JP7742531B2 - Display device and system - Google Patents

Description

This disclosure relates to display devices and systems.

Patent document 1 describes a vacuum cleaner that uses an obstacle sensor to detect the surrounding environment and creates 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 been commercialized, expanding the obstacle detection range. However, if all obstacles detected by the vacuum cleaner are displayed, such as on the map described in Patent Document 1, obstacles located outside the room will also be displayed, and unnecessary information for the user will be displayed on the display.

The present invention is a display device that can display on a map obstacles detected by the LIDAR while an autonomous vacuum cleaner is traveling, the display device having a LIDAR mounted on a housing and a bumper that detects collisions with obstacles. When the display device displays the map, it can display at least one of the obstacles, the amount of dust, and the autonomous vacuum cleaner's travel route in the inner area, which is the area surrounded by walls, and displays the map in an outer area, which is the area outside the walls, without reflecting information detected by the LIDAR.

The present invention is a system having an autonomous vacuum cleaner and a display device. The autonomous vacuum cleaner has a LIDAR mounted on the housing and a bumper that detects collisions with obstacles. The display device is capable of displaying on a map obstacles detected by the LIDAR while the autonomous vacuum cleaner is traveling. When displaying the map, the display device is capable of displaying at least one of obstacles, the amount of dirt, and the traveling route of the autonomous vacuum cleaner in an inner area that is an area surrounded by walls, and displays the map in an outer area that is an area outside the walls in a way that does not reflect information detected by the LIDAR.

This invention makes it possible to display maps while eliminating as much information as possible that is unnecessary for the user.

1 is a diagram showing a vacuum cleaner system according to an embodiment of the present invention; 1 is a perspective view of a vacuum cleaner 100 according to an embodiment of the present invention; 1 is a plan view of a vacuum cleaner 100 according to an embodiment of the present invention; Left side view of the vacuum cleaner 100 of this embodiment Front view of the vacuum cleaner 100 of this embodiment 1 is a bottom view of the vacuum cleaner 100 of the present embodiment. 1 is a perspective view of a vacuum cleaner 100 according to an embodiment of the present invention; Block diagram of a vacuum cleaner 100 according to a first embodiment Block diagram of a server according to the first embodiment Block diagram of a communication terminal according to the first embodiment. Sequence diagram of the vacuum cleaner system according to the first embodiment Sequence diagram of the vacuum cleaner system according to the first embodiment FIG. 10 shows a display example of the display unit 305 in the second embodiment. FIG. 10 shows a display example of the display unit 305 in the second embodiment. FIG. 10 shows a display example of the display unit 305 in the second embodiment. FIG. 10 shows a display example of the display unit 305 in the second embodiment. FIG. 10 is a flowchart showing the operation of the communication terminal 300 according to the second embodiment. FIG. 10 shows a display example of the display unit 305 in the third embodiment. FIG. 10 shows a display example of the display unit 305 in the third embodiment. Sequence diagram of the vacuum cleaner system according to the third embodiment FIG. 10 is a flowchart showing the operation of the communication terminal 300 according to the third embodiment. FIG. 10 shows a display example of the display unit 305 in the third embodiment. FIG. 10 shows a display example of the display unit 305 in the fourth embodiment. FIG. 10 is a flowchart showing the operation of the communication terminal 300 according to the fourth embodiment. FIG. 13 shows a display example of the display unit 305 in the fifth embodiment. FIG. 13 is a diagram showing the operational transition of the vacuum cleaner 100 according to the sixth embodiment.

The following describes the embodiments in detail with reference to the drawings.

The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

Example 1
FIG. 1 is a diagram showing a vacuum cleaner system according to a first embodiment.

In FIG. 1, the autonomous vacuum cleaner (vacuum cleaner 100) can wirelessly connect to router 200 via short-range wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark).

The router 200 can wirelessly connect to the vacuum cleaner 100 using short-range wireless communication such as Bluetooth (registered trademark) or Wi-Fi (registered trademark). Furthermore, the router 200 can also connect to the network N using, for example, the TCP/IP (Transmission Control Protocol/Internet Protocol) protocol.

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

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

The vacuum cleaner 100 has not only a function for short-distance wireless connection but also a function for connecting to a wireless network using, for example, WiMAX (Worldwide Interoperability for Microwave).
The wireless communication device may have a function for performing long-distance wireless communication such as IEEE 802.11a/b/g/n/acceptance (registered trademark), or may have a function for connecting to a communication network N via a cable.

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

In Figure 2, the housing 1 of the vacuum cleaner 100 has an upper body 2 and a lower body 3, and a bumper 4 is located in front of the housing 1. One or more collision detection switches (not shown) are located on the inside of this 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 turns on, detecting that the bumper 4 has collided with the obstacle.

A cover 5 is located on the top surface of the housing 1 and behind the bumper 4. A dust collection container (not shown) is located inside this cover 5, and when the user presses down on the cover 5, the front or rear of the cover 5 comes off, allowing the dust collection container to be removed from the housing 1.

A LIDAR (Light Detection and Ranging) 6 is located behind the cover 5. This LIDAR 6 can detect obstacles and other obstacles around the housing 1 by rotating the light-emitting and light-receiving parts around the center of the LIDAR 6. It is also possible to create a map of the room using this LIDAR 6.

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

In Figure 3, a bumper 4, which is roughly U-shaped when viewed from above, is located in front of the housing 1, and an upper body 2 is located behind the housing 1. A cover 5 is located between the bumper 4 and the upper body 2, and a LIDAR 6 is located behind the cover 5.

