DE102008028931A1 - Robot i.e. dust collecting robot, drive movement controlling method, involves stopping drive movement of robot during determination of coordinate values based on comparison of coordinate values of virtual partial region and/or virtual wall - Google Patents

Abstract

The method involves determining a position of a robot (RO) in a surface region (FB) from a position-characteristic angle with respect to a base station (BA). Cartesian coordinate values of a virtual partial region (SP) and/or a virtual wall (VW) are compared. A drive movement of the robot is slowed and stopped during determination of the coordinate values based on the comparison. The coordinate values are determined within the region (SP) specified as a virtual blocking region or outside a partial region specified as a movement-and/or working region (AB) and/or on a side of the virtual wall. An independent claim is also included for a system for controlling drive movement of a robot i.e. dust collecting robot.

Description

The The present invention relates to a method and an apparatus for controlling a driving movement of a robot, in particular a Dust collection robot inside or outside at least a defined virtual sub-area of a given surface area and / or on one side of at least one virtual wall, and at least to restrict his driving movement outside or within the respective virtual subarea of the given Surface area and / or on the other side of the respective virtual wall.

It is already known in connection with a dust-collecting robot marketed under the name Roomba 560 (see on the Internet at http://www.cleanbot.de/roomba-560-p-16.html ), so-called virtual lighthouses, through which different rooms can be separated from each other. As a result, the dust collecting robot in question can first independently clean one room and then the other room of the separate rooms. How the navigation of this dust collection robot and the determination of a set by the virtual lighthouses limit, however, is not specified in the above context.

There is also known a movable robot ( DE 100 49 344 A1 ) designed to automatically travel in a surface area along a guideway defined by a magnetic strip attached to the bottom of the area of interest. The movable robot is provided on its underside with a magnetic sensor, by means of which the magnetic strip is detected. But this is a movement of the robot only along the laid magnetic stripe allows, but not the rest, no magnetic stripe containing part of the mentioned surface area.

There is already a vacuum cleaner robot under the name "Trilobite" become known (see the Internet at http://www.techgalerie.de/4005/trilobite_staubsaug-roboter_features.html ), which is prevented from driving in wall openings or in existing on a floor surface to be cleaned Sperrbereiche characterized by the fact that he can detect on the floor surface laid magnetic stripe through which the respective wall openings or Sperrbereiche are identified. However, this is associated with additional installation costs, which is considered undesirable.

Finally, there is already known a method for increasing the safety during operation of a robot with a tool changing device, in particular for protecting operators ( DE 10 2006 046 759 A1 ), which are in close contact with the robot, for example by placing workpieces in a robot gripper. In this case, the tool changing device generates at least one secure (two-channel) signal for identifying the attached tool - that is, each tool is assigned a unique signature, whereby various tools can be uniquely identified by the safe signal. Each signal signature is assigned at least one virtual protection zone and / or wall (plane) and / or an area of the robot to be protected, which is activated or deactivated when the signal is present. In doing so, the movement of the robot that violates a protected area is influenced, whereby violation of the protected area can be regarded both as entering into a zone defined as prohibited, and leaving a zone defined as being permitted. In order to determine whether the robot is about to enter a region defined as prohibited or leave an area defined as permitted, position data of the robot determined by motion sensors are compared with predetermined limit parameters. Although in this way the safety in the operation of a robot with a tool changing device, in particular of operators can be increased, however, only the kink movements of the robot arm or its rotational movements are measured for the positioning of the robot and converted into corresponding data signals for the mentioned comparison. A movement of the robot over a floor surface and a determination of the resulting position data is not provided in the considered known method.

However, as indicated above in connection with known vacuum-cleaning robots, there is sometimes a desire to prevent the respective robot from entering or leaving at least one specified sub-area or from passing at least one predetermined boundary, not only personnel, but also the robot in question For example, to protect yourself from possible damage. Usually, a vacuum cleaner robot in the area to be cleaned normal Fahrbe movements - which are, for example, straight ahead and / or corresponding to a meander pattern rides along an edge of the area to be traversed by the robot concerned - usually after a specified driving program and thus according to a defined movement strategy. It must, however, be ensured that the robot does not carry out such normal travel movements in the area which is blocked for such travel movements-in short, the restricted area-but only in such cases Traveling permitted work area.

