CN108829095A - Geography fence setting method and the method for limiting robot motion - Google Patents

Abstract

Present disclose provides a kind of geography fence setting methods, including：Obtain geography fence information；Geography fence region is marked on the electronic map according to the geography fence information, wherein the geography fence region marked on the electronic map can be used in controlling the motion range of robot；The acquisition geography fence information includes that slave device people obtains geography fence information, and the robot obtains geography fence information by following operation：The robot for being equipped with virtual wall detection device is moved about in virtual wall, and the region for needing to establish geography fence is arranged in the virtual wall；Virtual wall is detected in response to the virtual wall detection device, the location information of virtual wall detection device is recorded as the geography fence information, or graphical information or pictorial information are obtained according to the positional information, using the graphical information or pictorial information as geography fence information.The disclosure additionally provides a kind of geography fence setting system.

Description

Geography fence setting method and the method for limiting robot motion

Technical field

The present invention relates to electronic technology fields, more particularly, to a kind of geography fence setting method and limitation robot The method of movement

Background technique

Intelligent robot has map structuring and storage capacity, and carries out operation based on the map, for example, intelligent cleaning Robot can construct family's map, and carry out operation based on the map.But in intelligent robot operation process, there is a kind of operation Situation is as follows：Some regions are that user is not intended to robot to enter, and user, which needs to be arranged virtual wall, prevents robot from entering Such region job is that user wishes to limit robot activity in a certain region there are also a kind of operation.

The method of existing setting virtual wall has setting infrared launcher, magnetic stripe, electronic tag etc., such method needs One signal transmitting equipment or passive signal emitter are placed on to the areas adjacent for needing to be arranged geography fence, in robot After perceiving the presence of such virtual wall, robot responds movement.But it is exactly to need for a long time that such method, which has a drawback, Virtual wall is set, is had a disadvantage that：Welding is beautiful, and (magnetic stripe, which is arranged, such as around carpet can destroy the original carpet of family Decoration function), hinder or interference people action (such as doorway place infrared launcher, can be tripped when people passes through), need Want additional equipment or device.Virtual wall is constructed using visualization letter calibration method, needs additional camera, and cannot It is arranged on lower object, such as carpet surrounding.Using the method for infrared launcher, cannot be enclosed constituting closed geography Column, and be easy to appear and knocked down by robot, moved so that situations such as geography fence fails.

Summary of the invention

An aspect of this disclosure provides a kind of geography fence setting method, including：Obtain geography fence information；According to The geography fence information marks geography fence region on the electronic map, wherein the geography marked on the electronic map Fence area can be used in controlling the motion range of robot；The acquisition geography fence information includes that slave device people obtains geography Fence information, the robot obtain geography fence information by following operation：The robot of virtual wall detection device is installed It is moved about in virtual wall, the region for needing to establish geography fence is arranged in the virtual wall；It is detected in response to the virtual wall Device detects virtual wall, records the location information of virtual wall detection device as the geography fence information, or according to institute It states location information and obtains graphical information or pictorial information, using the graphical information or pictorial information as geography fence information.

In embodiment of the disclosure, the virtual wall includes signal generation apparatus or haptic feedback device, described virtual Wall detection device detects that virtual wall includes：Virtual wall detection device senses the signal that signal generation apparatus issues；Or it is empty The signal magnitude that quasi- wall detection device senses is more than threshold value；Or virtual wall detection device obtains the feedback of haptic feedback device Information.

In embodiment of the disclosure, the signal generation apparatus or haptic feedback device include：Infrared transmitter, magnetic Item, wireless transmitter, electronic tag, paint color card, metal pole piece；The virtual wall detection device includes：Infrared receiving tube, Magnetic Sensor, radio wave reception converter, Hall sensor, image-capturing apparatus, metal contact, pressure deformation sensor；Institute It states virtual wall detection device and can perceive the signal or perceive of virtual wall sending and be in contact with virtual wall.

In embodiment of the disclosure, it further includes following operation that robot, which obtains geography fence information,：In response to the machine Device people moves one week along virtual wall, stops recording location information；Or it is moved to virtually in response to the Robot virtual wall The terminal of wall, stops recording location information；Or reach preset time span in response to the run duration of the robot, stop Only record position information.

In embodiment of the disclosure, the geography fence setting method includes obtaining ground from the input module of the first equipment Manage fence information.

In embodiment of the disclosure, obtaining geography fence information from the input module of first equipment includes：From institute The input module for stating the first equipment obtains multiple input points；The multiple input point is connected to form figure or picture as geography Fence information.

In embodiment of the disclosure, the input module of first equipment includes multiple preset patterns；From described first The input module of equipment obtains geography fence information：Wherein one or more are obtained from the input module of first equipment Preset pattern is as geography fence information.

In embodiment of the disclosure, obtaining geography fence information from the input module of first equipment includes：From institute The input module for stating the first equipment obtains starting point and end point；According on the starting point, end point and electronic map Grid information obtains figure or picture as geography fence information.

In embodiment of the disclosure, the geography fence setting method further includes：The geography fence information is carried out Adjustment；It is described to the geography fence information be adjusted including：Location information, graphical information or pictorial information are moved Dynamic, scaling, stretching or rotation process.

In embodiment of the disclosure, the geography fence information includes in location information, graphical information and pictorial information It is one or more；Include on the electronic map by the geography fence information flag：By the geography fence information project to On electronic map, the electronic map is grating map；It is geography fence that the grid tag inside the picture projection, which will be located at, Region；Or will be located at the grid tag outside the picture projection is geography fence region；Or by the institute of graphic projection The grid occupied and its neighbouring grid tag are geography fence region；Or by the occupied grid of location point projection and Grid tag near it is geography fence region.

In embodiment of the disclosure, geography fence setting method further includes：Obtain the electricity for being marked with geography fence region Sub- map；In robot kinematics, positioning robot position；In robot location's feelings Chong Die with geography fence region generation Under condition, robot makes default behavior.

In embodiment of the disclosure, the robot location is Chong Die with geography fence region generation includes：Robot position It sets and marks the grid for being generation Chong Die on grid occupied by the projection on map and map.

In embodiment of the disclosure, the default behavior includes：Stop motion, retarded motion change the direction of motion, are remote It one of is moved from geography fence region, along geography fence border or a variety of.

