stores information about the identified contamination progress in the memory if the identified contamination progress does not meet the threshold condition.

4. In paragraph 1, The above processor, When the vehicle reaches a position where a photograph of the set management area is possible while driving within the space, the camera is controlled to photograph the management area, and the photographed image is transmitted to at least one external device through the communication unit. When the contamination level for the management area is set in at least one external device, the transmitted photographed image and the contamination level are matched and stored in the memory. A robot cleaner, wherein when a re-shoot is performed for the above-described management area during the next drive, the contamination level of the re-shot image is estimated based on the contamination level matched to the shot image.

5. In paragraph 1, The above processor, When the notification period information is received from at least one external device through the communication unit, the notification period information is stored in the memory, A robot cleaner that controls the camera to capture images of the management area at each point in time corresponding to the above notification cycle information, monitors the contamination progress of the management area based on existing captured images and new captured images, and transmits the monitoring results to at least one external device through the communication unit.

6. In paragraph 1, The above memory stores information about the height and width of the robot cleaner, The above processor, A robot cleaner that identifies the height and width of a lower space of an object located within the space based on the sensing values of at least one sensor, and identifies the lower space as an inaccessible area if at least one of the identified heights and widths is less than the height and width of the robot cleaner stored in the memory.

7. In paragraph 1, The above processor, When setting information for setting specific criteria of a management area from at least one external device is received through the communication unit, the setting information is stored in the memory, A robot cleaner that identifies the height and width of a lower space of an object located within the space based on the sensing values of at least one sensor, and identifies the lower space as the management area if at least one of the identified heights and widths matches the setting information stored in the memory.

8. On the user terminal device, Department of Communications; display; memory; and Processor; including; The above processor, When a cleaning report including at least one inaccessible area into which the robot cleaner cannot enter is received through the communication unit, the cleaning report is stored in the memory, Control the display to display the above cleaning report, A user terminal device that, when at least one management area is set among the at least one inaccessible area, transmits information about the set management area to the robot cleaner or a server device controlling the robot cleaner through the communication unit.

9. Regarding the management method of the robot vacuum cleaner, A step of performing cleaning while moving within a space where the robot cleaner is located; A step of identifying an inaccessible area into which the robot cleaner cannot enter based on a sensing value sensed by at least one sensor provided in the robot cleaner during the driving; A step of transmitting a photographed image of the above-mentioned inaccessible area to at least one external device; When at least one management area is set among the inaccessible areas by at least one external device, a step of receiving and storing information about the set management area; and A management method, comprising: a step of monitoring the progress of contamination in the above management area.

10. In paragraph 9, The steps for monitoring the contamination progress of the above management area are: A step of photographing the management area when reaching a position where photographing is possible during each drive within the space, and storing the photographed image; A step of monitoring the contamination progress of the management area by comparing multiple accumulated stored shooting images; and A management method, comprising: a step of transmitting the monitoring results to at least one external device.

11. In paragraph 9, The steps for monitoring the contamination progress of the above management area are: A step of photographing the management area when reaching a position where photographing is possible during each drive within the space, and storing the photographed image; A step of identifying the contamination progress by comparing a new captured image with at least one previously captured image among a plurality of accumulated stored captured images; A step of transmitting information about the contamination progress of the management area to at least one external device when the identified contamination progress satisfies a preset threshold condition; and A management method, comprising: a step of storing information about the identified contamination progress if the identified contamination progress does not satisfy the threshold condition.

12. In paragraph 9, The steps for monitoring the contamination progress of the above management area are: A step of photographing the management area when reaching a position where photographing of the set management area is possible while driving within the space; A step of transmitting the captured image to at least one external device; When information on the contamination level for the management area set by at least one external device is received, a step of matching and storing the transmitted photographed image and the contamination level; and A management method comprising: a step of estimating the contamination level of the re-captured image based on the contamination level matched to the photographed image when re-capture of the set management area is performed during the next drive; 13. In paragraph 9, When the notification cycle information set for the monitoring result of the management area is received from at least one external device, the step of storing the notification cycle information is further included. The steps for monitoring the contamination progress of the above management area are: A step of photographing the management area at each point in time corresponding to the above notification cycle information; A step of monitoring the contamination progress of the management area based on existing and new captured images; and A management method, comprising: a step of transmitting the monitoring results to at least one external device.

14. In paragraph 9, The step of identifying the above inaccessible area is: A step of identifying the height and width of the lower space of an object located within the space based on the sensing value; and A management method, comprising: a step of identifying the lower space as the inaccessible area if at least one of the identified height and width is less than or equal to the height and width of the robot cleaner.

15. In paragraph 9, When setting information for specifying the management area is received from at least one external device, a step of storing the setting information; and A management method further comprising: a step of identifying a height and width of a lower space of an object located within the space based on a sensing value of at least one sensor, and identifying the lower space as the management area if at least one of the identified heights and widths matches the stored setting information;

Images