Robot vacuum cleaner and control method therefor

Abstract

A robot vacuum cleaner and a control method therefor are disclosed. In particular, the robot vacuum cleaner according to the present disclosure comprises a communication unit, memory, and a processor, wherein the processor receives information, about a plurality of robot vacuum cleaners capable of docking individually with a plurality of stations, through the communication unit and stores same in the memory, and when a first robot vacuum cleaner communicatively connected to a first station among the plurality of stations docks with a second station communicatively connected to a second robot vacuum cleaner, the processor adjusts the communication connection state between the plurality of stations and the plurality of robot vacuum cleaners on the basis of the docking state.

Description

Robot vacuum cleaner and control method thereof

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

[0002] A robot vacuum cleaner is a device that moves and cleans a designated area on its own without any separate operation by the user.

[0003] While the robot vacuum cleaner is visiting various points within the space to perform cleaning, if various events occur, such as the battery capacity dropping below a threshold, cleaning being completed, the cleaning end time set by the user arriving, or the user inputting a cleaning end command, it can move to a station installed within the space and dock at the station.

[0004] A station is a device that provides the necessary functions to the robot vacuum cleaner when it is docked.

[0005] Recently, with the widespread use of robot vacuum cleaners, there has been an increasing number of cases where one or more robot vacuums and stations are used in large indoor spaces. In such cases, when attempting to check the station's status via the robot vacuum, incorrect information may be identified. For example, information such as the remaining dustbin or water tank levels may not be accurately displayed. Therefore, when multiple robot vacuums and stations are present, there has been a growing need for technology to efficiently manage pairing connections between them.

[0006] According to at least one embodiment of the present disclosure, a robot vacuum cleaner comprises a communication unit, a memory, and a processor, wherein the processor receives information regarding a plurality of robot vacuum cleaners capable of individually docking with a plurality of stations through the communication unit and stores it in the memory, and when a first robot vacuum cleaner connected via communication to a first station, which is one of the plurality of stations, docks with a second station connected via communication to a second robot vacuum cleaner, the processor adjusts the communication connection state between the plurality of stations and the plurality of robot vacuum cleaners based on the docking state.

[0007] In particular, when docking information for the second station is received from the first robot vacuum cleaner through the communication unit, and status information of the second robot vacuum cleaner is received from the second robot vacuum cleaner through the communication unit, the processor can control the communication unit to transmit pairing information for the second station to the first robot vacuum cleaner and to transmit pairing information for a new station to the second robot vacuum cleaner.

[0008] In particular, the memory stores information regarding the functions provided by each of the plurality of stations, and when the current state of each of the plurality of robot vacuum cleaners is identified, the processor can transmit a control signal to the plurality of robot vacuum cleaners through the communication unit to dock to a station that provides a function corresponding to the current state of each of the plurality of robot vacuum cleaners based on the information stored in the memory.

[0009] In particular, when the processor identifies a robot vacuum that is docked to a station that provides a function corresponding to the current state of each of the robot vacuums, it can transmit a control signal to the docked robot vacuum through the communication unit to undocking the robot vacuum and the station.

[0010] In particular, when the processor identifies that the current state of one of the plurality of robot vacuum cleaners requires mop cleaning, it can transmit a control signal to the one robot vacuum cleaner through the communication unit to dock to a station among the plurality of stations that provides a mop cleaning function.

[0011] In particular, when the processor identifies that the current state of one of the plurality of robot vacuum cleaners requires water replenishment, it can transmit a control signal to the one robot vacuum cleaner through the communication unit to dock to a station among the plurality of stations that provides a water replenishment function.

[0012] According to at least one embodiment of the present disclosure, a robot vacuum cleaner comprises a communication unit, a memory, and a processor, wherein the processor stores information regarding the first station in the memory when paired with a first station among a plurality of stations, and when docked with a second station among the plurality of stations, receives pairing information of the second station from the second station, transmits the pairing information to the first station, disconnects the communication connection state with the first station, and controls the communication unit to transmit pairing information of the robot vacuum cleaner to the second station to pair with the second station.

[0013] According to at least one embodiment of the present disclosure, a control method for a robot vacuum cleaner includes the steps of receiving and storing information about a plurality of robot vacuum cleaners that can be individually docked with a plurality of stations, and, when a first robot vacuum cleaner connected to a first station, which is one of the plurality of stations, docks with a second station connected to a second robot vacuum cleaner, the control method includes the step of adjusting the communication connection state between the plurality of stations and the plurality of robot vacuum cleaners based on the docking state.

[0014] In particular, the step of adjusting the communication connection status may include: a step of transmitting pairing information for the second station to the first robot vacuum cleaner when docking information for the second station is received from the first robot vacuum cleaner and status information for the second robot vacuum cleaner is received from the second robot vacuum cleaner; and a step of transmitting pairing information for a new station to the second robot vacuum cleaner.

[0015] In particular, the method may further include the step of storing information regarding the functions provided by each of the plurality of stations; and the step of controlling the robot vacuum cleaner to dock to a station providing a function corresponding to the current state based on the stored information when the current state of one of the plurality of robot vacuum cleaners is identified.

[0016] In particular, if another robot vacuum cleaner is identified that is docked to a station providing a function corresponding to the current state, the method may further include a step of controlling the other robot vacuum cleaner to undocking it from the station.

[0017] In particular, the step of controlling docking to a station that provides a function corresponding to the current state may include, when the current state is identified as a state requiring mop washing, the step of controlling docking to a station among the plurality of stations that provides a mop washing function.

[0018] In particular, the step of controlling docking to a station that provides a function corresponding to the current state may include, when the current state is identified as a state requiring water replenishment, the step of controlling docking to a station among the plurality of stations that provides a water replenishment function.

[0019] According to at least one embodiment of the present disclosure, a control method for a robot vacuum cleaner comprises the steps of: storing information about a first station when paired with a first station among a plurality of stations; receiving pairing information of a second station from a second station when docked with a second station among the plurality of stations; transmitting the pairing information to the first station and disconnecting the communication connection state with the first station; and transmitting the pairing information of the robot vacuum cleaner to the second station to pair with the second station.

[0020] According to at least one embodiment of the present disclosure, a non-transient computer-readable recording medium storing a program for controlling a robot vacuum cleaner comprises: receiving and storing information about a plurality of robot vacuum cleaners that can be individually docked with a plurality of stations; and, when a first robot vacuum cleaner, which is one of the plurality of stations, docks with a second station, which is a second robot vacuum cleaner, the first robot vacuum cleaner, which is a first station, that is a second station that is a second robot vacuum cleaner, the control method comprises adjusting the state of communication connection between the plurality of stations and the plurality of robot vacuum cleaners based on the docking state.

[0021] FIG. 1 is a drawing for explaining the operation of a robot vacuum cleaner and a station according to at least one embodiment of the present disclosure.

[0022] FIG. 2 is a block diagram briefly illustrating the configuration of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0023] FIG. 3a is a block diagram briefly illustrating the configuration of a station according to at least one embodiment of the present disclosure.

[0024] FIG. 3b is a drawing showing an example of the external configuration of a station according to at least one embodiment of the present disclosure.

[0025] FIGS. 4 to 6 are sequence diagrams for explaining various examples of a method for controlling the communication connection status between a plurality of robot vacuum cleaners and stations.

[0026] FIGS. 7 to 10 are flowcharts for explaining a control method of a robot vacuum cleaner according to various embodiments of the present disclosure.

[0027] The terms used in the embodiments of this disclosure have been selected to be as widely used as possible, taking into account their functions within this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant explanatory section of this disclosure. Therefore, terms used in this disclosure should be defined not merely by their names, but based on their meanings and the overall content of this disclosure.

[0028] In this specification, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of such features (e.g., numerical values, functions, operations, or components such as parts) and do not exclude the presence of additional features.

[0029] The expression "at least one of A or / and B" should be understood as representing either "A" or "B" or "A and B".

