Map creation system and map creation method

Abstract

For example, even if markers are not installed at both ends of the virtual area which is the boundary between the entry allowed area and the entry prohibited area, the autonomous running device is caused to recognize the virtual area.SOLUTION: The virtual wall information recognizer 111 recognizes, from, for example, a symbol, a code, a figure, an image, or the like formed on the surface of the marker M detected by the marker sensor 161, virtual wall information carried by the marker M. The position information acquiring unit 112 acquires position information indicating a position of an object detected by the two-dimension sensor 162, the three dimensional sensor 163, or the object detection sensor 164. Map creation unit 114 creates a map on which objects around cleaning apparatus 1 are arranged, based on the acquired position information. The virtual wall setting unit 113 sets a virtual wall on the created map based on the recognized virtual wall information and the acquired position information. Based on the map read from the map DB121, travel-cleaning control unit 115 issues an instruction to cleaner 17 to control travel and cleaning of cleaner 1.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a map creation system and a map creation method that allows a self-propelled device that self-propels and creates a map of its surroundings while estimating its own position to recognize no-entry areas. [Background technology]

[0002] An example of a self-propelled device that self-propels and creates a map of its surroundings is a self-propelled cleaning robot, which moves along walls in a space to be cleaned and cleans automatically.

[0003] Self-propelled devices such as self-propelled cleaning robots detect concrete objects such as walls and ornaments, and create a map by recognizing that they cannot move to positions that overlap with these objects. However, there may be areas where the self-propelled device should not enter, even though there are no concrete objects in them. Such areas (called no-entry areas) must be recognized by the self-propelled device separately from object detection. Therefore, various technologies are being researched to enable self-propelled devices to recognize no-entry areas.

[0004] Patent Document 1 discloses a driving map creation device that detects multiple distinctive landmarks when creating a map, and when map creation is complete, sets a line connecting two points of two paired landmarks as a prohibited area. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2023-75740 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when the driving map creation device described in Patent Document 1 automatically creates a map, if two landmarks are far apart and only one of the landmarks can be detected, there is a possibility that the vehicle will enter a no-entry area.

[0007] One object of the present invention is to enable a self-propelled device to recognize a virtual wall, which is the boundary between an accessible area and a prohibited area, without placing markers on both ends of the virtual wall. [Means for solving the problem]

[0008] In a first aspect, the present invention provides a map creation system that acquires location information indicating the location of an object from a sensor that detects the object in the surrounding area, recognizes virtual wall information indicating the shape of a virtual wall from a marker displayed on the object, and sets the virtual wall on a map based on the virtual wall information and the location information.

[0009] According to the map creation system of the first aspect, it is possible to make the self-propelled device recognize the virtual wall without placing markers on both ends of the virtual wall.

[0010] In the map creation system of the first aspect, a configuration may be adopted as a second aspect in which the markers include, as the virtual wall information, a first marker indicating the starting point of the virtual wall and a second marker indicating the length of the virtual wall, and the direction of the virtual wall is recognized based on the positions of the first marker and the second marker indicated by the position information.

[0011] According to the map creation system of the second aspect, the direction of the virtual wall is recognized by measuring the positions of the first marker and the second marker.

[0012] In the map creation system of the first aspect, a configuration may be adopted as a third aspect in which the surface of the object on which the marker is displayed is identified from the position information, and the direction of the virtual wall is recognized based on that surface.

[0013] According to the map creation system of the third aspect, the direction of the virtual wall is recognized based on the surface of the object on which the marker is displayed.

[0014] In the map creation system of the third aspect, a configuration may be adopted as a fourth aspect, in which the virtual wall information includes information on the direction of the virtual wall relative to the surface.

[0015] According to the map creation system of the fourth aspect, the direction of the virtual wall relative to the surface of the object on which the marker is displayed is recognized from the marker.

[0016] In the map creation system of the first aspect, a configuration may be adopted as a fifth aspect in which the virtual wall information indicates the type of each space partitioned by the virtual wall in addition to the shape of the virtual wall.

[0017] According to the map creation system of the fifth aspect, a type is set for each space partitioned by a virtual wall.