The bumper 4 is biased toward the front of the housing 1 by a spring (not shown) located inside, and there is a gap between the bumper 4 and the upper body 2. When the bumper 4 collides with an obstacle, the bumper 4 can move rearward by the distance of this gap against the force of the spring.

Figure 4 is a left side view of the vacuum cleaner 100, which is the device of this embodiment. In Figure 4, the front, rear, top, and bottom of the vacuum cleaner 100 are indicated by arrows, respectively.

A bumper 4 is located in front of the housing 1, and an upper body 2 is located behind it. Exhaust ports 7 are formed on the left and right side surfaces of the upper body 2, and a LIDAR 6 is located on the rear upper surface of the upper body 2. Side brushes 8 are located in front of the lower body 3, and rear wheels 9 are located behind it.

Figure 5 is a front view of the vacuum cleaner 100, which is the device of this embodiment. In Figure 5, the top, bottom, left, and right sides of the vacuum cleaner 100 are indicated by arrows, respectively.

The front of the bumper 4 has two ultrasonic sensors 10 and two infrared sensors 11 each having a light-emitting element and a light-receiving element. Additionally, a side brush 8 is located in front of the lower body 3. The side brush 8 is located on both the front right and front left sides of the lower body 3, but it may also be located on either the front right or left side of the lower body 3.

FIG. 6 is a bottom view of the vacuum cleaner 100 according to the present embodiment.
The front, rear, left and right sides of the 0 are shown by arrows.

In Figure 6, rear wheels 9 are located behind the lower body 3, and batteries 18, which are secondary batteries such as lithium-ion batteries, are located in front of the rear wheels 9. Furthermore, right and left drive wheels 19 and 20 are located approximately in the center of the lower body 3, and wheel support members 21 are connected to the right and left drive wheels 19 and 20, respectively. These wheel support members 21 are movable in the vertical direction of the housing 1 around axis A. Wheel springs (not shown) are located between each of the two wheel support members 21 and the lower body 3, and these wheel springs urge the wheel support members 21 and the right and left drive wheels 19 and 20 toward the floor.

In Figure 6, a portion of the battery 18 is located between the right drive wheel 19 and the left drive wheel 20, but the battery 18 may also be located behind the right drive wheel 19 and the left drive wheel 20. However, in this embodiment, the battery 18 is located behind the housing 1, so that the center of gravity of the housing 1 is located behind the housing. For this reason, it is preferable that at least a portion of the battery 18 be located between the axes A of the two wheel support members 21.

In Figure 6, an intake port 22 for sucking in collected dust is formed forward of the battery 18 and forward of the right drive wheel 19 and left drive wheel 20, and a main brush 23 is rotatably supported inside this intake port 22.

Step sensors 24 are located on both the left and right sides of the suction port 22. These step sensors 24 have a light-emitting element and a light-receiving element and detect when the housing 1 approaches a step.

In Figure 6, the tip of the step sensor 24 is located on or approximately at the same position as the axis of the rotation shaft of the main brush 23. Alternatively, the tip of the step sensor 24 may be positioned rearward of the axis of the rotation shaft of the main brush 23.

The step sensor 24 may be positioned in a location other than that shown in Figure 6. For example, it may be positioned on the front side of the lower body 3.

There is a recess 25 in front of the step sensor 24, and the side brushes 8 are positioned with their axis approximately at the center of this recess 25. The side brushes 8 rotate toward the suction port 22. Therefore, in Figure 6, the left side brush 8 rotates clockwise, and the right side brush 8 rotates counterclockwise.

Figure 7 is a perspective view of the vacuum cleaner 100, which is the device of this embodiment, viewed from the front and bottom.

In Figure 7, recesses 25 in which side brushes 8 are disposed are formed on the left and right sides of the front of the lower body 3. The length of the side brushes 8 is such that they protrude beyond these recesses 25 toward the outside of the housing 1.

Figure 8 is a functional block diagram of the vacuum cleaner 100 of Example 1. Note that among the functional blocks of a typical autonomous vacuum cleaner, configurations that are not directly related to this example are omitted.

In FIG. 8, the communication unit 101 can wirelessly connect 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 made up of a non-volatile memory such as a flash memory, and stores the control program executed by the control unit 110, various parameters, and the like.

The suction motor 104 is a motor that generates suction air. The suction motor 104 is connected to the suction port 22 formed on the back surface of the vacuum cleaner 100, and the suction motor 104 sucks in outside air and dust through the suction port 22.

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

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

The sensor group 105 includes multiple types of sensors. The step sensor 24 is located on the back of the vacuum cleaner 100 and detects steps on the floor surface. This step sensor 24 is, for example, an infrared sensor that has 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, and is arranged on the front of the vacuum cleaner 100 to detect the presence or absence of obstacles around the vacuum cleaner 100, the distance to the obstacles, etc. Note that the infrared sensor 11 may be arranged not only on the front of the vacuum cleaner 100, but also on the right side, left side, rear, etc.

The ultrasonic sensors 10 have an output section that emits ultrasonic waves and an input section that detects reflected ultrasonic waves. Multiple ultrasonic sensors 10 are arranged on the front of the vacuum cleaner 100 to detect the presence or absence of obstacles around the vacuum cleaner 100 and the distance to those obstacles. Note that the ultrasonic sensors 10 may be arranged not only on the front of the vacuum cleaner 100, but also on the right side, left side, rear, etc.

The gyro sensor 12 is a sensor that detects the direction and speed of movement of the vacuum cleaner 100.

The LIDAR (Light Detection and Ranging) 6 has a light-emitting element, a light-receiving element, and a rotation mechanism and 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 by the user to start cleaning or according to a cleaning plan. For example, the movement control unit 111 starts cleaning operation when the set cleaning start time arrives. While the vacuum cleaner 100 is traveling, the movement control unit 111 rotates the main brush 23 and side brushes 8 to clean the floor surface, and drives the suction motor 104 to suck up dust.

