JP2019198346A - Mobile system including mobile moving along floor surface - Google Patents

Abstract

To smoothly perform map processing among multiple self-propelled vacuum cleaners capable of being disposed in a different floor.SOLUTION: A mobile system has a communication unit and a height detection unit. The mobile system comprises multiple mobiles moving along a floor surface, the mobile being capable of referring to the map of a floor where itself is positioned and capable of updating the map or entering the passed area where the mobile passes in the map. When a difference between a detective value of the height detection unit and a detective value of the height detection unit of the other mobile is small, a determination is made that the other mobile is present in the same floor. When the difference between the detective value of the height detection unit and the detective value of the height detection unit of the other mobile is large, a determination is made that the other mobile is present in another floor.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a moving body system including a moving body that moves along a floor surface.

  Patent Document 1 selects a travel map corresponding to an altitude detected by an altitude detection unit such as an atmospheric pressure sensor that detects the altitude of a place where the vehicle is placed, and controls the travel based on the selected travel map. A self-propelled electronic device including a control unit is disclosed (claim 1, 0044).

JP 2017-204132 A

  As a barometric pressure sensor, a sensor that measures the atmospheric pressure at the altitude at which the sensor is placed is known. For this reason, it is not always possible to accurately determine the floor on which the sensor is located just by using it alone as in Patent Document 1. Further, Patent Document 1 does not consider any specific processing for a mobile system including a plurality of barometric sensors.

The present invention made in view of the above circumstances,
A communication department;
An altitude detection unit,
You can refer to the map of the floor where you are located,
A mobile system including a plurality of mobile bodies that move along a floor surface, wherein the map can be updated and / or a passed area through which the mobile body has passed can be input to the map,
When the difference between the detection value of the altitude detection unit and the detection value of the altitude detection unit of any other mobile object is small, it is determined that the other mobile object is on the same floor,
When the difference between the detected value of the altitude detecting unit and the detected value of the altitude detecting unit of any other moving body is large, it is determined that the other moving body is on another floor.

It is a perspective view of the self-propelled electric vacuum cleaner concerning the embodiment of the present invention. It is a perspective view of the state where the upper case and dust case of the self-propelled vacuum cleaner concerning the embodiment of the present invention were removed. It is a bottom view of the self-propelled electric vacuum cleaner concerning the embodiment of the present invention. It is AA sectional drawing of FIG. It is a block diagram which shows the apparatus connected to the control apparatus of the self-propelled vacuum cleaner which concerns on embodiment of this invention, and a control apparatus. It is a flowchart which shows the traveling control of the self-propelled vacuum cleaner which concerns on embodiment of this invention. It is a floor plan of a certain floor in which two self-propelled electric vacuum cleaners according to an embodiment of the present invention are installed. It is the map created when two self-propelled electric vacuum cleaners concerning the embodiment of the present invention perform cleaning on the same floor. It is a figure which shows a driving | running locus | trajectory in case two self-propelled vacuum cleaners which concern on embodiment of this invention clean on the same floor. It is a figure which shows the shared map in case two self-propelled vacuum cleaners which concern on embodiment of this invention clean on the same floor, the cleaned area, and the non-cleanable area. It is a figure which shows a driving | running locus | trajectory in case two self-propelled vacuum cleaners which concern on embodiment of this invention clean on the same floor. It is a figure which shows the shared map in case two self-propelled vacuum cleaners which concern on embodiment of this invention clean on the same floor, the cleaned area, and the non-cleanable area. It is a figure which shows the terminal device which displays the shared map in case two self-propelled vacuum cleaners which concern on embodiment of this invention clean on the same floor, the cleaned area, and the non-cleanable area. It is a figure which shows the terminal device which displays the shared map in case two self-propelled vacuum cleaners which concern on embodiment of this invention clean on the same floor, the cleaned area, and the non-cleanable area. It is a floor plan in case two self-propelled electric vacuum cleaners concerning an embodiment of the present invention perform cleaning in a different floor. It is the map created when two self-propelled electric vacuum cleaners concerning the embodiment of the present invention perform cleaning in a different floor. It is a figure which shows a driving | running locus | trajectory in case two self-propelled electric vacuum cleaners concerning embodiment of this invention perform cleaning in a different floor. It is a figure showing a shared map, a cleaned area, and a non-cleanable area when two self-propelled electric vacuum cleaners according to an embodiment of the present invention perform cleaning on different floors. It is a figure which shows a driving | running locus | trajectory in case two self-propelled electric vacuum cleaners concerning embodiment of this invention perform cleaning in a different floor. It is a figure showing a shared map, a cleaned area, and a non-cleanable area when two self-propelled electric vacuum cleaners according to an embodiment of the present invention perform cleaning on different floors. It is a figure which shows the terminal device which displays the shared map, the cleaned area, and the non-cleanable area when two self-propelled electric vacuum cleaners which concern on embodiment of this invention clean in a different floor. It is a figure which shows the terminal device which displays the shared map, the cleaned area, and the non-cleanable area when two self-propelled electric vacuum cleaners which concern on embodiment of this invention clean in a different floor. It is a figure which shows the terminal device with which a user can set the place of two self-propelled electric vacuum cleaners concerning embodiment of this invention directly.

  Embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, let the direction which self-propelled vacuum cleaner R (refer FIG. 1) mainly advances be front, the vertical upward direction is upper, and the direction which the driving wheel 61 (refer FIG. 3) opposes is left and right. That is, as shown in FIG.

  The various components of the present invention do not necessarily have to be independent of each other. One component is composed of a plurality of members, a plurality of components are composed of one member, and one component is And a part of another component are allowed to overlap.

  FIG. 1 is a perspective view of the self-propelled electric vacuum cleaner according to the present embodiment. The self-propelled electric vacuum cleaner R is a vacuum cleaner that performs cleaning while moving autonomously in a predetermined cleaning area (for example, a room). The self-propelled vacuum cleaner R includes an upper case 91 that is an upper wall (and some side walls), a lower case 51 that is a bottom wall (and some side walls), and a bumper 92 that is installed at the front part. , And a main body 50 configured to include. On the upper surface of the self-propelled electric vacuum cleaner R, a dust case K and a handle 93 for removing the dust case K are provided. The upper case 91 is provided with an operation button 97 and a display panel 98 for displaying a cleaning mode and the like.

(Body)
FIG. 2 is a perspective view of the self-propelled vacuum cleaner R according to the present embodiment with the upper case 91 and the dust case K removed. The lower case 51 is a housing on which the traveling motor 57 that transmits driving force to the driving wheels 61, the rotating brush motor 21, the electric blower 81, the control device 95, and the like are placed, and the outer shape thereof is a thin disk shape. ing. The self-propelled vacuum cleaner R is a wireless communication module 101 for communicating with other self-propelled vacuum cleaners RN, an environment detection unit (for example, a camera or the like) that captures surrounding images and can be used for self-location and map creation. Imaging section, laser) 102, and barometer 103. Various known barometers can be employed as the barometer 103, but the barometer 103 of this embodiment has a function of estimating the altitude of the barometer 103 by measuring the atmospheric pressure around the barometer 103.

  FIG. 3 is a bottom view of the self-propelled electric vacuum cleaner R according to the present embodiment. The lower case 51 is formed with two drive wheels 61 facing in the left-right direction, a drive mechanism accommodating portion 54 that accommodates the speed reduction mechanism 47 and the traveling motor 57, a side brush attachment portion 82, and an inlet portion 10. Yes.

  FIG. 4 is a cross-sectional view taken along line AA in FIG. The self-propelled electric vacuum cleaner R has a battery accommodating portion 55 that accommodates the rechargeable battery P. Further, the bumper 92 is installed so as to be movable in the front-rear direction in accordance with a pressing force acting from the outside. Retraction of the bumper 92 (that is, contact with an obstacle) is detected by a bumper sensor (infrared sensor), and the detection result is input to the control device 95. In the bumper 92, at least near the distance measuring sensor is resin or glass that transmits infrared rays, and when the environment detection unit 102 is a camera, it is resin or glass that transmits visible light, and in the case of a laser. It is made of resin or glass that transmits the laser frequency band.

(Side brush)
The side brush 40 illustrated in FIG. 3 is a brush that guides dust in a place where it is not easy to reach the rotating brush 5, such as a corner of a room outside the main body 50, to the suction port 10 (suction port 17). A part of the main body 50 is exposed in a plan view. The side brush 40 has three bundles of brushes that extend radially at 120 ° intervals in plan view, and is disposed on the front left and right of the lower case 51.

  The side brush holder 41 is installed near the bottom surface of the lower case 51 and is connected to the side brush motor 42. When the side brush motor 42 is driven, the side brush 40 rotates inward (in the direction of an arrow attached to FIG. 3), and dust is collected in the suction port 17.