Another aspect of the disclosure provides a kind of geography fence setting system, including：It is fixed with virtual wall detection dress The equipment set, for recording geography fence information；System is arranged in geography fence, for obtaining geography fence letter from the equipment Breath, and geography fence region is marked according to the geography fence information on the electronic map.

The another aspect of the disclosure provides a kind of geography fence setting system, including：One or more processors；It deposits Storage device, for storing one or more programs, wherein when one or more of programs are by one or more of processors When execution, so that one or more of processors obtain geography fence information, and according to the geography fence information in electronics Geography fence region is marked on map.

Another aspect of the disclosure provides a kind of computer-readable medium, is stored thereon with executable instruction, this refers to Make processor when order is executed by processor：Obtain geography fence information；It is marked on the electronic map according to the geography fence information Remember geography fence region.

Detailed description of the invention

By referring to the drawings to the description of the embodiment of the present disclosure, the above-mentioned and other purposes of the disclosure, feature and Advantage will be apparent from, in the accompanying drawings：

Fig. 1 diagrammatically illustrates the application scenarios of the setting geography fence method according to the embodiment of the present disclosure；

Fig. 2 diagrammatically illustrates the flow chart of geography fence setting method according to an embodiment of the present disclosure；

Fig. 3 diagrammatically illustrates the grating map according to the embodiment of the present disclosure；

Fig. 4 diagrammatically illustrates the system block diagram of the robot according to the embodiment of the present disclosure；

Fig. 5 diagrammatically illustrates the display result figure of induction point and inflection point according to the embodiment of the present disclosure；

Fig. 6 diagrammatically illustrates the geography fence information schematic diagram according to the embodiment of the present disclosure；

Fig. 7 diagrammatically illustrates the structure chart of the robot according to the embodiment of the present disclosure；

Fig. 8, which is diagrammatically illustrated, records point according to the geography fence of the embodiment of the present disclosure；

Fig. 9 diagrammatically illustrates the schematic diagram of the input module including preset pattern according to the embodiment of the present disclosure；

Figure 10 diagrammatically illustrates the first schematic diagram of starting point and end point according to the embodiment of the present disclosure；

Figure 11 diagrammatically illustrates the second schematic diagram of starting point and end point according to the embodiment of the present disclosure；

Figure 12 diagrammatically illustrates the response action that robot according to an embodiment of the present disclosure enters geography fence region；

Figure 13 diagrammatically illustrates geography fence setting system block diagram according to an embodiment of the present disclosure；

Figure 14 diagrammatically illustrates the block diagram of the computer system according to the setting of the geography fence of the embodiment of the present disclosure.

Specific embodiment

Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are only exemplary , and it is not intended to limit the scope of the present disclosure.In addition, in the following description, descriptions of well-known structures and technologies are omitted, with Avoid unnecessarily obscuring the concept of the disclosure.

Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein The terms "include", "comprise" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of Or add other one or more features, step, operation or component.

There are all terms (including technical and scientific term) as used herein those skilled in the art to be generally understood Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification Meaning, without that should be explained with idealization or excessively mechanical mode.

It, in general should be according to this using statement as " at least one in A, B and C etc. " is similar to Field technical staff is generally understood the meaning of the statement to make an explanation (for example, " system at least one in A, B and C " Should include but is not limited to individually with A, individually with B, individually with C, with A and B, with A and C, have B and C, and/or System etc. with A, B, C).Using statement as " at least one in A, B or C etc. " is similar to, generally come Saying be generally understood the meaning of the statement according to those skilled in the art to make an explanation (for example, " having in A, B or C at least One system " should include but is not limited to individually with A, individually with B, individually with C, with A and B, have A and C, have B and C, and/or the system with A, B, C etc.).It should also be understood by those skilled in the art that substantially arbitrarily indicating two or more The adversative conjunction and/or phrase of optional project shall be construed as either in specification, claims or attached drawing A possibility that giving including one of these projects, either one or two projects of these projects.For example, phrase " A or B " should A possibility that being understood to include " A " or " B " or " A and B ".

Embodiment of the disclosure provides a kind of geography fence setting method, including：Obtain geography fence information；According to institute It states geography fence information and marks geography fence region on the electronic map, wherein the geography marked on the electronic map encloses Column region can be used in controlling the motion range of robot；The acquisition geography fence information includes that slave device people acquisition geography encloses Column information, the robot obtain geography fence information by following operation：The robot for being equipped with virtual wall detection device exists Virtual wall moves about, and the region for needing to establish geography fence is arranged in the virtual wall；It detects and fills in response to the virtual wall It sets and detects virtual wall, record the location information of virtual wall detection device as the geography fence information, or according to described Location information obtains graphical information or pictorial information, using the graphical information or pictorial information as geography fence information.

It in the embodiments of the present disclosure, not only can be to avoid existing by marking on the electronic map geography fence region Additional signal transmitting equipment or passive signal emitter etc. are set for a long time under real field scape, and can be based on being marked with geography Robot response action band in geography fence border is reduced in the path of the electronic map of fence area preferably planning robot The time overhead come reduces customer using cost.

Fig. 1 diagrammatically illustrates the application scenarios of the setting geography fence method according to the embodiment of the present disclosure.It should be noted that , being only shown in Fig. 1 can be using the example of the geography fence setting method of the embodiment of the present disclosure, to help art technology Personnel understand the technology contents of the disclosure, but are not meant to that the embodiment of the present disclosure may not be usable for other devices, environment or field Scape.

As shown in Figure 1, this method can be used for the setting of the geography fence of household cleaning machine people 100, home dwelling is empty Between be generally divided into the subregions such as parlor 101, bedroom 102, kitchen 103, toilet 104, be placed with various furniture, electricity in each subregion The household items such as device.It is that user is not intended to robot to enter that home-use clean robot has some regions during cleaning, Such as：During robot manipulating task, user is not intended to robot to enter the regions such as toilet, children playing space, carpet.Another feelings Condition is that user wishes to limit robot activity in a certain region, such as：User wishes that robot only in dining room operation, needs to be arranged Geography fence surrounds dining area, prevents robot from leaving dining area.

Home-use clean robot includes but is not limited to：Vacuum cleaning machine people, floor-mopping robot drag and sweep integrated robot Deng.

It is appreciated that the application scenarios in Fig. 1 are only a kind of examples, other than being applied to home-use clean robot, also It can be used for other scenes for needing to be arranged geography fence, for example, the transfer robot in the places such as factory, market, tour machine People, the Agricultural Robot and underwater robot on farm, air-robot etc..