[0030] Expressions such as "first," "second," "first," or "second" used in this specification 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.

[0031] Where it is stated that a component (e.g., Component 1) is "(operatively or communicatively) coupled with / to" or "connected to" another component (e.g., Component 2), it should be understood that the component may be directly connected to the other component or connected through the other component (e.g., Component 3).

[0032] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "consisting of" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0033] In the present disclosure, 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 (not shown), except for a "module" or "part" that needs to be implemented in specific hardware.

[0034] In this specification, the term "user" may refer to a person using an electronic device (mobile robot) or a device using an electronic device (mobile robot) (e.g., an artificial intelligence electronic device).

[0035] An embodiment of the present disclosure will be described in more detail below with reference to the attached drawings.

[0036] FIG. 1 is a drawing for explaining the operation of a robot vacuum cleaner and a station according to at least one embodiment of the present disclosure.

[0037] A robot vacuum cleaner (100) is a device that drives through a space using a drive motor and wheels, etc. and automatically performs cleaning operations. The cleaning operations may be dry cleaning operations that suck up dirt, dust, etc. in the space, but are not limited thereto and may include wet cleaning operations that wipe the floor surface in the space using a mop or other cleaning operations.

[0038] In the present disclosure, the term "space" may refer to a place where the robot vacuum cleaner (100) is used. For example, it may be a house, an office, a building lobby, a workshop inside a factory, etc. The space is not limited to an indoor space and may also be an outdoor space such as a park or an exhibition hall.

[0039] FIG. 1 illustrates a case in which a robot vacuum cleaner (100) is implemented in a flat shape that adheres to the floor to suck up floor debris, but this is merely one example, and the robot vacuum cleaner (100) can be implemented in various shapes and sizes.

[0040] The station (200) is a device that docks with the robot vacuum cleaner (100) and can perform various functions for the docked robot vacuum cleaner (100). Specifically, when the battery of the robot vacuum cleaner (100) is depleted and needs to be recharged, the robot vacuum cleaner (100) can stop cleaning operations and move to the station to recharge. Alternatively, when the remaining amount in the dustbin of the robot vacuum cleaner (100) falls below a certain percentage, the station (200) may provide a function to move foreign matter from the dustbin to the station (200) while the robot vacuum cleaner (100) is docked. Alternatively, the station (200) may provide functions such as washing the mop of the robot vacuum cleaner (100) or replenishing the water in the water tank. These functions may vary depending on the performance of the robot vacuum cleaner and the station.

[0041] Docking can be the physical connection of a robot vacuum cleaner (100) and a station (200). For example, when the robot vacuum cleaner (100) needs to be charged, the robot vacuum cleaner (100) can be physically connected to the station (200) so that its charging socket and the charging socket of the station (200) come into contact with each other.

[0042] Alternatively, if mop cleaning of the robot vacuum cleaner (100) is required, the robot vacuum cleaner (100) may be physically connected to the station (200) so that the pad portion to which the mop is attached within the robot vacuum cleaner (100) contacts or is adjacent to the mop cleaning module of the station (200).

[0043] FIG. 1 illustrates a case where multiple robot vacuum cleaners (100, 100-1, 100-2) and multiple stations (200, 200-1, 200-2) are used together in one space. Each robot vacuum cleaner and station may be paired with each other.

[0044] In the present disclosure, pairing may be an operation for connecting a communication session. In the present disclosure, the state connected by pairing may be referred to as a communication connection state or a pairing state.

[0045] The robot vacuum cleaner and the station can communicate via various methods such as Bluetooth, Zigbee, and Wi-Fi. To establish communication, pairing must first be performed to connect a communication session. Once the communication session is established, the robot vacuum cleaner can receive various information from the paired station. The robot vacuum cleaner can then transmit this received information to external devices (e.g., the user's smartphone or tablet PC, server device, etc.). Consequently, even if the station does not directly transmit information about its status to the user, it can provide such information through the robot vacuum cleaner.

[0046] As described above, when multiple robot vacuum cleaners (100, 100-1, 100-2) and multiple stations (200, 200-1, 200-2) are used together in one space, there is a possibility that the robot vacuum cleaner may dock at another station that is not connected to the communication.

[0047] In this case, other robot vacuums that were connected to the docked other station cannot dock to that station. According to various embodiments of the present disclosure, in this situation, a robot vacuum newly docked to the station can disconnect the communication connection with the station that was originally connected and pair with the newly docked station. Additionally, other robot vacuums that were originally connected to the station can also disconnect the communication connection with that station and pair with other stations (e.g., stations that the robot vacuum was previously connected to).

[0048] Such pairing control may be performed by the interaction between each robot vacuum and the stations, or by at least one robot vacuum that plays a leading role among the multiple robot vacuums. In this disclosure, the robot vacuum playing a leading role may be described as a master device, but the term may be described in various ways, such as master robot, main vacuum, hub vacuum, control robot, etc.

[0049] Referring to FIG. 1, there may be multiple robot vacuum cleaners (100, 100-1, 100-2) and multiple stations (200-1, 200-2) in a space. Although FIG. 1 depicts the number of robot vacuum cleaners as being greater than the number of stations, this is not necessarily limited to this, and the number of robot vacuum cleaners and stations may be provided in corresponding numbers. One of these robot vacuum cleaners may operate as a master device.

[0050] Figure 1 illustrates a case where one of the multiple vacuum cleaners, a vacuum cleaner (100), operates as a master device.

[0051] The master device (100) may be a device capable of multi-pairing among multiple robot vacuum cleaners. If all of the multiple robot vacuum cleaners are capable of multi-pairing, the robot vacuum cleaner selected by the user among the multiple robot vacuum cleaners may be set as the master device (100). Specifically, when the user uploads information about each robot vacuum cleaner to their account registered on a server device (not shown) and logs into the account using their terminal device (e.g., smartphone, tablet PC, etc.), the server device provides data regarding the user screen containing information about each robot vacuum cleaner to the terminal device. While displayed on the user screen of the terminal device, the user may select one device as the master device (100). However, the master device does not necessarily have to be set by the user, and the device that is turned on first among the multiple robot vacuum cleaners or the device with the best hardware and software performance may be set as the master device (100). For example, if at least one new robot vacuum cleaner is additionally installed while one robot vacuum cleaner is in use, the two robot vacuum cleaners can communicate with each other and transmit and receive specification information. Based on this information, one of the two robot vacuums can operate as a master device.

[0052] The master device (100) can communicate with other robot vacuum cleaners (100-1, 100-2) to receive and store information about the robot vacuum cleaners (100-1, 100-2).

[0053] Various signals or information can be transmitted and received between multiple robot vacuum cleaners (100-1, 100-2) and a master device (100) via a wireless communication method. Specifically, the robot vacuum cleaner (100) can exchange information via Bluetooth communication. Bluetooth communication may include the BLE (Bluetooth Low Energy) method. Referring to FIG. 2, the robot vacuum cleaner (100) can be paired with the first robot vacuum cleaner (100-1) and the second robot vacuum cleaner (100-2) to communicate via Bluetooth. Here, pairing may refer to a procedure for verifying a designated password, identification information, or authentication information, etc., for mutual communication connection between devices that support Bluetooth functions.

[0054] Various signals and information can be transmitted and received between the robot vacuum cleaner and the station via Bluetooth communication. The station can be individually paired with the robot vacuum cleaner to communicate.

[0055] When the robot vacuum cleaner and the station are not connected via communication, the robot vacuum cleaner and the station can transmit and receive signals or information through a short-range communication method. For convenience of explanation, the method of communication that can be performed when not connected via communication is referred to as the first communication method. The first communication method may include RFID (Radio Frequency Identification), NFC (Near Field Communication), and infrared communication methods. Conversely, the wireless communication method between devices that are connected via communication is referred to as the second communication method in this disclosure. The second communication method may include various methods such as the BLE method, Wi-Fi Direct method, and Zigbee method as described above.

