Map information update system

1. A map information update system that updates map information based on information acquired using multiple robots, the map information update system comprising:

multiple mobile robots that each guide a user for the user to walk along an optional walking route, the multiple mobile robots each acquiring information on an intention of the user to move and information on a position of the mobile robot;

one or multiple environment information acquiring robot(s) that each acquire(s) environment information of a map; and

a server that updates the map information based on the information on the intention of the user to move and the information on the mobile robot position that are acquired by the multiple mobile robots and the environment information that is acquired by the one or multiple environment information acquiring robot(s), wherein

each of the multiple mobile robots comprises:

memory storing programs;

a main body part;

a handle part that is disposed on the main body part, the handle part being able to be held by the user;

a force sensor detecting a handle load applied to the handle part, wherein the handle load indicates an intention to move in a direction and at a velocity based on a magnitude and direction of forces detected by the force sensor in the x, y, and z axes relative to the force sensor and moments about the x, y, and z axes relative to the force sensor;

a rotating body for moving the main body part; and

a motor for driving the rotating body to cause the rotating body to move the mobile robot based on the handle load applied to the handle part;

wherein one or more of the multiple mobile robots include a guide information producing part, a presenting part, a user move intention estimating part, a mobile robot position estimating part and a communicating part, wherein:

the guide information producing part producing guide information to guide the user to the walking route based on the map information;

the presenting part presenting presentation information to guide the user based on the guide information;

the user move intention estimating part estimating the intention of the user to move based on the handle load;

the mobile robot position estimating part estimating the mobile robot position of the mobile robot; and

the communicating part transmitting the information on the intention of the user to move and the information on the mobile robot position, to the server, and receiving the map information from the server.

2. The map information update system according to claim 1 , wherein

the one or multiple environment information acquiring robot(s) acquire(s) at least one piece of information of those on a hazardous area that blocks the walking of the user, an interest target area having a target present therein that induces interest in a person, and a jamming area having jamming of people occurring therein, as the environment information, and wherein

the server updates the map information based on information on the intention of the user to move in a vicinity of at least one area of the hazardous area, the interest target area, and the jamming area.

3. The map information update system according to claim 2 , wherein

the server estimates a hazard degree of a vicinity of the hazardous area based on the information on the intention of the user to move in the vicinity of the hazardous area, and

updates the map information based on information on the hazard degree.

4. The map information update system according to claim 2 , wherein

the server estimates a congestion degree of a vicinity of at least one area of the interest target area and the jamming area based on the information on the intention of the user to move in the vicinity of at least the one area of the interest target area and the jamming area, and

updates the map information based on the information on the congestion degree.

5. The map information update system according to claim 4 , wherein the server

estimates positions of the multiple mobile robots based on the information on the intentions of the user to move and the information on the mobile robot positions that are acquired by the multiple mobile robots, and

estimates the congestion degree based on the information on the positions of the multiple mobile robots.

6. The map information update system according to claim 1 , wherein

the one or more of the multiple mobile robots further including:

a load tendency data producing part that produces load tendency data indicating a tendency of the handle load applied to the handle part based on the handle load applied to the handle part acquired during a move of the mobile robot, and

a load correcting part that corrects the handle load based on the load tendency data, and wherein

the user move intention estimating part estimates the intention of the user to move based on the handle load corrected by the load correcting part.

7. The map information update system according to claim 1 , wherein

each of the multiple mobile robots comprises a sensor for acquiring the environment information, and wherein

the server updates the map information based on the pieces of environment information acquired by the sensors of the multiple mobile robots.

8. The map information update system according to claim 1 , wherein

the one or multiple environment information acquiring robot(s) comprise(s) the mobile robot(s).

9. The map information update system according to claim 1 , wherein

when the map information is updated, the multiple mobile robots each present information that notifies the user of the fact that the map information is updated.

10. The map information update system according to claim 1 , wherein

the user move intention estimating part estimates the intention of the user to move based on information on a rotation amount of the rotating body.

11. A mobile robot that guides a user to a walking route, the mobile robot comprising:

memory for storing a program;

a main body part;

a handle part that is disposed on the main body part, the handle part being able to be held by the user;

a force sensor detecting a handle load applied to the handle part, wherein the handle load indicates an intention to move in a direction and at a velocity based on a magnitude and direction of forces detected by the force sensor in the x, y, and z axes relative to the force sensor and moments about the x, y, and z axes relative to the force sensor;

a rotating body for moving the main body part; and

a motor for driving the rotating body to cause the rotating body to move the mobile robot based on the handle load applied to the handle part;

wherein the mobile robot includes a guide information producing part, a presenting part, a user move intention estimating part, a mobile robot position estimating part and a communicating part, wherein:

the guide information producing part produces guide information guiding the user to the walking route based on map information;

the presenting part present presentation information to guide the user based on the guide information;

the user move intention estimating part estimates an intention of the user to move based on the handle load;

the mobile robot position estimating part estimates a mobile robot position of the mobile robot;

the communicating part transmits information on the intention of the user to move and information on the mobile robot position to a server, the mobile robot receiving the map information;

the communicating part receives from the server the map information that is updated based on the information on the intention of the user to move and the information on the mobile robot position, and environment information of a map; and

the presenting part presents the updated map information to guide the user to the walking route based on the updated map information.

12. The mobile robot according to claim 11 , further including:

a load tendency data producing part that produces load tendency data indicating a tendency of the handle load applied to the handle part based on the handle load applied to the handle part acquired during a move of the mobile robot,

a load correcting part that corrects the handle load based on the load tendency data, and

the user move intention estimating part estimates the intention of the user to move based on the handle load corrected by the load correcting part.

13. The mobile robot according to claim 11 , further comprising:

a sensor for acquiring the environment information, and wherein

the communicating part transmits the environment information acquired by the sensor, to a server.

14. The mobile robot according to claim 11 , wherein

when the map information is updated, the mobile robot presents information that notifies the user of the fact that the map information is updated.

15. The mobile robot according to claim 11 , wherein

the user move intention estimating part estimates the intention of the user to move based on information on a rotation amount of the rotating body.