Cleaner and control method thereof

Abstract

A cleaner is disclosed. This cleaner includes a sensor that detects an inclination of the cleaner, a memory including at least one storage medium storing at least one instruction, and at least one processor communicatively connected to the sensor and the memory. The at least one processor determines the rotational speed of a main motor of the cleaner, controls the cleaner on the basis of the determined rotational speed, and controls a first driving device such that the rotational speed of the main motor of the cleaner increases when the inclination of the cleaner sensed by the sensor is within a preset range.

Description

Vacuum cleaner and its control method

[0001] The present disclosure relates to a vacuum cleaner and a method for controlling the same.

[0002] The vacuum cleaner includes a main body equipped with a vacuum suction device and a dust collection device, and a suction module connected to the main body. Recently, a rotating brush has been installed in the suction module to facilitate the suction of foreign matter from the surface to be cleaned. Additionally, to enable wet mopping with a single vacuum cleaner, the suction module is installed to be detachable, allowing for replacement with a morphing module after removing the suction module.

[0003] The foregoing information is provided for background purposes only to aid in understanding the disclosure. No determination has been made as to which of the foregoing information may be applied as prior art in relation to this disclosure, nor is any claim made.

[0004] Dust can easily accumulate in areas that are difficult to reach by hand, such as between furniture and the floor or on the top surface of furniture. When cleaning these spaces, the vacuum cleaner's suction power needed to be stronger to collect more dust compared to other open areas.

[0005] The aspects of the present disclosure are intended to solve at least the problems and / or disadvantages described above and to provide at least the advantages described below. Accordingly, aspects of the present disclosure provide a vacuum cleaner and a method for controlling the same.

[0006] Additional aspects will be disclosed in part in the following description, and in part will be apparent from the description or can be learned through the practice of the presented embodiments.

[0007] According to at least one embodiment of the present disclosure, a vacuum cleaner is disclosed. The vacuum cleaner may include a sensor for detecting the tilt of the vacuum cleaner, a memory comprising at least one storage medium for storing at least one instruction, and at least one processor connected to the sensor and the memory via communication.

[0008] The above at least one processor determines the rotational speed of the main motor of the vacuum cleaner, controls the vacuum cleaner based on the determined rotational speed, and controls the first drive device so that the rotational speed of the main motor of the vacuum cleaner increases if the tilt of the vacuum cleaner detected by the sensor is within a preset range.

[0009] The above vacuum cleaner further includes a second drive device that controls the rotation of the head attachment.

[0010] The above at least one processor controls the second drive device to increase the rotational speed of the head attachment when the tilt of the vacuum cleaner detected by the sensor is within a first range.

[0011] The above vacuum cleaner further includes a lighting device provided on the head attachment to illuminate the front of the head attachment.

[0012] The above at least one processor controls the lighting device to output light if the tilt of the vacuum cleaner detected by the sensor is within the first range.

[0013] The above vacuum cleaner further includes a second drive device that individually rotates a plurality of head attachments.

[0014] The above at least one processor controls the second driving device so that if the tilt of the vacuum cleaner detected by the sensor is within the second range, the rotational speed of the head attachment corresponding to the tilt direction among the plurality of head attachments increases.

[0015] The above vacuum cleaner includes a plurality of head attachments, which are configured to spray water toward the front of the vacuum cleaner.

[0016] The above at least one processor controls the water spray module to spray water if the change in tilt of the vacuum cleaner detected by the sensor is a preset first pattern.

[0017] The above vacuum cleaner further comprises a main body having the sensor, the memory, the processor, and the main motor, a stick having one end coupled to the main body, a head part coupled to the other end opposite to the one end of the stick, and a length adjustment module for adjusting the length of the stick.

[0018] The processor controls the length adjustment module so that the stick becomes a preset length corresponding to the tilt of the vacuum cleaner detected by the sensor.

[0019] The processor controls the first drive device so that if the change in tilt of the vacuum cleaner detected by the sensor is a preset second pattern, the main motor rotates at a rotational speed corresponding to the second pattern.

[0020] A method for controlling a vacuum cleaner includes the steps of detecting the tilt of the vacuum cleaner, determining the rotational speed of the main motor of the vacuum cleaner according to the detected tilt of the vacuum cleaner, and controlling the main motor of the vacuum cleaner based on the determined rotational speed.

[0021] The step of controlling the main motor controls the first drive device so that the rotational speed of the main motor increases if the detected tilt of the vacuum cleaner is within a preset range.

[0022] The control method of the above vacuum cleaner further includes the step of determining the rotational speed of a head attachment of the vacuum cleaner and the step of controlling the rotational speed of the head attachment based on the determined rotational speed of the head attachment.

[0023] The step of controlling the rotational speed of the head attachment involves controlling the second drive device to increase the rotational speed of the head attachment when the detected tilt of the vacuum cleaner is within a first range.

[0024] The control method of the above vacuum cleaner further includes the step of controlling a lighting device, which is provided on the head attachment to illuminate the front of the head attachment, to output light when the detected tilt of the vacuum cleaner is within the first range.

[0025] The step of determining the rotational speed of the head attachment of the vacuum cleaner comprises determining the rotational speed of each of the plurality of head attachments, and if the detected tilt of the vacuum cleaner is within a second range, controlling a second driving device so that the rotational speed of the head attachment corresponding to the tilt direction among the plurality of head attachments increases.

[0026] The control method of the above vacuum cleaner further includes the step of controlling a length adjustment module such that, if the detected tilt of the vacuum cleaner is within a third range, the stick connecting the main body and the head unit becomes a preset length corresponding to the detected tilt of the vacuum cleaner.

[0027] The control method of the above vacuum cleaner further includes the step of controlling a water spray module configured to spray water forward of the head attachment when the detected change in tilt of the vacuum cleaner is a preset first pattern.

[0028] If the detected change in tilt of the vacuum cleaner is a preset second pattern, the first drive device is controlled so that the main motor rotates at a rotational speed corresponding to the second pattern.

[0029] In a non-transient computer-readable recording medium storing a program for executing a control method for a vacuum cleaner, the control method comprises the steps of determining the rotational speed of the main motor of the vacuum cleaner and controlling the main motor of the vacuum cleaner based on the determined rotational speed, wherein the step of determining the rotational speed increases the rotational speed of the main motor if the tilt of the vacuum cleaner detected by a sensor within the vacuum cleaner is within a preset range.

[0030] Other aspects, advantages, and prominent features of the present disclosure will become apparent to those skilled in the art from the following detailed description disclosing various embodiments of the present disclosure together with the accompanying drawings.

[0031] Other aspects, features, and advantages of specific embodiments of the present disclosure will become more apparent from the following description taken together with the accompanying drawings, and other aspects, features, and advantages of specific embodiments of the present disclosure will become more apparent from the accompanying drawings:

[0032] FIG. 1 is a drawing for explaining the operation of a vacuum cleaner according to one embodiment of the present disclosure.

[0033] FIG. 2 is a drawing for explaining the configuration of a vacuum cleaner according to one embodiment of the present disclosure.

[0034] FIG. 3 is a drawing for explaining another configuration of a vacuum cleaner according to one embodiment of the present disclosure.

[0035] FIG. 4 is a drawing illustrating an example of a display in a vacuum cleaner's display according to one embodiment of the present disclosure.

[0036] FIGS. 5 and 6 are drawings roughly illustrating a reference axis for measuring the tilt and acceleration of a vacuum cleaner according to one embodiment of the present disclosure.

[0037] FIGS. 7 and 8 are graphs illustrating the change in the inclination of a vacuum cleaner sensed by a sensor of a vacuum cleaner according to one embodiment of the present disclosure.

[0038] FIG. 9 is a drawing showing water being sprayed from a head attachment of a vacuum cleaner according to one embodiment of the present disclosure.

[0039] FIG. 10 is a drawing showing a vacuum cleaner moving in a specific direction according to one embodiment of the present disclosure.

[0040] FIG. 11 is a drawing showing how the stick length of a vacuum cleaner is changed according to one embodiment of the present disclosure.

[0041] FIG. 12 is a flowchart illustrating a control method for a vacuum cleaner according to one embodiment of the present disclosure.

[0042] FIG. 13 is a drawing for explaining a method of training an AI model according to one embodiment of the present disclosure.

[0043] Note that throughout the drawing, the same reference numbers are used to depict identical or similar elements, features, and structures.

[0044] The following description, with reference to the attached drawings, is provided to facilitate a comprehensive understanding of the various embodiments of the present disclosure as defined by the claims and their equivalents. While various specific details are included to aid such understanding, they should be considered merely illustrative. Accordingly, those skilled in the art recognize that various changes and modifications to the various embodiments described herein may be made without departing from the scope and spirit of the present disclosure. Additionally, for clarity and brevity, descriptions of well-known functions and structures may be omitted.

[0045] The terms and words used in the following description and claims are not limited to their bibliographical meanings but are used by the inventor solely to enable a clear and consistent understanding of the present invention. Accordingly, it will be apparent to those skilled in the art that the following description of various embodiments of the present disclosure is provided for illustrative purposes only and is not intended to limit the present disclosure as defined by the appended claims and their equivalents.

[0046] Unless otherwise specified in the context, the singular forms "a," "an," and "the" should be understood to include plural references. Thus, for example, a reference to a "component surface" includes a reference to one or more of such surfaces.

[0047] In describing the present disclosure, if it is determined that a detailed description of related known functions or configurations could unnecessarily obscure the essence of the present disclosure, such detailed description is omitted.

[0048] Additionally, the following embodiments may be modified in various other forms, and the scope of the technical concept of the present disclosure is not limited to the following embodiments. Rather, these embodiments are provided to make the present disclosure more faithful and complete and to fully convey the technical concept of the present disclosure to those skilled in the art.

[0049] The terms used in this disclosure are used merely to describe specific embodiments and are not intended to limit the scope of the rights. The singular expression includes the plural expression unless the context clearly indicates otherwise.

