JP2022142820A - Display device, system having autonomously travelling type cleaner and display device, display method, and program - Google Patents

Abstract

To display a map by eliminating information unnecessary for a user as much as possible.SOLUTION: A terminal control unit 301 of a communication terminal 300 starts a map application according to an operation of an input unit 306 (Step S1). Upon receipt of map information from a server, the communication terminal 300 creates a map using the map information received by a map creation unit 302 (Step S3). Upon determination that there is information detected by LIDAR, etc. outside a room, the map creation unit 302 creates a map so as not to display the information detected outside the room, and displays the map in a display unit 305 (Step S5).SELECTED DRAWING: Figure 17

Description

The present disclosure relates to a display device, a system having an autonomously traveling cleaner and the display device, a display method, and a program.

Patent Literature 1 describes a vacuum cleaner that has a function of detecting surrounding conditions using an obstacle sensor and creating a map based on the detection results.

Japanese Patent Application Laid-Open No. 2005-205028

In recent years, vacuum cleaners equipped with LIDAR (Light Detection And Ranging) have also been commercialized, and the detection range of obstacles is expanding. However, if all the obstacles detected by the vacuum cleaner are displayed, for example, if it is displayed like the map described in Patent Document 1, the obstacles existing outside the room will also be displayed, which is unnecessary information for the user. is displayed on the display unit.

The present invention is a display device capable of displaying at least obstacles including walls detected by an autonomously traveling vacuum cleaner. It is possible to display at least one of objects, the amount of garbage, and the traveling route of the autonomous traveling cleaner, and in the outer area, which is the area outside the wall, obstacles detected by the autonomous traveling cleaner are displayed. It is a display device that displays a map so as not to reflect information.

The present invention is a system having an autonomous traveling cleaner and a display device. and a second detection unit that detects the obstacle detected by the first detection unit and the first The obstacles detected by the second detection unit can be displayed, and a map is displayed in the outer area, which is the area outside the wall, so as not to reflect the detection result of the second detection unit. It is a system that has a machine and a display device.

According to the present invention, the sensor of the autonomous traveling cleaner detects obstacles and the positions of the obstacles, and the map information creating unit creates information about the obstacles detected by the sensors and the positions of the obstacles. a step of creating a map by the map creating unit so as not to reflect the information on the map if there is information about obstacles in the outer area, which is the area outside the wall, in the information created by the map information creating unit; and a step of displaying the map created by the map creating unit on the display unit.

According to the present invention, the sensor of the autonomous traveling cleaner detects obstacles and the positions of the obstacles, and the map information creating unit creates information about the obstacles detected by the sensors and the positions of the obstacles. a step of creating a map by the map creating unit so as not to reflect the information on the map if there is information about obstacles in the outer area, which is the area outside the wall, in the information created by the map information creating unit; , and a step of displaying the map created by the map creating unit on the display unit.

According to the present invention, it is possible to display a map while excluding as much information as possible that is unnecessary for the user.

Diagram showing the vacuum cleaner system of the present embodiment 1 is a perspective view of the vacuum cleaner 100 of this embodiment. FIG. 2 is a plan view of the vacuum cleaner 100 of the present embodiment; Left side view of cleaner 100 of the present embodiment Front view of vacuum cleaner 100 of the present embodiment The bottom view of the vacuum cleaner 100 of this embodiment. 1 is a perspective view of the vacuum cleaner 100 of this embodiment. Block diagram of cleaner 100 according to Embodiment 1 Block diagram of a server according to Embodiment 1 Block diagram of a communication terminal according to Embodiment 1 Sequence diagram of the cleaner system according to Embodiment 1 Sequence diagram of the cleaner system according to Embodiment 1 A diagram showing a display example of the display unit 305 according to Embodiment 2 A diagram showing a display example of the display unit 305 according to Embodiment 2 A diagram showing a display example of the display unit 305 according to Embodiment 2 A diagram showing a display example of the display unit 305 according to Embodiment 2 Flow diagram showing operation of communication terminal 300 in Embodiment 2 A diagram showing a display example of the display unit 305 according to Embodiment 3 A diagram showing a display example of the display unit 305 according to Embodiment 3 Sequence diagram of the vacuum cleaner system according to Embodiment 3 Flow diagram showing operation of communication terminal 300 in Embodiment 3 A diagram showing a display example of the display unit 305 according to Embodiment 3 A diagram showing a display example of the display unit 305 in Embodiment 4 Flow diagram showing operation of communication terminal 300 in Embodiment 4 A diagram showing a display example of the display unit 305 in Embodiment 5 The diagrams showing the operation transition of the vacuum cleaner 100 according to the sixth embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings.

It should be noted that the accompanying drawings and the following description are provided for a thorough understanding of the present disclosure by those skilled in the art and are not intended to limit the claimed subject matter thereby. .

(Example 1)
FIG. 1 is a diagram showing a cleaner system of Example 1. FIG.

In FIG. 1, an autonomously traveling cleaner (vacuum cleaner 100) can be wirelessly connected to a router 200 through short-range wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark).

The router 200 can be wirelessly connected to the vacuum cleaner 100 by short-range wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark). It is also possible to connect to the network N using the Internet Protocol.

The communication terminal 300 is, for example, a communication terminal that can be operated using a touch panel, such as a smartphone, or a communication terminal that has a function of connecting to the communication network N, such as a mobile phone device or a personal computer.

The server 400 is connected to the communication network N and has functions of receiving, storing and transmitting various information transmitted from the cleaner 100 and the communication terminal 300 .

Vacuum cleaner 100 may have a function of performing long-distance wireless communication such as WiMAX (Worldwide Interoperability for Microwave Access) (registered trademark) in addition to the function of performing short-range wireless connection. It may have a function of connecting to the communication network N via the network.

FIG. 2 is a perspective view of the vacuum cleaner 100, which is the device of this embodiment. In FIG. 2, the front side, rear side, left side, and right side of the vacuum cleaner 100 are indicated by arrows.

In FIG. 2 , housing 1 of cleaner 100 has upper body 2 and lower body 3 , and bumper 4 is arranged in front of housing 1 . One or more collision detection switches (not shown) are arranged inside the bumper 4, and when the bumper 4 collides with an obstacle, the bumper 4 moves toward the inside of the housing 1 and the switch is turned on, and it is detected that the bumper 4 has collided with an obstacle.

A cover 5 is arranged on the upper surface of the housing 1 and behind the bumper 4 . A dust container (not shown) is arranged inside the cover 5 , and when the user presses down the cover 5 , the front or rear portion of the cover 5 is released and the dust container can be taken out from the housing 1 .