The movement control unit 111 controls the right drive unit 44 and the left drive unit 45 to drive the right drive wheel 19 and the left drive wheel 20, thereby moving the vacuum cleaner 100. When cleaning begins, the movement control unit 111 causes the vacuum cleaner 100 to detach from the base station (charging base). The movement control unit 111 travels around the room according to a predetermined travel plan or randomly, for example, while referring to a map stored in the storage unit 102. When cleaning is completed, the movement control unit 111 causes the vacuum cleaner 100 to return to the base station (charging base), for example, while referring to a map stored in the storage unit 102.

When creating map information, the movement control unit 111 controls the right drive unit 44 and the left drive unit 45 to drive the right drive wheel 19 and the left drive wheel 20, thereby moving the vacuum cleaner 100. For example, map information can be created by having the vacuum cleaner 100 move in a zigzag pattern within a room or along the walls of the room.

The position information calculation unit 112 calculates information about the vehicle's own position from information detected by the LIDAR 6 and information detected by the rotation detection unit 103. Information detected by the rotation detection unit 103 includes, for example, information about the rotation angle and amount of movement of the drive wheels. In this embodiment, the position of the charging stand is used as the initial position, and the vehicle's own position is calculated from the holding position using information detected by the LIDAR 6 and information detected by the rotation detection unit 103. The vehicle's own position can be calculated, for example, using an odometry technique.

Note that the method for obtaining the self-position information by the position information calculation unit 112 is not limited to the above-mentioned method, and other methods are also possible. For example, information indicating the current location of the vacuum cleaner 100 can be calculated using information about obstacles detected by the infrared sensor 11 and ultrasonic sensor 10 (information about the presence or absence of obstacles and the distance to the obstacles, etc.), information about obstacles detected by the LIDAR 6 (information about the presence or absence of obstacles and the distance to the obstacles, etc.), and information about the rotation direction, speed, number of rotations, etc. of the drive wheels detected by the rotation detection unit 103.

In addition, the location information calculation unit 112 may also use information such as the traveling direction and speed of the vacuum cleaner 100 detected by the gyro sensor 12 to calculate information indicating the current location of the autonomous traveling vacuum cleaner.

The map information creation unit 113 creates map information including information about the room layout using, for example, information about obstacles detected by the infrared sensor 11 and ultrasonic sensor 10 (information about the presence or absence of obstacles and the distance to the obstacles, etc.) and information about obstacles detected by the LIDAR 6 (information about the presence or absence of obstacles and the distance to the obstacles, etc.). This map information mainly includes the positions of the room's walls and the positions of obstacles. It is also possible to use only the information detected by the LIDAR 6 when creating the map information.

In this embodiment, a map is created on the server 400 or communication terminal 300 side based on the information created by the map information creation unit 113. The user can check the map of the room to be cleaned by the vacuum 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 user operation.

For example, this includes setting the route that the vacuum cleaner 100 will clean, setting areas that the vacuum cleaner 100 is prohibited from entering or cleaning, setting the areas that the vacuum cleaner 100 will clean, and setting the date and time that cleaning will be performed.

In this embodiment, information indicating the current location of the autonomous vacuum cleaner calculated by the location information calculation unit 112 and map information created by the map information creation unit 113 are included in a frame, which will be described later, and transmitted to the communication terminal 300, etc., using the communication unit 101.

Figure 9 is a block diagram of server 400.

In Figure 9, the server control unit 401 consists of a microcomputer such as a CPU (Central Processing Unit) and controls each circuit.

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

Figure 10 is a block diagram of the communication terminal 300.

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

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

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

Figure 11 is a sequence diagram of the vacuum cleaner system of Example 1. In the method shown in Figure 11, map information from the vacuum cleaner 100 is sequentially transmitted to the server 400 and stored in the storage unit of the server 400. Thereafter, when the communication terminal 300 requests map information from the server 400, the server 400 transmits the map information to the communication terminal 300, and a map is created and displayed based on the map information received by the communication terminal 300. Note that the router 200, which is wirelessly connected to the vacuum cleaner 100, is omitted from Figure 11.

In the method shown in Figure 11, map information from the vacuum cleaner 100 is temporarily stored in the server 400, and the communication terminal 300 then receives the map information stored in the server 400 in a lump and creates a map. Therefore, once the vacuum cleaner 100 has completed its travel and the map information has been compiled, the user of the communication terminal 300 can view the map.

In FIG. 11, when the vacuum cleaner 100 starts operating, the vacuum cleaner 100 notifies the server 400 that it is operating. In this embodiment, the vacuum cleaner 100 notifies the server 400 of its status each time the status of the vacuum cleaner 100 changes. The status of the vacuum cleaner 100 includes, for example, the start and end of cleaning, the operating status, and errors such as being unable to move.

The status notification (operating) shown in Figure 11 includes, for example, when creating map information for a room, or when performing cleaning operations after creating map information for a room.

The vacuum cleaner 100 creates a frame at predetermined intervals (for example, every second). The frame contains information about obstacles such as walls and floors, information about the trajectory of the vacuum cleaner 100, and information about the positions of obstacles including walls, etc.

Specifically, this information includes information calculated by the position information calculation unit 112 of the vacuum cleaner 100 indicating where the autonomous vacuum cleaner was located, information about the trajectory of the vacuum cleaner 100, and map information created by the map information creation unit 113.