[0050] In the present disclosure, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of such features (e.g., numerical values, functions, actions, or components such as parts) and do not exclude the presence of additional features.

[0051] In the present disclosure, expressions such as “A or B,” “at least one of A or / and B,” or “one or more of A or / and B” may include all possible combinations of items listed together. For example, “A or B,” “at least one of A and B,” or “at least one of A or B” may refer to cases including (1) at least one A, (2) at least one B, or (3) both at least one A and at least one B.

[0052] Expressions such as "first," "second," "first," or "second" used in this disclosure may modify various components regardless of order and / or importance, and are used only to distinguish one component from another and do not limit said components.

[0053] Where it is stated that a certain component (e.g., a first component) is "(operatively or communicatively) coupled with / to" or "connected to" another component (e.g., a second component), it should be understood that said certain component may be directly connected to the other component or connected through the other component (e.g., a third component).

[0054] On the other hand, when it is stated that a certain component (e.g., a first component) is "directly connected" or "directly coupled" to another component (e.g., a second component), it may be understood that no other component (e.g., a third component) exists between said certain component and said other component.

[0055] As used in this disclosure, the expression “configured to” may be replaced, depending on the context, with, for example, “suitable for,” “having the capacity to,” “designed to,” “adapted to,” “made to,” or “capable of.” The term “configured to” may not necessarily mean only “specifically designed to” in hardware.

[0056] Instead, in some situations, the expression “device configured to do something” may mean that the device is “capable of doing something” together with other devices or components. For example, the phrase “processor configured (or set) to perform A, B, and C” may mean a dedicated processor for performing those operations (e.g., an embedded processor), or a generic-purpose processor (e.g., a CPU or application processor) capable of performing those operations by executing one or more software programs stored in a memory device.

[0057] In the embodiments, a 'module' or 'part' performs at least one function or operation and may be implemented in hardware or software, or a combination of hardware and software. Additionally, a plurality of 'modules' or a plurality of 'parts' may be integrated into at least one module and implemented by at least one processor, except for the 'module' or 'part' that needs to be implemented in specific hardware.

[0058] 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.

[0059] Meanwhile, the various elements and areas in the drawings are depicted schematically. Accordingly, the technical concept of the present invention is not limited by the relative sizes or spacing depicted in the attached drawings.

[0060] Meanwhile, a cleaning device according to various embodiments of the present disclosure may include at least one, for example, a vacuum cleaner, a robot cleaner, a handheld cleaner, a stick cleaner, a mop cleaner, etc.

[0061] Hereinafter, embodiments according to the present disclosure are described in detail with reference to the attached drawings so that those skilled in the art can easily implement them.

[0062] It should be recognized that the blocks of each flowchart and combinations of flowcharts may be executed by one or more computer programs containing instructions. The entirety of one or more computer programs may be stored in a single memory device, or one or more computer programs may be divided into different parts stored in multiple different memory devices.

[0063] Any function or operation described herein may be processed by a single processor or a combination of processors. A single processor or a combination of processors is a circuit that performs processing and includes circuits such as an application processor (AP, e.g., a central processing unit (CPU)), a communication processor (CP, e.g., a modem), a graphics processing unit (GPU), a neural processing unit (NPU) (e.g., an artificial intelligence (AI) chip), a wireless fidelity (Wi-Fi) chip, a Bluetooth chip, a satellite positioning system (GPS) chip, a near-field communication (NFC) chip, a connectivity chip, a sensor controller, a touch controller, a fingerprint sensor controller, a display driver integrated circuit (IC), an audio codec chip, a universal serial bus (USB) controller, a camera controller, an image processing IC, a microprocessor unit (MPU), a system-on-chip (SoC), an IC, or a similar chip.

[0064] FIG. 1 is a drawing for explaining the operation of a vacuum cleaner according to one embodiment of the present disclosure. Referring to FIG. 1, the vacuum cleaner (100) according to one embodiment of the present disclosure may have the form of a stick-type vacuum cleaner (or an upright type). In the illustrated example, an upright type shape in which the suction module is formed integrally with the main body is shown, but in implementation, a canister type in which the suction module is provided separately from the main body and connected by an extension tube may be used, and it may be a vacuum cleaner of various types such as a cordless vacuum cleaner, a robot vacuum cleaner, or a handheld vacuum cleaner.

[0065] The vacuum cleaner (100) may include a vacuum cleaner body (10) and a head unit (30). Here, the vacuum cleaner body (10) refers to a configuration that includes major components such as a motor and a processor. This concept of a main body is based on the assumption of the separation of components such as the head unit (30) or the stick (20); however, if the aforementioned components are integrated, those components may also be referred to as a main body.

[0066] The vacuum cleaner (100) may include a stick (20) connecting the vacuum cleaner body (10) and the head portion (30), and a handle portion (40) connected to the vacuum cleaner body (10). The stick (20) connects the vacuum cleaner body (10) and the head portion (30), and if necessary, the stick (20) and the vacuum cleaner body (10) may be detachable. Additionally, the vacuum cleaner body (10) may have a cleaning tool attached to it that is different from the stick (20) or the head portion (30) described above.

[0067] The handle portion (40) is a part that is connected to the main body (10) of the vacuum cleaner and can be provided so that a user can grip it and operate the vacuum cleaner (100).

[0068] The handle portion (40) is provided with an operating portion (not shown) so that a user can control the vacuum cleaner (100). Additionally, when implemented, an operating area for receiving a screen or user control command related to the operation of the vacuum cleaner (100) may be formed on the upper part of the vacuum cleaner body (10).

[0069] The vacuum cleaner body (10) may include a dust collector (11) and a driving device (12) disposed therein. The dust collector (11) can perform the function of separating foreign substances from the air sucked in from the head part (30) and collecting them.

[0070] The driving device (12) may include a first driving device that generates the suction pressure of the vacuum cleaner (100) and a second driving device that rotates the head attachment of the head part.

[0071] Specifically, the first driving device may include a motor assembly (50). The motor assembly (50) may generate power to generate suction force inside the vacuum cleaner body (10).

[0072] The motor assembly (50) includes a first motor and can generate suction pressure through the rotation of the first motor. Specifically, when a driving command for the first motor is input and power is supplied to the first motor, the impeller rotates by the driving of the first motor. Suction pressure is formed by the rotation of the impeller, and air containing foreign substances can be sucked into the intake port by this suction pressure. Furthermore, as the rotation speed of the first motor increases, the suction pressure increases.

[0073] When the vacuum cleaner (100) or the user sets (or determines) the suction strength, the vacuum cleaner (100) can control the first motor to rotate at a rotational speed corresponding to the above-described set suction strength.

[0074] The head portion (30) may be provided at the bottom of the vacuum cleaner (100) and positioned to come into contact with the surface to be cleaned. The head portion (30) may be provided so as to bring dust or contaminants from the surface to be cleaned into the vacuum cleaner body (10) by means of the suction force generated from the motor assembly (50) when in contact with the surface to be cleaned.

[0075] The head portion (30) may include a head attachment. The head attachment includes a configuration that can be attached to the head portion (30) for cleaning. For example, the head attachment may be a brush or a morphing pad.

[0076] Additionally, the second driving device provided in the head portion (30) may include a second motor. Specifically, when a driving command for the second motor is input and power is supplied to the second motor, the head attachment may be rotated by the driving of the second motor. This second motor may be various motors, such as a DC (Direct Current) motor, an AC (Alternating Current) motor, or a BLDC (Brushless DC) motor.

[0077] Meanwhile, the second driving device may be provided in the main body (10) of the vacuum cleaner depending on the case.

[0078] The brush is formed to protrude a certain length out of the suction port, so that when the brush rotates, it can strike foreign substances such as dust, dirt, and hair adhering to the surface to be cleaned in the cleaning area. As a result, the foreign substances are separated from the surface to be cleaned and can be easily sucked up by the suction port. Such a brush may be made of natural bristles or materials with a low coefficient of friction and good resistance, such as PA (polymide), but is not necessarily limited to these.

[0079] The morphing pad is configured to perform wet mopping on a surface to be cleaned. The morphing pad may be composed of a body member that rotates by receiving rotational force from a second driving device and a morphing member formed of a material such as a surface.

[0080] Meanwhile, it is desirable that the suction strength and the rotation speed of the head attachment described above be adjusted to corresponding values ​​and operated according to the area to be cleaned. For example, if the maximum suction power is operated for all types of areas to be cleaned, the floor surface may stick to the head part (30) on certain floor surfaces, making cleaning difficult, and rapid brush rotation on floor surfaces such as carpet may cause damage to the carpet.

[0081] In particular, areas to be cleaned, such as the space under furniture—that is, the space between the furniture and the floor—and the top of furniture—that is, the top surface of the furniture—are prone to dust accumulation compared to other spaces, so the amount of dust can be relatively large. In this case, to ensure efficient cleaning, a higher suction power and faster rotation of the head attachment may be required than when cleaning an open floor.

[0082] In this regard, the vacuum cleaner needs to identify the type of area to be cleaned and operate with a suction strength and rotational speed of the head attachment suitable for it.

[0083] In this disclosure, the cleaning area is described assuming a case where it is divided into a general floor, the area between the bottom of the furniture and the floor surface, the top surface of the furniture, and the area between the furniture and the wall surface; however, in implementation, only some of the types described above may be used, and other types of floor surfaces may be used in addition to the examples described above.

[0084] As described above, even if the type of area to be cleaned is accurately identified, if cleaning is not performed with suction strength and rotation speed of the head attachment that match the user's intention, the user may feel inconvenienced by the vacuum cleaner.

[0085] For example, even when cleaning an open floor, certain users may want to clean by tilting the vacuum cleaner significantly (laying it close to parallel with the floor surface).

[0086] Therefore, it is desirable to use the vacuum cleaner by determining the suction power and the rotation speed of the head attachment by taking into account not only the tilt of the vacuum cleaner but also all specific commands from the user.

