Robot and control method thereof

A cleaning system comprising:

• a robot comprising:
• communication circuity;
• a driver;
• memory storing instructions;
• and
• at least one processor comprising processing circuitry, wherein the at least one processor is configured to individually or collectively execute the instructions;
• and
• an accessory device comprising:
• a sensor;
• accessory communication circuitry;
• accessory memory storing accessory instructions;
• and
• at least one accessory processor comprising accessory processing circuitry, wherein the at least one accessory processor is configured to individually or collectively execute the accessory instructions,
• wherein the instructions, when executed by the at least one processor individually or collectively, cause the robot to:
• based on cleaning being started, transmit, to the accessory device through the communication circuitry, a first signal notifying of a start of cleaning and requesting a pet search,
• wherein the accessory instructions, when executed by the at least one accessory processor individually or collectively, cause the accessory device to:
• based on receiving the first signal from the robot, obtain search information regarding a pet based on data obtained through the sensor, and
• transmit, to the robot through the accessory communication circuitry, the search information,
• wherein the instructions, when executed by the at least one processor individually or collectively, further cause the robot to:
• based on receiving the search information from the accessory device, transmit, to the accessory device through the communication circuitry, a second signal notifying of a luring position of the pet based on a cleaning position and the search information,
• wherein the accessory instructions, when executed by the at least one accessory processor individually or collectively, further cause the accessory device to:
• based on receiving the second signal from the robot, identify a luring method for luring the pet to the luring position, and
• based on luring the pet to the luring position, transmit a third signal to the robot through the accessory communication circuitry, and
• wherein the instructions, when executed by the at least one processor individually or collectively, further cause the robot to:
• based on receiving the third signal indicating the pet was successfully lured to the luring position, control the driver to move the robot to the cleaning position and control the robot to start cleaning at the cleaning position.

A method of controlling a robot, the method comprising:

• based on cleaning being started, transmitting, to at least one accessory device, a first signal notifying of a start of cleaning and requesting a pet search;
• based on receiving search information regarding a pet obtained from the at least one accessory device, transmitting, to the at least one accessory device, a second signal notifying of a luring position of the pet based on a cleaning position and the search information;
• and
• based on receiving a third signal indicating the pet was successfully lured to the luring position, controlling the robot to move to the cleaning position and start cleaning at the cleaning position.