Furthermore, frames are assigned numbers. The first frame transmitted from vacuum cleaner 100 to server 400 after vacuum cleaner 100 starts operating is frame 0, and the number increases every second as frames are transmitted from vacuum cleaner 100, such as frame 1, frame 2, and frame 3.

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

When the operation of the vacuum cleaner 100 is finished, the vacuum cleaner 100 transmits information to that effect to the server 400. The server 400 then saves the map information from the multiple frame data stored in the server storage unit 403.

When an operation to launch specific application software (for example, an application that displays a map of a room) is performed on the communication terminal 300, a request is made to the server 400 to send map information. In response, the server 400 transmits the map information stored in the server storage unit 403 to the communication terminal 300.

The communication terminal 300 creates a map using the map information received from the server 400 and displays it on the display unit 305 (for example, a map such as that shown in FIG. 18).
Regarding the sequence diagram shown in FIG. 11, if the communication terminal 300 requests map information from the server 400 while the vacuum cleaner 100 is sending a frame to the server 400, the server 400 may send the map information stored in the server storage unit 403 to the communication terminal 300 at that time, or the server 400 may send a signal to the communication terminal 300 indicating that it is refusing to send the map information.

Furthermore, the map information transmitted from the vacuum cleaner 100 to the server 400 may be stored in the storage unit of the communication terminal 300 rather than in the server 400, or may be stored in both the storage unit of the server 400 and the storage unit of the communication terminal 300.

Figure 12 is another sequence diagram for the vacuum cleaner system of Example 1. In the method shown in Figure 12, map information from the vacuum cleaner 100 is sequentially transmitted to the server 400, stored in the storage unit of the server 400, and the map information is also transmitted from the server 400 to the communication terminal 300. The communication terminal 300 sequentially generates a map each time it receives map information (sequentially updating areas for which maps have not yet been created). This allows the user of the communication terminal 300 to view the location of the vacuum cleaner 100 and the progress of maps being created in real time.

In FIG. 12, when the vacuum cleaner 100 starts operating, the vacuum cleaner 100 notifies the server 400 that it is operating. In this embodiment, the vacuum cleaner 100 notifies the server 400 of its status each time the status of the vacuum cleaner 100 changes. The status of the vacuum cleaner 100 includes, for example, the start and end of cleaning, the operating status, and errors such as being unable to move.

The status notification (operating) shown in Figure 12 includes, for example, when creating map information for a room, or when performing cleaning operations after creating map information for a room.

The vacuum cleaner 100 creates a frame at predetermined time intervals (for example, every second). Each frame contains information about obstacles such as walls and floors, information about the trajectory of the vacuum cleaner 100, and information about the positions of obstacles including walls.

Specifically, this information includes information calculated by the vacuum cleaner 100's location information calculation unit 112 indicating where the vacuum cleaner 100 was located, information about the vacuum cleaner 100's trajectory, and map information created by the map information creation unit 113.

Furthermore, frames are assigned numbers. The first frame sent from the vacuum cleaner 100 to the server 400 after the vacuum cleaner 100 starts operating is frame 0, and the number increases with each frame sent from the vacuum cleaner 100 every second, to frame 1, frame 2, frame 3, etc.

When frame 0 is created on the vacuum cleaner 100 side, it is transmitted from the vacuum cleaner 100 to the server 400. When frame 0 is received by the server communication unit 402 on the server 400 side, it is stored in the server storage unit 403, and frame 0 is transmitted from the server communication unit 402 to the communication terminal 300. When the communication terminal 300 receives frame 0, it stores it in the terminal storage unit 307. Note that in the example of Figure 12, it is assumed that the communication terminal 300 has launched an app and is in a state where it can display a map before receiving frame 0. However, when executing the sequence diagram of Figure 12, the communication terminal 300 can receive frames even if the app is not launched.

Next, when Frame 1 is created on the vacuum cleaner 100 side, it is transmitted from the vacuum cleaner 100 to the server 400. When Frame 1 is received by the server communication unit 402 on the server 400 side, it is stored in the server storage unit 403, and Frame 1 is transmitted from the server communication unit 402 to the communication terminal 300. When the communication terminal 300 receives Frame 1, it stores it in the terminal storage unit 307.

In this way, frame data is transmitted from the vacuum cleaner 100 to the server 400 every second, starting from frame 0.

Each time the communication terminal 300 receives a frame, the map creation unit 302 creates a map from the map information contained in the received frame, and the display unit 305 displays the created map. In this way, maps are created or updated one after another.

Then, when the operation of the vacuum cleaner 100 is finished, information to that effect is sent from the vacuum cleaner 100 to the server 400.

In this way, by operating in accordance with the sequence diagram shown in FIG. 11 or the sequence diagram shown in FIG. 12, the terminal control unit 301 of the communication terminal 300 can display a map on the display unit 305.
Example 2
Next, a description will be given of Example 2. The system configuration, the configuration of the vacuum cleaner 100, etc. are the same as those of Example 1, so the description will be omitted.

In Example 2, when the map creation unit 302 of the communication terminal 300 creates a map based on information from the map information creation unit 113 of the vacuum cleaner 100 and displays the map on the display unit 305, information detected by the LIDAR 6 or the like outside the room is not displayed on the map.

FIG. 13 shows an example of a map created on the communication terminal 300 side using the detection results of the LIDAR 6, ultrasonic sensor 10, and infrared sensor 11 of the vacuum cleaner 100. The walls of a room can be roughly created using the ultrasonic sensor 10, etc., but adding information from the LIDAR 6 makes it possible to create a more accurate map. However, because light from the LIDAR 6 passes through glass, etc., areas that extend beyond the walls are displayed, as if they were flooded (two circled areas in FIG. 13). In other words, the light that passes through the glass detects reflected light from outside the room, and if such information is used to create a map as is, even information detected outside the room will be displayed on the map.