[0087] FIG. 2 is a drawing for explaining the configuration of a vacuum cleaner according to one embodiment of the present disclosure.

[0088] Referring to FIG. 2, the vacuum cleaner (100) may include a sensor (110), a memory (120), and a processor (130).

[0089] The sensor (110) can detect the operation of the vacuum cleaner (100) and generate detection information. For example, the sensor (110) may include a gyroscope sensor that detects the tilt of the vacuum cleaner (100) and an accelerometer sensor that detects acceleration according to the change in position of the vacuum cleaner (100). The sensing operation of such a sensor (110) may be performed based on a control command of the processor (130) described later, and may be automatically measured in a preset periodic unit and provided to the processor (130). At this time, for each sensor information (or sensing value), information measured at that moment may be used, or the average value of that periodic unit may be used. The preset periodic unit may be 20ms, but is not limited thereto.

[0090] Meanwhile, the above-described gyroscope sensor, accelerometer sensor, etc. may be placed on the side of the main body (10) of FIG. 1, but is not limited thereto and may be changed when implementing other embodiments.

[0091] In addition, although two sensors were given as examples above, when implementing one embodiment, other sensors (e.g., geomagnetic sensor, azimuth sensor, lidar sensor, ultrasonic sensor, image sensor, etc.) may be additionally used in addition to the sensors described above, and some of the sensors described above may be omitted.

[0092] An input device (not shown) can receive user commands. Such user commands may be commands to turn the operation of the vacuum cleaner on / off, commands to adjust the suction strength of the vacuum cleaner, or cleaning modes of the vacuum cleaner (e.g., AI mode, AI protection mode, AI clean mode, protection mode, or protection mode release). The vacuum cleaner (100) can prioritize the execution of user commands input through the input device. For example, even if the cleaning mode of the vacuum cleaner (100) changes in response to changes such as tilt, if the user inputs a different cleaning mode, the vacuum cleaner (100) can change to the cleaning mode input by the user.

[0093] Meanwhile, although the above description explains that cleaning commands and suction strength are received directly from the vacuum cleaner (100), they may also be received through a separate external device (e.g., a user terminal device) during implementation.

[0094] A memory (120) may store an instruction regarding the vacuum cleaner (100). Additionally, the memory (120) may store an operating system (O / S) and data for operating the vacuum cleaner (100). Such instructions may include instructions for identifying the area to be cleaned, instructions for determining the cleaning suction strength, and instructions for controlling various components of the vacuum cleaner, which will be described later.

[0095] The memory (120) may include semiconductor memory such as flash memory or magnetic storage media such as hard disk. For example, various software modules for operating the vacuum cleaner (100) according to various embodiments of the present disclosure may be stored in the memory (120), and the processor (130) may control the operation of the vacuum cleaner (100) by executing the various software modules stored in the memory (120). That is, the memory (120) is accessed by the processor (130), and data reading / writing / modification / deletion / updating by the processor (130) may be performed.

[0096] Meanwhile, in the present disclosure, the term memory (120) may be used to include memory (120), ROM, RAM within the processor (130), or a memory card (e.g., micro SD card, memory stick) mounted in the vacuum cleaner (100).

[0097] The memory (120) may include a constant tilt change of the vacuum cleaner (100) as pattern information. Such tilt change pattern information of the vacuum cleaner (100) may include information regarding the suction strength of the vacuum cleaner (100) and the rotation speed of the head attachment regarding the type of area to be cleaned.

[0098] For example, the tilt change pattern information may include a first pattern in which the tilt change of the vacuum cleaner (100) is repeated forward and backward, with the tilt when the vacuum cleaner (100) is mounted on a station (not shown) as the base tilt, and a second pattern in which the tilt change of the vacuum cleaner (100) rotates left and right. The first and second patterns may use default values ​​initially provided by the manufacturer and may be updated by user use.

[0099] However, the tilt change pattern information of the vacuum cleaner (100) is not necessarily limited to the first and second patterns, and may additionally include pattern information for various tilt changes in other embodiments.

[0100] The processor (130) controls the overall operation of the vacuum cleaner (100). Specifically, the processor (130) can control the overall operation of the vacuum cleaner (100) by executing at least one instruction stored in the memory (120) as described above.

[0101] The processor (130) may be composed of one or more processors. In this case, the one or more processors (130) may include at least one of a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and an NPU (Neural Processing Unit), but are not limited to the examples of the processor (130) described above.

[0102] The CPU is a general-purpose processor capable of performing not only general operations but also artificial intelligence operations, and it can efficiently execute complex programs through a multi-layered cache structure. The CPU is advantageous for serial processing methods, which enable the organic linkage between previous and next calculation results through sequential computation. General-purpose processors are not limited to the examples mentioned above, except for cases specified as the aforementioned CPU.

[0103] A GPU is a processor designed for massive computations, such as floating-point operations used in graphics processing, and can perform large-scale computations in parallel by integrating a large number of cores. In particular, GPUs may be advantageous over CPUs for parallel processing methods, such as convolution operations. Additionally, GPUs can be used as co-processors to complement the functions of CPUs. Processors for massive computation are not limited to the examples mentioned above, except for cases specified as GPUs.

[0104] An NPU is a processor specialized for artificial intelligence computations using artificial neural networks, and each layer constituting the neural network can be implemented in hardware (e.g., silicon). In this case, since the NPU is designed to be specialized according to the specifications required by the vendor, it has a lower degree of flexibility compared to CPUs or GPUs, but it can efficiently process the AI ​​computations required by the vendor. Meanwhile, as a processor specialized for AI computations, the NPU can be implemented in various forms such as TPUs (Tensor Processing Units), IPUs (Intelligence Processing Units), and VPUs (Vision Processing Units). Artificial intelligence processors are not limited to the examples mentioned above, except for cases specified as NPUs.

[0105] Additionally, one or more processors (130) may be implemented as a System on Chip (SoC). In this case, the SoC may further include, in addition to one or more processors (130), a memory (120) and a network interface such as a bus for data communication between the processor (130) and the memory (120).

[0106] When a plurality of processors (130) are included in the SoC included in the vacuum cleaner (100), the vacuum cleaner (100) can perform artificial intelligence-related operations (e.g., operations related to learning or inference of an artificial intelligence model) by using some of the processors (130) among the plurality of processors (130). For example, the vacuum cleaner (100) can perform artificial intelligence-related operations by using at least one of a GPU, NPU, VPU, TPU, or hardware accelerator specialized for artificial intelligence operations such as convolution operations or matrix multiplication operations among the plurality of processors (130). However, this is merely one embodiment, and it is obvious that artificial intelligence-related operations can be processed using a general-purpose processor (130) such as a CPU.

[0107] Additionally, the vacuum cleaner (100) can perform operations related to artificial intelligence functions using multi-cores (e.g., dual cores, quad cores, etc.) included in a single processor (130). In particular, the vacuum cleaner (100) can perform artificial intelligence operations such as convolution operations and matrix multiplication operations in parallel using multi-cores included in the processor (130).

[0108] One or more processors (130) control input data to be processed according to predefined operation rules or artificial intelligence models stored in memory (120). The predefined operation rules or artificial intelligence models are characterized by being created through learning.

[0109] Here, being created through learning means that a predefined rule of operation or an artificial intelligence model of desired characteristics is created by applying a learning algorithm to a number of learning data. Such learning may be performed on the device itself where the artificial intelligence according to the present disclosure is executed, or it may be performed through a separate server / system.

[0110] An artificial intelligence model may be composed of multiple neural network layers. At least one layer has at least one weight value and performs the layer's operation through the result of the operation of the previous layer and at least one defined operation. Examples of neural networks include CNN (Convolutional Neural Network), DNN (Deep Neural Network), RNN (Recurrent Neural Network), RBM (Restricted Boltzmann Machine), DBN (Deep Belief Network), BRDNN (Bidirectional Recurrent Deep Neural Network), Deep Q-Networks, and Transformers; however, the neural networks in this disclosure are not limited to the aforementioned examples except where specified.

[0111] A learning algorithm is a method of training a specific target device (e.g., a robot) using a number of learning data to enable the target device to make decisions or predictions on its own. Examples of learning algorithms include supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, and the learning algorithms in this disclosure are not limited to the aforementioned examples except where specified.

[0112] In particular, in one or more embodiments, the processor (130) can accurately identify the type of area to be cleaned and perform an operation suitable for the identified type of area to be cleaned. Specifically, the processor (130) can perform processes related to various embodiments according to the present disclosure using a plurality of modules.

[0113] Multiple modules may be implemented as hardware modules or software modules, and at least some of the modules may include a neural network model. For convenience of explanation, the following description will be based on the premise that all of the multiple modules are implemented through the memory (120) and processor (130) of the vacuum cleaner (100), but according to the embodiment, at least some of the multiple modules may be implemented by an external device or server.

[0114] The processor (130) determines the suction strength to be applied to the vacuum cleaner. For example, the suction strength can be determined using user usage pattern information, sensor information detected by the sensor (110), etc., and there may be various ways to use the above-mentioned information.

[0115] Specifically, when identifying the type of area to be cleaned based on sensor information detected by the sensor (110), the processor (130) can determine the type of area to be cleaned based on the tilt information of the vacuum cleaner (100) detected by the sensor (110).

[0116] And the processor (130) can determine the suction strength to be applied to the vacuum cleaner (100) using the type of area to be cleaned identified.

[0117] For example, if the processor (130) determines based on sensor information from the sensor (110) that the type of area to be cleaned is the space between the furniture and the floor, the top surface of the furniture, or the gap space between the furniture and the wall, it can determine that the suction strength of the vacuum cleaner (100) has strong suction power.

[0118] The suction strength may be information indicating one of the operations when the suction strength of the vacuum cleaner (100) is divided into multiple operations ranging from the minimum suction strength to the maximum suction strength. For example, if three suction strengths (or suction operations) are supported, the determined suction strength may be one of the three suction strengths described above. Such suction strength may also be referred to as suction power, suction degree, suction intensity, cleaning strength, cleaning intensity, etc.