[0018] The present invention provides, as a sixth aspect, a map creation method that acquires location information indicating the location of an object from a sensor that detects the object in the surrounding area, recognizes virtual wall information indicating the shape of a virtual wall from a marker displayed on the object, and sets the virtual wall on a map based on the virtual wall information and the location information.

[0019] According to the map creation method of the sixth aspect, it is possible to make the self-propelled device recognize the virtual wall without placing markers on both ends of the virtual wall. [Brief explanation of the drawings]

[0020] [Figure 1] 2 is a schematic diagram showing an example of the appearance of a cleaning device 1 in a map creation system 9. FIG. [Figure 2] FIG. 1 is a block diagram showing the configuration of a cleaning device 1. [Figure 3] FIG. 2 is a diagram showing an example of the configuration of a map DB 121. [Figure 4] FIG. 2 is a diagram showing an example of the configuration of a marker M. [Figure 5] FIG. 2 is a diagram showing an example of the functional configuration of the cleaning device 1. [Figure 6] 3 is a flow chart showing an example of the operation flow of the cleaning device 1. [Figure 7] FIG. 10 is a diagram showing an example of a virtual wall set on a map. DETAILED DESCRIPTION OF THE INVENTION

[0021] <Embodiment> <Configuration of map creation system and cleaning device> 1 is a schematic diagram showing an example of the appearance of a cleaning device 1 in a map creation system 9. FIG. 2 is a block diagram showing the configuration of the cleaning device 1. As shown in FIG. 1, the map creation system 9 has the cleaning device 1 and a marker M.

[0022] The cleaning device 1 shown in Fig. 2 has a processor 11, a memory 12, a communication unit 13, an operation unit 14, a display unit 15, a measurement unit 16, and a cleaning unit 17. These are connected to each other via a bus so that they can communicate with each other. The cleaning device 1 is an example of a self-propelled device that moves by itself and creates a map of its surroundings, such as a self-propelled cleaning robot.

[0023] The cleaning device 1 shown in Fig. 1 has a housing 10. An operation unit 14 and a display unit 15 are provided on the top surface of the housing 10. A measuring unit 16 is provided on the front and rear side surfaces of the housing 10. A cleaning unit 17 is provided on the bottom surface of the housing 10.

[0024] The memory 12 includes a RAM (Random Access Memory), a ROM (Read Only Memory), a solid state drive, a hard disk drive, etc., and stores a computer program (hereinafter simply referred to as a program). The memory 12 is used when the processor 11 executes processing. The memory 12 shown in FIG. 1 also stores a map DB 121.

[0025] The processor 11 controls the cleaning device 1 by reading and executing a program from the memory 12. The processor 11 is, for example, a CPU (Central Processing Unit). The processor 11 may also be, for example, a FPGA (Field Programmable Gate Array) or may include an FPGA. The processor may also have an ASIC (Application Specific Integrated Circuit) or other programmable logic device and perform control using these.

[0026] The communication unit 13 is a communication circuit that connects the cleaning device 1 to other external devices via a wired or wireless connection. The communication unit 13 may connect the cleaning device 1 to various external devices so that they can communicate with each other via a communication line such as an intranet or the Internet.

[0027] The operation unit 14 is equipped with operators such as operation buttons, a keyboard, and a touch panel for issuing various instructions, and receives operations and sends signals according to the operation content to the processor 11. These operations include, for example, pressing the operation buttons or the keyboard, or making gestures on the touch panel.

[0028] The display unit 15 has a display screen such as a liquid crystal display, and displays images under the control of the processor 11. A transparent touch panel of the operation unit 14 may be placed on top of the display screen.

[0029] The cleaning device 1 does not necessarily have to have the operation unit 14 and the display unit 15. The cleaning device 1 may be operated by an external device via the communication unit 13, or may present information to an external device. Furthermore, the cleaning device 1 does not necessarily have to have the communication unit 13.

[0030] The measurement unit 16 is a group of devices that measure the environment around the cleaning device 1. The measurement unit 16 shown in FIG.

[0031] The marker sensor 161 senses the distance to an object including the marker M. The marker sensor 161 includes, for example, a so-called TOF (Time of Flight) type distance image sensor that measures the distance based on the time it takes for a pulsed projected laser beam to be reflected by the surface of the object and return.