Fig. 2 diagrammatically illustrates the flow chart of geography fence setting method according to an embodiment of the present disclosure.

As shown in Fig. 2, this method includes operation S200~S300.

In operation S200, geography fence information is obtained.

According to the embodiment of the present disclosure, geography fence information, which can be position, direction, shape, picture etc. and can describe geography, encloses The information of physical location and range locating for column, the information can be the information that user directly inputs on external equipment, can also be with It is the information obtained by detection device field survey.

In operation S300, geography fence region is marked according to the geography fence information on the electronic map, wherein in electronics The geography fence region marked on map can be used in controlling the motion range of robot.

In the embodiments of the present disclosure, which can be the map for being stored with obstacle information, such as intelligence The electronic map of clean robot is stored with room area segmentation information, room contour information, obstacle information, walkable region Deng electronic map includes but is not limited to the storage organization that grating map, arborescence etc. can store above- mentioned information.

Fig. 3 diagrammatically illustrates the grating map according to the embodiment of the present disclosure.

As shown in figure 3, grating map includes multiple grids, each grid is expressed as the square lattice with certain resolution Point (the square lattice point of such as 5cm × 5cm), each lattice point can store the information of multilayer map, including barrier map, room Region segmentation map, geography fence map etc..Barrier map includes 2 kinds of different grids：A. can walk grid；B. barrier Grid.As shown in figure 3, indicating that the grid that can be walked, black indicate barrier grid with white, barrier includes metope and room Interior barrier, such as toy laydown area.

It marks geography fence region can be on the electronic map according to the geography fence information to reflect geography fence information It is incident upon on electronic map, relevant range is then marked according to mapping result.The labeling process can be in map structuring process It carries out, can also be carried out on the known map that building is completed.

The geography fence region of label on the electronic map can control the movement of robot in the mobile operation of robot Range, for example, in robot manipulating task, no matter near geography fence border whether there is or not entity apparatus, machine can pass through inspection per capita Survey electronic map on geography fence region and make corresponding response action, response action for example can be and turn.

Acquisition geography fence information in operation S200 may include operation S210：

In operation S210, geography fence information is obtained by robot.The robot can be by operating S211~S212 Obtain geography fence information：

In operation S21l, moved about using the robot for being equipped with virtual wall detection device in virtual wall, virtual wall is set It sets in the region for needing to establish geography fence.

In the region for needing to be arranged geography fence, virtual wall is set, the boundary in geography fence can be set in virtual wall, If such as user is not intended to robot to enter carpet progress operation, lays virtual wall in carpet surrounding.

Fig. 4 diagrammatically illustrates the system block diagram of the robot according to the embodiment of the present disclosure.

As shown in figure 4, robot includes robot body 301, and the control unit being mounted on robot body 302, driving unit 303 and virtual wall detection device 304, control unit 302 can be Micro-processor MCV, and driving unit 303 can To be made of one wheel pairs and its matched motor, driving chip.Control unit 302 sends control to driving unit 303 and refers to It enables, driving unit 303 drives robot body 301 to move according to the control instruction, changes the movement velocity of robot body 301 With direction etc., virtual wall detection device 304 is passed for incuding the information such as position, the direction of virtual wall, and by the information sensed Control unit 302 is transported to, control unit 302 collects the signal that virtual wall detection device 304 returns, handles signal, mention Take out the distance between virtual wall relationship or the threshold signal based on this distance relation.

Robot can also include display and input unit 305, for inputting user instruction, control robot to virtual wall Near, or make robot open record function during normal operation.In display and defeated after the completion of record or in recording process Enter unit 305 display record as a result, user can to record result be adjusted, then can be by robot according to the ground of record It manages fence information and executes geography fence setting method, also can use external equipment and carry out instruction input and the results show that machine The location information of record can be sent to external equipment by network and shown by people, and network includes the modes such as WiFi, bluetooth, And geography fence setting method can be executed by external equipment, external equipment for example can be mobile phone, computer, server etc..

In operation S212, virtual wall is detected in response to virtual wall detection device, records the position of virtual wall detection device Information obtains graphical information or pictorial information as geography fence information, or according to location information, by graphical information or picture Information is as geography fence information.

Robot detects the position of virtual wall, when detecting virtual wall, control unit by virtual wall detection device 304 Control robot is moved to far from virtual wall direction, and over time or the induction of virtual wall detection device 304 is less than virtual wall Afterwards, robot is returned moves to virtual wall direction, repeatedly, to achieve the effect that along virtual wall movement outside.

Robot is also equipped with positioning device 306, and it is fixed to can be odometer, visual odometry, laser based on encoder Position etc. can provide position of the robot relative to a fixed coordinates point.Positioning device 306 can be fixed on virtual wall detection device Near 304, when virtual wall detection device 304 detects virtual wall, control unit 302 obtains virtual wall from positioning device 306 The location information of detection device 304 is recorded as geography fence information, which is denoted as induction point Ki.If to geography fence The required precision in region is not in very high situation, and positioning device can be fixed on any position of robot.

It can also include operation S213 by the process that robot obtains geography fence information：

In operation S213, the transformation angle in response to robot motion direction is more than preset angle threshold, and record is virtual The location information of wall detection device is as geography fence information.

Specifically, there are when corner, the direction of motion of robot can also change therewith on the boundary of geography fence region.Work as machine Device people is towards varying widely, i.e., when the transformation angle of the direction of motion is more than certain threshold value, the record of control unit 302 is empty at this time As geography fence information, which is denoted as the location information of quasi- wall detection device 304 or the location information of robot Inflection point Ci.

In the embodiments of the present disclosure, it by measuring recorder people inflection point, shows the boundary corner of geography fence region, has Conducive to the more accurate boundary characteristic for extracting geography fence region.

Fig. 5 diagrammatically illustrates the display result figure of induction point and inflection point according to the embodiment of the present disclosure.

As shown in figure 5, after stopping recording, by each induction point Ki and inflection point inputted and the display of display unit 305 records Ci, or each induction point Ki and inflection point Ci are transmitted in the other equipment with input and display function and shown.With Family can inspect whether geography fence region setting result is satisfied with, if dissatisfied, can re-start record with return step S211, User can also adjust the biggish point of deviation according to display result on the display screen, can be by machine after confirming each record point Device people or external equipment complete the setting of geography fence.

In the embodiments of the present disclosure, can be using the location information of above-mentioned record as geography fence information, or it can also be with Graphical information or pictorial information are obtained according to above-mentioned multiple location informations, and is enclosed using graphical information or pictorial information as geography Column information.