[0056] In FIG. 1, it is assumed that the first robot vacuum cleaner (100-1) is connected to the first station (200-1) and the second robot vacuum cleaner (100-2) is connected to the second station (200-2). In this case, the second robot vacuum cleaner (100-2) must dock to the second station (200-2). However, during actual use, it may dock to a different station that is not connected to the communication. FIG. 1 illustrates the case where the second robot vacuum cleaner (100-2) incorrectly docks to the first station (200-1).

[0057] In this case, the master device (100) adjusts the communication connection status between the multiple stations (200-1, 200-2) and the multiple robot vacuum cleaners (100-1, 100-2) based on the incorrectly docked state.

[0058] Specifically, when the master device (100) is notified of the fact that the second robot vacuum cleaner (100-2) has docked with the first station (200-1), it controls the second robot vacuum cleaner (100-2) to disconnect the communication connection with the second station (200-2) and to pair it anew with the first station (200-1). In addition, the master device (100) also controls the first robot vacuum cleaner (100-1), which was originally connected to the first station (200-1), to disconnect the communication connection and to pair it anew with the second station (200-2).

[0059] According to this, even if the robot vacuum is docked at the wrong station, the communication connection status can be immediately adjusted, making it possible to verify accurate information about the station. The details regarding pairing control by the master device are explained in more detail in Fig. 4.

[0060] Although FIG. 1 describes a case where one of the robot vacuum cleaners (100) operates as the master device, it is not necessary for one of the robot vacuum cleaners to operate as the master device; an external device equipped with a communication module and a control module (e.g., PC, smartphone, tablet PC, laptop PC, TV, home server, etc.) may operate as the master device. Meanwhile, according to another embodiment, the pairing state may be adjusted by the interaction between each robot device and the stations when no master device is set. Such an embodiment will be described in detail in FIG. 6.

[0061] FIG. 2 is a block diagram briefly illustrating the configuration of a robot vacuum cleaner (100) according to one or more embodiments of the present disclosure.

[0062] As illustrated in FIG. 2, the robot vacuum cleaner (100) includes a communication unit (110), a memory (120), and a processor (130). However, the configuration illustrated in FIG. 2 is merely for illustrating the configurations necessary to explain the embodiments of the present disclosure, and appropriate hardware and software configurations that are obvious to a person skilled in the art may be additionally included in the robot vacuum cleaner (100). For example, the robot vacuum cleaner (100) may further include various configurations such as various sensors for identifying surrounding locations or obstacles, a driving device for positional movement, a dry cleaning module for performing dry cleaning, and a wet cleaning module for performing wet cleaning. However, specific illustration and description of these configurations are omitted.

[0063] The communication unit (110) is configured to perform communication with an external device. Specifically, the communication unit (110) of the robot vacuum cleaner (100) can perform communication with other robot vacuum cleaners or stations in the vicinity. The communication unit (110) may include a wireless communication module (111) and a short-range communication unit (112), and may also include various wired communication modules (not shown). For convenience of explanation, in this disclosure, a communication method using the short-range communication unit (112) is referred to as the first communication method, and a communication method using the wireless communication module (111) is referred to as the second communication method. The first communication method is not necessarily limited to short-range wireless communication, and may be implemented as a wired communication method when the communication pads come into contact with each other while docked with a station.

[0064] The wireless communication module (111) may include a cellular communication module using at least one of LTE, LTE-A (LTE Advance), CDMA (code division multiple access), WCDMA (wideband CDMA), UMTS (universal mobile telecommunications system), WiBro (Wireless Broadband), or GSM (Global System for Mobile Communications). As another example, the wireless communication module may include at least one of WiFi (wireless fidelity), Bluetooth, Bluetooth Low Energy (BLE), Zigbee, and NFC (near field communication).

[0065] The wireless communication module (111) can transmit and receive various signals or information between a wireless communication module included in another robot vacuum cleaner or a wireless communication module included in a station. In addition, it can also communicate with other external devices such as a server device or a user terminal device.

[0066] Specifically, the wireless communication module (111) can receive information about the type of station, the status of the station, or information related to a specific operation from the station. Here, the station may be at least one of the stations installed in the space as shown in FIG. 1.

[0067] As another example, the wireless communication module (111) can transmit identification information about the station to which the other robot vacuum cleaner must dock, or information related to a specific action, to another robot vacuum cleaner. Additionally, the wireless communication module (111) can communicate with various external devices, such as user terminal devices or servers, and can transmit and receive various signals or information.

[0068] The wireless communication module (111) may perform pairing with an external device under the control of the processor (130). Pairing can be performed in various ways depending on the standard. For example, in the case of BLE communication, the peripheral device (or slave device) to be paired may perform advertising in the surroundings at regular intervals. The device acting as the pairing master performs a scan of the surroundings, and when a peripheral device that is advertising is detected, pairing is performed. Afterward, communication can be established.

[0069] The short-range communication unit (112) may include at least one of an infrared communication module or an RF module. When the robot vacuum cleaner (100) docks with a station, the short-range communication unit (112) can transmit and receive various signals or information with the short-range communication unit included in the station. The short-range communication unit (112) can receive information about the type of station, the status of the station, or information related to a specific operation from the station. As another example, the short-range communication unit (112) can receive a docking guidance signal from the station.

[0070] The memory (120) is configured to store various instructions, programs, or data required for the operation of the robot vacuum cleaner (100) or the processor (130). For example, the memory (120) may store information received by the communication unit (110) and data received from an external electronic device (not shown). As an example, the memory (120) may store pairing information with the station, status information of the robot vacuum cleaner, or information about the function of the station. Additionally, status information and identification information of the station received from the station may be stored.

[0071] The memory (120) may be implemented as volatile memory such as S-RAM (Static Random Access Memory) or D-RAM (Dynamic Random Access Memory), non-volatile memory such as Flash Memory, ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), or EEPROM (Electrically Erasable Programmable Read Only Memory), a hard disk drive (HDD), or a solid-state drive (SSD). The memory (120) is accessed by a processor (130), and data recording / writing / modification / deletion / updating by the processor (130) may be performed. The term "memory" in the present disclosure may include RAM (not shown), ROM (not shown) within the memory (120) or processor (130), or a memory card (not shown) (e.g., micro SD card, memory stick, etc.) mounted on the robot vacuum cleaner (100).

[0072] The processor (130) is electrically connected to the communication unit (110) and memory (120) and is configured to control the operation of the robot vacuum cleaner (100).

[0073] The processor (130) can identify the current state of a plurality of robot vacuum cleaners and control them to perform pairing or unpairing, etc., between a station that provides a function corresponding to the current state.

[0074] In FIG. 2, the processor (130) and the memory (120) are shown as physically separated configurations, but they can be implemented as a single configuration such as the processor (130) including the memory (120). Additionally, the processor (130) may be implemented as a single configuration or multiple configurations as a single system. The memory (120) may also be implemented as a single configuration or multiple configurations as a single system.

[0075] The processor (130) may include or be defined by one or more of a central processing unit (CPU), a Micro Controller Unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), or an ARM processor that processes digital signals. Additionally, the processor (130) may be implemented as a System on Chip (SoC) or Large Scale Integration (LSI) with built-in processing algorithms, or as a Field Programmable Gate Array (FPGA). The processor (130) can perform various functions by executing computer executable instructions stored in memory (120).

[0076] In addition, a driving device for moving the robot vacuum cleaner (100) may be further included. For example, the driving device may include wheels installed on the left and right sides of the main body of the robot vacuum cleaner (100), respectively, and motors for driving the wheels. The driving device can perform various driving operations such as moving, stopping, speed control, turning direction, and changing angular velocity according to the control of the processor (130).