[0032] In addition to including a distance image sensor, the marker sensor 161 also has the function of a digital still camera that captures visible light in the space within its field of view as gradation values. The marker M presents information indicating the shape of the virtual wall (referred to as virtual wall information) on its surface in the form of various codes, such as one-dimensional codes and two-dimensional codes. Therefore, when the marker sensor 161 captures an image of the marker M, it can acquire the various codes presented on the surface of the marker M as a gradation image.

[0033] Therefore, the processor 11 of the cleaning device 1 can recognize the virtual wall information carried in the code by analyzing the gradation image acquired by the marker sensor 161 in accordance with a predetermined code rule. That is, the measuring unit 16 having this marker sensor 161 is an example of a configuration that recognizes virtual wall information indicating the shape of a virtual wall from a marker displayed on an object.

[0034] The method by which the marker sensor 161 measures distance is not limited to the TOF method. The marker sensor 161 may measure the distance to an object by, for example, triangulation using the parallax of multiple images captured by a stereo camera or the like.

[0035] The two-dimensional sensor 162 and the three-dimensional sensor 163 are both sensors that detect surrounding objects by measuring the distance from the device to the object, such as LiDAR (Light Detection and Ranging). The two-dimensional sensor 162 measures the distance from itself to an object that is at the same height as itself, for example, by scanning a laser beam along a plane parallel to the floor surface G shown in Fig. 1. Then, based on the measured distance, the two-dimensional sensor 162 generates a map that is, for example, a plan view looking down from above of the space in which the cleaning device 1 moves independently.

[0036] Furthermore, the three-dimensional sensor 163 measures the distance between itself and an object in its field of view by scanning the laser light vertically and horizontally. Based on the measured distance, the three-dimensional sensor 163 generates point cloud data that represents the position of the surface shape of the object in three-dimensional space. This point cloud data is used to create a map.

[0037] The object detection sensor 164 is a sensor for detecting an object present around the cleaning device 1. The object detection sensor 164 may be, for example, a sensor that uses infrared rays, ultrasonic waves, or the like.

[0038] As described above, the marker sensor 161 has the function of recognizing virtual wall information carried on the surface of the marker M, whereas the two-dimensional sensor 162, the three-dimensional sensor 163, and the object detection sensor 164 are all sensors that sense the position of an object in order to create a map of the surroundings. Therefore, all of these are not necessarily required for the cleaning device 1. For example, the cleaning device 1 may have only one of them. The processor 11 only needs to acquire position information indicating the position (relative position) of an object present in the surroundings from any of the two-dimensional sensor 162, the three-dimensional sensor 163, and the object detection sensor 164. In other words, this is an example of a configuration in which the processor 11 acquires position information indicating the position of an object present in the surroundings from a sensor that detects the object.

[0039] The cleaning unit 17 is a group of devices that perform cleaning. The cleaning unit 17 shown in FIG.

[0040] The movement mechanism 171 is a mechanism that moves the cleaning device 1 in direction D under the control of the processor 11, and is composed of, for example, wheels, a steering wheel that controls the movement direction of the wheels, an axle that rotatably supports the wheels, and a motor that rotates the axle.

[0041] The moving mechanism 171 is not limited to one having tires, caterpillar tracks, wheels, etc., but may be, for example, a mechanism that walks by repeatedly touching and lifting off the ground on multiple legs each having one or more joints.

[0042] The movement mechanism 171 may also have a function of measuring the path and distance traveled by the device itself from its initial position. For example, the movement mechanism 171 may include, in addition to tires, a steering mechanism that determines the direction of the tires and a tachometer that measures the number of tire revolutions. In this case, the movement mechanism 171 may measure the path and distance traveled by the device itself based on the records of the steering mechanism and the tachometer. The processor 11 may store information on the measured path and distance traveled in the memory 12.

[0043] Pad 172 is a cleaning member that polishes and cleans the floor surface directly below cleaning device 1. Pad 172 may include a member such as resin that comes into contact with the floor surface to polish it, a tank that stores cleaning liquid, a pump that supplies cleaning liquid from the tank to the floor surface, and the like.

[0044] The squeegee 173 is a member that wipes away dirt that has been lifted from the floor surface due to cleaning by the pad 172. The squeegee 173 may have a member such as a resin that blocks and collects the cleaning liquid containing dirt that is supplied by the pad 172, and a suction pump or the like that sucks up the collected cleaning liquid.