A LIDAR (Light Detection And Ranging) 6 is arranged behind the cover 5 . This LIDAR 6 can detect obstacles and the like around the housing 1 by rotating the light-emitting part and the light-receiving part around the center of the LIDAR 6 . Also, by using this LIDAR 6, it is possible to create a map of the room.

FIG. 3 is a plan view of the vacuum cleaner 100, which is the device of this embodiment. In FIG. 3, the front side, rear side, left side, and right side of the vacuum cleaner 100 are indicated by arrows.

In FIG. 3 , a bumper 4 having a substantially U-shaped configuration is arranged in front of the housing 1 , and an upper body 2 is arranged in the rear of the housing 1 . A cover 5 is arranged between the bumper 4 and the upper body 2 , and a LIDAR 6 is arranged behind the cover 5 .

The bumper 4 is urged forward in the housing 1 by a spring (not shown) disposed inside, and a gap exists between the bumper 4 and the upper body 2 . When the bumper 4 collides with an obstacle, the bumper 4 can move backward by this gap against the force of the spring.

FIG. 4 is a left side view of the vacuum cleaner 100, which is the device of this embodiment. In FIG. 4, the front side, rear side, upper side, and lower side of the cleaner 100 are indicated by arrows.

A bumper 4 is arranged in front of the housing 1, and an upper body 2 is arranged behind it. Further, exhaust ports 7 are formed on the left and right side surfaces of the upper body 2 , and a LIDAR 6 is arranged on the rear upper surface of the upper body 2 . A side brush 8 is arranged in front of the lower body 3, and a rear wheel 9 is arranged in the rear.

FIG. 5 is a front view of the vacuum cleaner 100, which is the device of this embodiment. In FIG. 5, the upper side, the lower side, the left side, and the right side of the cleaner 100 are indicated by arrows.

Two ultrasonic sensors 10 and two infrared sensors 11 each having a light-emitting element and a light-receiving element are provided on the front surface of the bumper 4 . A side brush 8 is arranged in front of the lower body 3 . The side brushes 8 are arranged on both the front right side and the front left side of the lower body 3 , but may be arranged on either the front right side or the front left side of the lower body 3 .

FIG. 6 is a bottom view of the vacuum cleaner 100, which is the device of this embodiment. In FIG. 6, the front side, rear side, left side, and right side of the cleaner 100 are indicated by arrows.

In FIG. 6, a rear wheel 9 is arranged behind the lower body 3, and a battery 18 made of a secondary battery such as a lithium ion battery is arranged in front of the rear wheel 9. As shown in FIG. A right driving wheel 19 and a left driving wheel 20 are arranged substantially in the center of the lower body 3, and wheel support members 21 are connected to the right driving wheel 19 and the left driving wheel 20, respectively. The wheel support member 21 is movable in the vertical direction of the housing 1 about the axis A. Further, the two wheel support members 21 are provided with wheel springs (not shown) between the lower body 3 and the lower body 3 respectively. ) are arranged, and the wheel support member 21 and the right driving wheel 19 and the left driving wheel 20 are urged toward the floor surface by these wheel springs.

In FIG. 6, a part of the battery 18 is positioned between the right driving wheel 19 and the left driving wheel 20, but the battery 18 may be arranged behind the right driving wheel 19 and the left driving wheel 20. good. However, in this embodiment, the center of gravity of the housing 1 is designed to come to the rear of the housing by arranging the battery 18 behind the housing 1 . For this reason, it is preferred that at least part of the battery 18 is located between the axes A of the two wheel support members 21 respectively.

In FIG. 6, a suction port 22 for sucking collected dust is formed in front of the battery 18 and in front of the right driving wheel 19 and the left driving wheel 20. , the main brush 23 is rotatably supported.

Level difference sensors 24 are arranged on the left and right sides of the suction port 22, respectively. The level difference sensors 24 have a light-emitting portion and a light-receiving portion, and detect when the housing 1 approaches a step.

In FIG. 6, the tip of the step sensor 24 is positioned on the axis of the rotation shaft of the main brush 23, or at substantially the same position. Alternatively, the tip of the step sensor 24 may be arranged behind the axis of the rotation shaft of the main brush 23 .

The step sensor 24 may be arranged at positions other than those shown in FIG. For example, it may be arranged on the front side of the lower body 3 .

A depression 25 is provided in front of the step sensor 24, and the side brush 8 is arranged around the center of the depression 25. - 特許庁The side brush 8 rotates toward the suction port 22. - 特許庁Therefore, in FIG. 6, the left side brush 8 rotates clockwise, and the right side brush 8 rotates counterclockwise.

FIG. 7 is a perspective view of the vacuum cleaner 100, which is the device of the present embodiment, viewed from the front and lower side.

In FIG. 7, recesses 25 in which side brushes 8 are arranged are formed on the left and right sides in front of the lower body 3 . The length of the side brush 8 is the length that protrudes to the outside of the housing 1 beyond the depression 25 .

FIG. 8 is a functional block diagram of the vacuum cleaner 100 of Example 1. As shown in FIG. In addition, among the functional blocks of a normal autonomous traveling cleaner, the configuration that is not directly related to the present embodiment is omitted.

In FIG. 8, a communication unit 101 can be wirelessly connected to a communication terminal 300, a router 200, etc., and has communication functions such as Wi-Fi (registered trademark) and Bluetooth (registered trademark).

The storage unit 102 is composed of, for example, a non-volatile memory such as a flash memory, and stores control programs executed by the control unit 110, various parameters, and the like.

The suction motor 104 is a motor for generating suction air. The suction motor 104 and the suction port 22 formed on the rear surface of the cleaner 100 communicate with each other, and the suction motor 104 sucks outside air and dust from the suction port 22 .

The right drive section 44 is a motor for driving the right drive wheel 19 . The left drive section 45 is a motor for driving the left drive wheel 20 .

The rotation detection unit 103 detects the rotation direction, number of rotations, rotation speed, and the like of each of the right driving wheel 19 and the left driving wheel 20 .

The sensor group 105 has multiple types of sensors. The level difference sensor 24 is a sensor that is arranged on the back surface of the cleaner 100 and detects a level difference on the floor surface. The step sensor 24 is, for example, an infrared sensor having a light emitting element and a light receiving element.

The infrared sensor 11 is an infrared sensor having, for example, a light-emitting element and a light-receiving element. The infrared sensor 11 may be arranged not only on the front surface of the vacuum cleaner 100 but also on the right side, left side, rear side, or the like.