Geography fence information may include：One of location information, graphical information, pictorial information are a variety of.

Fig. 6 diagrammatically illustrates the geography fence information according to the embodiment of the present disclosure.

As shown in fig. 6, geography fence information can be location information, such as each induction point obtained through the above steps Ki and inflection point Ci, point 501 as shown in FIG. 6.

Geography fence information is also possible to graphical information, for example, the induction point of record and inflection point are done feature extraction, extracts Straight line and shape out, building form closed figure 502 or non-close figure 503；Either by robot it is direct-recording its from The trace graphics that body is moved along virtual wall；Or the figure that user directly draws on the display device.

Geography fence information can also be pictorial information, for example, a piece of shadow region surrounded by some closed figure 504。

Obtained location point, figure and picture can be shown in the display of robot and input unit 305 or external equipment Show, the operation such as user can zoom in and out geography fence information, rotate, finely tune.

In the embodiments of the present disclosure, can be chosen according to the geometrical characteristic of geography fence region different geometric shapes (point, Line, face) it is used as geography fence information flag on the electronic map, keep region setting more accurate convenient.

In addition, if user wishes using some room as the not enterable forbidden zone of robot, it can be directly by the room Door close, make robot start the first subjob or explore map, in this case, door can be marked as barrier Region, the room are surrounded by barrier region, and robot will not enter the room in lower subjob.

In the embodiments of the present disclosure, using the position for the robot field survey geography fence for being equipped with virtual wall detection device It sets, geography fence region can be more accurately marked on map, robot is made in cleaning operation later more quasi- True judgement, and can be used for accurately determining that geography fence region exists by the method that robot obtains geography fence information The case where position on map.In addition, needing to construct room map when the first subjob of robot, this method can be on building ground Geography fence region is marked during figure.

According to the embodiment of the present disclosure, virtual wall includes signal generation apparatus or haptic feedback device, virtual wall detection device Detect that virtual wall includes：Virtual wall detection device senses the signal that signal generation apparatus issues；Or virtual wall detection dress Setting the signal magnitude sensed is more than threshold value；Or virtual wall detection device obtains the feedback information of haptic feedback device.

Virtual wall includes signal generation apparatus or haptic feedback device, including：Infrared transmitter, magnetic stripe, radio wave hair Emitter, electronic tag, paint color card, metal pole piece etc..Virtual wall detection device 304 can be virtual wall detection sensor, including： Infrared receiving tube, Magnetic Sensor, radio wave reception converter, Hall sensor, image-capturing apparatus, metal contact, pressure shape Become sensor etc..Virtual wall detection device 304 can perceive the signal of virtual wall sending or perceive the contact with virtual wall.

Fig. 7 diagrammatically illustrates the structure chart of the robot according to the embodiment of the present disclosure.

As shown in fig. 7, robot can fix multiple virtual wall detection sensors, it is equably laid in the edge of robot Region, accordingly, positioning device 306 may be set to be multiple.Virtual wall detection sensor is used for inductive signal generating device The signal of sending, or the feedback signal of haptic feedback device is received, and the physical signal for receiving or sensing is converted into electricity Signal or digital signal are sent to control unit 302, when control unit 302 judges that virtual wall detection sensor senses virtual wall When, the location information of virtual wall detection sensor is obtained and recorded from positioning device 306, and virtual wall detection sensor has multiple When, it is subject to the sensor for sensing signal at first, or be subject to the signal sensed is more than threshold value at first.

For example, virtual wall detection device 304 is infrared receiving tube if virtual wall is infrared transmitter, work as infrared receiving tube When sensing the infrared signal that infrared transmitter issues, characterization robot enters virtual wall zone, and infrared receiving tube is single to control Member 302 sends electric signal, and control unit 302 records the moment infrared receiving tube position, while controlling driving unit 303 and make Robot is moved to the direction far from virtual wall.

If virtual wall is magnetic stripe, virtual wall detection device 304 is Magnetic Sensor, can detect the magnetic field strength of magnetic stripe.Benefit The distance between robot and virtual wall are characterized with magnetic field strength, the magnetic field strength sensed is converted telecommunications by Magnetic Sensor Number, and by electric signal transmission to control unit 302, electric signal is compared by control unit 302 with threshold value, when electric signal is more than It is characterized when certain threshold value after robot makes comparisons electric signal with threshold value into virtual wall zone or Magnetic Sensor and sends high electricity Flat 1 or low level 0 to control unit (electric signal is more than that threshold value exports high level 1, exports low level 0 lower than threshold value).Work as telecommunications When number being more than threshold value, control unit 302 records Magnetic Sensor position, while controlling driving unit 303 makes robot to remote Direction movement from virtual wall, after electric signal is less than threshold value, control unit 302 can be according to the Analog control machine of sensor People nearby moves to virtual wall.

In the embodiments of the present disclosure, suitable virtual wall and virtual can be chosen according to different place situations and required precision Wall detection device, and signal generation apparatus or haptic feedback device can reuse, and are not required to installation and fix, make operation more It is simple and convenient.

It can also include operation S214 by the process that robot obtains geography fence information according to the embodiment of the present disclosure：

In operation S214, is moved one week in response to Robot virtual wall, stop recording location information；Or in response to machine Device people moves to the terminal of virtual wall along virtual wall, stops recording location information；Or it is reached in response to the run duration of robot To preset time span, location information is stopped recording.

Specifically, in robot operational process, need to judge whether geography fence information records completion, to stop robot Writing function, start execute geography fence setting method.

If geography fence border is closed figure, when robot, which moves one week along virtual wall from starting point, returns to the starting point, Think that geography fence information record is completed, closes writing function；Recording process termination condition can be additionally configured to robot into Enter the time span for reaching reservation after virtual wall movement outside, or when virtual wall is not closed figure, for example, directly Line, in this case, recording process termination condition can be additionally configured to the terminal that virtual wall is moved to along virtual wall, such as Move to the terminal of straight line.

According to the embodiment of the present disclosure, operating S200 and obtaining geography fence information can also include operation S220：

In operation S220, geography fence information is obtained from the input module of the first equipment.It can input and obtain from user Geography fence information.

Specifically, the first equipment can be above-mentioned robot, on condition that the robot has input module, such as above-mentioned Display and input unit 305, the first equipment can also be any electronic equipment with input module, such as set with input Standby computer, mobile phone with input screen etc..