[0119] In addition, the processor (130) can determine the rotation speed of the head attachment using the identified floor type and pattern information, as well as determine the suction strength.

[0120] When the rotational speed of the head attachment is determined, the processor (130) can control the drive device so that the head attachment rotates at the determined rotational speed. Here, the drive device may be a second drive device, and the second drive device may include a second motor.

[0121] Meanwhile, if a user command to adjust the suction intensity during operation is input at the suction intensity determined through the process described above, the processor (130) may adjust the current suction intensity to a suction intensity corresponding to the user command. Details regarding this that overlap with those previously explained are omitted.

[0122] FIG. 3 is a drawing for explaining the configuration of a vacuum cleaner according to one embodiment of the present disclosure. FIG. 4 is a drawing illustrating an example of a display on the display of a vacuum cleaner according to one embodiment of the present disclosure.

[0123] Referring to FIG. 3, the vacuum cleaner (100) may include a sensor (110), a memory (120), a processor (130), a display (140), a communication device (150), a driving device (160), a lighting device (170), a water spray module (180), and a length adjustment module (190).

[0124] As the sensor (110), memory (120), and processor (130) were previously described in FIG. 2, only operations different from those previously described will be described below.

[0125] Referring to FIG. 4, the display (140) can display various information supported by the vacuum cleaner (100). This display (140) may be a display such as an LCD, and may also be implemented as a touch screen capable of performing the functions of the input device described above.

[0126] The display (140) can display information such as the operating status of the vacuum cleaner (100) (clean mode, AI mode, manual mode), the suction power of the vacuum cleaner, and the battery status.

[0127] And the processor (130) can control the display (140) so that the changed suction strength is displayed when the suction strength is changed. In addition, the processor (130) can control the display (140) so that the changed operation mode is displayed when the operation mode of the vacuum cleaner is changed.

[0128] Referring to FIG. 3, the communication device (150) is formed to connect the vacuum cleaner (100) to an external device (specifically, a terminal device, a home server, an external server, etc.) and can be connected by a short-range wireless communication method (e.g., Bluetooth, Wi-Fi, Wi-Fi Direct) as well as a long-range wireless communication method (e.g., GSM, UMTS, LTE, WiBRO, etc.).

[0129] In addition, the wireless communication module can perform communication according to various communication standards such as IEEE, Zigbee, 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), and 5G (5th Generation). Also, the NFC module can perform communication using the NFC (Near Field Communication) method, which uses the 13.56 MHz band among various RF-ID frequency bands such as 135 kHz, 13.56 MHz, 433 MHz, 860~960 MHz, and 2.45 GHz.

[0130] The communication device (150) may include at least one of a WiFi module, a Bluetooth module, a wireless communication module, an NFC module, and a UWB module (Ultra-Wide Band). Specifically, the WiFi module and the Bluetooth module can each perform communication in a WiFi manner and a Bluetooth manner. When using a WiFi module or a Bluetooth module, various connection information such as an SSID is first transmitted and received, and then various information is transmitted and received after establishing a communication connection using this information.

[0131] The driving device (160) controls the motor. Specifically, the vacuum cleaner according to the present embodiment may include two motors (e.g., a first motor and a second motor), and may provide a driving power and / or control signal corresponding to the determined rotational speed to each motor so that each motor can rotate at a rotational speed determined by the processor (130).

[0132] Specifically, the driving device (160) may include a first driving device and a second driving device. The first driving device may provide a control signal to the first motor, and the second driving device may provide a control signal to the second motor.

[0133] Here, the first motor may be a main motor that determines the suction strength of the vacuum cleaner (100), and the second motor may be a motor that determines the rotational speed of the head attachment.

[0134] The processor (130) can determine the suction strength of the vacuum cleaner (100) through a process as described above in FIG. 2. The processor (130) can also control the drive unit (160) to increase the rotational speed of the main motor and / or head attachment if the detected tilt of the vacuum cleaner is within a preset range.

[0135] Specifically, the processor (130) can control the first drive device so that the rotational speed of the main motor of the vacuum cleaner (100) increases when the tilt of the vacuum cleaner detected by the sensor (110) is within a preset range.

[0136] When a head attachment is included in the vacuum cleaner (100), the processor (130) can control the second drive device to increase the rotational speed of the head attachment if the tilt of the vacuum cleaner detected by the sensor (110) is within a preset range.

[0137] When multiple head attachments are included, the second drive device can rotate the multiple head attachments individually. In this case, if the tilt of the vacuum cleaner (100) detected by the sensor (110) is within a preset range, the processor (130) can control the second drive device so that the rotation speed of the head attachment corresponding to the tilt direction among the multiple head attachments increases.

[0138] The lighting device (170) is configured to illuminate the front of the head attachment. The lighting device (170) may be provided on the head attachment.

[0139] The processor (130) can control the lighting device (170) to output light if the tilt of the vacuum cleaner (100) detected by the sensor (110) is within a preset range.

[0140] The water spray module (180) is configured to be included in the head attachment and spray water toward the front of the vacuum cleaner (100). The processor (130) can control the water spray module (180) to spray water if the change in tilt of the vacuum cleaner (100) detected by the sensor (110) is a preset pattern. A detailed description of this will be provided later in FIGS. 9 and FIGS. 10.

[0141] The length adjustment module (190) is configured to adjust the length of the stick (20). The processor (130) can control the length adjustment module (190) to have a preset length corresponding to the tilt of the vacuum cleaner (100) detected by the sensor (110). A detailed explanation of this will be provided later in FIG. 11.

[0142] Although the above description explains that the suction strength and the rotation speed of the head attachment are changed based on the tilt information of the vacuum cleaner (100), the suction strength of the vacuum cleaner (100) and / or the rotation speed of the head attachment may also be changed by specific actions of the user.

[0143] For example, if the sensing information input through the accelerometer confirms a pattern of user behavior (or gesture pattern) of repeatedly moving a specific area, the processor (130) can determine a suction intensity increased from the current suction intensity. Alternatively, it can determine a rotational speed increased from the current rotational speed of the head attachment.

[0144] That is, if a specific action of the user corresponds to a preset pattern, the processor (130) can adjust the suction strength of the vacuum cleaner (100) and / or the rotation speed of the head attachment to a corresponding suction strength. Here, the preset pattern may refer to a pattern of changes in the tilt of the vacuum cleaner detected by the sensor (110). The preset pattern here may differ from the preset pattern as a condition for controlling the water spray of the water spray module described above. To this end, the following description will be divided into a first pattern and a second pattern.

[0145] Meanwhile, the preset range for the inclination of the vacuum cleaner (100) mentioned above may be a first to third range, and a detailed explanation thereof will be provided later in FIG. 5 and below.

[0146] FIGS. 5 and 6 are drawings roughly illustrating reference axes for measuring the tilt and acceleration of a vacuum cleaner according to various embodiments of the present disclosure.

[0147] The sensor (110) may be provided in the main body (10). The sensor (110) may include an IMU module, and the IMU module may include an accelerometer and a gyroscope. In this way, the IMU module can calculate the operation change values ​​of the vacuum cleaner (100) for a total of 6 axes, which are the sum of the 3 axes of the accelerometer and the 3 axes of the gyroscope.

[0148] Meanwhile, the configuration of the sensor (110) is not necessarily limited to the accelerometer and gyroscope sensors described above, and if a geomagnetic sensor is additionally included, the operation change values ​​of the vacuum cleaner (100) for a total of 9 axes can be calculated. However, below, we will describe the case where the IMU module includes an accelerometer and a gyroscope sensor.

[0149] Referring to FIG. 5, the acceleration sensor can measure the acceleration of the vacuum cleaner (100) based on three axes: a g-axis parallel to gravity, a z-axis having a slope of θ from the g-axis, and a y-axis having a slope of θ perpendicular to the g-axis. Here, θ can be the value of tan^(-1) (y / z). In the above formula, z represents the output value for the z-axis of the acceleration sensor, and y represents the output value for the y-axis of the acceleration sensor.

[0150] Referring to FIG. 6, the gyro sensor can measure the tilt of the vacuum cleaner (100) based on three axes of pitch, roll, and yaw, with a part of the main body (10) where the sensor (110) is provided as the origin.

[0151] The pitch axis may be an axis in the direction opposite to gravity. The roll and yaw axes may be axes tilted at an angle of 90 degrees from the pitch axis and may be axes parallel to the ground. The roll and yaw axes may be axes orthogonal to each other. However, the pitch axis, roll axis, and yaw axis are not necessarily limited to these and may point in different directions depending on the arrangement direction of the sensor (110).

[0152] The gyro sensor can sense how much the vacuum cleaner (100) is tilted with respect to the three pitch, roll, and yaw axes described above.

[0153] Information sensed from the accelerometer and gyroscope sensors can be transmitted to the processor (130), and the processor (130) can perform control over various configurations of the vacuum cleaner (100) based on the information received from the sensor (110).

[0154] FIGS. 7 and 8 are graphs illustrating changes in the inclination of a vacuum cleaner sensed by a sensor of a vacuum cleaner according to various embodiments of the present disclosure.

[0155] Referring to FIG. 7, the sensor (110) can detect a change in inclination with respect to the pitch axis of the vacuum cleaner (100).

[0156] Specifically, the initial tilt when the vacuum cleaner (100) is mounted on a station or charger can be called the base tilt. For example, assuming that the sensing value for the pitch axis when the vacuum cleaner (100) is at the base tilt is 0, when the vacuum cleaner (100) tilts in one direction from the base tilt, the value sensed by the sensor (110) has a positive value, and the sensed value can also increase in proportion to the angle of tilt.