The ultrasonic sensor 10 is an ultrasonic sensor having an output unit that emits ultrasonic waves and an input unit that detects reflected ultrasonic waves. Detects the presence or absence of an obstacle and the distance to the obstacle. The ultrasonic sensor 10 may be arranged not only on the front surface of the vacuum cleaner 100 but also on the right side, left side, rear side, or the like.

The gyro sensor 12 is a sensor that detects the moving direction, moving speed, and the like of the cleaner 100 .

A LIDAR (Light Detection and Ranging) 6 has a light emitting part, a light receiving part, a rotating mechanism and a motor for rotating these elements.

The control unit 110 is composed of a microcomputer such as a CPU (Central Processing Unit), and controls each circuit. The control unit 110 includes a movement control unit 111 , a position information calculation unit 112 and a map information creation unit 113 .

The movement control unit 111 performs cleaning when instructed to start cleaning by the user or according to a cleaning plan. For example, the movement control unit 111 starts the cleaning operation when the set cleaning start time arrives. The movement control unit 111 rotates the main brush 23 and the side brush 8 to clean the floor and drives the suction motor 104 to suck dust while the cleaner 100 is running.

The movement control unit 111 moves the cleaner 100 by controlling the right driving unit 44 and the left driving unit 45 to drive the right driving wheel 19 and the left driving wheel 20 . When cleaning is started, movement control unit 111 separates cleaner 100 from the base station (charging base). The movement control unit 111, for example, refers to a map stored in the storage unit 102, and travels indoors according to a predetermined travel plan or randomly. When the cleaning is finished, the movement control unit 111 returns the cleaner 100 to the base station (charging stand) by referring to the map stored in the storage unit 102, for example.

The movement control unit 111 moves the cleaner 100 by controlling the right driving unit 44 and the left driving unit 45 to drive the right driving wheel 19 and the left driving wheel 20 when creating the map information. For example, the map information can be created by causing the cleaner 100 to zigzag in the room or run along the walls of the room.

The position information calculation unit 112 calculates self-position information from the information detected by the LIDAR 6, the information detected by the rotation detection unit 103, and the like. The information detected by the rotation detection unit 103 is, for example, information such as the rotation angle and movement amount of the drive wheels. In this embodiment, the position of the charging stand is used as the initial position, and the information of the self-position is calculated from the information detected by the LIDAR 6 and the information detected by the rotation detection unit 103 from this holding position. As a method for calculating the self-position, for example, the odometry method is used.

Note that the self-location information obtained by the location information calculation unit 112 is not limited to the method described above, and other methods are also conceivable. For example, information on obstacles detected by infrared sensor 11 or ultrasonic sensor 10 (information on the presence or absence of obstacles and distance to obstacles, etc.) and information on obstacles detected by LIDAR 6 (presence or absence of obstacles and information on obstacles information such as the distance to the vacuum cleaner 100) and information such as the rotation direction, speed, number of revolutions, etc. of the drive wheels detected by the rotation detection unit 103, information indicating the current location of the cleaner 100 is calculated. can also

The position information calculation unit 112 also calculates information indicating the current location of the autonomously running type vacuum cleaner using information such as the direction and speed of the cleaner 100 detected by the gyro sensor 12 . Also good.

The map information creation unit 113, for example, generates information on obstacles detected by the infrared sensor 11 or the ultrasonic sensor 10 (information on the presence or absence of obstacles and the distance to the obstacles, etc.) and information on obstacles detected by the LIDAR 6 ( Map information including information on the layout of the room is created using information such as the presence or absence of obstacles and the distance to obstacles. This map information mainly includes the positions of the walls of the room and the positions of obstacles. Moreover, it is also possible to use only the information detected by the LIDAR 6 when creating the map information.

In this embodiment, the server 400 or the communication terminal 300 side creates a map based on the information created by the map information creating section 113 . The user can check the map of the room to be cleaned by the cleaner 100 by displaying the map on the display unit 305 of the communication terminal 300 such as a smartphone. In addition, the following settings can be made by the user's operation.

For example, setting a route for cleaning by the cleaner 100, setting an area for which the cleaner 100 is prohibited from entering or cleaning, setting an area for cleaning by the cleaner 100, setting a date and time for cleaning, etc.

In this embodiment, the information indicating the current location of the autonomously running vacuum cleaner calculated by the position information calculation unit 112 and the map information created by the map information creation unit 113 are included in a frame described later, It is transmitted to the communication terminal 300 or the like using the communication unit 101 .

FIG. 9 is a block diagram of server 400 .

In FIG. 9, a server control unit 401 is composed of a microcomputer such as a CPU (Central Processing Unit), and controls each circuit.

The server communication unit 402 connects to the communication network N using a communication protocol such as TCP/IP (Transmission Control Protocol/Internet Protocol). The server storage unit 403 stores various data transmitted and received by the server communication unit 402 .

FIG. 10 is a block diagram of communication terminal 300. As shown in FIG.

The terminal control unit 301 is composed of a microcomputer such as a CPU (Central Processing Unit), and controls each circuit. The terminal control section 301 has a map creation section 302 . A terminal communication unit 303 establishes a wireless connection with a base station.

The short-range wireless unit 304 can be wirelessly connected to the vacuum cleaner 100 or the like, and has communication functions such as Wi-Fi (registered trademark) and Bluetooth (registered trademark). If the cleaner 100 also has a short-range wireless unit, it is possible to directly connect to the cleaner 100 using the short-range wireless unit 304 .

The display unit 305 is, for example, a liquid crystal display device having a touch panel function. The input unit 306 is, for example, an electrostatic touch panel mounted on the display unit 305 . The terminal storage unit 307 is composed of, for example, a non-volatile memory such as a flash memory, and stores control programs executed by the terminal control unit 301, various parameters, map information, maps (maps displayed on the display unit 305), and the like.

FIG. 11 is a sequence diagram in the cleaner system of Example 1. FIG. In the method shown in FIG. 11, the map information from cleaner 100 is sequentially transmitted to server 400 and stored in the storage section of server 400 . After that, when the communication terminal 300 requests the server 400 for map information, the server 400 transmits the map information to the communication terminal 300, and the communication terminal 300 creates and displays a map based on the received map information. be. Note that the router 200 wirelessly connected to the vacuum cleaner 100 is omitted in FIG.

In the method of FIG. 11, the map information from the vacuum cleaner 100 is temporarily stored in the server 400, the communication terminal 300 receives the map information stored in the server 400, and creates a map. Therefore, the user of the communication terminal 300 can see the map when the cleaner 100 completes traveling and the map information is collected.