Of the Invention is therefore based on the object to show a way as in a method and a device of the type mentioned is provided in a relatively simple way or, that the robot only does its normal driving movements in the for these driving movements allowed partial area of the surface area performs.

Solved The above object is achieved by a method with the features specified in claim 1.

According to the The present invention thus becomes the respective position of the robot in the area of positional characteristic angle and Distance measures in relation to one in the given Determined surface area fixed base station, between the and the robot for the determination of the angular sizes optical signals and for determining the distance variables acoustic signals are transmitted and evaluated; the so determined for the respective robot position angle and range sizes are either with corresponding Angular and distance variables of the respective virtual Subarea and / or the respective virtual wall compared, or the determined for the respective robot position Angle and distance sizes are previously in the respective robot position in the area indicating Cartesian actual coordinate values implemented, which then with Cartesian Coordinate values of the respective virtual subarea and / or the respective virtual wall are compared; at one in the course of a such a determination is made within one of virtual restricted area or outside one set as a virtual movement or workspace Subarea and / or on a page specified as a restricted area a virtual wall determined actual coordinate values of the robot its travel is slowed or stopped.

The Invention has the advantage of being relatively simple On the one hand, a control of the robot driving movement and on the other hand, at least their restriction in the given surface area according to the respective robot position with respect to the respective one virtual partial area or the respective virtual wall in such a way can be ensured that the robot is normal Travel movements only in the permitted for these driving movements Part of the surface area performs.

Preferably is in the case that the robot is in a restricted area, before or after slowing down or stopping its travel in addition, at least once tried the robot accordingly To lead out a definable movement from the respective restricted area. This has the advantage that the robot by means of a limited exemption strategy, where appropriate, back into its permissible Movement or work area can be returned.

at The aforementioned definable movement sequence is the robot in particular from the point of its presence in the respective Sperrbereich has been determined in a back and forth forth, in length and possibly in the circumference limited driving motion star-shaped around the concerned Move around. This approach has the advantage itself, that with a high probability a lead out of the robot is made possible from the respective blocking area.

From Advantage is it according to another embodiment of the Invention, stopping the robot after an unsuccessful attempt, to lead this out of the relevant restricted area, make. In this way, on the one hand, the robot may be ahead of one threatening damage in the for his driving movements not allowed area and on the other hand in this area Objects and / or persons safely protected from the robot.

Conveniently, is added with or after stopping the robot an alarm, in particular an acoustic and / or an optical alarm triggered. This allows operators to be aware of the resulting situation made and to the repatriation of the robot in its permitted for normal driving movements Work area be called.

Solved The above object is further achieved by a device with the features specified in claim 6.

In this apparatus according to the present invention, the respective position of the robot in the surface area in a receiving and evaluating device can thus be determined from positionally characteristic angle and distance variables with respect to a base station which is stationarily arranged in the predetermined surface area, between the robot and the robot for the determination the angular magnitudes optical signals and acoustic signals can be transmitted and evaluated for the determination of the distance variables;
a comparator device compares the angle and distance variables determined for the respective robot position either with corresponding angle and distance variables of the respective virtual subarea and / or the respective virtual wall, or a conversion device converts the relevant angular and distance variables determined for the respective robot position into Cartesian actual coordinate values that indicate the comparator device with Cartesian coordinate values of the respective virtual subarea and / or the respective virtual wall;
a drive device of the robot is connected to the comparator device and a control device connected to it and controllable such that in the course of a comparison carried out by the comparison device determined within a specified as a virtual stopband portion or outside of a specified as virtual movement or work area portion and or on a side of a virtual wall defined as a stop band, actual coordinate values of the robot for slowing down or stopping the travel movement of the robot can be used.

These to carry out the method according to the Invention suitable device is characterized by the advantage a particularly small effort, which ensures that on the one hand a control of the robot driving movement and on the other hand at least their limitation in the given surface area according to the respective robot position with respect to the respective virtual one Part area or the respective virtual wall so ensured can be that the robot his normal driving movements only in that part of the zone approved for these movements Surface area executes.

Preferably In the event that the robot is in a restricted area is, a definable movement according to at least to carry out an attempt to escape from the concerned To get out of restricted area. This gives the advantage that the robot, if necessary, by means of a limited release strategy back into his permissible movement or work area can be returned.