[0157] Meanwhile, when the vacuum cleaner (100) is tilted more than 90 degrees in one direction from the base tilt, the value sensed by the sensor (110) has a negative value, and the sensed value may decrease in inverse proportion to the increase in the angle of tilt. However, in this case, since the sensed value has a negative value, the absolute value of the sensed value may increase in proportion to the increase in the angle of tilt.

[0158] The horizontal axis of FIG. 7 represents time, and the vertical axis represents the value sensed by the sensor (110). When the initial time is 0, the value sensed by the sensor (110) is 0, and as time passes, the value sensed in area A can be seen to gradually increase to a positive value. This may mean that when the user operates the vacuum cleaner (100), the tilting angle of the vacuum cleaner (100) increases relative to the initial base tilt.

[0159] That is, when the user brings the head of the vacuum cleaner (100) close to the ground, such a tilt value can be sensed. For example, if the area to be cleaned is the space under the furniture, that is, the gap space between the furniture and the floor surface, a tilt change such as area A can be detected by the sensor (110). When such a tilt value is detected by the sensor (110), the processor (130) can determine that the type of area to be cleaned is the space between the bottom of the furniture and the floor. Here, the tilt value corresponding to the type of area to be cleaned can be pre-set by the manufacturer when manufacturing the vacuum cleaner (100).

[0160] Afterward, as the cleaning process for the area to be cleaned, such as the space under the furniture, is completed and the vacuum cleaner is raised from the ground, the tilt value sensed by the sensor (110) can approach the base tilt.

[0161] Next, the case of area B in FIG. 7 illustrates a case where a negative value is detected by the sensor (110), contrary to area A. That is, in the case of area B, the vacuum cleaner (100) may be tilted more than 90 degrees from the base tilt. For example, if the area to be cleaned is the top surface of furniture, that is, the top surface of furniture that is higher than the user's height, a change in tilt such as in area B may be detected by the sensor (110).

[0162] Areas A and B of FIG. 7 may be preset ranges for the pitch axis inclination of the vacuum cleaner (100), specifically, they may be the first range.

[0163] When the pitch axis tilt of the vacuum cleaner (100) is detected by the sensor (110) to be in the first range, the processor (130) can determine that the type of area currently to be cleaned is the upper surface of the furniture or the space between the bottom surface of the furniture and the floor.

[0164] When it is determined that the type of area to be cleaned is the upper surface of the furniture or the space between the lower surface of the furniture and the floor, the processor (130) can control the first drive device to increase the rotational speed of the main motor of the vacuum cleaner (100).

[0165] In the example described above, the case in which the type of area to be cleaned is determined based on the pitch axis inclination and the rotational speed of the main motor is adjusted according to that type was explained; however, depending on the implementation example, an instruction to directly adjust the rotational speed of the main motor to correspond to the pitch axis inclination may be stored in the memory (120). In this case, the process of determining the type of area to be cleaned is omitted.

[0166] Additionally, when a head attachment is included in the vacuum cleaner (100), if the type of area to be cleaned is determined to be the upper surface of the furniture or the space between the lower surface of the furniture and the floor, the processor (130) can control the second drive device to increase the rotational speed of the head attachment.

[0167] Referring to FIG. 8, the sensor (110) can detect a change in inclination with respect to the roll axis of the vacuum cleaner (100). In this case, the sensor (110) may be provided not only in the main body (10) but also in the head part (30). That is, in the case of FIG. 8, the sensor (110) can sense the angle at which the head part (30) is rotated from the base inclination.

[0168] When a user wants to clean narrow furniture gaps, it may be difficult to push the head part (30) into the gap because the horizontal length of the head part (30) is long. In this case, the head part (30) can be rotated to the right or left to push it into the gap in a vertical direction.

[0169] Specifically, when the vacuum cleaner (100) is mounted on the station and / or immediately after being removed from the station, the inclination of the roll axis that the head part (30) has with respect to the main body (10) can be called the base inclination. Subsequently, when the head part (30) is rotated in one direction of the roll axis with respect to the main body (10), the value sensed by the sensor (110) may have a positive value and may have a large value in proportion to the angle of rotation.

[0170] Conversely, when the head portion (30) is rotated in a direction opposite to one direction of the roll axis relative to the main body (10), the value sensed by the sensor (110) may have a negative value and a small value inversely proportional to the angle of rotation. However, in this case, since the sensed value has a negative value, the absolute value of the sensed value may increase in proportion to the angle of rotation.

[0171] For example, regions C and D of FIG. 8 may represent values ​​sensed by the sensor (110) when the head portion (30) rotates in one direction and the opposite direction with respect to the roll axis of the main body (10).

[0172] In the case of areas C and D, it indicates that the head part (30) is maintained in a state rotated by a certain angle relative to the main body (10) along the roll axis.

[0173] Areas C and D may be preset ranges for the roll axis inclination of the vacuum cleaner (100), specifically, they may be the first range.

[0174] When the sensor (110) detects that the roll axis tilt of the vacuum cleaner (100) is in the first range, the processor (130) can determine that the area to be cleaned is the gap space between the furniture and the wall.

[0175] When the type of area to be cleaned is determined, the processor (130) can control the first and second drive devices to increase the rotational speed of the main motor of the vacuum cleaner (100) and the rotational speed of the head attachment.

[0176] In the above, the process of calculating the tilt of the vacuum cleaner (100) based on the three axes of pitch, roll, and yaw of the sensor (110) provided in the main body (10) has been explained, but the case where the tilt of the vacuum cleaner (100) changes repeatedly in a specific pattern will be explained below.

[0177] FIG. 9 is a drawing showing water being sprayed from a head attachment of a vacuum cleaner according to one embodiment of the present disclosure. FIG. 10 is a drawing showing a vacuum cleaner moving in a specific direction according to one embodiment of the present disclosure.

[0178] Referring to FIG. 9, the vacuum cleaner (100) may include a morphing pad. The morphing pad may be provided in pairs. That is, the vacuum cleaner (100) may include a head attachment on the head portion (30), and the head attachment may be a morphing pad.

[0179] The morphing pad is configured to be equipped with a mop and can be provided in a circular shape. In this case, the head attachment may include a water spray module (31).

[0180] When multiple head attachments are provided, the multiple head attachments can be operated individually. That is, a pair of morphing pads can be rotated individually. The multiple morphing pads can be rotated by receiving driving force from a second driving device.

[0181] Specifically, if the roll axis value of the vacuum cleaner (100) is not changed, a pair of morphing pads can be rotated at the same rotational speed. However, in this case, the rotational direction of the pair of morphing pads may be opposite.

[0182] If the tilt of the vacuum cleaner (100) detected by the sensor (110) is within the second range, the rotation speed of one of the pair of morphing pads can be increased.

[0183] The second range may be a range in which the roll axis value of the main body (10) changes. For example, the second range may be a range in which a slope of + / - 30 or more along the roll axis is maintained for a certain period of time, such as regions C and D of FIG. 8.

[0184] When the inclination of the vacuum cleaner (100) changes in one direction relative to the roll axis, if it is detected that the roll axis value increases to a + value, the rotational speed of one morphing pad placed on the one-direction side may be increased.

[0185] Conversely, if it is detected that the roll axis value of the vacuum cleaner (100) decreases to a negative value, the vacuum cleaner (100) may change its tilt in the other direction opposite to the one direction. In this case, the rotational speed of another morphing pad placed on the other direction side may be increased.

[0186] In this way, as the rotation speed of the head attachment corresponding to the direction of the inclination is increased in response to the change in inclination of the vacuum cleaner (100), water cleaning of the surface to be cleaned can be performed more effectively.

[0187] Meanwhile, the rotational speed of the plurality of head attachments as described above can be controlled by the processor (130).

[0188] That is, if the tilt of the vacuum cleaner (100) detected by the sensor (110) is within the second range, the processor (130) can control the second drive device so that the rotational speed of the head attachment corresponding to the changing tilt direction among the plurality of head attachments increases.

[0189] The water spray module (31) is configured to spray water onto a surface to be cleaned so that the vacuum cleaner (100) equipped with a morphing pad can perform water cleaning. The water spray module may be provided between a pair of morphing pads. The water spray module may be provided to spray water toward the front of the vacuum cleaner (100). Here, the front of the vacuum cleaner (100) may refer to the direction in which the head portion (30) of the vacuum cleaner (100) faces when a user performs cleaning of a surface to be cleaned using the vacuum cleaner (100).

[0190] Meanwhile, the water spray module can be controlled so that water is sprayed by the processor (130) when the change in tilt of the vacuum cleaner (100) detected by the sensor (110) provided in the main body (10) of the vacuum cleaner (100) corresponds to a specific pattern.

[0191] Here, a specific pattern may be referred to as the first pattern. Information regarding the first pattern may be stored in memory (120). The first pattern may be a position information variation pattern with respect to the yaw axis of the vacuum cleaner (100).

[0192] Specifically, the first pattern may be a pattern in which the yaw axis value of the vacuum cleaner (100) increases to a positive value and then decreases to a negative value, as shown in FIG. 10.

[0193] For example, if the sensor (110) is a gyro sensor, water is not sprayed from the water spray module when the yaw axis value of the gyro sensor increases to a positive value, and water can be sprayed from the water spray module when the yaw axis value decreases to a negative value.

[0194] Meanwhile, the water spray of the water spray module described above can be controlled by the processor (130).

[0195] That is, the processor (130) can control the water spray module to spray water if the change in tilt of the vacuum cleaner (100) detected by the sensor (110) is a preset first pattern.

[0196] FIG. 11 is a drawing showing how the stick length of a vacuum cleaner is changed according to one embodiment of the present disclosure.

[0197] Referring to FIG. 11, the vacuum cleaner (100) may include a length adjustment module. The length adjustment module is a component for adjusting the length of the stick (20). Although not shown in the drawing, the length adjustment module may be a rack and pinion mechanism or a lead screw mechanism. However, the structure of the length adjustment module is not necessarily limited to these and can be implemented in various embodiments.

