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We see the Tube map every day on our slog in to work. We know those coloured lines like the back of our hands.

But the London Underground map hasn't always looked the way it does today, in fact it has changed quite significantly.

Not only did the lines used to be geographically accurate (and therefore very messy) but the colours of the different lines have changed.

The current Tube map is actually considered a work of art, having been voted one of the UK's top 10 design icons - alongside the World Wide Web, Spitfire and Concorde - in 2006. This is how it changed over time.

1908

(Image: TfL, London Transport Museum Collection)

This pocket map was issued by the Underground Electric Railways Company of London (i.e. TfL when it was privatised) and marks the beginning of co-ordinated marketing between all the Underground railways.

The distinctive " UNDERGROUND " lettering was also first introduced in 1908.

1925

(Image: TfL, London Transport Museum Collection)

Designed by F H Stingmore, this map is particularly interesting in that it shows the Tube lines under construction - notably new parts of the Northern line.

This is the first time we see interchanges represented by an empty circle, and notice how the Bakerloo line is red and the Central Line is yellow - it's just not right!

1933

(Image: TfL, London Transport Museum Collection)

This is the first edition of the now famous Tube map, designed by H C Beck, that uses 45 degree angles and straight lines.

The enduring success of this design was put down to its clarity and versatility, as it is able to accommodate changes to the ever expanding Tube network, and it works well in different formats and sizes.

1960

(Image: TfL, London Transport Museum Collection)

Almost 30 years later and the design had barely changed, although the map is more geographically accurate - most notably closing the gap between the two Wimbledon stations - and contains improved information about airport and mainline station connections.

The map did receive a number of complaints, including the accusation that the jerky zig-zags interrupted the flow of lines and made the map harder to read.

2019

Not a lot has changed since Beck's 1933 map, except the addition of new lines and stops, plus the changed colour of some of the lines.

A decade ago it was proposed that TfL removed the River Thames from the map but after outrage Boris Johnson, then Mayor of London, stepped in to block the change.

TfL has recently released a number of different maps, including a "walking" Tube map that tells you how long it would take you to walk between stations, and perhaps one day soon we'll see the addition of the Elizabeth line.

You can see original versions of these and other Tube maps at the London Transport Museum in Covent Garden or the museum's depot in Acton, as well as learn more about the history of London's Underground.

The collection includes maps covering all modes of transport in London from the 1860s to the present day.

Early maps were produced by private companies such as the Metropolitan Railway, District Railway, Central London Railway and London General Omnibus Company.

From 1933 public transport maps were produced by a single authority, London Transport, before Transport for London took over in 2000.