According to others Advantageous embodiment of the device according to the The present invention is achieved by the robot in the course of definable Movement from the place where its presence in the respective blocking area has been determined, a back and forth receding, limited in length and possibly in scope Driving movement star-shaped executable around the site in question. This has the advantage that the robot with high probability allows a lead out of the respective blocking area is.

Conveniently, is the robot after unsuccessful liberation attempt, out of the relevant restricted area to get out, be shut down. As a result, on the one hand, the robot from a possible threat of damage in the area not allowed for his driving movements and on the other hand in this area located objects and / or Persons well protected from the robot.

Preferably is in addition to or after stopping the robot an alarm device, in particular for delivering an acoustic and / or an optical alarm can be triggered. This can be done with relative operating personnel are aware of the resulting situation made and to the repatriation of the robot in its permitted range for travel movements be called.

Based of drawings, the present invention will be exemplified below explained in more detail.

In show the drawings

1 1 is a schematic view of a surface area in which a dust-collecting robot is able to execute travel movements within a defined subarea;

2 a schematic diagram of a possible circuit structure for controlling movements of the dust collection robot in the in 1 represented surface area and

3 a flowchart, by means of which the control of movements of the dust-collecting robot and at least the restriction of such movements are explained.

In 1 is a plan view schematically a surface area FB shown, which may be, for example, the floor of a room. In the upper right area of 1 a staircase TR adjoining the surface area FB is indicated, which connects directly to the surface area FB with a top step TO and leads to a lowest step TU, which may be significantly below the plane of the area FB.

Within the surface area FB, a robot RO, which is located in 1 only schematically indicated by dashed lines at two different positions, can perform normal driving movements, as mentioned above. In particular, this robot RO may be a dust-collecting robot that is capable of autonomously executing its travel movements in the area FB. These movements should, however, only within a designated here as a working area AB subregion of the genann th surface area FB are executed. From this subarea or work area AB of the area FB is according to 1 a blocking region SP thereby separated, that in the surface area FB acting as a virtual wall VW blocking line between coordinate points P1 and P2 is inserted, which represent the endpoints of the respective barrier line and thus the virtual wall VW. The virtual wall VW determined by the coordinate points P1 and P2 sets the stopper area SP so that the robot RO can not pass the boundary line between the coordinate points P1 and P2 representing the virtual wall VW toward the stopper area SP. As a result, it is achieved with relatively great certainty that the robot RO can not get into the dangerous area of the mentioned stairs TR and possibly crash on them. The virtual wall VW is thus treated as a real wall or a real obstacle. When approached by the robot RO its travel speed can be reduced. As a result, the measurement accuracy increases in the determination of the robot position in the surface area FB.

Instead of the aforementioned coordinate points P1 and P2 can optionally additionally two coordinate points P1 'and P2 'as endpoints of the virtual wall VW defining boundary line be set at two edges of the area FB.

Around in the execution of the mentioned movements by the robot RO ensure that this is not mentioned in the Locking area SP comes out of the work area AB, is here Comparison between the respective position of the robot RO indicating Position data or quantities in the area FB and corresponding coordinate values of the stop band SP and / or the made virtual wall VW.

For determining the respective position of the robot RO within the surface area FB, a method and a system, as have already been proposed elsewhere, are preferably used ( DE 10 2007 036 230.9-35 ; BSH application 2005 P 02043 DE). According to this proposed method and system, here for determining the respective position of the robot RO within the surface area FB transmission or measuring signals are used, which are transmitted from a stationary base station BA with an at least once rotating transmission characteristic. The base station BA is located according to 1 at the bottom of the area FB. By the base station BA while a reference plane or reference line BL is set, in relation to which the position determination is made with respect to the robot RO.

Corresponding the proposed method and system will be for the mentioned Position determination of the robot RO first a request signal delivered in the form of an ultrasonic signal to the base station BA. From the base station BA is on the receipt of the relevant ultrasonic signal then as a reference signal on over the entire rotating Transmission characteristic reaching total light signal after a specified Period of time on the receipt of said ultrasonic signal issued. Subsequently, the base station BA as a transmission signal with the rotating transmission characteristic after a fixed period on the delivery of the relevant total light signal emitted single light signals in a timed sequence.