[0198] One end of the stick (20) can be connected to the main body (10). The other end, opposite to the one end of the stick (20), can be connected to the head portion (30). That is, the stick (20) may be configured to connect the main body (10) and the head portion (30). The interior of the stick (20) may be in the shape of an empty tube so that foreign substances, such as dust sucked from the surface to be cleaned, can flow from the head portion (30) toward the main body.

[0199] In this case, the processor (130) can control the length adjustment module so that the stick (20) becomes a preset length corresponding to the tilt of the vacuum cleaner (100) detected by the sensor (110).

[0200] Specifically, a specific tilt may be stored as a default value in the vacuum cleaner (100). Since the height of the user using the vacuum cleaner (100) may vary, the tilt of the vacuum cleaner (100) may be a tilt other than the default value when the user holds the vacuum cleaner (100). If the tilt of the vacuum cleaner (100) is sensed by the sensor (110) as a tilt other than the default value, the processor (130) can control the length adjustment module so that the tilt of the vacuum cleaner (100) matches the preset default value. The length adjustment module can adjust the length of the stick (20) by being controlled by the processor (130).

[0201] Here, the tilt of the vacuum cleaner (100) may mean the angle that the vacuum cleaner (100) makes with a virtual axis (P) when the head part (30) is in contact with the ground.

[0202] That is, the angle between the vacuum cleaner (100) and a virtual axis (P) perpendicular to the ground passing through the contact point between the head part (30) and the ground may be the inclination of the vacuum cleaner (100).

[0203] The default value of the slope can be determined as a specific value by the manufacturer during the manufacturing process of the vacuum cleaner (100). For example, the default value of the slope of the vacuum cleaner (100) may be a slope at which cleaning of the surface to be cleaned can be performed efficiently using the vacuum cleaner (100).

[0204] FIG. 11 (a) shows the case where the inclination of the vacuum cleaner (100) with respect to the virtual axis (P) corresponds to the default value (R0). In this case, the length of the stick (20) of the vacuum cleaner (100) may be the default length (L1).

[0205] Figure 11 (b) illustrates a case where the tilt of the vacuum cleaner (100) with respect to the virtual axis (P) becomes smaller than the default value (R0) when the user holds the vacuum cleaner (100). At this time, the angle (R1) that the vacuum cleaner (100) makes with the virtual axis (P) may be an angle that is not suitable for the vacuum cleaner (100) to efficiently perform cleaning on the surface to be cleaned.

[0206] In the case of (c) of FIG. 11, the tilt (R1) of the vacuum cleaner (100) in FIG. 11 (b) is detected as being smaller than the default value (R0), and the length adjustment module is controlled by the processor (130), thereby showing a state where the length (L2) of the stick (20) is longer than the default length (L1). As the length of the stick (20) increases, the tilt of the vacuum cleaner (100) can be adjusted to correspond to the default value (R0).

[0207] Meanwhile, although not illustrated in the drawing, contrary to the above case, when the user holds the vacuum cleaner (100) and the tilt of the vacuum cleaner (100) is greater than the default value (R0), the processor (130) can control the length adjustment module so that the length of the stick (20) is shortened. By shortening the length of the stick (20), the vacuum cleaner (100) can have a tilt corresponding to the default value (R0).

[0208] In this way, even if the inclination of the vacuum cleaner (100) with respect to the virtual axis (P) changes depending on the height of any user, the length of the stick (20) is adjusted so that the inclination of the vacuum cleaner (100) can be maintained at an inclination suitable for efficiently performing cleaning on the surface to be cleaned.

[0209] FIG. 12 is a flowchart illustrating a control method for a vacuum cleaner according to one embodiment of the present disclosure.

[0210] Referring to FIG. 12, a control method for a vacuum cleaner according to the present disclosure may include an operation of detecting the tilt of the vacuum cleaner (S1210). For example, a sensor including an IMU module may include an accelerometer and a gyroscope. The IMU module can detect the tilt change values ​​of the vacuum cleaner for a total of six axes, which are the sum of the three axes of the accelerometer and the three axes of the gyroscope.

[0211] And, it may include an operation to determine the rotational speed of the main motor of the vacuum cleaner according to the detected tilt of the vacuum cleaner (S1220). For example, based on sensor information detected by the sensor, the type of area to be cleaned is identified, and the suction strength to be applied to the vacuum cleaner can be determined using the information regarding the identified area to be cleaned. Here, the tilt of the vacuum cleaner may be the angle between one of the three axes of the gyroscope sensor and the vacuum cleaner.

[0212] For example, the type of area to be cleaned can be identified based on the pitch axis or roll axis inclination of the vacuum cleaner.

[0213] The pitch axis tilt of the vacuum cleaner may be the angle between the stick and the head section. The pitch axis tilt of the vacuum cleaner may be defined as the base tilt, which is the tilt when the vacuum cleaner is mounted on the station. The pitch axis tilt may refer to the angle deviating from the base tilt, using the base tilt as a reference angle. When the pitch axis tilt of the vacuum cleaner increases—that is, when the angle deviating from the reference angle exceeds a certain angle—the vacuum cleaner can identify the type of cleaning area as the upper surface of furniture or the space beneath furniture.

[0214] Here, the space under the furniture may be the space between the bottom surface of the furniture and the floor surface supporting the furniture. The specific angle may be a range other than the pitch axis tilt of the vacuum cleaner when cleaning a general floor surface, and this is not necessarily limited to a specific angle range; it may be pre-set by the manufacturer of the vacuum cleaner during the design and manufacturing process. However, the specific angle may be entered as a user command, and if a user command is entered, the type of area to be cleaned can be identified by taking precedence over the pre-set range.

[0215] The roll axis tilt of the vacuum cleaner may be the rotation angle of the head portion. The head portion of the vacuum cleaner may be rotatably coupled to the stick. The roll axis tilt may be the angle of the head portion relative to the main body.

[0216] The inclination of the roll axis of the head portion relative to the main body when the vacuum cleaner is mounted on the station can be called the base inclination. For example, the angle of the roll axis relative to the main body when the vacuum cleaner is mounted on the station and aligned with the main body can be called the base inclination.

[0217] When the roll axis tilt of the vacuum cleaner increases, the vacuum cleaner can identify the type of area to be cleaned as a crevice space. In other words, if the roll axis tilt of the vacuum cleaner is sensed to fall within a specific range, the area to be cleaned can be recognized as a crevice space.

[0218] Here, the specific range may overlap with the previous explanation regarding the specific range of the pitch axis inclination. In other words, the specific range is not limited to a fixed value and can be set by the manufacturer or the user. However, the specific range referred to here may be a range other than the roll axis inclination range of the head section when the vacuum cleaner cleans a typical surface.

[0219] In this way, the pitch axis tilt and / or roll axis tilt of the vacuum cleaner can be sensed, the type of area to be cleaned corresponding to each sensed tilt value can be identified, and the suction strength of the vacuum cleaner can be determined according to the identified type of area to be cleaned.

[0220] Here, the suction power of the vacuum cleaner can refer to the rotational speed of the motor. High suction power can mean that the rotational speed of the vacuum cleaner's motor is high.

[0221] The motor of the vacuum cleaner may include a first motor and a second motor. The first motor may be configured to determine the suction power of the vacuum cleaner as a main motor. The second motor may be configured to determine the rotational speed of a head attachment as a motor provided in the head portion of the vacuum cleaner.

[0222] The suction power of the vacuum cleaner may refer to the rotational speeds of the first motor and the second motor. If the rotational speed of the first motor is increased, the rotational speed of the second motor may also increase. If the rotational speed of the first motor is decreased, the rotational speed of the second motor may also decrease.

[0223] When the type of area to be cleaned is identified as the upper surface of furniture or the lower space of furniture, the vacuum cleaner may set the suction strength of the vacuum cleaner to a high suction strength. Here, high suction strength means a value higher than the suction strength when the vacuum cleaner cleans a general floor surface, that is, when the type of area to be cleaned is identified as a general floor surface.

[0224] If the type of area to be cleaned is identified as a crevice space, the vacuum cleaner can set the suction intensity to a high suction intensity.

[0225] And, the operation of controlling the main motor of the vacuum cleaner using the determined suction strength may be included (S1230). Specifically, the first drive device may be controlled so that the rotational speed of the main motor increases if the tilt detected by the sensor is within a preset range.

[0226] Meanwhile, the rotational speed of the vacuum cleaner's head attachment can be determined, and the head rotational speed can be controlled based on the determined rotational speed of the head attachment.

[0227] Specifically, if the detected tilt of the vacuum cleaner is within the first range, the second drive device can be controlled to increase the rotational speed of the head attachment. The second drive device may be provided in the head section. The first range may be the tilt range of the vacuum cleaner when cleaning the area to be cleaned, such as the bottom surface of furniture or the top surface of furniture that is higher than the user's height. To clean the bottom surface of furniture, the user uses the vacuum cleaner by laying it down almost parallel to the floor. Also, when cleaning a position higher than the user's height (e.g., the top surface of furniture), it is laid down almost parallel to the top surface of the furniture. Therefore, the first range may be set to a certain size or larger based on the angle parallel to the floor, and information regarding this first range may be pre-set by the manufacturer when manufacturing the vacuum cleaner. For example, the first range may be the range represented by areas A and B of FIG. 7.

[0228] In addition, in this case, the vacuum cleaner can control a lighting device, which is provided in the head attachment and configured to illuminate the front of the head attachment, to output light.

[0229] When the vacuum cleaner has multiple head attachments, it determines the rotational speed of each of the multiple head attachments, and if the detected tilt of the vacuum cleaner is within a second range, it can control a second drive device to increase the rotational speed of the head attachment corresponding to the tilt direction among the multiple head attachments. The second range may refer to the range of angles at which the head part rotates relative to the main body of the vacuum cleaner.