[0045] The processor 11 of the cleaning device 1 performs so-called SLAM (Simultaneous Localization and Mapping) based on information on the distance to an object measured by, for example, the two-dimensional sensor 162, the three-dimensional sensor 163, and the object detection sensor 164. As a result, the cleaning device 1 estimates its own position and creates a map of the surrounding area. Information on the map created by the processor 11 is stored in a map DB 121 in the memory 12.

[0046] <Map DB configuration> Fig. 3 is a diagram showing an example of the configuration of the map DB 121. This map DB 121 is a database that stores information on maps created for each cleaning area, such as a room to be cleaned. The map DB 121 shown in Fig. 3 has a map ID list 1211 and a map data table 1212.

[0047] The map ID list 1211 is a list of map IDs. The map ID is identification information that identifies a map showing the shape of the cleaning area.

[0048] The map data table 1212 is a table that describes data (called shape data) indicating the shape of each element, such as a wall or virtual wall, shown on the map. The map data table 1212 has the following items: element ID, type, and shape data. The element ID is identification information that identifies an element. The type is information that indicates the type of element identified by the element ID, for example, "wall" or "virtual wall." The shape data is shape data of the element identified by the element ID.

[0049] The shape data is composed of a list of multiple points, each having an x-coordinate value indicating a position on an x-axis that extends east-west and corresponds to longitude, and a y-coordinate value indicating a position on a y-axis that extends north-south and corresponds to latitude. Lines connecting the multiple points listed in the map data represent the outline of the map.

[0050] <Marker configuration> Fig. 4 is a diagram showing an example of the configuration of a marker M. The marker M shown in Fig. 4 has a first marker M1, a second marker M2, and a tripod T that supports them on a floor G. The second marker M2 is connected to the first marker M1 by, for example, a connecting rod so that it is positioned at a measurable distance from the first marker M1. This marker M is an example of a marker that includes a first marker and a second marker.

[0051] The first marker M1 has information indicating the starting point of a virtual wall written on its surface in the form of a two-dimensional code. In other words, the first marker M1 is an example of a first marker that indicates the starting point of a virtual wall as virtual wall information.

[0052] The second marker M2 has information indicating the length of the virtual wall written on its surface in the form of a two-dimensional code. In other words, the second marker M2 is an example of a second marker that indicates the length of the virtual wall as virtual wall information.

[0053] <Functional configuration of cleaning device> Fig. 5 is a diagram showing an example of the functional configuration of the cleaning device 1. The processor 11 of the cleaning device 1 reads and executes a program stored in the memory 12, thereby functioning as a virtual wall information recognition unit 111, a position information acquisition unit 112, a virtual wall setting unit 113, a map creation unit 114, and a traveling cleaning control unit 115. Note that the communication unit 13, operation unit 14, and display unit 15 are not shown in Fig. 5.

[0054] The virtual wall information recognition unit 111 recognizes the virtual wall information carried by the marker M detected by the marker sensor 161, for example, from the symbols, codes, figures, images, etc. formed on the surface of the marker M.

[0055] The position information acquisition unit 112 acquires position information indicating the position of an object detected by the two-dimensional sensor 162 , the three-dimensional sensor 163 , or the object detection sensor 164 .

[0056] Based on the acquired position information, the map creation unit 114 creates a map in which objects around the cleaning device 1 are located. The created map is stored in the map DB 121 of the memory 12.

[0057] The virtual wall setting unit 113 sets a virtual wall on the created map based on the recognized virtual wall information and the acquired position information. That is, the cleaning device 1 having the function of this virtual wall setting unit 113 is an example of a configuration in which a virtual wall is set on a map based on the virtual wall information and position information in the map creation system 9. The setting of the virtual wall is reflected in the map DB 121.

[0058] The traveling cleaning control unit 115 issues instructions to the cleaning unit 17 based on the map read from the map DB 121, and controls the traveling and cleaning of the cleaning device 1. When the cleaning device 1 approaches a virtual wall set on the map, it may issue a course instruction to the cleaning unit 17 to detour around the virtual wall in a clockwise direction as viewed from the ceiling, for example.