Out the time difference between the delivery of the ultrasonic signal of the robot RO and the reception of the total light signal in the robot RO its distance from the base station BA is determined. From the Time difference between the total light signal received in the robot RO and then in the robot RO with maximum strength received single light signal from the corresponding to the rotating Transmission characteristic emitted single light signals finally the position of the robot RO with respect to the base station BA - more precisely said in reference to the mentioned reference line BL - under Considering the known relationship between the Orientation of the single light signals and the total light signal certainly. For the total light signal and the single light signals Preferably, infrared light is used.

By an additional averaging of the respectively determined Coordinate measurements and by tracking or evaluating the measurement history By the way, it can be determined if a line of sight between the robot RO and the base station BA present or interrupted is.

At It should be noted that the coordinate determination at The present invention basically done by can that between the base station BA and the robot RO for the determination of the angular quantities optical signals, in particular infrared signals, and for the determination of the distance variables acoustic signals, in particular ultrasonic signals transmitted and evaluated.

In 1 In this context, it is indicated that the individual light signal emitted by the base station BA as the measurement signal MS1 is determined at the coordinate point P1 by the robot RO at the upper edge of the area FB and that the individual light signal emitted as the measurement signal MS2 by the base station BA at the coordinate point P2 near the right edge of the surface area FB is determined by the robot RO. At the same time, it is the end points of the boundary line defining the virtual wall VW at the ends of which the robot RO can be placed in order to determine the coordinates of these end points, preferably in the robot itself.

To better clarify the processes occurring in connection with the mentioned coordinate comparison, let's first look at 2 Referring to Fig. 12, in a schematic diagram, a possible circuit construction for control of travel movements of the robot RO according to 1 is shown in the local surface area FB. To the in 2 schematically illustrated circuitry includes a receptacle AU1 for lock coordinate values - these are coordinate values which the virtual wall VW in 1 Defining boundary line either between the coordinate points P1 and P2 or optionally between the coordinate points P1 'and P2' set. These blocking coordinate values are supplied to the recording device AU1 at an input terminal E1, for example by a programming device (not illustrated here), which, for example, uses the robot RO in accordance with FIG 1 for inputting these lock coordinate values can be connected briefly. Conveniently, however, the lock-up coordinate values at the coordinate points P1 and P2 are determined by, as previously mentioned, placing or placing the robot RO at those locations, and then determining there the associated coordinates as robot coordinates. The coordinate values are according to the already proposed method and system by angle and distance with respect to the base station BA according to 1 given. However, it is also possible to use blocked barrier coordinate values implemented in the Cartesian coordinate system within the surface area in accordance with FIG. 2 from the determined angle and distance variables 1 be.

The the virtual wall VW defining boundary line is here by a Just formed whose endpoints by the coordinate values to the Coordinate points P1 and P2 and P1 'and P2' are defined. It It should be noted, however, that in principle, the virtual wall VW defining borderline also by a differently shaped curve line could be formed.

Out The lock coordinate values thus determined are stored in one at the Output side of the receiving device AU1 with an input terminal E3 included barrier line calculator BE the the Virtual Wall VW calculates the stopping line, either with a given mathematical function between the coordinate points P1 and P2 sufficient angular and distance sizes or in particular in the mentioned Cartesian coordinate system converted coordinate values.

Furthermore, according to 2 a is provided as a receiving means AU2 for actual coordinate values of the robot RO. Specifically, this recording device AU2 represents a recording and evaluation device which is supplied with actual coordinate values at an input terminal E2 and which evaluates these actual coordinate values or converts them according to another function into coordinate values corresponding to another coordinate system, in particular according to the Cartesian coordinate system. These actual coordinate values are either the angular and distance variables determined for the respective robot position, as have been mentioned in connection with the previously proposed method and system already considered, or the relevant actual coordinate values are from the determined angle and distance variables converted actual coordinate values in the Cartesian coordinate system within the surface area FB according to 1 ,

The blocking line calculation device BE and the actual coordinate value recording device AU2 of the robot RO are connected on the output side to input connections E4 or E5 of a comparator or comparator KO which makes a comparison between the coordinate values supplied to it on the input side. and distance values or values derived therefrom in the mentioned Cartesian coordinate system. Connected to an output terminal A2, the comparator KO is connected to an input terminal E6 of a control device ST for controlling a release movement - referred to as a release movement control device in short - whose significance will be discussed in more detail below. It should be noted at this point, however, that the execution of a release movement takes place in the event that the robot RO in the in 1 shown blocking range SP is, for whatever reason - so either by his effected there settling or by his erroneous driving into this area. By executing the mentioned liberation movement, an attempt is then made to lead the robot RO out of the respective blocking area and to return it to the working area AB of the area FB.