In this embodiment, when displaying a map, any parts of the map that extend beyond the glass or other surfaces as a result of measurements taken by the LIDAR 6 are not displayed on the map. The display result is shown in Figure 14. By displaying the map in this manner, the user can comfortably use the map without having to wonder what the parts of the map that extend beyond the room are.

Figures 13 and 14 show the results of actual experiments and are examples of map displays, but to make the explanation easier to understand, we will use simplified drawings in Figures 15 and 16.

Figure 15 shows a simplified example of a map created by the communication terminal 300 using the detection results of the LIDAR 6, ultrasonic sensor 10, and infrared sensor 11 of the vacuum cleaner 100. The walls of a room can be roughly created using the ultrasonic sensor 10, etc., but a more accurate map can be created by adding information from the LIDAR 6. However, because light from the LIDAR 6 passes through glass, etc., parts that extend beyond the walls (extraneous information in Figure 15) are displayed, as if they were flooded with water. In other words, light that passes through the glass detects reflected light from outside the room, and if such information is used as is to create a map, even information detected outside the room will be displayed on the map.

In this embodiment, when displaying a map, any parts of the map that extend beyond the glass or other surfaces as a result of measurements taken by the LIDAR 6 are not displayed on the map. Figure 16 shows a simplified version of the display result. By displaying the map in this manner, the user can comfortably use the map without having to wonder what the parts of the map that extend beyond the room are.

Note that information that extends beyond the room map is not limited to information detected by LIDAR 6. Light from the infrared sensor may pass through glass or other materials and detect objects outside the room, and information that extends beyond the room map may also be detected using other obstacle detection methods. In Example 2, such information that extends beyond the room map is not displayed on the map.

Figure 17 is a flow diagram showing the operation of the communication terminal 300.

In step S1, if the terminal control unit 301 determines that an operation to launch the map app has been performed from the input unit 306, the processing proceeds to step S2.

In step S2, the terminal control unit 301 controls the terminal communication unit 303 to receive map information from the vacuum cleaner 100 via the server 400, and stores the received map information in the terminal storage unit 307. In step S3, the map creation unit 302 starts creating a map.

In step S4, the map creation unit 302 determines whether there is any part detected by the light emitted by the LIDAR 6 that extends beyond the room (e.g., the extra information in Figure 15) based on the wall information created by the ultrasonic sensor 10, etc., and the information detected by the LIDAR 6. If it determines that there is any, the terminal control unit 301 proceeds 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 when it determines that there is information about an obstacle or the like detected by the LIDAR 6 outside the wall, it controls so that this information is not reflected on the map.

In step S5, the map creation unit 302 prevents the portion of the map detected by the light emitted by the LIDAR 6 that extends beyond the wall (extraneous information in Figure 15), and the terminal control unit 301 displays the map on the display unit 305 (for example, the display shown in Figure 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 Figure 16).

When the map is displayed on the display unit 305 in step S5, if there are still parts that extend beyond the room due to reasons such as the processing power of the map creation unit 302, the user may be able to operate the input unit 306 to surround or trace the parts that extend beyond the room and delete them. Alternatively, based on the user's operation, corrections may be made to the map, such as extending walls or placing obstacles. For example, if the vacuum cleaner 100 has low accuracy in detecting obstacles, such a function will be particularly easy for the user to use.

It is also possible to more reliably remove protruding areas by storing and learning information about areas automatically deleted by the map creation unit 302 in step S5 and areas deleted by the user. In this case, the map creation unit's functions may be installed in the server 400, and the results may be sent to the communication terminal 300.

Furthermore, in step S6, when the map is displayed on the display unit 305, the user may be able to modify the map by operating the input unit 306. Here, modification refers to, for example, erasing walls or obstacles, extending or moving walls, or placing obstacles.

This processing may be performed in real time while the vacuum cleaner 100 is moving and the map is being created on the communication terminal 300 side, or may be performed in response to an operation on the communication terminal 300. In other words, a map may be created in real time while the vacuum cleaner 100 is moving and the map may be displayed on the display unit 305 of the communication terminal 300, or the map may be displayed on the display unit 305 of the communication terminal 300 after the vacuum cleaner 100 has moved or after map information has been acquired.

The map displayed in Example 2 may be configured to be divided into multiple grids or cells, with the amount of dust in each cell being displayed using shades of color or different colors. In this case, the vacuum cleaner would be equipped with a dust sensor that detects dust, and information about the amount of dust detected by this dust sensor would be reflected on the map.

Furthermore, the display screen may be switched between the maps shown in Figures 13 to 16 and the amount of garbage mentioned above, using different colors, or the two screens may be displayed side by side. In particular, by displaying the 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, a description will be given of Example 3. The system configuration, the configuration of the vacuum cleaner 100, etc. are the same as those of Example 1, so the description will be omitted.

In Example 3, if an error occurs while the vacuum cleaner is running (for example, the battery runs out, the dust container is full, the vacuum cleaner is unable to run, etc.), an error message corresponding to the error (for example, text such as E101) is displayed on the display unit 305 of the communication terminal 300 (for example, the display shown in Figure 18).

Furthermore, in Example 3, after an error display is displayed on the display unit 305 of the communication terminal 300, guidance indicating the specific content of the error information (such as text that more specifically explains the content of the currently displayed error information, for example, "The battery is dead") is displayed on the display unit 305 (for example, the display shown in Figure 19).