[0059] <Cleaning device operation> Fig. 6 is a flow diagram showing an example of the operation flow of the cleaning device 1. As shown in Fig. 6, when the power (not shown) is turned on, the processor 11 of the cleaning device 1 stores the position where the device is placed in the memory 12 as a starting point (step S101), and identifies a wall from among surrounding objects based on the measurement results of the measurement unit 16. Then, the processor 11 controls the movement mechanism 171 of the cleaning unit 17 to move the device along the wall (step S102).

[0060] When the vehicle starts traveling, the processor 11 acquires the position information of surrounding objects measured by the measurement unit 16 (step S103), and creates a map based on the shapes of these objects (step S104).

[0061] While the device is traveling while creating a map, processor 11 determines whether the device has reached the starting point stored in memory 12 in step S101 (step S105). If it is determined that the device has reached the starting point (step S105; YES), processor 11 sets this as an end condition and ends the traveling of the device and the map creation process.

[0062] On the other hand, if it is determined that the device has not reached the starting point (step S105; NO), the processor 11 determines whether the marker sensor 161 of the measurement unit 16 has detected the marker M (step S106). If it is determined that the marker M has not been detected (step S106; NO), the processor 11 returns the process to step S102.

[0063] On the other hand, if it is determined that the marker M has been detected (step S106; YES), the processor 11 recognizes virtual wall information from a code or the like displayed on the surface of the marker M (step S107), and sets a virtual wall indicated by the recognized virtual wall information on the map created in step S104 (step S108). Then, the processor 11 returns the process to step S102.

[0064] 7 is a diagram showing an example of virtual walls set on a map. The cleaning device 1 creates a map by detecting walls B while traveling on a floor G surrounded by walls B. When the cleaning device 1 detects a marker M, it recognizes virtual wall information from the marker M and sets a virtual wall Bp on the map.

[0065] 7, for example, the markers M include a first marker M1 and a second marker M2. The cleaning device 1 measures the positions of the first marker M1 and the second marker M2 using the measurement unit 16, and acquires position information indicating these.

[0066] The cleaning device 1 then identifies the starting point of the virtual wall Bp from the first marker M1 and identifies the length of the virtual wall Bp from the second marker M2. As a result, the cleaning device 1 determines the coordinates of the starting point based on the positions of the first marker M1 and the second marker M2, and sets the virtual wall Bp extending from the starting point by the length described above in a direction, for example, from the first marker M1 to the second marker M2. In this case, the cleaning device 1 is an example of a configuration in which the map creation system 9 recognizes the direction of the virtual wall based on the positions of the first marker and the second marker indicated by the position information.

[0067] By performing the processing described above, the cleaning device 1 can recognize the virtual wall on the map based on the virtual wall information carried on the marker M and the position information of the marker M itself, even if markers M are not installed at both ends of the virtual wall.

[0068] The cleaning device 1 in this map creation system 9 is a computer having a processor 11 and a memory 12. Therefore, the present invention is conceived as a map creation method that causes a computer to execute each of the steps shown in Fig. 6 described above.

[0069] The present invention can also be conceived as a program written to cause a computer to execute the steps shown in FIG.

[0070] The configurations, shapes, sizes, and layout relationships described in the above embodiments are merely schematic illustrations to enable understanding and implementation of the present invention. Therefore, the present invention is not limited to the described embodiments, and can be modified in various forms without departing from the scope of the technical ideas set forth in the claims.

[0071] <Modification> The above is a description of the embodiment, but the contents of this embodiment can be modified as follows. In addition, the following modifications can be combined.

[0072] <1> In the above-described embodiment, the marker M in the map creation system 9 includes a first marker M1 and a second marker M2, and the cleaning device 1 recognizes the direction in which the virtual wall extends based on the positions of the first marker M1 and the second marker M2. However, the direction of the virtual wall may be recognized by other methods. For example, the marker M may include only the first marker M1 and not the second marker M2. In this case, the cleaning device 1 may identify the surface of an object, such as a board, on which the first marker M1 is displayed from position information and recognize the direction of the virtual wall from, for example, the direction of the normal to this surface. In other words, the cleaning device 1 in this modified example is an example of a configuration in which the surface of the object on which the marker is displayed is identified from position information and the direction of the virtual wall is recognized based on this surface.