With an output terminal A2, the comparator KO is connected to an input terminal E7 of a drive device AN of the robot RO 1 connected. By means of this drive device AN, the robot RO in the in 1 shown surface area FB travel movements lead when it is supplied to the input terminal E7 enable signals from the comparator KO, which is the case when the robot RO in its allowable movement or work area AB according to 1 located. However, if the robot RO is in the blocking area SP, then the comparator KO does not output an enable signal to the input terminal E7 of the drive device AN.

The release movement control device ST is connected to an output port A3 to another input port E8 of the drive device AN. From this output terminal A3, the control device ST delivers to the input terminal E8 of the drive device AN of the robot RO either a corresponding enable signal or no signal when the relevant robot RO is in its permissible movement or working range AB according to FIG 1 located. If, however, the robot RO is in the blocking area SP, the control device ST emits such a control signal from its output connection A3 to the input connection E8 of the drive device AN that the travel movement of the robot RO is slowed down and, if necessary, stopped. In this case, as will be seen below, a definable liberation movement is carried out, by which the robot RO is attempted out of the blocking area SP and into the movement or working area AB according to FIG 1 due. The respective control device ST is connected to an input terminal E9 of an alarm device AL with a further output connection A4, the significance of which will also be discussed in greater detail below.

After previously with reference to the schematic diagram according to 2 a possible circuit structure for controlling movements of the robot RO within the in 1 illustrated area in which sufficient for an understanding of the present invention scope has been explained, will now be with reference to the in 3 illustrated flowchart the control of travel movements and a slowdown or shutdown of the robot RO are explained. In this explanation are the working methods of in 2 illustrated comparator KO, which includes this downstream control device ST for a liberation movement and the drive device AN and the alarm device AL.

The control of the RO robot starts in 3 in that, in a step S1, it is first checked whether the robot actual coordinator value lies in the stop band SP or not. If the relevant actual value is not in the blocking range (NO), normal operation is carried out by the drive device AN in step S2. This means that the robot RO carries out its normal travel movements in the working area AB of the area FB in accordance with a specific movement pattern.

Subsequently At a step S3, it is checked whether or not the robot RO has transmitted Task is finished. If it is not finished (NO) then the Process back to step S1. The steps S1 and S2 comprehensive procedure is with a cycle duration of, for example repeated milliseconds until a few milliseconds at step S2, the answer is yes. Is the task in question so terminated (YES), the operation of the robot RO is stopped and ended with it.

Becomes meanwhile, at the one coordinate comparison Step S1 determines that the robot actual coordinate value is in the inhibit range SP is (YES), the procedure is one step S4 continued. This step checks if the Robot RO - that is forbidden in the restricted area SP is - from this restricted area SP by executing leading to a liberation movement or not. At this step S4, it is determined that to execute such a release movement is (YES), then such a liberation movement in the following Step S5 executed. In this liberation movement can it is a different from the normal driving movement, quite act specific movement, the robot in this case can still perform, preferably with an opposite slowed his normal driving speed significantly Speed. After performing the specified liberation movement then the procedure advances to step S6 where it is checked will, whether the liberation movement succeeds. Has the liberation movement Success (YES), the procedure proceeds to the already explained Step S2, according to the normal operation of the robot RO is executed. Has the liberation movement meanwhile no success (NO), this is done in the present case at the step S7 a shutdown of the robot RO. Arrives at this step S7 the procedure, moreover, in the case that at Step S4 is determined to perform no release movement (NO) is.