[0077] The configuration of FIG. 2 can be used as the configuration of a robot vacuum cleaner when operating as the master device described above, but it is not necessarily limited thereto. That is, a robot vacuum cleaner other than the master device can also be implemented with the configuration of FIG. 2. In this case, when docking is performed, the processor (130) can identify the information of the docked station through the short-range communication unit (112). The processor (130) can determine whether it has docked normally or incorrectly by comparing the received information with the station information connected through communication. If the processor (130) determines that it has docked to another station that is not connected through communication, it receives pairing information, such as the SSID of the station currently being docked, through the short-range communication unit (112).

[0078] Additionally, the processor (130) transmits the pairing information of the station currently docked to the station that was originally connected to the communication, and then disconnects the communication connection. The station that was originally connected to the communication can change to the transmitted pairing information and broadcast an advertising signal to the surroundings to pair with a new robot vacuum cleaner.

[0079] The processor (130) controls the short-range communication unit (112) to transmit pairing information, such as its SSID, to the station currently being docked, and then performs pairing.

[0080] These operations will be explained in more detail in the following drawings.

[0081] FIG. 3a is a block diagram briefly illustrating the configuration of a station (200) according to one or more embodiments of the present disclosure.

[0082] Referring to FIG. 3a, the station (200) may include a communication unit (210), a memory (220), a processor (230), a sensor (240), and a function module (250). However, the configuration shown in FIG. 3a is an illustrative diagram for implementing embodiments of the present disclosure, and appropriate hardware and software configurations that are obvious to a person skilled in the art may additionally be included in the station (200).

[0083] The communication unit (210) is configured to perform communication with the robot vacuum cleaner (100) or other external devices. The communication unit (210) may include a wireless communication module (211) and a short-range communication unit (212), and may also include various wired communication modules (not shown).

[0084] The wireless communication module (211) can transmit and receive various signals or information to and from external devices, including the robot vacuum cleaner (100), via wireless communication. For example, the wireless communication module (211) can receive identification information of the robot vacuum cleaner (100) or information related to a specific operation from the robot vacuum cleaner (100).

[0085] The short-range communication unit (212) may include at least one of an infrared communication module or an RF module. The short-range communication unit (212) may transmit and receive various signals or information between the short-range communication units (112) included in the robot vacuum cleaner (100). For example, the short-range communication unit (212) may transmit information about the type of station (200), status information of the station (200), or information related to a specific operation to the robot vacuum cleaner (100). As another example, the short-range communication unit (212) may receive a docking guidance signal from the robot vacuum cleaner (100).

[0086] The memory (220) can store instructions or data related to at least one other component of the station (200). The memory (220) can store status information and identification information for the robot vacuum cleaner (100) received by the communication unit (210).

[0087] Additionally, the memory (220) can store information related to various operations performed by the station (200) and status information of the station (200). Specifically, the memory (220) can store information related to operations obtained while the processor (230) performs operations corresponding to commands received from the robot vacuum cleaner (100). For example, the memory (220) can store information related to mop washing, water replenishment, dust collection, etc.

[0088] The processor (230) is electrically connected to the memory (220) and can control the overall operation and functions of the station (200). In particular, the processor (230) can control the short-range communication unit (210) to transmit a docking guidance signal to the robot vacuum cleaner (100). Upon receiving the docking guidance signal, the robot vacuum cleaner (100) can move in the direction where the station (200) is located and dock at the station (200).

[0089] The sensor (240) can detect various state information of the station (200). Specifically, the sensor (240) may include a sensor for detecting whether the robot vacuum cleaner is docked. The docking detection sensor may include an electrode that contacts the main body of the robot vacuum cleaner when the robot vacuum cleaner is docked. The docking detection sensor may provide a change in the electrical signal applied to the electrode to the processor (230). The processor (230) can identify that it is docked when a change in the electrical signal is detected.

[0090] Alternatively, the sensor (240) may include a sensor capable of detecting the remaining amount of water or dust in the station (200). Additionally, it may include a sensor for detecting whether the water or dust (or dust bag) is properly installed. Furthermore, the sensor (240) may include a sensor that calculates and detects power efficiency based on the power transmitted by the power transmission device to the robot vacuum cleaner (100).

[0091] The function module (250) is at least one component capable of performing various functions of the station (200).

[0092] For example, the function module (250) may include a charging device capable of charging the robot vacuum cleaner (100). The charging device may include a connector connected to an external AC power source, a power supply that converts an electrical signal applied through the connector into a size capable of charging the robot vacuum cleaner (100) and supplies it.

[0093] As another example, the function module (250) may include a cleaning module capable of cleaning the mop included in the robot vacuum cleaner (100). The cleaning module may include a brush for separating various foreign substances attached to the mop by rubbing the mop while in close contact with it, a motor for moving the brush, a water tank for supplying water to the brush, and a water supply device.

[0094] Alternatively, the function module (250) may include a suction duct connected to the dustbin of the robot vacuum cleaner (100), a suction motor that sucks up foreign matter from the dustbin through the suction duct, and a dustbin for storing the sucked-up foreign matter.

[0095] When a robot vacuum is docked, the processor (230) controls the function module (250) to perform functions such as charging the robot vacuum, emptying the dustbin, or washing the mop. Additionally, when a pairing request is received through the communication unit (210), the processor (230) may control the communication unit (210) to perform pairing with the robot vacuum that sent the pairing request. The processor (230) may first transmit and receive various information for pairing with the robot vacuum using the short-range communication unit (212). The processor (230) stores the pairing information and other information of the robot vacuum received through the short-range communication unit (212) and the wireless communication module (211) in the memory (230).

[0096] FIG. 3b is a drawing showing an example of the external configuration of a station. FIG. 3b illustrates a case where the station includes a functional module capable of washing the mop of a robot vacuum cleaner, namely a pad washing device (20).

[0097] Referring to FIG. 3b, a base (10), a washing device (20), a pad moving device (30), a pad drying device (29), a water container (3), a dust container (4), and an intermediate plate (5) can be accommodated within the case (2) of the station (200).

[0098] The base (10) is formed to support the station (200). The station (200) can be installed on the floor surface by the base (10).

[0099] The base (10) may include an access path (11) formed as an inclined surface through which a robot vacuum cleaner (100) can enter the upper surface of the base (10).

[0100] The cleaning device (20) is formed to clean the mop pad of the robot vacuum cleaner, that is, the wet mop. The cleaning device (20) is formed to clean the lower surface of the mop pad supported by the pad moving device (30). The cleaning device (20) may include a pad portion (21) that comes into contact with the mop pad of the robot vacuum cleaner when the robot vacuum cleaner is docked. FIG. 3b illustrates a case where the pad cleaning device (20) includes two pad portions (21).

[0101] The pad moving device (30) is formed to move a used mop pad placed in the washing device (20). The pad moving device (30) supports the mop pad inside the station (200) so that the washing device (20) can wash it, and can place the mop pad that has been washed in the seating portion (21) of the washing device (20).

[0102] The pad drying device (29) can be formed to dry the mop pad washed by the pad washing device (20). For example, the pad drying device (29) may include at least one fan.

[0103] The pad drying device (29) can be installed on the upper side of the pad moving device (30). When the mop pad is moved upward by the pad moving device (30) and positioned below the pad drying device (29), the pad drying device (29) can dry the mop pad fixed to the pad moving device (30).

[0104] The water tank (3) is configured to hold water to be supplied to the cleaning device (20). The dust bin (4) is configured to hold foreign matter emptied from the dust bin of the robot vacuum cleaner (100). The water tank (3) and the dust bin (4) can be installed on the upper side of the pad drying device (29). An intermediate plate (5) supporting the water tank (3) and the dust bin (4) can be installed on the upper side of the pad drying device (29). The pad drying device (29) can be installed below the intermediate plate (5).

[0105] The robot vacuum cleaner (100) can enter through the upper surface of the base (10), dock at the station (200), and then receive the necessary functions.

[0106] The stations of FIGS. 3a and 3b can perform various operations according to various embodiments. These operations will be described in detail again in conjunction with other drawings in the following section.