(Electric blower)
The electric blower 81 shown in FIG. 4 is driven to rotate to discharge the air in the dust case K to the outside to generate a negative pressure, and sucks dust from the floor via the suction port 17 (suction port 10). have.

(Sensors)
FIG. 5 is a schematic configuration diagram showing a control device 95 of the self-propelled electric vacuum cleaner and devices connected to the control device 95. The bumper sensor (obstacle detection means) is a sensor that detects the backward movement of the bumper 92.

  The distance measuring sensor 96 (obstacle detection means) is an infrared sensor that detects the distance to the obstacle. The distance measuring sensor 96 includes a light emitting unit (not shown) that emits infrared light, and a light receiving unit (not shown) that receives reflected light that is reflected by the infrared light reflected by an obstacle. The distance to the obstacle is calculated based on the reflected light detected by the light receiving unit.

  The floor surface distance measuring sensor 94 (floor surface detecting means) is an infrared sensor that measures the distance to the floor surface, and is installed at four locations on the front, rear, left and right of the lower case 51 (see FIG. 3). By detecting a large step such as a staircase by the floor surface ranging sensor, the self-propelled vacuum cleaner R can be prevented from falling (from the staircase or the like).

  The rotation speed and rotation angle of the traveling motor 57 are detected using the traveling motor pulse output. Based on the rotation speed and rotation angle detected from the travel motor pulse output, the gear ratio of the speed reduction mechanism, and the diameter of the drive wheel 61, the control device 95 is used when calculating the movement speed and movement distance of the main body 50. be able to.

  The rechargeable battery P is, for example, a secondary battery that can be reused by charging, and is accommodated in the battery accommodating portion 55 (see FIG. 4). The electric power from the rechargeable battery P is supplied to each sensor, each motor, each drive device, and the control device 95.

(Driver)
The travel motor drive device (left) (right) shown in FIG. 5 is an inverter that drives the left and right travel motors 57 or a pulse waveform generator by PWM control, and operates according to a command from the control device 95. . The same applies to the electric blower driving device, the rotating brush motor driving device, and the side brush motor driving device (left) (right). Each of these driving devices is installed in a control device 95 (see FIG. 2) in the main body 50.

(Control device)
The control device 95 is, for example, a microcomputer (not shown), reads a program stored in a ROM (Read Only Memory) and develops it in a RAM (Random Access Memory), and a CPU (Central Processing Unit) performs various processes. It is supposed to run.

  FIG. 6 is a flowchart showing processing related to travel control, map creation, and work environment recording among the processing executed by the control device. When an instruction to start cleaning is issued by a user instruction or a timer, the self-propelled vacuum cleaner R uses the wireless communication module 101 as a communication unit to use another self-propelled electric vacuum cleaner connected to the same access point. The machine RN is searched (step S1). For example, if information on other access points predetermined by the user (for example, other access points installed in the same building) can be acquired, other self-propelled vacuum cleaners can also be used for those access points. Search whether RN is connected. If no other self-propelled electric vacuum cleaner R is detected, it is determined that it is independent. When detected, it communicates with other self-propelled electric vacuum cleaners R and compares the values of the respective barometers 103 (step S2). In the present embodiment, description will be made assuming that there are two self-propelled electric vacuum cleaners 105 and 106.

  If the difference between the values of the barometers 103 of the two self-propelled electric vacuum cleaners 105 and 106 is larger than the specified value, it is determined that the self-propelled electric vacuum cleaners 105 and 106 are on different floors. If the difference between the values of the barometer 103 is smaller than the specified value, it is determined that the self-propelled vacuum cleaners 105 and 106 are on the same floor. Since the determination is based on the relative value rather than the absolute value of the barometer 103, it is less affected by the weather (high and low pressures), and the difference in floors can be determined.

    The threshold (specified value) for distinguishing whether the two self-propelled vacuum cleaners 105 and 106 are on different floors or on the same floor depends on the height of the building (height per floor). If the building is a high-rise building, the floor height is relatively high at about 3 m, and at this time the atmospheric pressure differs by about 0.35 hPa. Also, in an office building, the floor height is comparatively as high as about 4.5 m, and at this time, the atmospheric pressure differs by about 0.52 hPa. For this reason, when the consumer targeted by the manufacturer of the self-propelled electric vacuum cleaner R is a user of a residential building, the threshold is set to about 0.35 hPa, and the threshold is set to 0 when the administrator is an office building manager or the like. It can be considered to be about .52 hPa. And when the atmospheric | air pressure difference more than a threshold value is detected, it judges that it exists in a different floor. The floor height may be input to the user, or the type of building to be used (for example, residential or office building) may be input. Thereby, if the threshold value is determined, it can be accurately estimated whether the floor where the self-propelled electric vacuum cleaners 105 and 106 are arranged is the same or different. The above 0.35 and 0.52 are preferably considered to be two significant digits.