In FIG. 11, when cleaner 100 starts operating, cleaner 100 notifies server 400 that it is operating. In this embodiment, each time the state of the cleaner 100 changes, the cleaner 100 notifies the server 400 of the state. The state of the vacuum cleaner 100 includes, for example, start of cleaning, end of cleaning, operating state, and error such as becoming stuck.

The state notification (driving) shown in FIG. 11 includes, for example, the case of creating map information of a room, or the case of performing a cleaning operation after creating map information of a room.

Vacuum cleaner 100 creates a frame every predetermined time (for example, every second). The frame includes information about obstacles such as walls and floors, information about the trajectory of cleaner 100, and information about the positions of obstacles including walls and the like.

Specifically, the position information calculation unit 112 of the cleaner 100 calculates information indicating the location of the autonomously running cleaner, information about the trajectory of the cleaner 100, and map information creation unit 113. The created map information etc. are included.

Also, the frames are numbered. The first frame transmitted from cleaner 100 to server 400 after cleaner 100 starts operating is frame 0, and each time a frame is sent from cleaner 100 every second, frame 1, frame 2, and so on are transmitted. Frame 3 and the number increment.

When frame 0 is created on the cleaner 100 side, the cleaner 100 transmits the frame 0 to the server 400 . Subsequently, when frame 1 is created on the cleaner 100 side, frame 1 is transmitted from cleaner 100 to server 400 , and when frame 1 is received by server communication unit 402 on server 400 side, it is stored in server storage unit 403 . do. In this way, frame data is transmitted from cleaner 100 to server 400 every second in order from frame 0 .

When the operation of cleaner 100 ends, information to that effect is transmitted from cleaner 100 to server 400 . Subsequently, the server 400 saves map information from the plurality of frame data stored in the server storage unit 403 .

When an operation to start specific application software (for example, an application for displaying a map of a room) is performed on the communication terminal 300 side, a transmission request for map information is sent to the server 400 . In response to this, server 400 transmits the map information stored in server storage unit 403 to communication terminal 300 .

Communication terminal 300 creates a map using the map information received from server 400 and displays it on display unit 305 . (For example, a map as shown in FIG. 18)
Regarding the sequence diagram shown in FIG. 11, when communication terminal 300 requests map information from server 400 while cleaner 100 is transmitting frames to server 400, the server 400 400 may transmit the map information stored in the server storage unit 403 to the communication terminal 300, or the server 400 may transmit a signal to the communication terminal 300 to the effect that the transmission of the map information is refused. Also good.

Further, the map information transmitted from cleaner 100 to server 400 may be stored in the storage unit of communication terminal 300 instead of being stored in server 400, or may be stored in the storage unit of server 400 and the storage unit of communication terminal 300. You may store in both parts.

FIG. 12 is another sequence diagram in the cleaner system of the first embodiment. In the method shown in FIG. 12 , the map information from cleaner 100 is sequentially transmitted to server 400 and stored in the storage unit of server 400 , and the map information is transmitted from server 400 to communication terminal 300 . The communication terminal 300 sequentially creates a map each time it receives map information (creates a map so as to sequentially update areas for which a map has not yet been created). Therefore, the user of communication terminal 300 can see in real time the position of cleaner 100 and how maps are being created one after another.

In FIG. 12, when cleaner 100 starts operating, cleaner 100 notifies server 400 that it is operating. In this embodiment, each time the state of the cleaner 100 changes, the cleaner 100 notifies the server 400 of the state. The state of the vacuum cleaner 100 includes, for example, start of cleaning, end of cleaning, operating state, and error such as becoming stuck.

The state notification (driving) shown in FIG. 12 includes, for example, the case of creating map information of the room, or the case of performing cleaning operation after creating the map information of the room.

Vacuum cleaner 100 creates a frame every predetermined time (for example, every second). The frame includes information about obstacles such as walls and floors, information about the trajectory of cleaner 100, and information about the positions of obstacles including walls and the like.

Specifically, information indicating where the cleaner 100 was located, information about the trajectory of the cleaner 100, calculated by the position information calculator 112 of the cleaner 100, and the map created by the map information creator 113. Information, etc. are included.

Also, the frames are numbered. The first frame transmitted from cleaner 100 to server 400 after cleaner 100 starts operating is frame 0, and each time a frame is sent from cleaner 100 every second, frame 1, frame 2, and so on are transmitted. Frame 3 and the number increment.

When frame 0 is created on the cleaner 100 side, frame 0 is transmitted from cleaner 100 to server 400, and when frame 0 is received by server communication unit 402 on server 400 side, it is stored in server storage unit 403, and the server Frame 0 is transmitted from communication unit 402 to communication terminal 300 . Communication terminal 300 receives frame 0 and stores it in terminal storage section 307 . In the example of FIG. 12, it is assumed that the communication terminal 300 is ready to start the application and display the map before the frame 0 is received. However, when executing the sequence diagram of FIG. 12, the communication terminal 300 can receive frames even if the application is not running.

Subsequently, when frame 1 is created on the cleaner 100 side, frame 1 is transmitted from cleaner 100 to server 400 , and when frame 1 is received by server communication unit 402 on server 400 side, it is stored in server storage unit 403 . Then, frame 1 is transmitted from server communication section 402 to communication terminal 300 . Communication terminal 300 receives frame 1 and stores it in terminal storage section 307 .

In this way, frame data is transmitted from cleaner 100 to server 400 every second in order from frame 0 .

Each time a frame is received, communication terminal 300 creates a map from the map information included in the frame received by map creating section 302, and display section 305 displays the created map. In this way, maps are created or updated one after another.

When the operation of cleaner 100 ends, information to that effect is transmitted from cleaner 100 to server 400 .

In this manner, by operating according to the sequence diagram shown in FIG. 11 or the sequence diagram shown in FIG. 12, terminal control section 301 of communication terminal 300 can cause display section 305 to display a map.
(Example 2)
Next, Example 2 will be described. Since the system configuration, the configuration of the vacuum cleaner 100, and the like are the same as those in the first embodiment, the description thereof is omitted.

In the second embodiment, when the map creation unit 302 of the communication terminal 300 creates a map based on the information from the map information creation unit 113 of the vacuum cleaner 100 and displays the map on the display unit 305, LIDAR 6 is generated outside the room. Information detected by such as is not displayed on the map.

