Mobile robot system, terminal device, and map update program

Abstract

To facilitate updating of an area map.SOLUTION: A mobile robot system 100 comprises: a mobile robot 130 autonomously moving inside a prescribed area 201; and a terminal device 160 for receiving an input from a user. The mobile robot system 100 further comprises: a map acquisition section 126 for acquiring an area map 203; a reception section 123 for receiving an input of a start showing one end of a virtual wall 204 and receiving an input of a finish showing the other end of the virtual wall 204 at any other point; a physical relation acquisition section 124 for acquiring a positional relation of a finish point to a start point; and a virtual wall setting section 122 for setting the virtual wall 204 taking the start point and the finish point as both ends on the area map 203 and updates the area map.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a mobile robot system including a robot that moves autonomously within a predetermined area, a mobile terminal, and a map update program. [Background technology]

[0002] Conventionally, autonomously moving robots move based on a floor map for construction or a map created in advance by SLAM (Simultaneous Localization and Mapping). However, if there is an area in the map that is off-limits, an operator places at least two landmarks on the floor and sets the off-limits area for the robot, as in the technology described in Patent Document 1. In addition, as in the technology described in Patent Document 2, a map may be displayed on a display and off-limits areas may be set on the display. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-124980 A [Patent Document 2] Special Publication No. 2019-532369 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when setting up no-entry areas on a display, it is difficult to grasp their relationship to the actual floor, and when using no-entry landmarks, transporting and placing the landmarks can be cumbersome, for example, if an island-shaped no-entry area is to be shown, landmarks must be placed at all four corners.

[0005] The present disclosure provides a mobile robot system, a terminal device, and a map update program that can easily set no-entry areas. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a mobile robot system that is one aspect of the present disclosure is a mobile robot system that includes a mobile robot that moves autonomously within a predetermined area, and a terminal device that accepts input from a user, and includes a map acquisition unit that acquires an area map that indicates the area, a reception unit that accepts a start input indicating one end of a virtual wall at a point within the area and an end input indicating the other end of the virtual wall at another point within the area, a positional relationship acquisition unit that acquires the positional relationship of the end point, which is the point where the start input was accepted, relative to the start point, which is the point where the end input was accepted, and a virtual wall setting unit that sets a virtual wall with the start point and the end point as both ends on the area map and updates the area map.

[0007] Another terminal device of the present disclosure is a terminal device that provides a mobile robot that moves autonomously within a specified area with an area map used for movement, and includes a map acquisition unit that acquires an area map that indicates the area, a reception unit that accepts a start input indicating one end of a virtual wall at a point within the area and an end input indicating the other end of the virtual wall at another point within the area, a positional relationship acquisition unit that acquires the positional relationship of the end point, which is the point where the start input was accepted, relative to the start point, which is the point where the end input was accepted, a virtual wall setting unit that updates the area map by setting a virtual wall with the start point and the end point as both ends on the area map, and a map output unit that outputs the updated area map.

[0008] Another map updating program of the present disclosure is a map updating program that updates an area map applied to a mobile robot that moves autonomously within a specified area, in which a map acquisition unit acquires an area map that indicates the area, a start input that indicates one end of a virtual wall at a point within the area, a reception unit accepts an end input that indicates the other end of the virtual wall at another point within the area, a positional relationship acquisition unit acquires a positional relationship between the start point that is the point where the start input was accepted and the end point that is the point where the end input was accepted, and a virtual wall setting unit updates the area map by setting a virtual wall with the start point and the end point as both ends on the area map. Effect of the Invention