With regard to steps S5, S6 and S7 according to 3 For example, the procedure for releasing the robot RO from the stopper area SP may also be such that, in the course of this liberation movement, the robot first moves at a speed reduced from its normal travel speed by a predetermined distance, which may be limited in length and circumference, for example 20 cm forward executes that after a subsequent location determination (coordinate measurement) of the robot RO in the absence of the liberation attempt a Ride back to the relevant in length and possibly circumferentially limited distance, so according to the example back by 20 cm is performed, whereupon a rotation of the robot RO by a certain angle of, for example, 60 ° to the right and a renewed liberation attempt carried out in accordance with this movement pattern become. This movement pattern continues the robot RO in a star shape around its original location in the blocking area SP, on which it has first been determined that the robot's actual coordinate value of the robot RO lies in the blocking area SP. If the liberation movements of the robot RO thus carried out are unsuccessful, then this becomes, for example, after executing two complete revolutions and after, for example, carrying out, for example, five position determinations (robot-actual coordinate values) in step S7 3 stopped. Due to the number of revolutions performed in conjunction with the respective star-shaped movements and the location determinations of the robot RO, which are also made in a plurality, measurement errors which occur may be compensated for the measurements and relatively accurate measurements of the respective sizes can be achieved.

If, however, the execution of a liberation movement is successful, then the robot RO can either, as in 3 indicated, according to step S2 perform its normal operation. However, it is also possible to let the robot RO out of the position, which has led to success in the course of the liberation movement, for example, first to turn 30 ° to the right and then in the forward direction, for example, 20 cm to make a driving movement. Thereafter, the robot RO should be safely outside the restricted area SP.

The step S7 closes according to 3 a step S8, in which it is determined whether alarm is to be triggered. If it is determined in step S8 that the alarm is to be triggered (YES), the procedure proceeds to step S9, at which the mentioned alarm is triggered. The alarm may be audible and / or visual alarm. But it is also possible in a central place, for example on the in 1 illustrated base station BA to issue an error message that can be informed by the operator, as well as the situation in the event of an audible and / or visual alarm. After the alarm activation according to the step S9, the procedure ends with the end

Becomes at step S8, it is determined that no alarm (NO) is triggered should be, then the procedure ends with end.

It has been explained above that in the area FB according to 1 a virtual wall VW has been defined by a blocking line and a virtual blocking area SP has been defined by the latter. Of course, the present invention can be applied even if within the area FB according to 1 several virtual walls and / or virtual stop areas are defined. A shutdown of the robot RO according to 1 Moreover, and not only in the event that its presence is determined within such a restricted area or outside a subarea defined as a movement or working area and / or in a virtual wall area defined as a virtual restricted area, but also in the Case that its coordinate determination is not possible, for example due to lack of recording the mentioned measurement signals (single light signals) from the base station BA according to 1 , In all these cases, the risk of personal injury or damage to property is too high if the robot RO continues to perform its normal driving movements.

Finally It should be noted that the explained limited exemption strategy can also be applied in cases where the coordinate values the respective robot position and the respective virtual subarea or the respective virtual wall within the predetermined surface area be determined in a different way than with the present Case used method and system is done. The use of The exemption strategy concerned is thus independent of the type of determination and determination of coordinate values of the Robot and in the given surface area respectively specified virtual subarea or the respective virtual Wall.

A1, A2, A3, A4

output terminals

FROM

Workspace

AL

alarm device

AT

driving means

AU1

recording device for lock coordinate values

AU2

recording device for actual coordinate values

BA

base station

BE

Blocking line calculating means

BL

reference line or level

E1, E2, E3, E4, E5, E6, E7, E8, E9

input terminals

FB

area

KO

comparator

MS1, MS2

Infrared measuring signals

P1, P1 '

coordinate points

P2, P2 '

coordinate points

RO

Robot, Dust collecting robot

S1, S2, S3, S4, S5, S6, S7, S8, S9

steps

SP

stopband

ST

control device

TO

top step

TR

stairway

TU

lowest step

VW

virtual wall

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10049344 A1 [0003]
• - DE 102006046759 A1 [0005]
• - DE 102007036230 [0031]

Cited non-patent literature

• - http://www.cleanbot.de/roomba-560-p-16.html [0002]
• - http://www.techgalerie.de/4005/trilobite_staubsaug-roboter_features.html [0004]

Claims (10)