FIG. 13 shows an example in which a map is created on the communication terminal 300 side using the detection results of the LIDAR 6 of the vacuum cleaner 100, the ultrasonic sensor 10, and the infrared sensor 11. FIG. The walls of the room can be roughly created using the ultrasonic sensor 10 or the like, but by adding the information of the LIDAR 6, it is possible to create a more accurate map. However, since the light from the LIDAR 6 is transmitted through glass or the like, a portion protruding from the wall is displayed as if water were flooded (two circled places in FIG. 13). In other words, if the reflected light from the outside of the room is detected by the light transmitted through the glass, and such information is used as it is to create a map, the information detected outside the room will also be displayed on the map. end up

In this embodiment, when the map is displayed, the portion protruding from the glass or the like according to the measurement result of the LIDAR 6 is not displayed on the map. The display result is shown in FIG. By displaying in this way, the user can comfortably use the map without wondering what the part protruding from the map room is.

13 and 14 show the results of actual experiments, showing an example of displaying a map. In order to make the explanation easier to understand, the simplified drawings of FIGS. 15 and 16 will be used.

FIG. 15 is a simplified example of a map created on the communication terminal 300 side using the detection results of the LIDAR 6 of the cleaner 100, the ultrasonic sensor 10, and the infrared sensor 11. FIG. The walls of the room can be roughly created using the ultrasonic sensor 10 or the like, but by adding the information of the LIDAR 6, it is possible to create a more accurate map. However, since the light from the LIDAR 6 is transmitted through glass or the like, a portion protruding from the wall (extra information in FIG. 15) is displayed as if water were flooded. In other words, if the reflected light from the outside of the room is detected by the light transmitted through the glass, and such information is used as it is to create a map, the information detected outside the room will also be displayed on the map. end up

In this embodiment, when the map is displayed, the portion protruding from the glass or the like according to the measurement result of the LIDAR 6 is not displayed on the map. FIG. 16 is a simplified representation of the display result. By displaying in this way, the user can comfortably use the map without wondering what the part protruding from the map room is.

It should be noted that the information protruding from the map of the room is not limited to the information detected by the LIDAR6. The light from the infrared sensor may pass through glass or the like and detect objects outside the room, and other obstacle detection methods may detect information outside the map of the room. In the second embodiment, such information that is out of the room map is not displayed on the map.

FIG. 17 is a flowchart showing the operation of communication terminal 300. As shown in FIG.

In step S1, when the terminal control unit 301 determines that there is an operation to start the map application from the input unit 306, the process proceeds to step S2.

In step S2, terminal control section 301 receives map information from cleaner 100 via server 400 by controlling terminal communication section 303, and stores the received map information in terminal storage section 307. , the map creating unit 302 starts creating a map.

In step S4, the map creation unit 302 extracts the part (for example, , extra information in FIG. 15). When determining that there is, the terminal control unit 301 advances the process to step S5.

As a more specific example, the map creation unit 302 creates information about the walls of the room based on information created by the ultrasonic sensor 10, and includes information such as obstacles detected by the LIDAR 6 outside the walls. When it is determined that the information is not reflected on the map.

In step S5, the map creation unit 302 prevents the portion detected by the irradiation light of the LIDAR 6 protruding from the wall (superfluous information in FIG. 15) from being displayed on the map, and the terminal control unit 301 displays the map on the display unit. 305 (eg, the display shown in FIG. 16).

In step S6, the map creation unit 302 creates a map, and the terminal control unit 301 displays the map on the display unit 305 (for example, the display shown in FIG. 16).

Incidentally, when the map is displayed on the display unit 305 in step S5, if there is still a portion protruding from the room due to reasons such as the processing capacity of the map creation unit 302, the user can operate the input unit 306 to , the protruding portion may be enclosed, traced, or otherwise deleted. Alternatively, based on the user's operation, corrections such as extending walls or arranging obstacles on the map may be performed. For example, when the obstacle detection accuracy of the vacuum cleaner 100 is low, such a function is particularly user-friendly.

In addition, by storing the information of the area automatically deleted by the map creation unit 302 in step S5 or the area deleted by the user, and learning the information, it is possible to delete the protruding area more reliably. be. In that case, the server 400 may be provided with the function of the map creation section, and the result thereof may be sent to the communication terminal 300 .

Furthermore, when the map is displayed on the display unit 305 in step S6, the map may be corrected by the user operating the input unit 306. FIG. Here, correction means processing such as erasing walls and obstacles, extending and moving walls, and arranging obstacles.

Note that this process may be performed in real time while the cleaner 100 is moving and the map is being created on the communication terminal 300 side, or may be performed according to the operation of the communication terminal 300 . In other words, a map is created in real time while the cleaner 100 is moving, and the map is displayed on the display unit 305 of the communication terminal 300, or after the cleaner 100 moves or acquires the map information, the communication terminal A map may be displayed on the display unit 305 of 300 .

The map displayed in the second embodiment may be configured to divide the map into a plurality of grids or cells, and display the amount of dust in each cell so that the amount of dust can be recognized by color shading or color difference. In this case, the cleaner is equipped with a dust sensor for detecting dust, and information on the amount of dust detected by the dust sensor is reflected on the map.

13 to 16 and the amount of dust described above can be switched by using a different color or the like, or two screens can be displayed side by side. In particular, by displaying two screens side by side, the user can compare the two screens.

In the first and second embodiments and the following embodiments, the communication terminal may receive frames from the server via a public line and a base station, or may receive frames from the server via a router.
(Example 3)
Next, Example 3 will be described. Since the system configuration, the configuration of the vacuum cleaner 100, and the like are the same as those of the first embodiment, the description thereof is omitted.

In the third embodiment, if an error occurs while the cleaner is running (for example, the battery is dead, the dust container is full, or the cleaner is unable to run), the error is displayed on the display unit 305 of the communication terminal 300. A corresponding error indication (eg, text such as E101) is displayed (eg, the indication shown in FIG. 18).

Furthermore, in the third embodiment, after the error display is displayed on the display unit 305 of the communication terminal 300, guidance indicating what the specific content of the error information is (what the error information currently displayed is) is provided. The display unit 305 displays a text or the like that more specifically explains what the content is, for example, "Battery is dead." (for example, the display shown in FIG. 19).

Here, the error display may be numbers, English, Japanese, abbreviations of some words, icons, or the like. If the error content is displayed as text (for example, it is in an undriveable state), the number of characters to be displayed will increase, so if a vacuum cleaner icon is displayed on the map, the text and the vacuum cleaner icon may overlap. and may obscure where the vacuum cleaner is. Therefore, it is preferable that the displayed error display be short.