First equipment includes input module, can directly acquire the information of user's input, i.e. user can be directly the The input module input geography fence information of one equipment specifically can be user and input several characteristic points on known map Or geography fence is marked in several characteristic curves etc., other modules that then input module can transmit information to the first equipment Information.Or first equipment the geography fence information that can will acquire of input module be transmitted to the second equipment connected to it into Line flag geography fence information, the second equipment for example can be server etc., for example, after mobile phone obtains user's input, by information It is transmitted to server, marks geography fence information on map by server.

Inputting the method for obtaining geography fence information above by user can be used on map showing determining geography fence Toy is shown on the case where region, such as map and stacks point, i.e., intensive barrier grid, and user can determine the part grid Lattice are that toy stacks point, can will be using part grid as center input record point.In the above manner, being marked on known map Geography fence region does not need robot and moves in advance around virtual wall and record induction point on the way, but can set by user It shows that content directly inputs the information such as some points or line on standby input module according to the map, geography fence information can be obtained, It is more convenient.

In accordance with an embodiment of the present disclosure, operation S220 can for example be inputted from user and be obtained multiple record points, i.e., user can To add multiple record points on map, then it regard multiple record points as geography fence information, or by multiple record point companies It connects and to form the mode of figure or picture and obtain geography fence information.Specifically, operation S220 may include operation S221~S223：

In operation S221, known map is obtained.

The input of robot and display unit 305 show map, or map transmission to external equipment is shown, should External equipment can be tablet computer, and transmission mode can be through WiFi or Bluetooth transmission.Wherein, which is to have constructed At known map.

Cartographic information is converted grid by robot, and each grid is expressed as the square lattice with certain resolution Point (the square lattice point of such as 5cm × 5cm), each lattice point can store the information of multilayer map, including barrier map, room Region segmentation map, geography fence map etc..Barrier map includes 2 kinds of different grids：A. can walk grid；B. barrier Grid.Indicating that the grid that can walk, black indicate barrier grid with white, barrier includes the barrier in metope and room, Such as toy laydown area.

In operation S222, addition geography fence records point.

Fig. 8, which is diagrammatically illustrated, records point according to the geography fence of the embodiment of the present disclosure.

As shown in figure 8, user can display result according to the map each record point Ri is added near barrier.Example Such as, user is not intended to robot close to the region that toy is stacked, and can record point Ri in the surrounding addition that toy stacks region.Again For example, user is not intended to robot to enter the room of the rightmost side as shown in Figure 8, can suitably be chosen in the entrance in the room Two or more record point Ri.It can be clicked on external equipment or robot when addition record point and increase angle point button, and can Pull geography fence record point position.

In operation S223, added if you need to continue, then repetitive operation S222, if addition finishes, selection confirmation.By robot Input and display unit 305 or external equipment display record each record point Ri, user can according to display result adjustment The biggish point of deviation.

Can be using above-mentioned multiple record point Ri as geography fence information labeling on the electronic map, or it can also will be more A record point connection forms figure or picture, and using obtained figure or picture as geography fence information labeling in electronic map On.

According to the embodiment of the present disclosure, operating S220 for example can also be that the input module of the first equipment may include multiple pre- If figure；Obtaining geography fence information from the input module of the first equipment includes：It is obtained wherein from the input module of the first equipment One or more preset patterns are as geography fence information.

Specifically, multiple optional figures or picture can be set in the input module of the first equipment.

Fig. 9 diagrammatically illustrates the schematic diagram of the input module including preset pattern according to the embodiment of the present disclosure.

As shown in figure 9, the input module of the first equipment can preset multiple optional figures or picture, figure can be in any Shape, such as circle, rectangle, triangle, ellipse or irregular polygon.User is when being arranged geography fence, Ke Yigen Choose suitable figure according to actual conditions or picture be used as geography fence information, operation S220 may include operate S224~ S225：

In operation S224, known map is obtained.Referring specifically to operation S221, details are not described herein.

In operation S225, preset pattern is obtained as geography fence information from the input module of the first equipment.

Specifically, user can select geometry on input module, be dragged to the region for needing to place.If you need to Continue to add, then repeats above-mentioned selecting step, if addition finishes, selection confirmation.User can also contract to geography fence It puts, rotate, finely tune, geography fence is recorded on map after confirmation.Then it can will be passed comprising the map of geography fence information Robot body is transported to, map is stored in storage medium by robot, in this example, storage medium FLASH.According to The embodiment of the present disclosure, obtaining geography fence information from the input module of the first equipment includes：It is obtained from the input module of the first equipment Take starting point and end point；Figure or picture conduct are obtained according to the grid information on starting point, end point and electronic map Geography fence information.

In accordance with an embodiment of the present disclosure, user can also obtain geography fence information by setting starting point and end point, Operation S220 may include operation S226~S228：

In operation S226, known map is obtained.Referring specifically to operation S221, details are not described herein.

In operation S227, starting point and end point are obtained from the input module of the first equipment.

Specifically, user can add starting point and end point in the input module of the first equipment.

Figure 10 diagrammatically illustrates the first schematic diagram of starting point and end point according to the embodiment of the present disclosure.

It as shown in Figure 10, can point if user is not intended to robot to enter the room shown in Fig. 10 positioned at the lower left corner The both ends of the room door on map are hit as starting point Bi and end point Ei.

Figure 11 diagrammatically illustrates the second schematic diagram of starting point and end point according to the embodiment of the present disclosure.

As shown in figure 11, to be arranged geography fence in corner regions, then can be arranged in the side walls of corner Initial point Bi and end point Ei.

Certainly, the setting of starting point Bi and end point Ei are not limited to above two mode, can also be using other settings Mode.

In operation S228, figure is obtained according to the grid information on starting point, end point and electronic map or picture is made For geography fence information.