[0073] In this case, information regarding the direction of the virtual wall relative to the surface of the identified object such as a board may be carried in the code of the marker M. That is, in this case, the cleaning device 1 identifies the board surface on which the first marker M1 is displayed from the position information. Then, the cleaning device 1 recognizes a mathematical formula or the like indicating the direction of the virtual wall relative to the normal to the board surface or the like from a two-dimensional code or the like formed on the surface of the first marker M1. That is, the virtual wall information recognized by the cleaning device 1 in this modified example is an example of virtual wall information including information regarding the direction of the virtual wall relative to the surface of the identified object.

[0074] <2> In the above-described embodiment, the cleaning device 1 sets the shape of the virtual wall on the map based on the virtual wall information, but it may also set the type of each space separated by the virtual wall. The type of this space may be included in the virtual wall information.

[0075] For example, for a certain virtual wall, the cleaning device 1 may set the area on the device's side of the virtual wall as an accessible area and the opposite side as a prohibited area where entry is prohibited. Furthermore, for another virtual wall, the cleaning device 1 may set the area on the device's side of the virtual wall as an accessible area and the opposite side as a slow-moving area where entry must be slowed down at less than a predetermined speed. In other words, the cleaning device 1 in this modified example is an example of a configuration that recognizes, as virtual wall information, information indicating the type of each space partitioned by the virtual wall in addition to the shape of the virtual wall.

[0076] <3> In the above-described embodiment, the cleaning device 1 recognizes the starting point of the virtual wall from the first marker M1 constituting the marker M and the length of the virtual wall from the second marker M2 as virtual wall information, but the shape of the virtual wall does not have to be recognized by the starting point and the length extending from the starting point. For example, the virtual wall information may be a function that represents the shape of the virtual wall.

[0077] For example, the virtual wall information may include a function expressed as f(x, y) = x^2 + y^2 - 1. For example, the cleaning device 1 may recognize a virtual wall that connects a group of points where the function f(x, y) is 0, as a coordinate (0, 0) on the xy plane that represents the floor surface G. In this case, a circle with a center at the coordinate (0, 0) and a radius of 1 is recognized as the shape of the virtual wall.

[0078] Similarly, when the virtual wall information includes f(x, y)=(x-x0) / l-(y-y0) / m, the cleaning device 1 recognizes a virtual wall whose shape follows a linear function with (x0, y0) as the origin and (l, m) as the direction vector. Other functions that determine the shape of a virtual wall include hyperbolic functions and elliptic functions. [Explanation of symbols]

[0079] 1...cleaning device, 10...housing, 11...processor, 111...virtual wall information recognition unit, 112...position information acquisition unit, 113...virtual wall setting unit, 114...map creation unit, 115...travel cleaning control unit, 12...memory, 121...map DB, 1211...map ID list, 1212...map data table, 13...communication unit, 14...operation unit, 15...display unit, 16...measurement unit, 161...marker sensor, 162...two-dimensional sensor, 163...three-dimensional sensor, 164...object detection sensor, 17...cleaning unit, 171...movement mechanism, 172...pad, 173...squeegee, 9...map creation system, M...marker, M1...first marker, M2...second marker.

Claims

1. The system acquires location information indicating the location of an object from a sensor that detects the object present in the surroundings, recognizes virtual wall information indicating the shape of a virtual wall from a marker displayed on the object, and sets the virtual wall on a map based on the virtual wall information and the location information. Mapping system.

2. the markers include a first marker indicating a start point of the virtual wall as the virtual wall information, and a second marker indicating a length of the virtual wall as the virtual wall information, The direction of the virtual wall is recognized based on the positions of the first marker and the second marker indicated by the position information. The mapping system of claim 1 .

3. The surface of the object on which the marker is displayed is identified from the position information, and the direction of the virtual wall is recognized based on the surface. The mapping system of claim 1 .

4. The virtual wall information includes information about the direction of the virtual wall relative to the surface. The map creation system according to claim 3 .

5. The virtual wall information indicates the shape of the virtual wall as well as the type of each space partitioned by the virtual wall. The mapping system of claim 1 .

6. The system acquires location information indicating the location of an object from a sensor that detects the object present in the surroundings, recognizes virtual wall information indicating the shape of a virtual wall from a marker displayed on the object, and sets the virtual wall on a map based on the virtual wall information and the location information. How to create a map.

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