[0009] According to the mobile robot system, terminal device, and map update program of the present disclosure, an updated area map can be easily provided without complication. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a plan view showing a mobile robot system according to an embodiment together with an area to be cleaned. [Diagram 2] FIG. 2 is a side view showing the appearance of the mobile robot in the embodiment. [Diagram 3] FIG. 3 is a bottom view showing the appearance of the mobile robot in the embodiment. [Figure 4] FIG. 4 is a block diagram showing each functional unit of the mobile robot system according to the embodiment. [Diagram 5] FIG. 5 is a diagram showing a region map acquired by a map acquisition unit in the embodiment. [Figure 6] FIG. 6 is a diagram showing a first display state of a terminal device in the embodiment. [Figure 7] FIG. 7 is a diagram showing a second display state of the terminal device in the embodiment. [Figure 8] FIG. 8 is a diagram showing operation states and movement paths in the embodiment. [Figure 9] FIG. 9 is a diagram showing an area map before update including a virtual wall according to the embodiment. [Figure 10] FIG. 10 is a diagram showing a state in which objects are placed in a facility in the embodiment. [Figure 11] FIG. 11 is a plan view showing a state in which the entire area is divided into cleaning areas in the embodiment. [Figure 12] FIG. 12 is a diagram showing an area map including a virtual wall corresponding to an object. [Figure 13] FIG. 13 is a flowchart showing a part of the operation flow of the mobile robot system in the embodiment. [Figure 14] FIG. 14 is a diagram showing another example 1 of an operation mode of the terminal device when setting a virtual wall. [Figure 15] FIG. 15 is a diagram showing another example 2 of the operation mode of the terminal device when setting a virtual wall. [Figure 16] FIG. 16 is a diagram showing a display state of an image corresponding to a movable virtual wall. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of a mobile robot system, a terminal device, and a map update program according to the present disclosure will be described with reference to the drawings. Note that the following embodiment is an example for explaining the present disclosure, and is not intended to limit the present disclosure. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical expressions, contents of each step in the method, and the order of each step shown in the following embodiment are examples, and may include contents not described below. In addition, geometric expressions such as parallel and orthogonal may be used, but these expressions do not indicate mathematical strictness, and include substantially permissible errors, deviations, and the like. In addition, expressions such as simultaneous and identical also include substantially permissible ranges.

[0012] In addition, the drawings are schematic diagrams in which emphasis, omissions, or ratios have been appropriately adjusted in order to explain the present disclosure, and the shapes, positional relationships, and ratios may differ from the actual ones.

[0013] In addition, in the following, a plurality of inventions may be collectively described as one embodiment. In addition, some of the contents described below are described as optional components related to the present disclosure.

[0014] 1 is a diagram showing a mobile robot system according to an embodiment together with an area to be moved. As shown in the figure, the mobile robot system 100 is a system that updates an area map 203 for creating a cleaning plan for an area 201 surrounded by walls of a facility 200 such as a hotel or a tenant building, and a mobile robot 130 equipped with a cleaning function moves autonomously and cleans based on the updated area map 203. In this embodiment, the mobile robot system 100 includes the mobile robot 130 and a terminal device 160.

[0015] Fig. 2 is a side view showing the appearance of the mobile robot in the embodiment. Fig. 3 is a bottom view showing the appearance of the mobile robot in the embodiment. As shown in these figures, the mobile robot 130 according to the embodiment is a vacuum cleaner that moves autonomously based on the acquired area map 203 and sucks up dirt.

[0016] According to this embodiment, the mobile robot 130 includes a body 131 on which various components are mounted, a moving means 132 for moving the body 131, a cleaning means 133 for cleaning up debris present in the area 201, a control unit 135 for controlling the moving means 132 and the cleaning means 133, and a position sensor 136.

[0017] Body 131 is a housing that houses moving means 132, control unit 135, etc. The upper part is configured to be detachable from the lower part. A bumper 139 that is displaceable relative to body 131 is attached to the outer periphery of body 131. Also, as shown in Fig. 3, body 131 is provided with a suction port 138 for sucking dirt into the inside of body 131.

[0018] The moving means 132 is a device that moves the mobile robot 130 based on instructions from the control unit 135. In this embodiment, the mobile robot 130 is equipped with a position sensor 136, and the moving means 132 also functions as a device that moves the position sensor 136. The moving means 132 has wheels 140 that move on the area 201, and a moving motor (not shown) that gives torque to the wheels 140. The bottom surface of the body 131 is equipped with casters 142 as auxiliary wheels. The mobile robot 130 can freely move in a straight line, backwards, left turns, right turns, etc. by independently controlling the rotation of the two wheels 140.

[0019] The cleaning means 133 is a unit that sucks in dust from the suction port 138 and holds the dust sucked into the body 131, and has an electric fan (not shown) and a dust holding section 143. The electric fan sucks in air inside the dust holding section 143 and expels the air outward from the body 131, thereby sucking in dirt from the suction port 138 and storing the dirt in the dust holding section 143. The cleaning means 133 has a rotating brush 134 for sweeping up dust and sucking the dirt from the suction port 138.