Specifically, according to the grid information on the position and electronic map of starting point and end point, a figure or figure are formed Piece constitutes closed area as geography fence information, by geography fence and barrier grid.As shown in Figure 10, starting point Bi is connected With end point Ei, which can be used as geography fence information, and the wall in the line pattern and lower right corner room, which is constituted, to be sealed Closed region prevents robot from passing through.As shown in figure 11, starting point Bi and end point Ei is connected, which can be used as Geography fence information, the straight line and side walls form a closed figure, make robot not and can enter the corner.Then user can To zoom in and out, stretch to geography fence, finely tune, geography fence is recorded on map after confirmation, will be believed comprising geography fence Map is stored in storage medium by the map transmission of breath to robot body, robot, and in this example, storage medium is FLASH。

According to the embodiment of the present disclosure, geography fence setting method can also include operation S400：The geography fence is believed Breath is adjusted；

The information of acquisition can be modified and be adjusted after obtaining geography fence information.If for example, passing through machine People, which walks to detect, obtains geography fence information, then robot is after the completion of record or in recording process in display and input unit 305 display records are as a result, user can be adjusted record result, alternatively, robot is after the completion of record or recording process The middle location information by record is sent to mobile phone by network and shows, user can be adjusted record result.Logical It crosses user to input in the case where obtaining geography fence information, if the first equipment includes display module and input module, Ke Yixian Show the geography fence information of acquisition, then can modify and adjust on the first device, for example, the first equipment is mobile phone, hand It after machine obtains the geography fence information of user's input, is shown in its display screen, user can be according to display as a result, showing It modifies and adjusts on the input areas such as screen.

Above-mentioned adjustment includes that point, line or the face of reason fence information over the ground carry out the operation such as moving, scale, stretch and rotate.

According to the embodiment of the present disclosure, geography fence information includes one of location information, graphical information and pictorial information Or it is a variety of；In operation S300 may include in operation S310~operation S340 by geography fence information flag on the electronic map At least one operation：

In operation S310, geography fence information is projected to electronic map, electronic map is grating map；

In operation S320：It is geography fence region that the grid tag inside picture projection, which will be located at,；

In operation S330：It is geography fence region that the grid tag outside picture projection, which will be located at,；

In operation S340：It is geography fence region by grid occupied by graphic projection and its neighbouring grid tag；

In operation S350：It is geography fence region by the occupied grid of location point projection and its neighbouring grid tag.

According to foregoing description it is found that geography fence information can be point, line or face, such as it can be and obtained by robot Induction point Ki and inflection point Ci, or from the input module of the first equipment obtain record point Ri, figure or closed area, or Person is that induction point Ki, inflection point Ci or record point Ri are connected the figure to be formed or picture etc..

In the embodiments of the present disclosure, geography fence can be one piece of movement restricted area, the pass of geography fence and robot System can be：Robot cannot be introduced into the region inside processing, or the operating area of robot is limited in geography fence, I.e. robot body can not cross over geography fence border operation, can be according to geography fence region to meet the requirement of user's difference Feature selected marker method.

Geography fence information is projected to grating map as shown in Figure 3.

If the geography fence information is the pictorial information for indicating a panel region, and is to prohibit by the inner setting of the panel region Area, robot cannot be introduced into the forbidden zone inside processing, then the grid tag covered projection of the picture on map is ground Manage fence area；If using the region except the panel region as forbidden zone, the grid that projection of the picture on map is covered Grid tag other than lattice is geography fence region.

If the geography fence information is graphical information, i.e. line information, then the lines are widened, width can be with robot Radius is suitable, the grid tag that the lines after widening are covered be geography fence region, robot can not across the figure into Row operation.

If the geography fence information is location point information, by the grid of location point projection covering or the grid closed on Labeled as geography fence region.

Geography fence grid can be covered on barrier grid, then the grid has barrier attribute and geography simultaneously Fence attribute.

According to the embodiment of the present disclosure, this method can also include operation S500~S700.

In operation S500, the electronic map for being marked with geography fence region is obtained.

The electronic map for being marked with geography fence information is obtained above, robot reads the electronic map and geography fence Information starts operation.

In operation S600, in robot kinematics, positioning robot position.

Robot passes through the location information of acquisition robot by control unit 302 in operation process in real time.

In operation S700, in the case where robot location and geography fence region generate overlapping cases, robot makes default row For.

By the location information live fluoroscopic of robot to electronic map, detect robot projected position whether with label Geography fence region generates overlapping, if so, thinking that robot enters geography fence region, is made a response according to deliberate action.

In the embodiments of the present disclosure, robot can be made preferably to advise using the electronic map for being marked with geography fence region Path is drawn, and reduces the response action bring time overhead in geography fence border, can make in operation and more accurately sentence It is disconnected, operating speed is speeded, operating efficiency is improved.

According to the embodiment of the present disclosure, robot location is Chong Die with geography fence region generation to include：Robot location is on ground The grid for being is marked to generate on grid occupied by projection on figure and map Chong Die.

Specifically, robot projects its location information to electronic map, obtains the grid of location information covering, detection It is Chong Die whether the grid generates with the grid labeled as geography fence region, if so, thinking that robot enters geography fence area Domain.

In the embodiments of the present disclosure, corresponding to the setting method of geography fence, real-time detection mistake of the robot in operation Journey is also specific to each grid, keeps testing result sensitiveer, and reaction when robot encounters geography fence region is more fast Speed.

According to the embodiment of the present disclosure, above-mentioned default behavior includes：Stop motion, changes the direction of motion, is separate retarded motion Geography fence region one of moves or a variety of along geography fence border.

Figure 12 diagrammatically illustrates the response action that robot according to an embodiment of the present disclosure enters geography fence region.

As shown in figure 12, robot slows down, turns around when robot enters geography fence region, makes rule to geography fence It keeps away, is separate, orbital movement, in addition it is also possible to be set as：Stop motion when robot enters geography fence region waits next Operation is carried out after step instruction again, or is slowed down when close to geography fence, for example, setting robot is stacked close to toy Retarded motion when area, avoid generate collision, or setting Robot geography fence border position movement.

User can set response action when robot encounters geography fence region as the case may be, make its more intelligence Energyization.

Another embodiment of the present disclosure provides a kind of geography fence setting system, including：It is fixed with virtual wall detection dress The equipment set, for recording geography fence information；System is arranged in geography fence, for obtaining geography fence letter from the equipment Breath, and geography fence region is marked according to geography fence information on the electronic map.

Specifically, equipment can be robot, and robot is used to record geography fence information, including robot body, with And it is mounted on control unit, driving unit and virtual wall detection device on robot body, it is fixed according to the embodiment of the present disclosure The robot architecture and system framework for having virtual wall detection device can be with reference to Fig. 1~Figure 12 and above for respective drawings Description, and operations described above S200~S700 can be executed, details are not described herein.

Figure 13 diagrammatically illustrates geography fence setting system block diagram according to an embodiment of the present disclosure.

As shown in figure 13, geography fence setting system 900 includes characteristic module 910, building module 920 and map label Module 930.