[0230] At this time, a separate sensor is provided in the head unit to detect the rotation angle of the head unit. The angle change range of the head unit, which is referred to as the second range, can be pre-set by the manufacturer during the process of manufacturing the vacuum cleaner. For example, the second range may be a range in which the head unit maintains a tilt of + / - 30 or more along the roll axis for a certain period of time, such as in regions C and D of FIG. 8.

[0231] As the rotational speed of the head attachment corresponding to the direction in which the head part rotates among the multiple head attachments increases, cleaning of the surface to be cleaned using the vacuum cleaner can be performed efficiently.

[0232] If the detected tilt of the vacuum cleaner is within the third range, the length adjustment module can be controlled so that the length of the stick connecting the main body and the head unit becomes a preset length corresponding to the detected tilt. As the length of the stick is adjusted, the angle formed by the vacuum cleaner held by the user with the ground may deviate from the third range.

[0233] Here, the third range may refer to a range where the angle the vacuum cleaner makes with the ground is greater than a certain angle. The third range may refer to a range where the tilt of the vacuum cleaner changes by more than a certain angle from its default value. The third range for the tilt of the vacuum cleaner may be pre-set by the manufacturer during the manufacturing process of the vacuum cleaner. For example, the third range may refer to a range where the angle the vacuum cleaner makes with a virtual axis in FIG. 11 is an angle other than R0.

[0234] In other words, as described in FIG. 11, the angle at which the vacuum cleaner is most efficient for cleaning the surface to be cleaned may be set as a default value. Depending on the height of the user using the vacuum cleaner, the angle the vacuum cleaner makes with the ground may vary, and if the angle the vacuum cleaner makes with the ground is greater or smaller than the default value, the length adjustment module may be controlled so that the stick has a corresponding length. As the length of the stick increases or decreases by the length adjustment module, the tilt of the vacuum cleaner may become the default value.

[0235] As a result, even if the user's height differs, the length of the vacuum cleaner stick is adjusted so that the head of the vacuum cleaner comes into close contact with the surface to be cleaned, allowing the surface to be cleaned to be cleaned efficiently.

[0236] Meanwhile, the vacuum cleaner can store information regarding the tilt angle while mounted on the station and information regarding the length of the stick. If the tilt angle of the vacuum cleaner remains the same as the tilt angle while mounted on the station for a certain period of time or longer, the drive unit can be controlled to reduce the rotational speed of the main motor and the head attachment. In this case, the reduced rotational speed of the main motor and the head attachment may vary and is not necessarily limited to a specific rotational speed. Additionally, in this case, the vacuum cleaner can control a length adjustment module to adjust the length of the stick to correspond to the length of the stick while mounted on the station.

[0237] Alternatively, the user may lay the vacuum cleaner on the floor or rotate the head unit to clean under furniture or in crevices. In this case, the vacuum cleaner can control the length adjustment module to increase the length of the stick so that it can clean deeper areas. Additionally, the drive unit can be controlled to increase the rotation speed in this state.

[0238] Meanwhile, when the user finishes cleaning under furniture or in crevices and removes the vacuum cleaner, the tilt of the vacuum cleaner may return to the normal range from the first or second range. The normal range may be the tilt range in a normal state, other than the first or second range. In this case, the vacuum cleaner may readjust the stick length, main motor, and the rotation speed of the head attachment to their previous states.

[0239] Additionally, if the detected change in the vacuum cleaner's tilt corresponds to a preset first pattern, a water spray module configured to spray water toward the front of the head attachment can be controlled. For example, the first pattern may be a pattern in which the vacuum cleaner repeatedly moves forward and backward. That is, the first pattern may be a pattern of change regarding the pitch axis tilt of the vacuum cleaner. In this case, the water spray module may be controlled to spray water when the vacuum cleaner moves backward. Here, forward and backward may be set based on the direction in which the vacuum cleaner moves. That is, the front direction of the vacuum cleaner may mean forward, and the rear direction of the vacuum cleaner may mean backward.

[0240] And if the detected change in the tilt of the vacuum cleaner corresponds to a preset second pattern, the first drive unit can be controlled so that the main motor rotates at a rotational speed corresponding to the second pattern. The second pattern can be pre-set by the manufacturer during the manufacturing process of the vacuum cleaner. Alternatively, it may be additionally stored during the user's use of the vacuum cleaner.

[0241] For example, the speed of the main motor can be controlled so that the suction strength of the vacuum cleaner increases or decreases when the main body of the vacuum cleaner moves a specific number of times in a specific direction. Here, the specific direction and the specific number of times may correspond to a second pattern, and information regarding the increase or decrease in suction strength corresponding thereto may be stored in the vacuum cleaner.

[0242] In one embodiment, when the change in pitch axis tilt of the vacuum cleaner is repeated m1 times during a time period n, the speed of the main motor can be controlled to increase the suction strength. Alternatively, when the change in pitch axis tilt of the vacuum cleaner is repeated m2 times during a time period n, the speed of the main motor can be controlled to decrease the suction strength.

[0243] Similarly, if the change in the roll axis tilt of the vacuum cleaner is repeated m1 times or m2 times during a time n, the speed of the main motor can be controlled to increase or decrease the suction strength.

[0244] As described above, the second pattern regarding the change in the vacuum cleaner's tilt can vary and is not necessarily limited to a specific number of times in a specific direction.

[0245] A program for executing a control method for a vacuum cleaner can be stored on a non-transient computer-readable recording medium.

[0246] Specifically, a control method for determining the rotational speed of a main motor of a vacuum cleaner and controlling the main motor of the vacuum cleaner based on the determined rotational speed may be stored in a recording medium. Here, the operation of determining the rotational speed of the main motor may be an operation of increasing the rotational speed of the main motor if the tilt of the vacuum cleaner detected by a sensor within the vacuum cleaner is within a preset range.

[0247] Meanwhile, in the various embodiments described above, the vacuum cleaner is described as estimating the tilt of the vacuum cleaner, the operating state of the vacuum cleaner, and the type of area to be cleaned based on values ​​sensed by the sensor, and controlling the operation of each motor and other components accordingly. This operation may be performed based on instructions or rules stored in the vacuum cleaner's memory, but is not limited thereto, and an artificial intelligence model may be used. That is, the vacuum cleaner inputs the sensed values ​​of the sensor into an artificial intelligence model and, based on the output value, estimates the tilt, the operating state of the vacuum cleaner, and the type of area to be cleaned, or determines the rotational speed of various motors.

[0248] The artificial intelligence model can be installed in the vacuum cleaner's memory or in a server device that communicates with the vacuum cleaner.

[0249] Depending on the learning content, the artificial intelligence model can be used for various tasks, such as estimating the tilt, the operating state of the vacuum cleaner, and the type of area to be cleaned, or determining the rotational speeds of various motors.

[0250] The training of the artificial intelligence model may be performed by a server device or by a separately provided electronic device. Alternatively, training may take place within the vacuum cleaner itself. The following description is based on the case where training is performed by a server device.

[0251] For example, an artificial intelligence model can be trained to identify the type of area to be cleaned. In this case, the server device can train the artificial intelligence model by acquiring the sensing values ​​of each sensor of the vacuum cleaner for various areas to be cleaned, and then inputting labeling data into the artificial intelligence model that includes the type of the area to be cleaned, the suction intensity at that time, and the rotational speed of each motor along with the sensing values. The trained artificial intelligence model can be loaded into memory.

[0252] Alternatively, the server device may train an AI model to estimate the tilt of the vacuum cleaner based on the sensing values ​​of each sensor.

[0253] Alternatively, the AI ​​model may be trained to determine the rotational speed of the motor (e.g., the first motor and / or the second motor) based on the detected tilt data of the vacuum cleaner.

[0254] Meanwhile, training data may include data acquired based on the vacuum cleaner usage status of various users. That is, users may differ in height or arm length, and their posture when pushing or pulling the vacuum cleaner may vary. Therefore, the tilt angle may differ even when cleaning the same area. The server device can acquire training data from these diverse users to train an artificial intelligence model.

[0255] In addition, the training data may include data that changes the rotational speed of the motor according to the slope. The vacuum cleaner manufacturer can obtain training data including the rotational speed of the motor corresponding to the slope data through an experimental environment in which the rotational speed of the motor is controlled differently according to the slope.

[0256] The training of the AI ​​model can be performed by a separate electronic device.

[0257] The electronic device performing the learning can train an AI model by inputting various slope values ​​of each component of the vacuum cleaner and the corresponding labeling data when cleaning various types of cleaning areas.

[0258] FIG. 13 is a diagram illustrating a method for training an AI model according to an embodiment of the present disclosure. As shown in FIG. 13, the AI ​​model may be composed of a plurality of neural network layers. Each layer has at least one weight value and performs operations of the layer through the operation result of the previous layer and at least one defined operation. Examples of neural networks include CNN (Convolutional Neural Network), DNN (Deep Neural Network), RNN (Recurrent Neural Network), RBM (Restricted Boltzmann Machine), DBN (Deep Belief Network), BRDNN (Bidirectional Recurrent Deep Neural Network), Deep Q-Networks, and Transformers, and the neural networks in the present disclosure are not limited to the aforementioned examples except where specified.

[0259] The neural network of FIG. 13 may be trained by various learning algorithms such as supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, and by a learning data set (1310) including various cleaning area information and gradient information corresponding to the area.

[0260] Specifically, a neural network can generally be composed of an input layer (1320), one or more hidden layers (1330), and an output layer (1340). The input layer (1320) refers to the first layer in the neural network that receives data, the hidden layers (1330) are layers located between the input layer and the output layer that play a key role in learning complex characteristics and patterns of the data, and the output layer (1340) refers to the final layer of the neural network that plays the role of representing the answer derived by the neural network for problem solving.

[0261] The learning device can configure a learning data set (1310) in the form of a 2D array of M features and N samples as shown in FIG. 13. Here, each feature represents characteristic information such as gradient values ​​collected during a cleaning operation, and the samples may be characteristic information about the area where cleaning is performed.