[0020] The position sensor 136 detects the positional relationship, including the distance and direction, between the mobile robot 130 and objects, including walls, present around the mobile robot 130 within the area 201. It is also possible to grasp the self-position of the mobile robot 130 from the information on the direction and distance detected by the position sensor 136. The type of the position sensor 136 is not particularly limited, and examples thereof include a LiDAR (Light Detection and Ranging) camera and a ToF (Time of Flight) camera that detect the position and distance based on the light that is emitted and reflected by an obstacle and returned. Another example of the position sensor 136 is a compound eye camera that obtains the illumination light or natural light reflected by an obstacle as an image and obtains the position and distance based on the parallax.

[0021] The mobile robot 130 may include a sensor other than the position sensor 136. For example, the mobile robot 130 may include floor sensors arranged at multiple locations on the bottom surface of the body 131 to detect whether or not a floor surface exists as the area 201. The mobile robot 130 may also include an encoder used for odometry that is provided on the moving means 132 and detects the rotation angles of each of a pair of wheels 140 rotated by a moving motor. The mobile robot 130 may also include inertial sensors such as an acceleration sensor that detects the acceleration when the mobile robot 130 moves and an angular velocity sensor that detects the angular velocity when the mobile robot 130 turns. The mobile robot 130 may also include a dust amount sensor that measures the amount of dust accumulated on the floor surface. The mobile robot 130 may also include a contact sensor that detects the displacement of the bumper 139 to detect the collision of an obstacle. The mobile robot 130 may also include an obstacle sensor such as an ultrasonic sensor other than the position sensor 136 that detects an obstacle present in front of the body 131.

[0022] 4 is a block diagram showing each functional unit of the mobile robot system in the embodiment. As shown in the figure, the mobile robot 130 included in the mobile robot system 100 includes a map processing unit 171 and a self-position estimation unit 172 as functional units realized by causing the processor of the control unit 135 to execute a program. In the case of the present embodiment, the control unit 135 includes a movement control unit 176 and a cleaning control unit 177.

[0023] The map processing unit 171 generates a self-position map for self-position recognition based on information on the position and distance of an object measured by the position sensor 136. The map processing unit 171 may acquire maps such as an area map and a floor map from the terminal device 160, the server 110, etc. In the case of this embodiment, the map processing unit 171 creates a self-position map regarding the surrounding environment (walls, furniture, etc.) of the mobile robot 130 based on the information acquired from the position sensor 136, for example, by using SLAM technology.

[0024] The mobile robot 130 may create a self-position map by adding information from other sensors such as wheel odometry and inertial sensors in addition to the sensing information from the LiDAR, which is the position sensor 136.

[0025] The self-position estimation unit 172 estimates the self-position by using a self-position map that is successively created based on the relative positional relationship between an object acquired from the position sensor 136 and the position sensor 136, and the acquired area map 203, etc. In the case of this embodiment, the self-position estimation unit 172 estimates the self-position by using the SLAM technique.

[0026] The movement control unit 176 moves the robot using a cleaning route based on the self-position estimated by the self-position estimation unit 172. When the movement control unit 176 acquires from a sensor that an object or the like exists on the area map 203, the movement control unit 176 may control the moving means 132 to move the mobile robot 130 while avoiding the object.

[0027] The cleaning control unit 177 causes the cleaning means 133 to perform cleaning corresponding to the self-position based on the cleaning schedule. For example, the suction power, the presence or absence of rotation of the brush, and the like are changed based on the self-position.

[0028] The terminal device 160 is a device that accepts input from a user, and includes a communication device that can communicate with the mobile robot 130 and a communication device that can communicate with the server 110 via a network. The terminal device 160 includes a display unit 161 that can process acquired information and display the processed content to the user, and a terminal control unit 129. Examples of the terminal device 160 include devices that can be carried and moved by a person, such as a so-called smartphone or a so-called tablet. The terminal device 160 includes a reception unit 123, a positional relationship acquisition unit 124, a map acquisition unit 126, and a virtual wall setting unit 122 as functional units that are realized by executing a program by a processor included in the terminal control unit 129. In the case of this embodiment, the terminal control unit 129 includes a mobility setting unit 127.

[0029] 5 is a diagram showing an area map acquired by the map acquisition unit. The map acquisition unit 126 acquires an area map 203 indicating an area 201 in which the mobile robot 130 moves. There is no particular limitation on where the map acquisition unit 126 acquires the area map, but in this embodiment, the map acquisition unit 126 acquires a self-position map created in advance by the self-position estimation unit 172 of the mobile robot 130 as the area map. As shown in the figure, an unclear data portion 202 exists in a part of the area map 203 acquired by the map acquisition unit 126. The map acquisition unit 126 may acquire a floor map or the like as the area map 203 from the server 110 or the like.