Note that the error message can be in the form of numbers, English, Japanese, an abbreviation of some word, an icon, etc. If the error content is displayed as text (for example, "The vehicle is unable to be driven"), the number of characters to be displayed will be large. Therefore, if a vacuum cleaner icon is displayed on a map, there is a high possibility that the text and the vacuum cleaner icon will overlap, making the location of the vacuum cleaner unclear. For this reason, it is preferable to display a short error message.

It is also preferable to configure the vacuum cleaner so that it monitors the battery and notifies the communication terminal 300 when the remaining battery power falls below a predetermined level. This configuration can prevent the battery power from suddenly dropping to zero, preventing communication altogether.

The system operation of Example 3 will be explained using the sequence diagram in Figure 20.

When the control unit 110 of the vacuum cleaner 100 determines that an error has occurred while the vacuum cleaner 100 is moving (e.g., the battery is dead, the dust container is full, the vacuum cleaner 100 is unable to move, etc.), it controls the communication unit 101 to include information about the error that has occurred (e.g., the type of error, the location where the error occurred, the time of occurrence, etc.) in a frame and send it to the server 400 (step S301). Note that in the following, information about the error that has occurred will sometimes be referred to as error information.

When the server communication unit 402 of the server 400 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 controls the server communication unit 402 to transmit the received frame to the communication terminal 300 (step S302).

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

Note that the communication terminal 300 may be configured to notify the user that an error has occurred by vibrating a built-in vibrator or by generating an alarm sound from a speaker.

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

By seeing this display, the user can know that an error has occurred while the robot vacuum cleaner was cleaning. A detailed explanation (guidance) regarding the error can then be displayed on the display unit 305.

Next, the operation of the communication terminal 300 will be explained in more detail using the flow diagram in Figure 21.

First, when the communication terminal 300 is in standby mode, in step S311, the terminal control unit 301 determines that the terminal communication unit 303 has received a frame and that the frame contains information about the error that has occurred (e.g., the type of error, the location where the error occurred, the time of occurrence, etc.). In step S312, the terminal control unit 301 displays text data indicating that an error has occurred (e.g., "Vacuum Cleaner Error") on the display unit 305. On the other hand, if the terminal communication unit 303 does not receive a frame containing error information, the terminal control unit 301 proceeds to step S317.

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

In step S313, if the terminal control unit 301 determines that an operation to launch an application that displays a map has been performed from the input unit 306, the process proceeds to step S314; otherwise, the communication terminal 300 remains in a 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 created map along with an error message on the display unit 305 at the location where the error occurred. For example, as shown in FIG. 18, an error message (e.g., E101) is displayed on the map at the location where the error occurred.

By looking at this display, users can see where an error occurred while the robot vacuum cleaner was cleaning.

In step S315, if the terminal control unit 301 determines that an operation to display guidance (operation instructions related to the currently displayed screen or icon) has been performed from the input unit 306, the processing proceeds to step S316; if no operation has been performed, the terminal control unit 301 remains in standby mode.

In step S316, the terminal control unit 301 displays guidance on the display unit 305 (such as text that more specifically explains the nature of the currently displayed error, for example, "The battery is dead"). It may also display instructions on how to deal with the error at this time. 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 a map is being displayed on the display unit 305, it proceeds to step S318; if not, it maintains the standby state and returns to step S311. Note that the map referred to in step S317 is a state in which the error message displayed in step S314 is not being displayed. In step S317, the terminal control unit 301 determines whether an application for displaying a map has already been started and a map is being displayed on the display unit 305 before receiving the frame containing error information in step S311.

In step S318, if the terminal control unit 301 determines that an operation to display guidance (operation instructions related to the currently displayed screen or icon) has been performed from the input unit 306, the processing proceeds to step S319; if no operation has been performed, the terminal control unit 301 remains in standby mode.

In step S319, the terminal control unit 301 displays guidance (operation instructions related to the currently displayed screen or icon) on the display unit 305. Figure 19 is an example of a display screen showing this guidance.

In this way, in the third embodiment, if an error occurs in the vacuum cleaner 100 during cleaning, the display unit 305 of the communication terminal 300 is notified of the error, and if the user displays a map, text corresponding to the error is displayed on the map. Furthermore, if the user performs a guidance display operation in this state, guidance related to the displayed text is displayed.

Furthermore, if an operation to display guidance is performed while the communication terminal 300 is in standby mode, guidance such as an explanation related to the currently displayed screen will be displayed (for example, the display format shown in FIG. 22).

In the third embodiment, the user of the communication terminal 300 can be notified that an error has occurred while the vacuum cleaner 100 is cleaning, and can also find out what specific information has been generated about the error. Furthermore, the user can also find out how to respond to the error.

The map and text may be displayed in real time when an error occurs in the vacuum cleaner 100, or after the vacuum cleaner 100 has finished cleaning. Furthermore, the map and text may be configured to be enlarged. This configuration can minimize situations where the text is too small to read, and also allows the user to check in more detail where the error occurred.

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

The map displayed in Example 3 may also be configured to be divided into multiple grids or cells, with the amount of dust in each cell being displayed using shades of color or different colors. In this case, the vacuum cleaner would be equipped with a dust sensor that detects dust, and information about the amount of dust detected by this dust sensor would be reflected on the map.

Furthermore, it may be possible to switch between a screen displaying text corresponding to the error and a screen displaying the amount of garbage mentioned earlier, using different colors, or the two screens may be displayed side by side. In particular, by displaying the two screens side by side, the user can compare the two screens.

Examples of guidance include "Charging stand not found," "Tires have left the floor. Please check," "Battery is dead," "Dust collection container is full," and "Vehicle cannot be driven."