    First, here, a case where two self-propelled vacuum cleaners 105 and 106 perform cleaning on the same floor will be described. FIG. 7 is a diagram in which the self-propelled vacuum cleaners 105 and 106, the charging bases 107 and 108, and the furniture 109 are added to the floor plan where two self-propelled vacuum cleaners 105 and 106 are installed. Is a diagram showing a map 110 of a certain floor.

  FIG. 7 shows a floor plan 104, a self-propelled vacuum cleaner 105, another self-propelled vacuum cleaner 106, a charging stand 107 of the self-propelled vacuum cleaner 105, a charging stand 108 of the self-propelled vacuum cleaner 106, furniture. A non-cleanable area 109 such as a self-propelled vacuum cleaner 105 and a wall-side travel locus 121 of the self-propelled vacuum cleaner 105 are depicted. Whether or not it is a non-cleanable area, for example, use the environment detection unit to obtain the height and gap size of the area and compare it with its own size or determine whether it is an area that can be entered by its own movement performance Can be judged.

    First, the self-propelled vacuum cleaner 105 and the self-propelled vacuum cleaner 106 start traveling along the wall (step S3).

    At that time, for example, the control device 95 calculates the moving speed and moving distance of the self-propelled electric vacuum cleaner R from the traveling motor pulse output. At the same time, the video from the environment detection unit 102 is processed, feature points such as the ceiling of the room and furniture are extracted, and the self-position is estimated from the plurality of feature points (step S4). By this process, the self-propelled electric vacuum cleaners 105 and 106 complete the creation of the map 110 at the time of making a round of the room (step S5). The map 110 may be created and stored by the control device 95 of each self-propelled vacuum cleaner, or each map 110 may transmit the travel data to a separate server, and each map 110 may be stored. May be created and stored. The maps 110 are appropriately merged as will be described later.

    Next, the created map 110 is shared with the self-propelled electric vacuum cleaners 105 and 106 on the same floor (steps S6 and 2 :). Specifically, the map created by the self-propelled vacuum cleaner 105 and the map created by the self-propelled vacuum cleaner 106 are compared, and by finding common points, the two maps are merged into one map. To synthesize. And this map is shared by two self-propelled electric vacuum cleaners 105 and 106 on the same floor, and the self-position is estimated on the shared map. The map data may be stored in each or a part of the self-propelled vacuum cleaner and referred to using a communication unit, or stored in a server and communicated with each self-propelled vacuum cleaner. You may make it refer using a part.

    Then, cleaning is started again (step S7), and the room is cleaned while avoiding obstacles using the bumper 92, the distance measuring sensor 96, and the floor surface distance measuring sensor 94 (step S8). At the same time, the self-position is estimated from the traveling motor pulse output and the data of the environment detection unit 102, and the cleaned area and the non-cleanable area are recorded on the map (step S9).

    FIG. 9 shows the travel locus of the self-propelled electric vacuum cleaners 105 and 106. A travel locus 111 of the self-propelled electric vacuum cleaner 105 and a travel locus 112 of the self-propelled electric vacuum cleaner 106 are drawn.

    Since self-propelled vacuum cleaners 105 and 106 are on the same floor, they share the cleaned area and the non-cleanable area (step S10). FIG. 10 shows a shared map. A cleaned area 113, an uncleanable area 114 of the self-propelled electric vacuum cleaner 105, a cleaned area 115 of the self-propelled electric vacuum cleaner 106, and uncleaned areas 116 to 118 are depicted.

