TRAVEL MAP CREATION DEVICE, AUTONOMOUS TRAVEL ROBOT, TRAVEL CONTROL SYSTEM FOR AUTONOMOUS TRAVEL ROBOT, TRAVEL CONTROL METHOD FOR AUTONOMOUS TRAVEL ROBOT, AND PROGRAM

摘要

A travel map creation device (100) comprises a sensor information acquisition unit (141) that acquires positional relationships of nearby objects with respect to the travel map creation device (100) itself, a floor map creation unit (142) that creates a floor map of a certain floor on the basis of the positional relationships, an own position calculation unit (143) that calculates an own position on the floor map, an image acquisition unit (144) that acquires an image including reflected light obtained as a result of light being emitted from a light-emitting device (1) and reflected on the certain floor, a light position calculation unit (145) that calculates coordinate information corresponding to the position of the reflected light in the floor map from the position of the reflected light in the image, a no-entry information generation unit (146) that generates, on the basis of the coordinate information, no-entry information indicating a no-entry area that an autonomous travel robot (300) is forbidden to enter, and a travel map creation unit (147) that creates a map for traveling in which the no-entry area has been set on the basis of the no-entry information.