Method for controlling a driving movement of a Robot, in particular a dust collection robot within or outside at least one specified virtual subarea a given surface area and / or on a Side of at least one virtual wall and at least for limiting his driving movement outside or within the respective virtual partial area of the given surface area and / or on the other side of the respective virtual wall following steps: • the position of the robot (RO) in the area (FB) becomes positional characteristic Angular and distance variables in relation to a in the predetermined surface area (FB) fixedly arranged Base station (BA) determines between the robot and the robot the determination of the angular sizes optical signals and for the determination of the distance variables acoustic signals are transmitted and evaluated; • the so determined for the respective robot position angle and range sizes are either with corresponding Angular and distance variables of the respective virtual Partial area (SP) and / or the respective virtual wall (VW), or the determined for the respective robot position Angle and distance sizes are previously in the respective robot position in the surface area (FB) indicating Cartesian actual coordinate values implemented, which then with Cartesian Coordinate values of the respective virtual subarea (SP) and / or the respective virtual wall (VW) are compared; • at a determination made in the course of such a settlement of within a subset defined as a virtual stopband (SP) or outside of a virtual movement or Workspace (AB) subset and / or on one Side of a virtual wall (VW) defined as the restricted area (SP) determined actual coordinate values of the robot (RO) is the Traveling slowed down and stopped if necessary. Method according to claim 1, characterized that in the case that the robot (RO) is in a virtual Restricted area (SP), after slowing down or before stopping his driving movement additionally by at least one liberation attempt attempting to set the robot (RO) according to a definable Movement out of the relevant virtual blocking area (SP) lead out. Method according to claim 2, characterized in that that in the definable movement of the robot (RO) of the Place at which its presence in the respective Sperrbereich (SP) has been determined in a reciprocating, in the Length and possibly limited in scope driving movement is moved around the spot in a star shape. Method according to claim 2 or 3, characterized that a shutdown of the robot (RO) after unsuccessful attempt, to lead this out of the relevant virtual blocking area (SP), is made. Method according to one of claims 1 to 4, characterized in that in addition to the slowdown or after stopping the robot, an alarm, in particular an audible and / or visual alarm is triggered becomes. Device for controlling a travel movement of a robot, in particular a dust collection robot, within or outside at least one specified virtual subregion of a predetermined surface region and / or on one side of at least one virtual wall and at least for restricting its travel movement outside or within the respective virtual subregion of the predetermined surface region and on the other side of the respective virtual wall, comprising the following features: the respective position of the robot (RO) in the area (FB) is in a recording and evaluation device (AU2) of positional characteristic angular and distance variables with respect to a in the base area (BA) fixedly arranged in the predetermined surface area (FB), optical signals can be transmitted between the robot and the robot (RO) for the determination of the angular magnitudes, and acoustic signals can be transmitted and evaluated for the determination of the distance values r are; A comparison device (KO) compares the angular and distance variables determined for the respective robot position either with corresponding angle and distance variables of the respective virtual subarea (SP) and / or the respective virtual wall (VW), or a conversion device (AU2) sets the Cartesian actual coordinate values in the respective robot position in the surface area (FB) which are determined for the respective robot position and which the comparator device (KO) has with Cartesian coordinate values of the respective virtual subarea (SP) and / or the respective virtual Wall (VW) allowed to compare; A drive device (AN) of the robot (RO) is connected to the comparator device (KO) and a control device (ST) connected to it and controllable in such a way that within a comparison carried out by the comparator device (KO), within a virtual range Barrier area (SP) defined virtual subarea (SP) or outside of a specified as virtual movement or work area (AB) subarea (SP) and / or actual coordinate values of the robot (RO) lying on a side of a virtual wall (VW) which is defined as a stop band for slowing down and possibly stopping the driving movement of the robot (RO). Device according to claim 6, characterized in that that by the robot (RO) in the case that this is in one Restricted area (SP), after slowing down or before stopping his driving movement additionally at least once a festlegbarer Movement according to at least one liberation attempt to Leading out the robot (RO) from the respective blocking area (SP) is executable. Device according to claim 7, characterized in that that by the robot (RO) in the course of the definable movement sequence from the point where its presence in the respective restricted area (SP) has been detected, a reciprocating in length and possibly limited in scope circumference travel motion star-shaped is executable around the site in question. Apparatus according to claim 7 or 8, characterized that the robot (RO) after unsuccessful attempt, from the concerned Sperrbereich (SP) herauszugelangen, can be stopped. Device according to one of claims 6 to 9, characterized in that in addition to or after the shutdown of the robot (RO) an alarm device (AL), in particular to trigger an audible and / or visual alarm is.