[0107] FIG. 4 is a sequence diagram for explaining the operation of a robot vacuum cleaner adjusting the communication connection status of a plurality of robot vacuum cleaners and a station in one embodiment of the present disclosure. Specifically, it is a diagram for sequentially explaining a method of adjusting the communication connection status of other robot vacuum cleaners in the vicinity by a robot vacuum cleaner (100) set as a master device.

[0108] In FIG. 4, the case (S410) is described based on the case where the first robot vacuum cleaner (100-1), which was previously connected to the first station (200-1) via communication, docks with the second station (200-2), which is connected to the second robot vacuum cleaner (100-2) via communication.

[0109] The processor (130) of the robot vacuum cleaner (100) can perform pairing with each of the multiple robot vacuum cleaners (100-1, 100-2) that can be individually docked with multiple stations, and receive information (product number, name, ID, SSID, etc.) for each robot vacuum cleaner through the communication unit (110) and store it in the memory (120). In addition, the processor (130) may receive and store information (product number, name, ID, SSID, etc.) of the paired stations (200-1, 200-2) in advance from each of the robot vacuum cleaners (100-1, 100-2).

[0110] In this state, the first robot vacuum cleaner (100-1) can dock with a second station (200-2) that is not connected via communication (S410). For example, if the battery of the first robot vacuum cleaner (100-1) is low and needs to be charged, it can move to and dock with the second station (200-2) located closest to the location of the first robot vacuum cleaner (100-1). Alternatively, if the first station (200-1) connected via communication with the first robot vacuum cleaner (100-1) is unable to perform the functions required by the first robot vacuum cleaner (100-1) (e.g., water washing function, water tank emptying function, dust collection function, etc.), it can dock with the second station (200-2) that can perform such functions.

[0111] When the first robot vacuum cleaner (100-1) docks at the second station (200-2), the first robot vacuum cleaner (100-1) can transmit docking information to the master device, the robot vacuum cleaner (100) (S415). Docking information may be information intended to indicate that docking is scheduled to be done at a specific station or that docking has already been completed. The docking information may include various information such as the docking location, the expected time of docking (or the time of docking completion), and identification information of the docking station (e.g., device name, product number, ID, SSID in use, etc.). The identification information of the station can be obtained by the first robot vacuum cleaner (100-1) performing short-range communication with the second station (200-2). The processor (130) can store the received information in memory (120).

[0112] In FIG. 4, docking information is shown being transmitted after docking with the second station (200-2), but this is not limited thereto, and docking information may be transmitted before docking. Alternatively, docking information may be transmitted multiple times before and after docking.

[0113] Additionally, the first robot vacuum cleaner (100-1) can transmit whether pairing is scheduled to the docked second station (200-2) via a short-range communication method. The second station (200-2) can transmit information regarding the scheduled pairing with the first robot vacuum cleaner (100-1) to the second robot vacuum cleaner (100-2) that is connected via communication.

[0114] The second robot vacuum cleaner (100-2) transmits status information, including received information and its own SSID, to the robot vacuum cleaner (100) (S420).

[0115] When the processor (130) of the robot vacuum cleaner (100) receives docking information of the first robot vacuum cleaner (100-1) and status information of the second robot vacuum cleaner (100-2), it can store necessary information among the received docking information.

[0116] The processor (130) can adjust the communication connection status between the plurality of robot vacuum cleaners (100) and the plurality of stations (200) based on the docking status of the first robot vacuum cleaner (100-1) and the second station (200-2). Specifically, the processor (130) transmits pairing information for the second station to the first robot vacuum cleaner (S425).

[0117] Accordingly, the first robot vacuum cleaner (100-1) disconnects the communication connection with the first station (200-1) (S435) and proceeds with pairing with the second station (200-2) (S445).

[0118] The processor (130) can transmit pairing information for a new station to the second robot vacuum cleaner (S430).

[0119] Here, the new station may be the first station (200-1) that was connected to the communication of the first robot vacuum cleaner (100-1) docked at the second station. Accordingly, the second robot vacuum cleaner (100-2) can disconnect the communication connection with the second station (200-2) (S440) and perform pairing with the first station (200-1) (S450).

[0120] Meanwhile, according to the embodiment, the new station does not necessarily have to be the first station from which the communication connection has been disconnected. That is, the processor (130) may control the second robot vacuum cleaner to perform a new pairing with another station other than the first and second stations. For example, the processor (130) may provide the SSID of the station closest to the location of the second robot vacuum cleaner (100-2). Alternatively, it may provide the SSID of an appropriate station based on the function currently required by the second robot vacuum cleaner (100-2). For example, if battery charging is urgent, it may provide the SSID of the closest station, and if the time for mop cleaning has arrived, it may provide the SSID of a station equipped with a function module capable of mop cleaning. When inducing pairing with a new station other than the first station (200-1), the processor (130) may readjust the communication connection status for other robot vacuum cleaners that were originally connected to the new station.

[0121] FIG. 5 is a diagram illustrating a control method for a robot vacuum cleaner according to another embodiment of the present disclosure. Specifically, FIG. 5 is a sequence diagram illustrating an operation in which a robot vacuum cleaner (100) set as a master device controls a communication connection with a plurality of stations according to the current state of each of a plurality of robot vacuum cleaners.

[0122] As described in the above section, the robot vacuum cleaner (100) can acquire information about a plurality of robot vacuum cleaners and a plurality of stations and store it in memory (120) (S510). In this case, the information stored in memory (120) may include functions that each station can provide.

[0123] The functions provided by the station may refer to functions necessary for the robot vacuum cleaner to perform cleaning operations. Specifically, since power is consumed when the robot vacuum cleaner (100) performs cleaning, the robot vacuum cleaner can be charged frequently through the station. In addition, when the robot vacuum cleaner performs wet mop cleaning, there may be cases where water needs to be supplied to the wet mop frequently or the wet mop needs to be washed. There may also be a need to empty the dust from the container that stores the sucked-up dust.

[0124] Accordingly, the stations can provide at least one of various functions, such as a charging function, a dustbin emptying function, a mop cleaning function, and a water supply function.

[0125] Figure 5 illustrates a wet mop washing function and a water refill function, but it is not necessarily limited to these and may include all functions that the station can provide to the robot vacuum cleaner.

[0126] Since multiple stations do not all have to be manufactured with the same structure, the functions that can be provided by each station may differ. While one station may provide all functions, there may be stations that provide only specific functions. For example, there may be a station that provides only a charging function, and there may be a station (200) that provides only a charging function and a wet mop washing function.

[0127] The memory (120) can store an information table for each function that can be provided by multiple stations. The processor (130) can communicate with multiple robot vacuum cleaners (100) periodically or frequently through the wireless communication module (111) to check the status of each robot vacuum cleaner.

[0128] The processor (130) can identify the current status of multiple robot vacuum cleaners (S615).

[0129] The processor (130) can periodically or frequently communicate with multiple robot vacuum cleaners based on wireless communication standards to identify the current battery level, dust bin level, water tank level, and whether mopping is required for each robot vacuum cleaner. Whether mopping is required can be identified by the processor (130) determining whether the distance traveled or the time traveled by the robot vacuum cleaner since the previous mopping time exceeds a preset threshold distance or threshold time. Alternatively, the processor (130) may identify it based on sensing data from a separate sensor (e.g., image sensor, dust sensor, etc.) capable of sensing the condition of the mop. When identifying the battery level, dust bin level, or water tank level, the determination may also be made using a sensor or based on the time elapsed or distance traveled since the previous charging, emptying, or refilling.

[0130] The master device, the robot vacuum cleaner (100), may directly request this information from other robot vacuum cleaners and receive the information.

[0131] For example, if the first robot vacuum cleaner (100-1) identifies that its remaining battery level has decreased below a preset threshold, the first robot vacuum cleaner (100-1) can transmit information that charging is required to the robot vacuum cleaner (100). The processor (130) can receive information that charging is required from the first robot vacuum cleaner (100-1) via the wireless communication module (111). The processor (130) can identify the current state of the first robot vacuum cleaner (100-1) through the information received from the first robot vacuum cleaner (100-1).