[0030] The reception unit 123 is a processing unit that receives a start input indicating one end of the virtual wall 204 at a point in the area 201, and receives an end input indicating the other end of the virtual wall at another point in the area 201 after the terminal device 160 has been moved. In the case of this embodiment, the display means 161, the display control unit 125, and the reception unit 123 configure a GUI (Graphical User Interface) as an operation means. That is, as shown in FIG. 6, the display control unit 125 causes the display means 161 to display a start icon 162. The display means 161 includes a touch panel, and the reception unit 123 acquires information indicating that the user has touched the start icon 162 via the display control unit 125 and accepts the start input. Also, as shown in FIG. 7, the display control unit 125 causes the display means 161 to display an end icon 163 after accepting the start input. The reception unit 123 acquires information indicating that the user has touched the end icon 163 via the display control unit 125 and accepts the end input. Note that a specific operation will be described later.

[0031] The positional relationship acquisition unit 124 acquires the positional relationship between the start point, which is the point where the reception unit 123 receives the input of the start, and the end point, which is the point where the reception unit 123 receives the input of the end. The method by which the positional relationship acquisition unit 124 acquires the positional relationship between the two points is not particularly limited. For example, the positional relationship acquisition unit 124 may acquire the relative positional relationship between the two points by acquiring the movement path of the terminal device 160 from the start point to the end point. Specifically, as shown in FIG. 8, at the start point 211, the user taps "START" on the terminal device 160. Next, the user moves along the wall while holding the terminal device 160. The positional relationship acquisition unit 124 generates the movement path of the user from the start point using an acceleration sensor, a gyro sensor, a clock timer, etc. When the user reaches the end point 212, the user taps "END" on the terminal device 160, which has been changed from START to END, and ends the acquisition of the movement path. When the positional relationship acquisition unit 124 acquires the positional relationship between two points using an inertial sensor such as an acceleration sensor or a gyro sensor, the absolute positional relationship of the start point, end point, and movement route with respect to the area map 203 is unknown. When the positional relationship acquisition unit 124 can acquire the absolute positional relationship of the terminal device 160 with respect to the facility 200 (floor), the positional relationship of the start point, end point, and movement route with respect to the area map 203 is specified.

[0032] The method of acquiring the absolute positional relationship of the terminal device 160 with respect to the facility 200 is not particularly limited. For example, the terminal device 160 may have a two-dimensional or three-dimensional distance measuring function (e.g., LiDAR) with respect to an object, and may acquire the relative positional relationship between the terminal device 160 and the facility 200 by SLAM technology or the like. Another example is a method in which the terminal device 160 acquires the relative positional relationship between the terminal device 160 and the facility 200 from the measurement result of a two-dimensional or three-dimensional distance measuring device with respect to an object provided in a device other than the terminal device 160, such as the mobile robot 130. According to this, the positional relationship between the end point and the start point acquired by the positional relationship acquisition unit 124, and the positional relationship between the travel route and the area map 203 can be specified.

[0033] In addition, the terminal device 160 may be equipped with sensors used in a global positioning system (GPS) and a local positioning system (LPS), and may obtain the absolute positional relationship between the area map 203 and the terminal device 160 by obtaining the relative positional relationship between the terminal device 160 and the facility 200 based on information from the sensors.

[0034] The virtual wall setting unit 122 sets a virtual wall having the start point and end point acquired by the positional relationship acquisition unit 124 as both ends on the area map 203, and updates the area map 203. When the positional relationship of the start point, end point, and movement path with respect to the area map 203 is unknown, as shown in Fig. 9, the virtual wall setting unit 122 displays the area map 203 and the virtual wall 204 on the display means 161, accepts the movement of the virtual wall 204 on the area map 203 by the user through a GUI or the like, and sets the position and posture of the virtual wall 204 including the start point, end point, and movement path on the area map 203, as shown in Fig. 10, and updates the area map 203. Also, when the positional relationship of the start point, end point, and movement path with respect to the area map 203 has been acquired, the virtual wall setting unit 122 automatically sets the virtual wall 204 on the area map 203 and updates the area map 203.

[0035] In addition, the virtual wall setting unit 122 may acquire image data of an object 300 that is placed on a floor and is part of the area 201 as shown in FIG. 11 from an imaging device (not shown) provided in the terminal device 160, and may analyze the acquired image data to set a virtual wall 204 surrounding the object 300 as shown in FIG. 12 on the area map 203 and update the area map 203.

