I'd check the books, as there are often disclaimers that say that personal photocopy usage is allowed; often meant solely for maps and character sheets.
Also, as I don't know for sure what fair use laws are like in the UK, you should be able to make a simple copy of the map under fair use.
Lastly, all of that said, I have a scanner, as well as legal PDF downloads of the products and if you give me specific page numbers, go right to where the page in question is and make a copy of the map(s) without spoiler the adventure for myself.
Oh, if you have the PDFs, you could do a screen shot of the maps and make a bitmap or jpeg of them.
All you have to do, in a windows PC, is have the image up and on the screen, hit the Print Screen button, and then open Microsoft Paint (or other graphics program) and hit ctrl-v and it'll paste the image into the program. Name and save the file and you've got the map.
Hope any of these help.