When reporting that the dust container is full, the configuration may be such that the communication terminal 300 is notified when the amount of dust in the dust container reaches a predetermined amount while the vacuum cleaner 100 is charging on the charging base. If the dust container becomes full while the vacuum cleaner 100 is cleaning, the vacuum cleaner 100 will not be able to collect dust even if it is forced to move from that point onwards. Therefore, if the dust container is full, it is better for the vacuum cleaner 100 to wait on the charging base until the user has emptied the dust in the dust container.

In the third embodiment, when an error occurs in the vacuum cleaner 100, the display unit 305 of the communication terminal 300 is configured to notify the user that an error has occurred, but when the error is resolved in the vacuum cleaner 100, the error display on the display unit 305 of the communication terminal 300 may be automatically resolved, or a message indicating that the error has been resolved may be displayed on the display unit 305 of the communication terminal 300. Furthermore, a history of error occurrences and error resolutions may be stored in one or more storage units of the vacuum cleaner 100, the server 400, and the communication terminal 300, and the history may be made viewable later on the display unit 305 of the communication terminal 300.
Example 4
Next, a description will be given of Example 4. The system configuration, the configuration of the vacuum cleaner 100, etc. are the same as those of Example 1, so the description will be omitted.

In Example 4, the user can check the path traveled by the vacuum cleaner 100 after cleaning is completed. More specifically, in response to the operation of the user of the communication terminal 300, a map is displayed on the display unit 305 of the communication terminal 300, and the path traveled by the vacuum cleaner 100 is displayed as an animation. Figure 23 shows an example of the display on the display unit 305 in Example 4.

In Figure 23, the display unit 305 of the communication terminal 300 displays a map of the room, as well as icons for the charging base and vacuum cleaner 100, and the path that the vacuum cleaner 100 has taken from the charging base. In addition, operation icons are displayed at the bottom of the screen, and when the user touches the central icon, the vacuum cleaner 100 begins to move from the charging base. This is the so-called play button. When the user touches the icon on the right, the vacuum cleaner 100 moves in fast forward. This is the so-called fast forward button. When the user touches the icon on the left, the vacuum cleaner 100 moves in reverse. This is the so-called reverse button.

In this way, in Example 4, the movement of the vacuum cleaner 100 in response to the user's operation is displayed like an animation, allowing the user to check where the vacuum cleaner 100 has moved. In addition, an icon for stopping the vacuum cleaner may be displayed on the display unit.

Next, the operation of the communication terminal 300 will be explained using Figure 24. Figure 24 is a flow diagram showing the operation of the communication terminal 300.

First, in the standby state, if the terminal control unit 301 determines that an application startup operation has been performed from the input unit 306, the process proceeds to step S412 (step S411).

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

In step S413, if the terminal control unit 301 determines that the play icon has been operated from the input unit 306, in step 414 it controls the display unit 305 to display an animation of the vacuum cleaner 100 moving from the charging base, and returns processing to step S413.

In step S415, if the terminal control unit 301 determines that the fast-forward operation icon has been operated from the input unit 306, in step 416 it controls the display unit 305 to display an animation of the vacuum cleaner 100 moving in fast forward, and returns processing to step S413.

In step S417, if the terminal control unit 301 determines that the reverse operation icon has been operated from the input unit 306, in step 418 it controls the display unit 305 to display an animation of the vacuum cleaner 100 moving in reverse, and returns processing to step S413.

In step S419, if the terminal control unit determines that an operation to terminate the application has been made via the input unit 306, it terminates the application and enters a standby state. On the other hand, if it determines that no operation has been made, it returns processing to step S413.

Needless to say, in the process from step S411 to S419, other controls are also performed, such as notifying the user of an incoming call if there is an incoming call, as in a normal mobile terminal, but the description thereof will be omitted here.

In Example 4, information regarding the trajectory traveled by the vacuum cleaner 100 may be stored in the server storage unit 403 of the server 400, or in the terminal storage unit 307 of the communication terminal 300. In order to configure the display of animation after cleaning is completed, all frames containing the position information of the vacuum cleaner 100 transmitted from the vacuum cleaner 100 must be stored in the server storage unit 403 or the terminal storage unit 307. However, in order to configure the display of animation of the trajectory traveled by the vacuum cleaner 100 before the vacuum cleaner 100 completes cleaning, the position information of the vacuum cleaner 100 stored in the server storage unit 403 or the terminal storage unit 307 may be read out and the animation before cleaning is completed may be displayed.

In this case, the vacuum cleaner 100 can be animated in real time as it performs cleaning. In this case, it is preferable to perform the operations shown in the sequence diagram in Figure 12.

In this way, in Example 4, the movement of the vacuum cleaner 100 in response to the user's operation is displayed like an animation, allowing the user to check the locations and order in which the vacuum cleaner 100 has moved. It is also possible to rewind to view a part that was missed, or to fast-forward to play the animation more quickly.

The map displayed in Example 4 may also be configured to be divided into multiple grids or cells, with the amount of dust in each cell being displayed using shades of color or different colors. In this case, the vacuum cleaner 100 may be equipped with a dust sensor that detects dust, and information regarding the amount of dust detected by this dust sensor may be reflected on the map.

23 and the above-mentioned dust amount display screen may be switched by using different colors, or the two screens may be displayed side by side. In particular, by displaying the two screens side by side, the user can compare the two screens.
Example 5
Next, a description will be given of Example 5. The system configuration, the configuration of the vacuum cleaner 100, etc. are the same as those of Example 1, so the description will be 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 reduced, the brush rotation motor power is reduced, the movement speed is reduced, and the output of the electronic sound (alert sound) is suppressed. The configuration may be such that any one of these is selectively performed, or such that all of them are performed.