[0132] However, it is not limited to this, and the processor (130) may receive battery level information from the first robot vacuum cleaner (100-1) at any time or periodically, and then compare it with a threshold value stored in memory (120), and if the power level of the first robot vacuum cleaner (100-1) is lower than the threshold value, identify that the first robot vacuum cleaner (100-1) needs to be charged.

[0133] In addition to battery charging, identifying the need for mop cleaning, dustbin emptying, watering, etc., can also be implemented in various ways in a similar manner.

[0134] As another example, if the number of times the mop of the first robot vacuum cleaner (100-1) is used exceeds a preset number, the first robot vacuum cleaner (100-1) can transmit information that the mop needs to be cleaned. The processor (130) can receive information that the mop needs to be cleaned from the first robot vacuum cleaner (100-1) via the wireless communication module (111). The processor (130) can identify the current state of the first robot vacuum cleaner (100-1) through the information received from the first robot vacuum cleaner (100-1).

[0135] Alternatively, the processor (130) can compare the number of times the mop is used, which is preset for mop cleaning stored in memory (120), with the number of times the mop is used received from the first robot vacuum cleaner (100-1), and if the number of times the mop is used by the first robot vacuum cleaner (100-1) exceeds the preset number, it can identify that mop cleaning of the first robot vacuum cleaner (100-1) is required.

[0136] As another example, if the water level of the water tank of the first robot vacuum cleaner (100-1) detected by the first robot vacuum cleaner (100-1) decreases below a preset threshold, the first robot vacuum cleaner (100-1) can transmit information that water replenishment is required. The processor (130) can receive information that water replenishment is required from the first robot vacuum cleaner (100-1) through the wireless communication module (111). The processor (130) can identify the current state of the first robot vacuum cleaner (100-1) through the information received from the first robot vacuum cleaner (100-1).

[0137] Alternatively, the processor (130) may compare a preset threshold for a water tank stored in memory (120) with the water level of a water tank received from the first robot vacuum cleaner (100-1), and if the water level of the water tank of the first robot vacuum cleaner (100-1) decreases to below the preset threshold, it may identify that water replenishment is required for the first robot vacuum cleaner (100-1).

[0138] When the processor (130) identifies the current state of each of the plurality of robot vacuum cleaners, it can transmit a control signal to each robot vacuum cleaner through the communication unit (110) to dock to a station that provides a function corresponding to the current state of each of the plurality of robot vacuum cleaners (100) based on information stored in the memory (120) (S620).

[0139] For example, if the first robot vacuum cleaner (100-1) is identified as needing mop cleaning, the processor (130) can transmit a control signal to the first robot vacuum cleaner (100-1) to dock to a station that provides a mop cleaning function, based on information about the function of each station stored in memory (120). At this time, if the station that provides the mop cleaning function is the first station (200-1) that is already connected to the first robot vacuum cleaner (100-1) via communication, the first robot vacuum cleaner (100-1) can move to the first station (200-1) and dock.

[0140] However, if the station providing the mop cleaning function is not the first station (200-1), the processor (130) can transmit a control signal to the first robot vacuum cleaner (100-1) to dock to the station providing the mop cleaning function. For example, if the station providing the mop cleaning function (200) is the second station (200-2), the processor can transmit a control signal to the first robot vacuum cleaner (100-1) to dock to the second station (200-2) and pairing information.

[0141] Each robot vacuum cleaner (100-1, 100-2) that has received a control signal can move to a station that provides a function corresponding to each state and dock (S625). At this time, if the robot vacuum cleaner needs to dock to another station that is not connected to communication, the processor (130) can transmit pairing information for the corresponding station to the robot vacuum cleaner. For example, if the first robot vacuum cleaner (100-1) that requires mop cleaning and the second station (200-2) that provides mop cleaning functions are not connected to communication, the processor (130) can transmit pairing information for the second station (200-2) to the first robot vacuum cleaner (100-1). Upon receiving the pairing information for the second station (200-2), the first robot vacuum cleaner (100-1) can disconnect the communication connection with the first station (200-1) and proceed with pairing with the second station (200-2).

[0142] In this case, the processor (130) can transmit pairing information between the first robot vacuum cleaner (100-1) and the second station (200-2) and pairing information for a new station (e.g., the first station) to the second robot vacuum cleaner (100-2) which was connected to the second station (200-2) via communication. Based on the transmitted information, the second robot vacuum cleaner (100-2) can disconnect the communication connection with the second station (200-2) and pair with a new station.

[0143] Meanwhile, even if each robot vacuum cleaner attempts to dock to a station that provides a function corresponding to its current state by the control signal described above, another robot vacuum cleaner may already be docked at that station. In such cases, the processor (130) can release the docking state and communication connection state of the other robot vacuum cleaner that is docked and control a new robot vacuum cleaner to dock.

[0144] That is, when the processor (130) identifies a robot vacuum that is docked to a station that provides a function corresponding to the current state of each robot vacuum, it can transmit a control signal to the robot vacuum through the communication unit to undocking the robot vacuum with the station it is currently docked to.

[0145] However, if the station currently being docked is currently providing functions such as charging, watering, mopping, or emptying the dustbin, the processor (130) may control the docking to be released after waiting until the function is performed to a certain level or higher. For example, if the battery capacity of a robot vacuum cleaner docked at the station and charging is 30%, the docking may be released after waiting until it is charged to a threshold (e.g., 70%) or higher, and a control signal may be transmitted to control a new robot vacuum cleaner to wait in the vicinity until that time and then dock.

[0146] According to another example, the processor (130) may also transmit a control signal to allow docking to another station capable of providing the same function.

[0147] The master device may readjust the communication connection status by additionally performing at least one of the aforementioned processes when a new robot vacuum cleaner or station is added.

[0148] Although various embodiments have been described above regarding cases where one of multiple robot vacuum cleaners is set as a master device to control the operation of other robot vacuum cleaners, as described above, the master device may be set as an electronic device of a different type other than a robot vacuum cleaner. In addition, the pairing control described above may be performed by the robot vacuum cleaners interacting with each other without separately setting a master device. FIG. 6 is a diagram illustrating a case in which multiple robot vacuum cleaners interact with each other to perform pairing according to another embodiment of the present invention.

[0149] In FIG. 6, it is assumed that the first and second robot vacuum cleaners (100-1, 100-2) and the first and second stations (200-1, 200-2) are used together in one space, and among them, the first robot vacuum cleaner (100-1) and the first station (200-1) are connected to each other through communication, and the second robot vacuum cleaner (100-2) and the second station (200-2) are connected to each other through communication (S605, S610).

[0150] A first robot vacuum cleaner (100-1) connected to a first station (200-1) can store information about the first station (200-1) (S615). In this state, when the first robot vacuum cleaner (100-1) docks with the second station (200-2) (S620), the first robot vacuum cleaner (100-1) can receive and store pairing information, such as the SSID of the second station (200-2), via a short-range communication method (S625). Examples of specific information have been described in other embodiments above, so a redundant explanation is omitted.

[0151] The first robot vacuum cleaner (100-1) transmits the pairing information of the stored second station (200-2) to the first station (200-1) via wireless communication (S630), and then disconnects the communication connection with the first station (200-1) (S635).

[0152] Afterwards, the first robot vacuum cleaner (100-1) transmits pairing information including its SSID to the second station (200-2) (S640) and performs pairing with the second station (200-2) (S645).

[0153] The first station (200-1), which has disconnected from the first robot vacuum cleaner (100-2) through communication, changes its SSID based on the pairing information transmitted by the first robot vacuum cleaner (100-2), and then transmits a search signal to the surroundings (advertising) to search for nearby devices capable of communicating with the changed SSID (S650). Since the second robot vacuum cleaner (100-2) was previously connected to the second station (200-2) through communication, it already possesses the changed SSID. Accordingly, the second robot vacuum cleaner (100-2) can perform pairing with the first station (200-1) in response to the search by the first station (200-1).