[0036] The mobility setting unit 127 sets whether the virtual wall 204 set by the virtual wall setting unit 122 is a fixed object such as a wall of the facility 200, or a movable object such as the object 300 shown in FIG. 11. For example, the mobility setting unit 127 sets the virtual wall 204 set to be continuous with a fixed wall in the area map 203 before the update as fixed (shown by a solid line in FIG. 12). The mobility setting unit 127 also sets the island-like virtual wall 204 that is not continuous with a fixed wall in the area map 203 before the update as movable (shown by a dashed line in FIG. 12). The mobility setting unit 127 may set the virtual wall 204 as fixed or movable based on information instructing fixation or information instructing movement input by the user using a GUI or the like provided in the terminal device 160.

[0037] Next, a description will be given of the operation of the mobile robot system 100. Fig. 13 is a flow chart showing the flow of the operation of the mobile robot system.

[0038] The map acquisition unit 126 of the terminal device 160 acquires the area map 203 (S101). If the unclear data portion 202 exists, the user holds the terminal device 160 and moves to a location corresponding to the unclear data portion 202 to perform an operation for generating the virtual wall 204. Specifically, the user places the terminal device 160 at a position of the facility 200 corresponding to one end of the virtual wall 204 and touches a "start" button on the display means 161, so that the reception unit 123 accepts the input of start (S102). Next, the user moves to a position of the facility 200 corresponding to the other end of the virtual wall 204 and places the terminal device 160. The positional relationship acquisition unit 124 acquires the movement path of the terminal device 160 from the start position to the end position (S103). The user touches an "end" button on the display means 161, so that the reception unit 123 accepts the input of end (S104). The virtual wall setting unit 122 acquires data relating to the start point and the end point acquired by the positional relationship acquisition unit 124 (S105).

[0039] When an object 300 that is not included in the area map 203 is installed in the facility 200, the user holds the terminal device 160 and moves to the vicinity of the location where the object 300 is installed, and captures an image of the object 300 (S106). The virtual wall setting unit 122 acquires image data of the captured image (S107).

[0040] The virtual wall setting unit 122 displays on the area map 203 a virtual wall 204 that curves (or may be a straight line) along the movement path with the start point and end point acquired from the positional relationship acquisition unit 124 as both ends. The virtual wall setting unit 122 also analyzes the acquired image data and displays the virtual wall 204 surrounding the object 300 on the area map 203 (S108).

[0041] If there is an input from the user to move the virtual wall 204 (S109: Yes), the virtual wall setting unit 122 accepts the movement of the virtual wall 204 (S110). If there is an input from the user as to whether the virtual wall 204 is fixed or movable (S111: Yes), the virtual wall setting unit 122 accepts the input (S112). After the above processes are completed, the virtual wall setting unit 122 updates the area map 203 (S113).

[0042] According to the mobile robot system 100 of this embodiment, the user can easily update the area map 203 by indicating the virtual wall 204 that complements the unclear data portion 202 of the area map 203 while checking the situation of the actual area 201. Also, the area map 203 can be easily updated by adding the virtual wall 204 surrounding the object 300 placed in the area map 203 to the area map 203. Therefore, it is possible to shorten the time required to update the area map 203, and the mobile robot 130 that moves based on the updated area map 203 can move appropriately within the facility 200 without colliding with the wall or the object 300.

[0043] Furthermore, by distinguishing and recognizing fixed virtual walls 204 and movable virtual walls 204, when an object 300 is moved within facility 200, the user can update area map 203 simply by moving movable virtual wall 204 on the GUI.

[0044] The present disclosure is not limited to the above-mentioned embodiment. For example, the present disclosure may be realized by combining the components described in this specification in any way, or by excluding some of the components. In addition, the present disclosure also includes modifications obtained by applying various modifications that a person skilled in the art can think of to the above-mentioned embodiment without departing from the gist of the present disclosure, that is, the meaning of the words described in the claims.

[0045] For example, although the positional relationship acquisition unit 124 acquires the positional relationship of the end position relative to the start position and the movement route of the terminal device 160, the positional relationship acquisition unit 124 may acquire the start position and the end position in the facility 200. Specifically, as shown in Fig. 14, the positional relationship acquisition unit 124 may acquire the absolute position of the terminal device 160 whose start button is tapped relative to the facility 200 and the absolute position of the terminal device 160 whose end button is tapped, and the virtual wall setting unit 122 may set a line segment connecting the start position and the end position as the virtual wall 204.

[0046] Furthermore, the virtual wall setting unit 122 may set a rectangle, whose start position and end position form diagonal corners, as a virtual wall 204 on the area map 203, as shown in FIG.

