1-1 moves in the space, a speed at which the movable apparatus 1-1 moves in the space, and the like. The work content data P5 indicates the content of work performed in the space by the movable apparatus 1-1.

FIG. 7 is a diagram illustrating an example of a range in which the movable apparatus according to the embodiment can operate. FIG. 7 illustrates a region A, a region B, a region C, a region D, and a region E included in a floor of a building. The region A is a region surrounded by four planar walls.

The region B is a region surrounded by three planar walls and one cylindrical surface. The region C is a region surrounded by one cylindrical wall. The region D is a region surrounded by three planar walls and one cylindrical surface. The region E is a region surrounded by seven planar walls.

The first map data generation unit 212 generates first map data based on the attribute data P, the first map data indicating a map used when the movable apparatus 1-1 autonomously operates in the space. The first map data shows, for example, maps of the region A, the region B, the region C, the region D, and the region E illustrated in FIG. 7.

In other words, the first map data is data indicating a map of the entire range in which the movable apparatus 1-1 can move. As described above, this first map data does not necessarily need to be generated by the map data providing device, but first map data generated by another device, for example, another movable apparatus or a device that manages a building in which the movable apparatus moves can be acquired and used.

The first map data generation unit 212 generates first map data using results obtained by measuring the space using at least one of a movable apparatus and a sensor that match the contents indicated by the attribute data P within a certain range.

The movable apparatus as mentioned herein is, for example, a movable apparatus that matches at least one of the contents indicated by the model data P1, position and orientation measurement data P3, traveling route data P4, or work content data P5 illustrated in FIG. 6 within a certain range. The sensor as mentioned herein is, for example, a sensor that matches at least one of the contents indicated by the sensor data P2 illustrated in FIG. 6 within a certain range.

The activity range data transmission unit 13-1 transmits activity range data to the activity range data acquisition unit 213. The activity range data acquisition unit 213 acquires the activity range data from the activity range data transmission unit 13-1. The activity range data indicates a range in which the movable apparatus 1-1 operates. For example, the activity range data indicates the map of one of the region A, the region B, the region C, the region D, and the region E illustrated in FIG. 7.

The second map data generation unit 214 generates second map data by deleting portions of the first map data which are unnecessary for the movable apparatus based on the activity range data. Even when the deletion processing is not performed, it is possible to obtain second map data of an appropriate range, for example, by extracting data of a region that corresponds to the activity range.

The second map data shows a map of a range in which the movable apparatus 1-1 actually operates, rather than the entire range in which the movable apparatus 1-1 can move.

For example, the second map data generation unit 214 generates second map data by deleting the maps of four regions other than one region in which the movable apparatus 1-1 actually operates, among the regions A, B, C, D, and E indicated by the first map data. Furthermore, it is possible to obtain second map data of an appropriate range by extracting the region of the activity range without going through the deletion processing.

The determination unit 215-2 determines the coordinate system and origin of map data to be provided to the movable apparatus based on the activity range data. The third map data generation unit 215 generates third map data, for example, by correcting the coordinate system of the second map data based on the activity range data, in accordance with an instruction received from the determination unit 215-2.

Hereinafter, a procedure of correcting the coordinate system of second map data to generate third map data will be described, but third map data can be provided without going through a step of correcting the coordinate system of second map data as long as a coordinate system appropriate for a movable apparatus of which the activity range is determined can be determined.

Specifically, when a planar wall exists in a region indicated by the second map data, the third map data generation unit 215 generates the third map data by correcting the coordinate system of the second map data to a coordinate system having an axis parallel to the planar wall.

When there are a plurality of planar walls in a region indicated by the second map data, the third map data generation unit 215 may generate the third map data by correcting the coordinate system of the second map data to a coordinate system having an axis parallel to the longest planar wall that is in contact with the floor.

For example, when the region indicated by the second map data is the region A, the region B, the region D, or the region E illustrated in FIG. 7, the third map data generation unit 215 performs one of the two processes.

When a step of correcting the coordinate system of the second map data is not performed, and, for example, when the activity range of the movable apparatus is the region A, a coordinate system having an axis parallel to a boundary line (wall) is determined to be the coordinate system of the third map data with a point at which a boundary between the region A and the region B and a boundary between the region A and a region other than the regions illustrated in FIG. 7 intersect each other as the origin.

Alternatively, when a columnar object exists in the region indicated by the second map data, the third map data generation unit 215 generates third map data by correcting the coordinate system of the second map data to a coordinate system based on the columnar object. The columnar object is, for example, a pillar of a building, and is an object that is installed in a building and has a length of a certain length or more in the vertical direction.

For example, in such a case, the third map data generation unit 215 generates third map data by correcting the coordinate system of the second map data to a three-dimensional coordinate system having at least one of an axis along the longitudinal direction of the columnar object and an axis perpendicular to the axis.

For example, in such a case, the third map data generation unit 215 generates third map data by correcting the coordinate system of the second map data to a coordinate system having an origin included on the surface of the columnar object or inside the columnar object.