[0154] As a result, when the first robot vacuum cleaner (100-1) docks with the second station (200-2) which is not connected to the communication, pairing is automatically performed between the first robot vacuum cleaner (100-1) and the second station (200-2), and pairing is automatically performed between the second robot vacuum cleaner (100-2) and the first station (200-1).

[0155] Each robot vacuum cleaner can transmit information regarding not only the robot vacuum cleaner itself but also the current status of the currently connected station (e.g., remaining water tank level, remaining dust bin level, etc.) to a server device (not shown). The server device can upload status information to the user account registered by the user using the robot vacuum cleaners. The user can log in to their user account and check the status information through their terminal device. Meanwhile, this is not necessarily limited to this; if an application capable of communicating directly with the robot vacuum cleaner is installed on the user's terminal device, each robot vacuum cleaner may also directly transmit vacuum cleaner information and station information to the user's terminal device. In this case, the application installed on the terminal device may provide a UI screen to display the status of each vacuum cleaner and the station.

[0156] FIG. 7 is a flowchart illustrating a control method for a robot vacuum cleaner according to at least one embodiment of the present disclosure. The robot vacuum cleaner of FIG. 7 can operate as a master device as described in the above-described section.

[0157] According to FIG. 7, the robot vacuum cleaner (100) stores information about a plurality of stations and a plurality of robot vacuum cleaners (S710). The plurality of robot vacuum cleaners and the plurality of stations can be placed within one space, and each robot vacuum cleaner can be docked at any station.

[0158] The robot vacuum cleaner (100) is connected to each of the multiple robot vacuum cleaners to receive and store information about each robot vacuum cleaner and the station connected to the robot vacuum cleaners.

[0159] In this state, when the first robot vacuum cleaner (100-1), which is connected to the first station (200-1) which is one of the multiple stations, docks to the second station (200-2), which is connected to the second robot vacuum cleaner (100-2) (S720), the robot vacuum cleaner adjusts the communication connection status between the multiple stations and the multiple robot vacuum cleaners based on the docking state (S730).

[0160] FIG. 8 is a flowchart for explaining the control method of FIG. 7 in more detail. According to FIG. 8, when the first robot vacuum cleaner (100-1) docks with the second station (200-2) that is not connected to the communication (S810), docking information for the second station (200-2) can be received from the first robot vacuum cleaner (100-1) (S820).

[0161] The robot vacuum cleaner (100) can identify a situation where incorrect docking has occurred based on the docking information of the first robot vacuum cleaner (100-1).

[0162] Afterward, the robot vacuum cleaner (100) can receive status information of the second robot vacuum cleaner (100-2) (S830). That is, since the second station (200-2) to which the first robot vacuum cleaner (100-1) has docked is in a state of communication connection with the second robot vacuum cleaner (100-2), information regarding the planned pairing with the first robot vacuum cleaner (100-1) can be transmitted to the second robot vacuum cleaner (100-2) via a communication method such as BLE. The status information of the second robot vacuum cleaner (100-2) may include various information such as this planned pairing information and the SSID of the second robot vacuum cleaner (100-2).

[0163] The robot vacuum cleaner (100) can adjust the communication connection status of each robot vacuum cleaner by transmitting pairing information, such as the SSID of the station to be connected to each robot vacuum cleaner (S840, S850). Since a detailed explanation of this has been described in the embodiments above, a redundant explanation is omitted.

[0164] FIG. 9 is a flowchart illustrating a control method for a robot vacuum cleaner according to another embodiment of the present invention.

[0165] The method of FIG. 9 can be performed when the robot vacuum cleaner (100) operates as a master device. Specifically, according to FIG. 9, the robot vacuum cleaner (100) identifies the current state of each robot vacuum cleaner. For example, if it is determined that the current state of the first robot vacuum cleaner (100-1) requires water replenishment or mop washing (S910), the robot vacuum cleaner (100) identifies whether the first station (200-1), which is currently connected to the first robot vacuum cleaner (100-1) via communication, supports the necessary functions (i.e., water replenishment function, mop washing function) (S920). If the necessary functions are supported, the robot vacuum cleaner (100) may not perform any particular action, but is not limited thereto, and may transmit a control signal to the first robot vacuum cleaner (100-1) to return to the station for water replenishment or mop washing.

[0166] If the necessary function is not supported, the robot vacuum cleaner (100) identifies information about a station that supports the necessary function among the stored station information. Accordingly, if it is identified that the second station (200-2) supports the necessary function, the robot vacuum cleaner (100) can transmit a control signal, i.e., a docking signal, to the first robot vacuum cleaner (100-1) to control docking and pairing with the second station (200-2) (S930). The docking signal may include various information such as a command to control docking, a command to control pairing, location information of the second station (200-2), the device name, SSID, ID of the second station (200-2), etc. Upon receiving the docking signal, the first robot vacuum cleaner (100-1) can move to the second station (200-2), dock, and then perform pairing. If the SSID of the second station (200-2) is not included in the docking signal, the first robot vacuum cleaner (100-1) may perform pairing after transmitting and receiving pairing information by performing short-range communication with the second station (200-2).

[0167] Meanwhile, the second robot vacuum cleaner (100-2) may already be docked at the second station (200-2). When the robot vacuum cleaner (100) identifies this state (S940), it may transmit a docking release signal to the second robot vacuum cleaner (100-2) to control it to undocking (S950). However, it is not necessarily limited to this, and depending on the situation, it may control the first robot vacuum cleaner (100-1) to undocking after a certain period of time has elapsed, or to search for another station and dock at the re-searched station.

[0168] When the docking between the second robot vacuum cleaner (100-2) and the second station (200-2) is released, docking and pairing can be performed between the first robot vacuum cleaner (100-1) and the second station (200-2) (S960).

[0169] Accordingly, necessary functions (e.g., water replenishment, mop washing, etc.) can be provided for the first robot vacuum cleaner (S970).

[0170] According to this embodiment, even if a situation does not occur where a station is docked to a station that is not connected to communication, the communication connection relationship can be readjusted according to the master device. According to this embodiment, even if not all stations support all various functions, multiple robot vacuum cleaners can selectively use various functions. Therefore, even in a space where at least one station is provided with only basic station functions (e.g., charging function), a station with a water supply function, a station with a mop cleaning function, and a station with a dustbin emptying function, all robot vacuum cleaners can utilize all various functions.

[0171] FIG. 10 is a flowchart illustrating a control method for a robot vacuum cleaner according to another embodiment of the present disclosure. According to FIG. 10, when the robot vacuum cleaner is paired with a first station (200-1) and established a communication connection, it stores information about the first station (200-1) (S1010). When pairing is established, information can be transmitted and received using a second communication method, such as a wireless communication method like BLE.

[0172] After this, the robot vacuum cleaner can dock at the first station (200-1) according to the return signal of the first station (200-1). However, if the distance from the first station (200-1) is far or if a return signal from another station nearby is received, a situation may occur where the robot vacuum cleaner docks at another station. For example, assuming that the robot vacuum cleaner has docked at the second station (200-2), since there is no communication connection between the robot vacuum cleaner and the second station (200-2), the robot vacuum cleaner can receive pairing information from the second station (200-2) using the first communication method (S1020).

[0173] After the robot vacuum cleaner transmits the received pairing information to the first station (200-1), it can disconnect the communication connection with the first station (200-1) (S1030).

[0174] The robot vacuum cleaner can transmit its pairing information to the second station (200-2) to establish a communication connection with the second station (200-2) (S1040).

[0175] Meanwhile, the first station (200-1) can establish a communication connection with the second robot vacuum cleaner (100-2), which was previously connected to the second station (200-2), by using pairing information transmitted from the robot vacuum cleaner.

[0176] According to the embodiment of FIG. 10, even if a specific master device does not exist, a communication connection mismatch state due to incorrect docking can be easily resolved.