    FIG. 13 is a diagram showing a screen displayed by the terminal device 119 of the present embodiment during the cleaning of the self-propelled vacuum cleaner, and FIG. 14 is a diagram showing the completion of cleaning of the self-propelled vacuum cleaner by the terminal device 119 of the present embodiment. It is a figure which shows the screen displayed later. The terminal device 119 displays a map 1191 in which the cleaned area and the floor plan are merged (step S11). And when an uncleaned area remains (step S12), an optimal path | route is calculated from the distance of each self-propelled electric vacuum cleaner and the uncleaned area (step S13). Specifically, the cleaning is continued from the uncleaned area at a position close to the self position of each self-propelled electric vacuum cleaner (step S14). And if there is no uncleaned area (refer FIG. 11), each will return to a charging stand (step S15). Since the optimum route is calculated from the self-position of each self-propelled vacuum cleaner and the distance between the uncleaned areas, there is no need to reorganize the uncleaned areas and allocate the cleaning areas to each self-propelled vacuum cleaner. 95 and the server processing load are reduced. For example, when there are many obstacles in the cleaning area close to the self-propelled vacuum cleaner 105 and it takes time to clean, the cleaning area of the self-propelled vacuum cleaner 106 is automatically expanded by calculating the optimum route. Eventually, the cleaning can be completed most quickly with two units. Then, the map shown in FIG. 12 and the final cleaned area are displayed on the terminal device 119.

    Next, a case where two self-propelled vacuum cleaners perform cleaning on different floors will be described. FIG. 15 shows the self-propelled vacuum cleaners 105 and 106 and the charging stand on the floor where two self-propelled vacuum cleaners 105 and 106 are installed (in this embodiment, the first floor and the second floor). FIG. 16 is a diagram in which 107 and 108 are added, and FIG. 16 is a diagram illustrating these maps 132 and 133 on a certain floor.

    In FIG. 15, floor plan 122 on the first floor, floor plan 123 on the second floor, self-propelled vacuum cleaner 105, self-propelled vacuum cleaner 106, charging stand 107 of self-propelled vacuum cleaner 105, self-propelled vacuum cleaner The charging stand 108 of the machine 106, non-cleanable areas 126 to 131 such as stairs, the running track 124 near the wall of the self-propelled vacuum cleaner 105, and the running track 125 near the wall of the self-propelled vacuum cleaner 106 are drawn. Further, in the present embodiment, the atmospheric pressures of different floors are stored with the highest one of the detected atmospheric pressures as a reference. That is, with the first floor having the highest pressure as a reference, the pressure on the second floor in a residential building is, for example, approximately “(first floor pressure) −0.35” hPa.

    First, the self-propelled electric vacuum cleaner 105 and the self-propelled electric vacuum cleaner 106 start traveling along the wall (step S3). The moving speed and moving distance are calculated. At the same time, the video from the camera 102 is subjected to image processing, feature points such as the ceiling of the room and furniture are extracted, and the self position is estimated from the plurality of feature points (step S4). With this process, the self-propelled electric vacuum cleaners 105 and 106 complete the creation of floor plans 132 and 133 for each floor at the time of making one round of the room (step S5).

    Next, since each control device 95 has two self-propelled vacuum cleaners on different floors, the created maps 132 and 133 are shared between the self-propelled vacuum cleaner 105 and the self-propelled vacuum cleaner 106. I won't let you. Each self-propelled vacuum cleaner 105, 106 refers to the detected value of each altimeter, and based on the highest detected value, the difference between the detected value and its own detected value is used to determine the floor on which it is placed. to decide. Then, the self position is estimated on the determined map of each floor (step S6). Then, cleaning is started again (step S7), and the room is cleaned while avoiding obstacles using the bumper 92, the distance measuring sensor 96, and the floor surface distance measuring sensor 94 (step S8). At the same time, the self-position is estimated from the traveling motor pulse output and the image of the camera 102, and the cleaned area and the non-cleanable area are recorded on each map (step S9).

    Each self-propelled vacuum cleaner 105, 106 only needs to be able to refer to the map of the floor on which it is placed. For this reason, the map data may be exchanged with each other so that the self can refer to the map of the floor on which the self is arranged. This is preferable because it can be easily managed in the case of centralized management by a server. When storing and referring to each control device 95 or the like, when determining the floor on which it is placed, it communicates with a self-propelled vacuum cleaner having a map of that floor and performs processing to acquire the data. be able to.

    FIG. 17 shows the traveling locus of the self-propelled electric vacuum cleaners 105 and 106. FIG. 17 shows a travel locus 134 of the self-propelled electric vacuum cleaner 105 and a travel locus 135 of the self-propelled electric vacuum cleaner 106.

    Since self-propelled vacuum cleaners 105 and 106 are on different floors, they do not share the cleaned area and the non-cleanable area (step S10). FIG. 18 shows a map that is not shared. The cleaned area 136 of the self-propelled electric vacuum cleaner 105, the non-cleanable areas 126 to 131, the cleaned area 139 of the self-propelled electric vacuum cleaner 106, and the uncleaned areas 137, 138, 140, 141 are drawn.