[0262] When a learning data set (1310) is input, each node performs a pre-set operation using weights on the input data and outputs it sequentially to the next layer. The hidden layer (1330) learns the input information and can extract floor characteristic information and confidence scores through the learned information. The information extracted from the hidden layer (1330) can be finally output through the output layer (1340). The learning device can perform learning repeatedly while re-inputting feedback on the output values.

[0263] Meanwhile, in the above-described embodiment, the case where the AI ​​model is trained on a separate training device and then installed on a vacuum cleaner or server device was explained, but if the performance of the processor of the vacuum cleaner or server device is supported, training may also be performed directly on the vacuum cleaner or server device.

[0264] The AI ​​model may use at least one parameter to output output data. The AI ​​model may obtain weights applied to at least one parameter using training data. The trained AI model may include weights corresponding to at least one parameter.

[0265] The vacuum cleaner's processor may input the sensing value sensed by each sensor or the tilt data acquired based on that sensing value into the AI ​​model as input data. The processor can obtain the rotational speed of the motor corresponding to the tilt data from the AI ​​model.

[0266] Accordingly, the vacuum cleaner can control the motor based on the motor's rotational speed obtained by the AI ​​model.

[0267] If the tilt of the vacuum cleaner changes, the motor's rotation speed can be automatically changed based on the output data of the AI ​​model.

[0268] When using an AI model, the vacuum cleaner's processor may be implemented as a processor specialized for artificial intelligence computation, as exemplified in the section above.

[0269] Although the above describes an AI model in which the rotational speed of a motor is controlled according to the tilt data of a vacuum cleaner, in one embodiment, the vacuum cleaner may store an AI model for controlling a length adjustment module so that the length of the stick is extended or shortened according to the detected tilt data. For example, a processor may input data regarding the tilt of the vacuum cleaner and the length of the stick as input data to the AI ​​model when the vacuum cleaner is mounted on the station. The processor may acquire data regarding the length of the stick at a specific tilt after the vacuum cleaner is removed from the station. The vacuum cleaner may acquire data regarding the length of the stick corresponding to the tilt data by inputting data regarding the tilt and the length of the stick into the AI ​​model. The vacuum cleaner may control the length adjustment module based on the data regarding the length of the stick acquired by the AI ​​model. Accordingly, if the tilt of the vacuum cleaner changes, the length of the stick may be automatically changed based on the output data of the AI ​​model. For example, if the tilt of the vacuum cleaner is maintained for a certain period of time or longer while it is in operation at the tilt when mounted on the station, the length of the stick may be adjusted to the length when it is mounted on the station.

[0270] On the other hand, it is not necessary for the motor's rotational speed and the stick's length to be controlled individually according to the vacuum cleaner's tilt. For example, if the vacuum cleaner maintains the tilt position it has when mounted on the station for a certain period of time while in operation, the stick's length can be adjusted to the length it has when mounted on the station, and the motor's rotational speed can also be controlled to decrease in this case.

[0271] Although the above description implies that each step for controlling the vacuum cleaner is interconnected, the steps for controlling the vacuum cleaner do not necessarily have to always be interconnected. For example, when the tilt of the vacuum cleaner falls within a preset range, only the rotational speed of the main motor may be controlled. Conversely, the rotational speed of the main motor may not be controlled, and only the rotational speed of the head attachment may be controlled. Furthermore, even if the rotational speed of the motor is not controlled by the drive unit, only whether or not water is sprayed from the water spray module may be controlled according to the change in the tilt of the vacuum cleaner. In other words, each step of the vacuum cleaner control method described in one embodiment of the present disclosure can be applied to the vacuum cleaner independently, and it is evident that each step does not necessarily have a sequential relationship. Additionally, the first to third ranges, first to second patterns, etc., may all represent different numerical values, but depending on the case, they may be divided to have a greater number of variations or merged to have a smaller number of variations.

[0272] Although various embodiments of the present disclosure have been described individually above, each embodiment is not required to be implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

[0273] It will be recognized that various embodiments of the present disclosure according to the claims and description of this specification may be implemented in the form of hardware, software, or a combination of hardware and software.

[0274] This software may be stored on a non-transient computer-readable recording medium. A non-transient computer-readable recording medium stores one or more computer programs (software modules), and one or more computer programs include computer-executable instructions that cause the electronic device to perform a disclosed method when executed individually or collectively by one or more processors of the electronic device.

[0275] This software may be stored in the form of volatile or non-volatile storage, such as a storage device such as read-only memory (ROM), regardless of whether it is eraseable or rewritable, for example; in the form of memory, such as random access memory (RAM), memory chips, devices, or integrated circuits, for example; or on an optical or magnetic readable medium, such as a compact disc (CD), a digital multi-purpose disc (DVD), a magnetic disc, or a magnetic tape. It will be understood that the storage device and the storage medium are various embodiments of non-transient machine-readable storage suitable for storing a computer program or a computer program containing instructions that implement various embodiments of the present disclosure at execution. Accordingly, various embodiments provide a program containing code for implementing the device or method claimed in any one of the claims of this specification and a non-transient machine-readable recording medium storing such a program.

[0276] Furthermore, although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure.

Claims

1. Regarding vacuum cleaners, A sensor that detects the tilt of the above-mentioned vacuum cleaner; Memory composed of at least one storage medium that stores at least one instruction; It includes at least one processor connected to the sensor and the memory via communication; The above-mentioned at least one processor is, Determine the rotational speed of the main motor of the above vacuum cleaner, and The vacuum cleaner is controlled based on the rotational speed determined above, and A vacuum cleaner that controls a first drive device to increase the rotational speed of the main motor of the vacuum cleaner when the tilt of the vacuum cleaner detected by the sensor is within a preset range.

2. In Paragraph 1, It further includes a second driving device for controlling the rotation of a head attachment, and The above-mentioned at least one processor is, A vacuum cleaner that controls the second drive device to increase the rotational speed of the head attachment when the tilt of the vacuum cleaner detected by the sensor is within the first range.

3. In Paragraph 2, It further includes a lighting device provided on the head attachment to illuminate the front of the head attachment. The above-mentioned at least one processor is, A vacuum cleaner that controls the lighting device to output light when the tilt of the vacuum cleaner detected by the sensor is within the first range.

4. In Paragraph 1, A second driving device for individually rotating a plurality of head attachments; further comprising, The above-mentioned at least one processor is, A vacuum cleaner that controls the second driving device to increase the rotational speed of the head attachment corresponding to the tilt direction among the plurality of head attachments when the tilt of the vacuum cleaner detected by the sensor is within the second range.

5. In Paragraph 4, The above plurality of head attachments include a water spray module arranged to spray water toward the front of the vacuum cleaner; and The above-mentioned at least one processor is, A vacuum cleaner that controls the water spray module to spray water when the change in tilt of the vacuum cleaner detected by the sensor is a preset first pattern.

6. In Paragraph 1, The above vacuum cleaner is, A main body equipped with the above sensor, the above memory, the above processor, and the above main motor; A stick that is connected to the main body above; A head portion coupled to the other end opposite to one end of the stick; and It further includes a length adjustment module for adjusting the length of the stick; The above processor is, A vacuum cleaner that controls the length adjustment module so that the stick becomes a preset length corresponding to the tilt of the vacuum cleaner detected by the sensor.

7. In Paragraph 1, The above processor is, A vacuum cleaner that controls the first drive device so that the main motor rotates at a rotational speed corresponding to the second pattern when the tilt change of the vacuum cleaner detected by the sensor is a preset second pattern.

8. In the control method of the vacuum cleaner, A step of detecting the tilt of the above-mentioned vacuum cleaner; A step of determining the rotational speed of the main motor of the vacuum cleaner according to the detected tilt of the vacuum cleaner; and The method includes the step of controlling the main motor of the vacuum cleaner based on the rotational speed determined above; The step of controlling the main motor above is, A control method for controlling a first drive device to increase the rotational speed of the main motor when the detected tilt of the vacuum cleaner is within a preset range.

9. In Paragraph 8, A step of determining the rotational speed of the head attachment of the above-mentioned vacuum cleaner; and The method further includes the step of controlling the rotational speed of the head attachment based on the rotational speed of the head attachment determined above; and The step of controlling the rotational speed of the head attachment above is, A control method for controlling a second drive device to increase the rotational speed of the head attachment when the inclination of the detected vacuum cleaner is within a first range.

10. In Paragraph 9, A control method further comprising the step of controlling a lighting device, provided on the head attachment to illuminate the front of the head attachment, to output light when the inclination of the detected vacuum cleaner is within the first range.

11. In Paragraph 9, The step of determining the rotational speed of the head attachment of the above-mentioned vacuum cleaner is, A control method for determining the rotational speed of each of a plurality of head attachments, and if the detected tilt of the vacuum cleaner is within a second range, controlling a second driving device to increase the rotational speed of the head attachment corresponding to the tilt direction among the plurality of head attachments.

12. In Paragraph 8, A control method further comprising the step of controlling a length adjustment module such that, if the detected tilt of the vacuum cleaner is within a third range, the stick connecting the main body and the head part becomes a preset length corresponding to the detected tilt of the vacuum cleaner.

13. In Paragraph 9, A control method further comprising the step of controlling a water spray module configured to spray water toward the front of the head attachment when the detected change in inclination of the vacuum cleaner is a preset first pattern.

14. In Paragraph 8, A vacuum cleaner that controls the first drive device so that the main motor rotates at a rotational speed corresponding to the second pattern when the detected change in inclination of the vacuum cleaner is a preset second pattern.

15. In a non-transient computer-readable recording medium storing a program for executing a control method of a vacuum cleaner, The above control method is, A step of determining the rotational speed of the main motor of the above vacuum cleaner; The method includes the step of controlling the main motor of the vacuum cleaner based on the rotational speed determined above; The step of determining the above rotational speed is, A computer-readable recording medium that increases the rotational speed of the main motor when the tilt of the vacuum cleaner detected by a sensor within the vacuum cleaner is within a preset range.

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