[0177] Each of the flowcharts in FIGS. 8 to 10 above can be performed by a robot vacuum cleaner (100) having the configuration of FIG. 2, but is not necessarily limited thereto and may be performed by a robot vacuum cleaner with various configurations added or modified.

[0178] According to the various embodiments described above, in an environment where multiple robot vacuum cleaners and multiple stations are used together, the communication connection status between the robot and the station can be automatically readjusted even if the robot vacuum cleaner is connected to various stations. Accordingly, the user can accurately identify the status of the station and the robot vacuum cleaner, making it easier to manage and use the station and the robot vacuum cleaner.

[0179] The various embodiments described above may be implemented individually, but are not necessarily limited thereto, and may be implemented together in combination with at least one other embodiment, either partially or wholly.

[0180] The methods according to the various embodiments of the present disclosure described above can be implemented by software upgrades or hardware upgrades alone for existing robot vacuum cleaners and stations.

[0181] Meanwhile, according to a specific example of the present disclosure, the control method according to the various embodiments described above may be implemented as software comprising instructions stored on a non-transitory machine-readable storage media that can be read by various machines (e.g., computers), such as robot vacuum cleaners or stations.

[0182] Specifically, a program for performing a control method may be provided in a state stored on a non-transient computer-readable recording medium, comprising the steps of receiving and storing information about a plurality of robot vacuum cleaners that can be individually docked with a plurality of stations, and, when a first robot vacuum cleaner (100-1) that is communicationally connected to a first station (200-1) that is one of the plurality of stations docks with a second station (200-2) that is communicationally connected to a second robot vacuum cleaner (100-2), adjusting the communication connection state between the plurality of stations and the plurality of robot vacuum cleaners based on the docking state.

[0183] When stored software or instructions are executed by a processor, the processor may perform operations according to the various embodiments described above, either directly or by utilizing other components. Instructions may include code generated or executed by a compiler or an interpreter. Here, 'non-transient' means only that the storage medium does not contain a signal and is tangible, and does not distinguish whether data is stored semi-permanently or temporarily in the storage medium.

[0184] Additionally, according to one or more embodiments of the present disclosure, the method according to the various embodiments described above may be provided as included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed online through an online store, in addition to the non-transient readable recording media described above. In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created in a storage medium such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0185] Additionally, each component (e.g., module or program) according to the various embodiments described above may be composed of a single or multiple entities, and some of the aforementioned sub-components may be omitted, or other sub-components may be further included in the various embodiments. Generally or additionally, some components (e.g., module or program) may be integrated into a single entity to perform the functions performed by each of the respective components prior to integration in the same or similar manner. The operations performed by the module, program, or other components according to the 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 added.

[0186] 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 robot vacuum cleaners, Communications Department; Memory; and Includes a processor; The above processor is, Information regarding multiple robot vacuum cleaners capable of individually docking with multiple stations is received through the communication unit and stored in the memory, and A robot vacuum cleaner that, when a first robot vacuum cleaner connected to a first station, which is one of the plurality of stations, docks with a second station connected to a second robot vacuum cleaner, adjusts the communication connection state between the plurality of stations and the plurality of robot vacuum cleaners based on the docking state.

2. In Paragraph 1, When docking information for the second station is received from the first robot vacuum cleaner through the communication unit, and status information of the second robot vacuum cleaner is received from the second robot vacuum cleaner through the communication unit, A robot vacuum cleaner, wherein the processor transmits pairing information for the second station to the first robot vacuum cleaner and controls the communication unit to transmit pairing information for a new station to the second robot vacuum cleaner.

3. In Paragraph 1, The above memory is, Stores information regarding the functions provided by each of the aforementioned plurality of stations, and The above processor is, A robot vacuum cleaner that, when the current state of each of the plurality of robot vacuum cleaners is identified, transmits a control signal to the plurality of robot vacuum cleaners through the communication unit to dock to a station that provides a function corresponding to the current state of each of the plurality of robot vacuum cleaners based on information stored in the memory.

4. In Paragraph 3, The above processor is, A robot vacuum cleaner that, when a robot vacuum cleaner docked to a station providing a function corresponding to the current state of each of the above robot vacuum cleaners is identified, transmits a control signal to the docked robot vacuum cleaner through the communication unit to undocking the robot vacuum cleaner from the station.

5. In Paragraph 3, The above processor is, A robot vacuum cleaner that, when the current state of one of the plurality of robot vacuum cleaners is identified as requiring mop cleaning, transmits a control signal to the one robot vacuum cleaner through the communication unit to dock to a station among the plurality of stations that provides a mop cleaning function.

6. In Paragraph 3, The above processor is, A robot vacuum cleaner that, when the current state of one of the plurality of robot vacuum cleaners is identified as requiring water replenishment, transmits a control signal to the one robot vacuum cleaner through the communication unit to dock to a station among the plurality of stations that provides a water replenishment function.

7. Regarding robot vacuum cleaners, Communications Department; Memory; and Includes a processor; The above processor is, When paired with the first station among multiple stations, information about the first station is stored in the memory, and When docked with the second station among the plurality of stations while in a state of communication connection with the first station, pairing information of the second station is received from the second station via a first communication method, and The pairing information of the second station is transmitted to the first station via a second communication method, and the communication connection state with the first station is terminated. A robot vacuum cleaner that controls the communication unit to transmit pairing information of the robot vacuum cleaner to the second station and establish a communication connection with the second station.

8. In a method for controlling a robot vacuum cleaner, A step of receiving and storing information about multiple robot vacuum cleaners that can be individually docked with multiple stations; and A control method comprising: a step of adjusting the communication connection state between the plurality of stations and the plurality of robot vacuums based on the docking state when a first robot vacuum connected to a first station, which is one of the plurality of stations, docks with a second station connected to a second robot vacuum.

9. In Paragraph 8, The step of adjusting the communication connection status above is, When docking information for the second station is received from the first robot vacuum cleaner, and status information of the second robot vacuum cleaner is received from the second robot vacuum cleaner, A step of transmitting pairing information for the second station to the first robot vacuum cleaner; and A control method comprising the step of transmitting pairing information for a new station to the second robot vacuum cleaner.

10. In Paragraph 8, A step of storing information about the functions provided by each of the plurality of stations; and A control method further comprising the step of, when the current state of one of the plurality of robot vacuum cleaners is identified, controlling it to dock to a station that provides a function corresponding to the current state based on the stored information.

11. In Paragraph 10, A control method further comprising the step of controlling another robot vacuum cleaner to undocking with said station when the other robot vacuum cleaner is identified as docking with said station, which provides a function corresponding to said current state.

12. In Paragraph 10, The step of controlling docking to a station that provides a function corresponding to the above current state is, A control method comprising the step of controlling docking to a station providing a mop washing function among the plurality of stations when the current state is identified as a state requiring mop washing.

13. In Paragraph 10, The step of controlling docking to a station that provides a function corresponding to the above current state is, A control method comprising the step of controlling docking to a station among the plurality of stations that provides a water replenishment function when the current state is identified as a state requiring water replenishment.

14. In a method for controlling a robot vacuum cleaner, A step of storing information about the first station when paired with the first station among a plurality of stations; When docked with the second station among the plurality of stations, a step of receiving pairing information from the second station; A step of transmitting the received pairing information of the second station to the first station and releasing the communication connection state with the first station; and A control method comprising the step of transmitting pairing information of the robot vacuum cleaner to the second station and establishing a communication connection with the second station.

15. In a non-transient computer-readable recording medium storing a program for performing a control method of a robot vacuum cleaner, The above control method is, A step of receiving and storing information about multiple robot vacuum cleaners that can be individually docked with multiple stations; and A non-transient computer-readable recording medium comprising: a step of adjusting the communication connection state between the plurality of stations and the plurality of robot vacuums based on the docking state when a first robot vacuum connected to a first station, which is one of the plurality of stations, docks with a second station connected to a second robot vacuum.

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