    FIG. 21 is a diagram illustrating a screen displayed by the terminal device 119 of the present embodiment during the cleaning of the self-propelled vacuum cleaner, and FIG. 22 is a diagram illustrating the completion of cleaning of the self-propelled vacuum cleaner by the terminal device 119 of the present embodiment. It is a figure which shows the screen displayed later.

    The map and the cleaned area are displayed on the terminal device 119 (step S11). When an uncleaned area remains (step S12), an optimal route is calculated from the distance between the self-propelled electric vacuum cleaner and the uncleaned area (step S13). Specifically, the cleaning is continued from the uncleaned area located near the self position of each self-propelled electric vacuum cleaner (step S14). Then, when there is no uncleaned area as shown in FIG. 19, each returns to the charging stand (step S15). Then, the map and the final cleaned area (FIG. 20) are displayed on the terminal device 119 (see FIG. 22).

    As described above, the self-propelled vacuum cleaner according to the present embodiment has an area where each self-propelled vacuum cleaner is driven on the same map when a plurality of self-propelled vacuum cleaners are on the same floor. Is displayed and a map is created for each floor, and the area driven by each self-propelled vacuum cleaner can be displayed on the map of each floor.

    FIG. 23 is a screen in which the self-propelled vacuum cleaner detected as a result of the search through the access point is displayed on the terminal device 119. Instead of providing the barometer in the self-propelled electric vacuum cleaner, the user may directly set the barometer in this way. Usually, since the user places each self-propelled vacuum cleaner in the building, since it is known to the user which self-propelled vacuum cleaner is located on which floor, each vacuum cleaner is arranged. It can also be assumed that the floor is specified by the user. This is applicable even when some of the self-propelled vacuum cleaners arranged in the same building do not have a barometer. The user may be asked specifically about the floor where each self-propelled vacuum cleaner is arranged, or only whether multiple self-propelled vacuum cleaners are on the same floor. good.

    The determination of the floor of the present embodiment can be applied not only to a self-propelled electric vacuum cleaner but also to other electric vacuum cleaners and moving bodies that move along the floor surface.

DESCRIPTION OF SYMBOLS 1 Scraping brush 5 Rotating brush 10 Suction part 17 Suction port 40 Side brush 41 Side brush holder 50 Main body 51 Lower case 54 Drive mechanism accommodating part 55 Battery accommodating part 61 Driving wheel 71 Arm (suspension)
DESCRIPTION OF SYMBOLS 81 Electric blower 82 Side brush attaching part 83 Auxiliary wheel 84 Auxiliary wheel attaching part 91 Upper case 92 Bumper 93 Cover 95 Control apparatus 96 Sensors (obstacle detection means)
97 Operation buttons 98 Display panel 101 Wireless communication module 102 Camera 103 Barometer R Self-propelled vacuum cleaner K Dust case F Dust collection filter P Rechargeable battery

Claims (6)

A communication department;
An altitude detection unit,
You can refer to the map of the floor where you are located,
A mobile system including a plurality of mobile bodies that move along a floor surface, wherein the map can be updated and / or a passed area through which the mobile body has passed can be input to the map,
When the difference between the detection value of the altitude detection unit and the detection value of the altitude detection unit of any other mobile object is small, it is determined that the other mobile object is on the same floor,
A movement characterized in that when the difference between the detection value of the altitude detection unit and the detection value of the altitude detection unit of any other moving body is large, it is determined that the other moving body is on another floor. Body system. An update of a map on one floor is shared by each mobile that has been determined to be on the same floor and / or
2. The mobile system according to claim 1, wherein a passing area input to a map on a certain floor is shared by each mobile body determined to be on the same floor in the same map.   The mobile system according to claim 1 or 2, wherein between the mobile bodies determined to be on different floors, the update of the map and the input of the passed area are not reflected on the other party.   4. The movement according to claim 1, wherein a user can input information on a floor on which the moving body is arranged for a part or all of the moving bodies. 5. Body system.   If it is determined that the difference between the detection value of the degree detection unit and the detection value of the altitude detection unit of any other mobile body is not small or large, information on whether these mobile bodies are arranged on the same floor or The mobile system according to any one of claims 1 to 4, wherein the user is inquired about information on a floor on which each of the mobile bodies is arranged.   The threshold value for determining whether the difference between the detection value of the altitude detection unit of a certain mobile unit and the detection value of the altitude detection unit of any other mobile unit is small or large can be changed. The mobile system according to any one of claims 1 to 5, characterized in that:

Images