Characteristic module 910 obtains characteristic point, the figure of characterization geography fence geometrical characteristic for obtaining geography fence information Shape or picture, according to the embodiment of the present disclosure, can be it is above-described obtain geography fence information from robot, be also possible to The information that user inputs on external equipment, characteristic module 910 can for example execute operations described above S200, no longer superfluous herein It states.

Building module 920 is used to location information being built into figure or pictorial information.If geography fence information is location point Information can be built into closed figure or non-close figure by constructing module 920, and figure is carried out widening treatment. The region that closed figure surrounds can also be built into pictorial information.

Map label module 930 is used for the geography fence information flag in map, according to characteristic module 910 or structure Location information that modeling block 920 obtains, graphical information, pictorial information mapping on the electronic map, and mark the corresponding grid to be Geography fence region.Map label module 930 can for example execute operations described above S300, and details are not described herein.

It is understood that characteristic module 910, building module 920 and map label module 930 may be incorporated in one It is realized in module or any one module therein can be split into multiple modules.Alternatively, one in these modules or At least partly function of multiple modules can be combined at least partly function of other modules, and be realized in a module. In accordance with an embodiment of the present disclosure, characteristic module 910, building at least one of module 920 and map label module 930 can be with At least it is implemented partly as hardware circuit, such as field programmable gate array (FPGA), programmable logic array (PLA), piece The system in system, encapsulation, specific integrated circuit (ASIC) in upper system, substrate, or can with to circuit carry out it is integrated or The hardware such as any other rational method or firmware of encapsulation realize, or with three kinds of software, hardware and firmware implementations Appropriately combined realize.Alternatively, characteristic module 910, building at least one of module 920 and map label module 930 It can be at least implemented partly as computer program module, when the program is run by computer, corresponding module can be executed Function.

Figure 14 diagrammatically illustrates the block diagram of the computer system according to the setting of the geography fence of the embodiment of the present disclosure.Figure Computer system shown in 14 is only an example, should not function to the embodiment of the present disclosure and use scope bring any limit System.

It as shown in figure 14, include processor 1001 according to the computer system of the embodiment of the present disclosure 1000, it can basis The program that is stored in read-only memory (ROM) 1002 is loaded into random access storage device (RAM) from storage section 1008 Program in 1003 and execute various movements appropriate and processing.Processor 1001 for example may include general purpose microprocessor (example Such as CPU), instruction set processor and/or related chip group and/or special microprocessor (for example, specific integrated circuit (ASIC)), Etc..Processor 1010 can also include the onboard storage device for caching purposes.Processor 1010 may include for executing With reference to single treatment unit either multiple processing of the different movements of Fig. 2 method flow according to the embodiment of the present disclosure described Unit.

In RAM 1003, it is stored with system 1000 and operates required various programs and data.Processor 1001, ROM 1002 and RAM 1003 is connected with each other by bus 1004.Processor 1001 is by executing ROM 1002 and/or RAM 1003 In program come execute above with reference to Fig. 2 describe geography fence setting method various operations.It is noted that described program electricity It can store in one or more memories in addition to ROM 1002 and RAM 1003.Processor 1501 can also be by holding The program that is stored in one or more of memories of row is executed above with reference to Fig. 2 geography fence setting method described Various operations.

In accordance with an embodiment of the present disclosure, system 1000 can also include input/output (I/O) interface 1005, input/output (I/O) interface 1005 is also connected to bus 1004.System 1000 can also include being connected in lower component of I/O interface 1005 It is one or more：Importation 1006 including keyboard, mouse etc.；Including such as cathode-ray tube (CRT), liquid crystal display And the output par, c 1007 of loudspeaker etc. (LCD) etc.；Storage section 1008 including hard disk etc.；And including such as LAN card, The communications portion 1009 of the network interface card of modem etc..Communications portion 1009 executes logical via the network of such as internet Letter processing.Driver 1010 is also connected to I/O interface 1005 as needed.Detachable media 1011, such as disk, CD, magnetic CD, semiconductor memory etc. are mounted on as needed on driver 1010, in order to from the computer program read thereon It is mounted into storage section 1008 as needed.

In accordance with an embodiment of the present disclosure, it may be implemented as computer software journey above with reference to the method for flow chart description Sequence.For example, embodiment of the disclosure includes a kind of computer program product comprising carry meter on a computer-readable medium Calculation machine program, the computer program include the program code for method shown in execution flow chart.In such embodiments, The computer program can be downloaded and installed from network by communications portion 1009, and/or from 1011 quilt of detachable media Installation.When the computer program is executed by processor 1001, the above-mentioned function of limiting in the system of the embodiment of the present disclosure is executed. In accordance with an embodiment of the present disclosure, system as described above, unit, module, unit etc. can pass through computer program module To realize.

It should be noted that computer-readable medium shown in the disclosure can be computer-readable signal media or meter Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to：Electrical connection with one or more conducting wires, just Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device, Or above-mentioned any appropriate combination.In the disclosure, computer readable storage medium can be it is any include or storage journey The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this In open, computer-readable signal media may include in a base band or as the data-signal that carrier wave a part is propagated, Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium Program code can transmit with any suitable medium, including but not limited to：Wirelessly, electric wire, optical cable, RF etc. or above-mentioned Any appropriate combination.In accordance with an embodiment of the present disclosure, computer-readable medium may include above-described ROM 1002 And/or one or more memories other than RAM 1003 and/or ROM 1002 and RAM 1003.

Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the disclosure, method and computer journey The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction It closes to realize.

As on the other hand, the disclosure additionally provides a kind of computer-readable medium, which can be Included in equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying equipment.Above-mentioned calculating Machine readable medium carries one or more program, when said one or multiple programs are executed by the equipment, makes The equipment is obtained to execute：Obtain geography fence information；Geography fence region is marked on the electronic map according to geography fence information, In, the geography fence region marked on the electronic map can be used in controlling the motion range of robot；Obtain geography fence letter Breath includes that geography fence information is obtained from robot, and robot obtains geography fence information by following operation：It is equipped with virtual The robot of wall detection device is moved about in virtual wall, and the region for needing to establish geography fence is arranged in virtual wall；In response to Virtual wall detection device detects virtual wall, records the location information of virtual wall detection device as geography fence information, or Graphical information or pictorial information are obtained according to location information, using graphical information or pictorial information as geography fence information.