[0047] 16, the virtual wall setting unit 122 may display an image related to a virtual wall 204 set in the area map 203 as being movable in a state in which the corresponding virtual wall 204 can be identified. The image related to the virtual wall 204 is a line drawing of the shape of the object 300, an image including the object 300, an icon depicting the object 300, or the like.

[0048] At least one of the mobile robot 130 and the server 110 included in the mobile robot system 100 may have at least one of the functions of the terminal device 160 of the above embodiment. [Industrial Applicability]

[0049] As described above, the mobile robot system according to the present disclosure can be used for appropriate movement of an area using an autonomous mobile robot. [Explanation of symbols]

[0050] 100 Mobile Robot System 110 Server 122 Virtual wall setting section 123 Reception 124 Positional relationship acquisition unit 125 Display control section 126 Map Acquisition Department 127 Mobility Settings 129 Terminal Control Means 130 Mobile Robot 131 Body 132 Transportation 133 Cleaning means 134 Rotating Brush 135 Control Unit 136 Position Sensor 138 Intake port 139 Bumper 140 Wheels 142 Caster 143 Dust holding part 160 Terminal Equipment 161 Display means 162 Start Icon 163 Exit Icon 171 Map processing section 172 Self-position estimation part 176 Movement control section 177 Cleaning control section 200 facilities 201 areas 202 Unclear Data Section 203 Area Map 204 Virtual Wall 211 Starting point 212 End Point 300 Objects

Claims

1. A mobile robot system including a mobile robot that moves autonomously within a predetermined area and a terminal device that receives input from a user, A map acquisition unit that acquires a region map indicating the region; a reception unit that receives a start input indicating one end of a virtual wall at a point within the region and receives an end input indicating the other end of the virtual wall at another point within the region; a positional relationship acquisition unit that acquires a positional relationship between a start point, which is a point where the input of the start is accepted, and an end point, which is a point where the input of the end is accepted; a virtual wall setting unit which sets a virtual wall surrounding an object on the area map by acquiring image data of a part of the area from the terminal device and analyzing the acquired image data, and updates the area map; a mobility setting unit that sets whether the virtual wall surrounding the object set by the virtual wall setting unit is fixed or movable, The virtual wall setting unit is Displaying the area map and a virtual wall, and displaying an image related to the virtual wall surrounding the object set to be movable. Mobile robot system.

2. The virtual wall setting unit is Displaying the area map and a virtual wall, and accepting movement of the virtual wall surrounding the object on the area map. The mobile robot system of claim 1 .

3. A region map is provided to a mobile robot that moves autonomously within a given region. A terminal device for providing A map acquisition unit that acquires a region map indicating the region; a reception unit that receives a start input indicating one end of a virtual wall at a point within the region and receives an end input indicating the other end of the virtual wall at another point within the region; a positional relationship acquisition unit that acquires a positional relationship between a start point, which is a point where the input of the start is accepted, and an end point, which is a point where the input of the end is accepted; a virtual wall setting unit which acquires image data of a part of the area, the virtual wall having the start point and the end point as both ends, and sets the virtual wall surrounding the object on the area map by analyzing the acquired image data, and updates the area map; a mobility setting unit that sets whether a virtual wall surrounding the object set by the virtual wall setting unit is fixed or movable; a map output unit that outputs the updated region map; The virtual wall setting unit is Displaying the area map and a virtual wall, and displaying an image related to the virtual wall surrounding the object set to be movable. Terminal device.

4. A map updating program for updating an area map applied to a mobile robot that moves autonomously within a predetermined area, comprising: A map acquisition unit acquires a region map indicating the region; a start input indicating one end of the virtual wall at a point within the region is received by a receiving unit, and an end input indicating the other end of the virtual wall at another point within the region is received by a receiving unit; a positional relationship acquisition unit acquires a positional relationship between a start point, which is a point where the input of the start is accepted, and an end point, which is a point where the input of the end is accepted; a virtual wall having the start point and the end point as both ends, image data of a part of the area being photographed is acquired from a terminal device, and a virtual wall setting unit sets a virtual wall surrounding the object on the area map by analyzing the acquired image data, and updates the area map; a mobility setting unit sets whether a virtual wall surrounding the object set by the virtual wall setting unit is fixed or movable; The virtual wall setting unit displays the area map and a virtual wall, and displays an image related to the virtual wall surrounding an object that is set to be movable. Map updates.

Images