Further, it is preferable that the battery of the vacuum cleaner is monitored, and when the remaining amount of the battery becomes equal to or less than a predetermined amount, the vacuum cleaner 100 notifies the communication terminal 300 of the fact. By adopting such a configuration, it is possible to avoid a situation where the remaining battery level suddenly becomes zero and communication itself becomes impossible.

The system operation of Example 3 will be described using the sequence diagram of FIG. 20 .

In the cleaner 100, when the controller 110 of the cleaner 100 determines that an error has occurred during travel (for example, the battery is dead, the dust container is full, the travel is disabled, etc.), an error occurs. The communication unit 101 is controlled so that information about the error (for example, the type of error, the location of the error, the time of occurrence, etc.) is included in the frame and transmitted to the server 400 (step S301). Information about an error that has occurred is hereinafter referred to as error information in some places.

In the server 400, when the server communication unit 402 receives the frame transmitted from the vacuum cleaner, the server control unit 401 stores the information contained in the received frame in the server storage unit 403, and the server communication unit 402 to transmit the received frame to the communication terminal 300 (step S302).

In communication terminal 300, when terminal control section 301 determines that the frame received by terminal communication section 303 contains error information, it displays text data indicating that an error has occurred on display section 305 (step S303). ).

Note that the user may be notified of the occurrence of an error by vibrating a vibrator built into the communication terminal 300 or by generating a notification sound from a speaker.

In communication terminal 300, terminal control section 301 displays an error together with a map on display section 305. FIG. For example, as shown in FIG. 18, a text indicating the type of error (eg, E101) is displayed on the map (step S304).

By viewing this display, the user can know that an error has occurred during cleaning by the robot cleaner. After that, a detailed explanation (guidance) regarding the error can be displayed on the display unit 305 .

Next, the operation of communication terminal 300 will be described in more detail with reference to the flow chart of FIG.

First, while the communication terminal 300 is in a standby state, in step S311, the terminal control unit 301 receives a frame from the terminal communication unit 303, and receives information about an error that has occurred in the frame (for example, error type, error location, time of occurrence, etc.). etc.) is included, text data indicating that an error has occurred (eg, Vacuum Cleaner Error) is displayed on the display unit 305 in step S312. On the other hand, if terminal communication section 303 does not receive a frame containing error information, terminal control section 301 advances the process to step S317.

In step S312, the user may be notified that an error has occurred by vibrating a vibrator built in the communication terminal 300 or by generating an alarm sound from a speaker. Alternatively, instead of text data, an icon or the like indicating that an error has occurred may be displayed on the display unit 305 .

In step S313, when terminal control section 301 determines that there is an operation to start an application for displaying a map from input section 306, the process proceeds to step S314, otherwise communication terminal 300 maintains the standby state.

In step S314, the map creation unit 302 creates a map from the map information stored in the terminal storage unit 307, and the terminal control unit 301 displays the error display on the display unit 305 along with the created map at the location where the error occurred. indicate. For example, as shown in FIG. 18, an error display (for example, E101) is displayed on the map where the error occurred.

By viewing this display, the user can know where an error has occurred during cleaning by the robot cleaner.

In step S315, if the terminal control unit 301 determines that there is an operation from the input unit 306 to display guidance (explanation of operations related to the currently displayed screen or icon), the process proceeds to step S316. If not, it stays on standby.

In step S<b>316 , the terminal control unit 301 causes the display unit 305 to display guidance (a text specifically explaining what the currently displayed error is, for example, “The battery has run out. ”) is displayed. At this time, a method for coping with the error may be displayed. Further, this guidance may be stored in the terminal storage unit 307 in advance, or may be stored in the server storage unit 403 of the server 400 and received from the server 400 .

In step S317, if the terminal control unit 301 determines that the map is being displayed on the display unit 305, the process proceeds to step S318; otherwise, the standby state is maintained and the process returns to step S311. Note that the map described in step S317 is a state in which the error display displayed in step S314 is not displayed. In step S317, the terminal control unit 301 determines whether an application for displaying a map has already been activated and the map is displayed on the display unit 305 before receiving the frame containing the error information in step S311. .

In step S318, if the terminal control unit 301 determines that there is an operation from the input unit 306 to display guidance (explanation of operation related to the currently displayed screen or icon), the process proceeds to step S319. If not, it stays on standby.

In step S<b>319 , the terminal control unit 301 displays guidance on the display unit 305 (operation instructions related to the currently displayed screen or icon). FIG. 19 is an example of a display screen showing the guidance.

As described above, in the third embodiment, when an error occurs in the cleaner 100 during cleaning, the error is notified to the display unit 305 of the communication terminal 300, and when the user causes the map to be displayed, the map is displayed. displays the text corresponding to the error. In addition, when the user operates the guidance display in this state, the guidance related to the displayed text is displayed.

Also, if there is an operation to display guidance while communication terminal 300 is on standby, guidance such as an explanation related to the currently displayed screen is displayed (for example, the display form shown in FIG. 22).

In the third embodiment, the user of the communication terminal 300 can know that an error has occurred while the vacuum cleaner 100 is cleaning, and the user can specify what kind of error has occurred. It is possible to know whether it is information. Furthermore, it is possible to know how to deal with errors.

The map and text may be displayed in real time when an error occurs in cleaner 100, or may be displayed after cleaning by cleaner 100 is completed. Furthermore, the configuration may be such that maps and texts can be enlarged and displayed. By adopting such a configuration, it is possible to prevent the text from being too small to read as much as possible, and furthermore, the user can confirm in more detail where the error occurred.

Map information, error information, and the like may be stored in the server storage unit 403 of the server 400 or may be stored in the terminal storage unit 307 of the communication terminal 300 .

Further, the map displayed in the third embodiment may be configured to divide the map into a plurality of grids or cells, and display the amount of dust in each cell so that the amount of dust can be recognized by the shade of color or the difference in color. In this case, the vacuum cleaner is equipped with a dust sensor for detecting dust, and information on the amount of dust detected by the dust sensor is reflected on the map.

Furthermore, it is possible to switch between the screen displaying the text corresponding to the error and the screen displaying the amount of dust described above by using a different color or the like, or the two screens may be displayed side by side. In particular, by displaying two screens side by side, the user can compare the two screens.

Examples of guidance include "Could not find charging station", "Tire has left floor. Check", "Battery is dead", "Dust container is full". ”, “Cannot run”, and the like.