In accordance with an embodiment of the present disclosure, virtual wall includes signal generation apparatus or haptic feedback device, virtual wall detection dress It sets and detects that virtual wall includes：Virtual wall detection device senses the signal that signal generation apparatus issues；Or virtual wall detection The signal magnitude that device senses is more than threshold value；Or virtual wall detection device obtains the feedback information of haptic feedback device.

In accordance with an embodiment of the present disclosure, signal generation apparatus or haptic feedback device include：Infrared transmitter, magnetic stripe, nothing Line wave launcher, electronic tag, paint color card, metal pole piece；Virtual wall detection device includes：Infrared receiving tube, Magnetic Sensor, Radio wave reception converter, Hall sensor, image-capturing apparatus, metal contact, pressure deformation sensor；Virtual wall detection dress It sets the signal that can perceive virtual wall sending or perceives and be in contact with virtual wall.

It in accordance with an embodiment of the present disclosure, further include following operation：It is moved one week in response to Robot virtual wall, stops note Record location information；Or the terminal of virtual wall is moved in response to Robot virtual wall, stop recording location information；Or it rings Preset time span should be reached in the run duration of robot, stop recording location information.

In accordance with an embodiment of the present disclosure, further include：Geography fence information is adjusted.Geography fence information is adjusted It is whole to include：Location information, graphical information or pictorial information move, scaled, is stretched or rotation process.

In accordance with an embodiment of the present disclosure, the geography fence information includes in location information, graphical information and pictorial information It is one or more；Include on the electronic map by geography fence information flag：Geography fence information is projected to electronic map On, electronic map is grating map；It is geography fence region that the grid tag inside picture projection, which will be located at,；Or figure will be located at Grid tag outside piece projection is geography fence region；Or by grid occupied by graphic projection and its neighbouring grid mark It is denoted as geography fence region；Or location point is projected into occupied grid and its neighbouring grid tag as geography fence area Domain.

In accordance with an embodiment of the present disclosure, further include：Obtain the electronic map for being marked with geography fence region；It is transported in robot During dynamic, positioning robot position；In the case where robot location and geography fence region generate overlapping cases, robot makes pre- If behavior.

In accordance with an embodiment of the present disclosure, robot location is Chong Die with geography fence region generation includes：Robot location exists The grid for being is marked to generate on grid occupied by projection on map and map Chong Die.

In accordance with an embodiment of the present disclosure, default behavior includes：Stop motion, retarded motion, the transformation direction of motion, remotely Reason fence area one of moves or a variety of along geography fence border.

Embodiment of the disclosure is described above.But the purpose that these embodiments are merely to illustrate that, and It is not intended to limit the scope of the present disclosure.Although respectively describing each embodiment above, but it is not intended that each reality Use cannot be advantageously combined by applying the measure in example.The scope of the present disclosure is defined by the appended claims and the equivalents thereof.It does not take off From the scope of the present disclosure, those skilled in the art can make a variety of alternatives and modifications, these alternatives and modifications should all fall in this Within scope of disclosure.

Claims (10)

1. a kind of geography fence setting method, including：

Obtain geography fence information；

Geography fence region is marked on the electronic map according to the geography fence information, wherein described to mark on the electronic map The geography fence region of note can be used in controlling the motion range of robot；

The acquisition geography fence information includes that slave device people obtains geography fence information, and the robot is obtained by following operation Take geography fence information：

The robot for being equipped with virtual wall detection device is moved about in virtual wall, and the virtual wall setting is needing to establish geography The region of fence；

Virtual wall is detected in response to the virtual wall detection device, is recorded described in the location information conduct of virtual wall detection device Geography fence information, or graphical information or pictorial information are obtained according to the positional information, by the graphical information or picture Information is as geography fence information.

2. according to the method described in claim 1, wherein, the virtual wall includes signal generation apparatus or haptic feedback device, The virtual wall detection device detects that virtual wall includes：

Virtual wall detection device senses the signal that signal generation apparatus issues；Or

The signal magnitude that virtual wall detection device senses is more than threshold value；Or

Virtual wall detection device obtains the feedback information of haptic feedback device.

3. according to the method described in claim 1, wherein：

The signal generation apparatus or haptic feedback device include：Infrared transmitter, magnetic stripe, wireless transmitter, electronics mark Label, paint color card, metal pole piece；

The virtual wall detection device includes：Infrared receiving tube, Magnetic Sensor, radio wave reception converter, Hall sensor, image Capture equipment, metal contact, pressure deformation sensor；

The virtual wall detection device can perceive the signal of virtual wall sending or perceive and be in contact with virtual wall.

4. according to the method described in claim 1, further including following operation wherein：

It is moved one week in response to the Robot virtual wall, stops recording location information；Or

The terminal that virtual wall is moved in response to the Robot virtual wall, stops recording location information；Or

Reach preset time span in response to the run duration of the robot, stops recording location information.

5. method according to claim 1 to 4 further includes：The geography fence information is adjusted.

It is described to the geography fence information be adjusted including：To location information, graphical information or pictorial information carry out it is mobile, Scaling, stretching or rotation process.

6. according to the method described in claim 1, wherein,

The geography fence information includes one of location information, graphical information and pictorial information or a variety of；

Include on the electronic map by the geography fence information flag：

The geography fence information is projected to electronic map, the electronic map is grating map；

It is geography fence region that the grid tag inside the picture projection, which will be located at,；Or

It is geography fence region that the grid tag outside the picture projection, which will be located at,；Or

It is geography fence region by grid occupied by the graphic projection and its neighbouring grid tag；Or

It is geography fence region by the occupied grid of location point projection and its neighbouring grid tag.

7. according to the method described in claim 1, further including：

Obtain the electronic map for being marked with geography fence region；

In robot kinematics, positioning robot position；

In the case where robot location and geography fence region generate overlapping cases, robot makes default behavior.

8. according to the method described in claim 7, wherein, the robot location is Chong Die with geography fence region generation to include：

The grid for being is marked to generate on grid occupied by projection of the robot location on map and map Overlapping.

9. according to the method described in claim 7, wherein, the default behavior includes：Stop motion, retarded motion, transformation fortune Dynamic direction one of moves or a variety of far from geography fence region, along geography fence border.

10. system is arranged in a kind of geography fence, including：

The equipment for being fixed with virtual wall detection device, for recording geography fence information；

System is arranged in geography fence, for obtaining geography fence information from equipment, and according to the geography fence information in electronics Geography fence region is marked on map.