By running the vacuum cleaner 100 in silent mode, it is possible to minimize situations where the user is woken up by the noise of the vacuum cleaner 100 while sleeping, or is distracted by the noise of the vacuum cleaner 100 while studying, etc.

Furthermore, in Example 5, the user can set areas to be cleaned and areas where cleaning is prohibited. Figure 25 shows an example of a screen displayed on the display unit 305. As shown in Figure 25, the display unit 305 displays a map of the room, areas A and B. Area A is, for example, an area to be cleaned by the vacuum cleaner 100, and area B is an area where the vacuum cleaner 100 is prohibited from moving. The user can set areas to be cleaned and areas where movement is prohibited by tracing or surrounding the display unit with their finger.

Furthermore, in the fifth embodiment, it is possible to set the area in which the vacuum cleaner 1 travels in the silent mode.
24. For example, areas A and B shown in FIG. 24 can be set as areas to be cleaned in silent mode.

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

Information about the silent mode set on the communication terminal 300 side can be included in a frame and transmitted from the communication terminal 300 to the vacuum cleaner 100 via the server 400, thereby enabling remote setting from the communication terminal 300 to the vacuum cleaner 100. Settings for areas to be cleaned, areas where movement is prohibited, and areas to move in silent mode can also be made in the same way.
Example 6
Next, a sixth embodiment will be described. The system configuration, the configuration of the vacuum cleaner 100, etc. are basically the same as those of the first embodiment, so a description thereof will be omitted. The difference from the first embodiment is that the vacuum cleaner 100 has a dust sensor for detecting dust.

In Example 6, the suction power, travel speed, and operation of the suction motor are changed depending on the amount of dust detected by the dust sensor (for example, on a five-level scale, with 5 being the most and 1 being the least). Figure 26 shows an example of such a table, with strong suction power when the amount of dust is 5 or 4, medium suction power when the amount of dust is 3 or 2, and weak suction power when the amount of dust is 1.

Furthermore, when the amount of dust is 5, 4, or 3, the running speed is slow, and when the amount of dust is 2 or 1, the running speed is normal. Furthermore, when the amount of dust is 5, the vacuum cleaner 100 moves back and forth, and when the amount of dust is 4 or less, the running operation is performed.

In this way, in areas with a large amount of dust, the suction motor's suction power is increased and the travel speed is slowed down, and conversely, in areas with a small amount of dust, the suction motor's suction power is reduced to below normal and the travel speed is set to normal.

With this configuration, it is possible to reliably clean up dust in places with a lot of dust, while avoiding unnecessary power consumption in places with little dust.
(Other possible embodiments for all examples)
In this embodiment, a map is displayed on the display unit 305 of the communication terminal 300, but it is also possible to have a display unit installed in the vacuum cleaner 100 and display the map on the vacuum cleaner 100, or to display the map on a display unit of a personal computer or the like connected to the network N.

When receiving frames from server 400, communication terminal 300 may receive them from a base station connected to a public network, or may receive them via a router by wirelessly connecting to a home router or the like.

Although the communication terminal 300 is equipped with the function to create a map, the function to create a map may be equipped in the vacuum cleaner 100 or the server 400, and the communication terminal 300 may receive and display the map from the server 400 or from the vacuum cleaner 100 via the server 400.

The total amount of dust detected by the dust sensor in one cleaning run may be displayed as a bar graph, and multiple such bar graphs may be displayed. Alternatively, the cumulative amount of dust detected by the dust sensor in multiple cleaning runs may be displayed as a bar graph. Furthermore, when the total amount of dust detected by the dust sensor in one cleaning run is displayed as a bar graph and multiple such bar graphs are displayed, a map of the room corresponding to the selected bar graph may be displayed when the user selects one. In this case, the track of the vacuum cleaner's movement may be displayed, or the room may be divided into multiple cells and the amount of dust in each cell may be displayed using different shades of color, etc.

The current running status of the vacuum cleaner may be displayed on the display. For example, the currently detected amount of dirt, running speed, suction power, operation, and other statuses of the items shown in Figure 26 may be displayed on the display. In this case, the information may be displayed in text, or as an animation or icon of the vacuum cleaner.

The vacuum cleaner may be equipped with a camera, which can recognize people from images captured by the camera, and if an intruder is detected, a notification to that effect may be sent to the communication terminal 300.

The display device, system having an autonomous vacuum cleaner and a display device, display method, and program disclosed herein can be widely applied not only to homes, but also to offices, factories, restaurants, and other public facilities such as airports and hospitals.

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 Depression 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 (2)

A display device capable of displaying on a map an obstacle detected by the LIDAR while an autonomous vacuum cleaner is traveling, the display device having a LIDAR disposed in a housing and a bumper for detecting a collision with an obstacle,
When the display device displays the map, it is capable of displaying at least one of obstacles, the amount of dust, and the travel route of the autonomous vacuum cleaner in an inner area that is an area surrounded by a wall, and the map is displayed in an outer area that is an area outside the wall so as not to reflect information detected by the LIDAR. A system having an autonomous vacuum cleaner and a display device,
The autonomous vacuum cleaner has a LIDAR disposed on a housing and a bumper that detects a collision with an obstacle,
the display device is a display device capable of displaying on a map an obstacle detected by the LIDAR while the autonomous vacuum cleaner is traveling,
A system having an autonomous vacuum cleaner and a display device, wherein when displaying the map, the display device is capable of displaying at least one of obstacles, the amount of dust, and the driving route of the autonomous vacuum cleaner in an inner area that is an area surrounded by a wall, and displays a map in an outer area that is an area outside the wall in a way that does not reflect information detected by the LIDAR.