In the case of notifying that the dust collection container is full, communication terminal 300 may be notified that the amount of dust in the dust collection container is equal to or greater than a predetermined amount while cleaner 100 is being charged on the charging stand. good. If the dust container becomes full of dust while the vacuum cleaner 100 is cleaning, the dust cannot be collected even if the cleaner 100 is forced to run. This is because it is better for the cleaner 100 to wait on the charging base until the dust in the dust collection container is thrown away.

In the third embodiment, when an error occurs in the cleaner 100, the display unit 305 of the communication terminal 300 notifies that the error has occurred. The error display on the display unit 305 may be automatically canceled, or the display unit 305 of the communication terminal 300 may indicate that the error has been canceled. Also, the history of error occurrence and error cancellation may be stored in one or a plurality of storage units of cleaner 100, server 400, and communication terminal 300 so that the history can be viewed later on display unit 305 of communication terminal 300. FIG.
(Example 4)
Next, Example 4 will be described. Since the system configuration, the configuration of the vacuum cleaner 100, and the like are the same as those of the first embodiment, the description thereof is omitted.

In the fourth embodiment, the user can check the trajectory of the cleaner 100 after cleaning is completed. More specifically, according to the operation of the user of communication terminal 300, a map is displayed on display unit 305 of communication terminal 300, and the trajectory of cleaner 100 is displayed as an animation. FIG. 23 shows a display example of the display unit 305 in the fourth embodiment.

In FIG. 23, the display unit 305 of the communication terminal 300 displays a map of the room, icons of the charging stand and the cleaner 100, and also displays the trajectory of the cleaner 100 moved from the charging stand. Furthermore, operation icons are displayed at the bottom of the screen, and when the user touches the center icon, the cleaner 100 starts moving from the charging base. It is a so-called play button. When the user touches the icon on the right, the cleaner 100 moves in fast forward. This is a so-called fast-forward button. When the user touches the left icon, the cleaner 100 moves in reverse. This is a so-called reverse feed button.

As described above, in the fourth embodiment, the movement of the cleaner 100 according to the user's operation is displayed like an animation, so that the user can confirm where the cleaner 100 has moved. . Also, an icon for stopping the cleaner may be displayed on the display unit.

Next, the operation of communication terminal 300 will be described with reference to FIG. FIG. 24 is a flowchart showing the operation of communication terminal 300. As shown in FIG.

First, when the terminal control unit 301 determines that there is an application activation operation from the input unit 306 in the standby state, the process proceeds to step S412 (step S411).

Subsequently, the terminal control unit 301 displays a map and icons as shown in FIG. 23 on the display unit 305 (step S412).

In step S413, when the terminal control unit 301 determines that the playback icon has been operated from the input unit 306, in step 414, the display unit 305 is controlled to display an animation in which the cleaner 100 moves from the charging stand. and returns the process to step S413.

In step S415, when the terminal control unit 301 determines that the fast-forward operation icon has been operated from the input unit 306, in step 416, the display unit 305 is controlled to display an animation in which the cleaner 100 moves in fast forward. and returns the process to step S413.

In step S417, when the terminal control unit 301 determines that the icon for the reverse operation has been operated from the input unit 306, in step S418, the display unit 305 is caused to display an animation in which the vacuum cleaner 100 moves in reverse. is controlled, and the process returns to step S413.

In step S419, when the terminal control unit determines that there is an operation to terminate the application from the input unit 306, the application is terminated and the terminal enters a standby state. On the other hand, if it is determined that there is no operation, the process returns to step S413.

Needless to say, in the processing from steps S411 to S419, other control such as notification of an incoming call is performed when there is an incoming call like a normal portable terminal, but the explanation is omitted here.

In the fourth embodiment, information about the trajectory of cleaner 100 may be stored in server storage unit 403 of server 400 or may be stored in terminal storage unit 307 of communication terminal 300 . In order to display the animation after cleaning is completed, it is necessary to store all frames including position information of cleaner 100 transmitted from cleaner 100 in server storage unit 403 or terminal storage unit 307. However, in order to display the trajectory of the movement of the cleaner 100 by animation before the cleaner 100 completes cleaning, for the time being, the cleaner 100 stored in the server storage unit 403 or the terminal storage unit 307 is displayed. An animation may be displayed before the cleaning is completed by reading the position information of the .

In this case, it is possible to display an animation in real time while the cleaner 100 is cleaning. Moreover, in this case, it is preferable to perform the operation of the sequence diagram shown in FIG.

As described above, in the fourth embodiment, the movement of the cleaner 100 according to the user's operation is displayed like an animation. be able to. In addition, it is possible to perform a reverse feed operation to revisit an overlooked part, or a fast feed operation to quickly reproduce the animation.

Further, the map displayed in the fourth embodiment may be configured to divide the map into a plurality of grids or cells, and display the amount of dust in each cell so that the amount of dust can be recognized by the shade of color or the difference in color. In this case, the vacuum cleaner 100 is equipped with a dust sensor for detecting dust, and information on the amount of dust detected by the dust sensor is reflected on the map.

Further, the screen shown in FIG. 23 and the screen for displaying the amount of dust described above may be switched by using a different color or the like, or two screens may be displayed side by side. In particular, by displaying two screens side by side, the user can compare the two screens.
(Example 5)
Next, Example 5 will be described. Since the system configuration, the configuration of the vacuum cleaner 100, and the like are the same as those of the first embodiment, the description thereof is omitted.

In Example 5, the vacuum cleaner 100 has a silent mode. When this silent mode setting is turned on, when the vacuum cleaner 100 performs cleaning, the power of the suction motor 104 is lowered, the rotation motor power of the brush is lowered, the movement speed is lowered, and an electronic sound ( This is to suppress the output of the notification sound). Either one of them may be selectively executed, or all of them may be executed.

By running the cleaner 100 in the silent mode, it is possible to avoid as much as possible the situation in which the user is awakened by the sound of the cleaner 100 while he is asleep, or is unable to concentrate due to the sound of the cleaner 100 while studying. can do.

In addition, in the fifth embodiment, the user can set areas to be cleaned and areas to be prohibited from cleaning. FIG. 25 shows an example of a screen displayed on the display unit 305. As shown in FIG. As shown in FIG. 25, the display unit 305 displays a map of the room and areas A and B. FIG. Area A is, for example, an area to be cleaned by the cleaner 100, and area B is an area to which the cleaner 100 is prohibited from moving. The user can set an area to be cleaned or an area to be prohibited from moving by tracing or enclosing the display unit with a finger.

Furthermore, in Example 5, it is possible to set a region for running in the silent mode. The setting can be made in the same manner as when setting the area to be cleaned by the cleaner 100. For example, areas A and B shown in FIG. 24 can be set as areas for running in the silent mode.

Alternatively, it may be possible to set for each room. For example, the bedroom and study room can be set as areas where the cleaner 100 runs in silent mode, the kitchen can be set as an area where the cleaner 100 cleans normally, and the toilet can be set as an area where the cleaner 100 is prohibited from moving. It is possible.

Information about the silent mode set on the communication terminal 300 side is included in a frame and transmitted from the communication terminal 300 to the cleaner 100 via the server 400, so that it can be remotely set from the communication terminal 300 to the cleaner 100. can. Areas to be cleaned, areas prohibited from moving, and areas to be moved in silent mode can be set in the same manner.
(Example 6)
Next, Example 6 will be described. Since the system configuration, the configuration of the vacuum cleaner 100, etc. are basically the same as those of the first embodiment, the description thereof will be omitted. A different point from the first embodiment is that the cleaner 100 has a dust sensor for detecting dust.

In the sixth embodiment, the suction force, running speed, and operation of the suction motor are changed according to the amount of dust detected by the dust sensor (for example, five levels, 5 being the most and 1 being the least). FIG. 26 shows an example of such a table. When the amount of dust is 5 or 4, the suction force is strong, when the amount of dust is 3 or 2 the suction force is medium, and when the amount of dust is 1 the suction force is weak.

Further, when the amount of dust is 5, 4 and 3, the traveling speed is slow, and when the amount of dust is 2 and 1 the traveling speed is normal. Furthermore, when the amount of dust is 5, the vacuum cleaner 100 reciprocates back and forth, and when the amount of dust is 4 or less, it performs a running motion.

In this manner, the suction force of the suction motor is increased and the running speed is slowed down in places where the amount of dust is large, and conversely, the suction force of the suction motor is reduced below the normal level and the running speed is made normal in places where the amount of dust is small. to

By adopting such a configuration, dust can be reliably cleaned in a place with a large amount of dust. On the other hand, wasteful power consumption can be avoided in places with little dust.
(other embodiments possible for all examples)
In this embodiment, the display unit 305 of the communication terminal 300 displays a map. An embodiment in which a map is displayed on a display unit of a personal computer or the like connected to the .

When the communication terminal 300 receives a frame from the server 400, the communication terminal 300 may receive the frame from a base station connected to a public line network, or may receive the frame via a home router or the like connected wirelessly. good.

The map creation function is installed in the communication terminal 300, but the map creation function is installed in the cleaner 100 or the server 400, and the communication terminal 300 receives the map from the cleaner 100 via the server 400 or the server 400. may be configured to be displayed.

The total amount of dust detected by the dust sensor in one cleaning may be displayed in a bar graph, and a plurality of such bar graphs may be displayed. Further, the total amount of dust detected by the dust sensor in multiple times of cleaning may be displayed in a bar graph. Furthermore, when the total amount of dust detected by the dust sensor in one cleaning is displayed in a bar graph, and a plurality of such bar graphs are displayed, when the user selects a bar graph, a map of the room corresponding to the selected bar graph is displayed. may be displayed. In this case, the travel locus of the cleaner or the amount of dust in each cell may be displayed by dividing the room into a plurality of cells and displaying the amount of dust in each cell.

The current running state of the cleaner may be displayed on the display unit. For example, the status of items shown in FIG. 26, such as the currently detected amount of dust, running speed, suction force, and operation, may be displayed on the display unit. In this case, it may be displayed as text, or may be displayed as an animation of a vacuum cleaner, an icon, or the like.

A camera may be installed in the vacuum cleaner, a person may be recognized from an image captured by the camera, and when an intruder is detected, communication terminal 300 may be notified to that effect.

The display device of the present disclosure, a system having an autonomously traveling vacuum cleaner and a display device, a display method, and a program are widely applied not only for home use but also for offices, factories, restaurants, etc., or public facilities such as airports and hospitals. can.

1 housing 2 upper body 3 lower body 4 bumper 5 cover 6 LIDAR
7 exhaust port 8 side brush 9 rear wheel 10 ultrasonic sensor 11 infrared sensor 12 gyro sensor 18 battery 19 right drive wheel 20 left drive wheel 21 wheel support member 22 suction port 23 main brush 24 step sensor 25 recess 100 vacuum cleaner 101 communication unit 102 storage unit 103 rotation detection unit 104 suction motor 105 sensor group 110 control unit 111 movement control unit 112 position information calculation unit 113 map information creation unit 200 router 300 communication terminal 302 map creation unit 303 terminal communication unit 304 short-range wireless unit 305 display Unit 306 Input unit 307 Terminal storage unit 400 Server 401 Server control unit 402 Server communication unit 403 Server storage unit

Claims (5)

A display device capable of displaying at least obstacles including walls detected by the autonomous traveling vacuum cleaner,
When displaying a map on the display device, at least one of an obstacle, an amount of garbage, and a travel route of the autonomous travel cleaner can be displayed in an inner region surrounded by the walls. In addition, a display device for displaying a map so as not to reflect information on obstacles detected by the autonomously traveling cleaner in an outer area, which is an area outside the wall. It is a system that has an autonomous running vacuum cleaner and a display device,
The autonomous traveling cleaner has a first detection unit that detects obstacles, and a second detection unit that detects obstacles by a detection method different from that of the second detection unit,
When displaying a map, the display device detects obstacles detected by the first detection unit and obstacles detected by the second detection unit in an inner area surrounded by walls. A system comprising an autonomously traveling vacuum cleaner and a display device, wherein a map is displayed in a displayable outer area outside the wall so as not to reflect the detection result of the second detection unit. 3. The system comprising an autonomous mobile cleaner and a display device according to claim 2, wherein said first detection unit is a detection unit that detects obstacles using ultrasonic waves, and said second detection unit is a LIDAR. a step in which the sensor of the autonomous cleaner detects the obstacle and the position of the obstacle;
a map information creation unit creating information on the obstacles detected by the sensor and the positions of the obstacles;
If the information created by the map information creating unit includes information about obstacles in an outer area outside the wall, the map creating unit creates a map so that the information is not reflected on the map. ,
and a step of causing a display unit to display the map created by the map creation unit. a step in which the sensor of the autonomous cleaner detects the obstacle and the position of the obstacle;
a map information creation unit creating information on the obstacles detected by the sensor and the positions of the obstacles;
If the information created by the map information creating unit includes information about obstacles in an outer area outside the wall, the map creating unit creates a map so that the information is not reflected on the map. ,
and a step of causing a display unit to display the map created by the map creation unit.

Images