WO2018196800A1 - 机器人虚拟墙系统 - Google Patents

机器人虚拟墙系统 Download PDF

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Publication number
WO2018196800A1
WO2018196800A1 PCT/CN2018/084582 CN2018084582W WO2018196800A1 WO 2018196800 A1 WO2018196800 A1 WO 2018196800A1 CN 2018084582 W CN2018084582 W CN 2018084582W WO 2018196800 A1 WO2018196800 A1 WO 2018196800A1
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WO
WIPO (PCT)
Prior art keywords
robot
virtual wall
electronic map
wall system
virtual
Prior art date
Application number
PCT/CN2018/084582
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English (en)
French (fr)
Inventor
吴悠
Original Assignee
深圳乐动机器人有限公司
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Publication date
Application filed by 深圳乐动机器人有限公司 filed Critical 深圳乐动机器人有限公司
Priority to US16/605,717 priority Critical patent/US20200125087A1/en
Publication of WO2018196800A1 publication Critical patent/WO2018196800A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0044—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40122—Manipulate virtual object, for trajectory planning of real object, haptic display
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40203—Detect position of operator, create non material barrier to protect operator

Definitions

  • the present application relates to the field of robot manufacturing technology, and in particular, to a robot virtual wall system.
  • robots not only use large-scale industries, but also enter the homes of ordinary people, especially sweepers.
  • robots staying at home often move in various places, which may cause trouble for family life, so virtual walls are needed to limit the movement of the robot.
  • the virtual wall of the Sweeper or the mobile robot is often implemented by hardware, such as an infrared wall or a magnetic strip.
  • These virtual walls are only a straight line, the wall can be realized in a single shape, limited in length, high in cost, and the relevant sensing modules must be installed on both the robot and the virtual wall.
  • the operation is complicated.
  • the present application aims to solve at least one of the technical problems in the related art described above to some extent.
  • one object of the present application is to propose a robot virtual wall system.
  • the robot virtual wall system replaces the function of the hardware virtual wall. This method of directly drawing the virtual wall on the electronic map facilitates the user to set the virtual wall and reduces the cost of the production robot.
  • an aspect of the present application discloses a robot virtual wall system, including: a motion device for controlling a robot to implement motion; an electronic map 1 for describing environment information of the robot; and a virtual wall module, which is The electronic map 1 divides the area to form a virtual wall; the storage device stores an electronic map of the environment in which the robot is located.
  • the area can be drawn on the electronic map of the environment information of the robot, so that the robot walks in the drawn area, and cannot cross the virtual wall of the drawing area, instead of the function of the hardware virtual wall, which
  • the method of directly drawing a virtual wall on an electronic map facilitates the user to set a virtual wall and reduces the cost of making the robot.
  • robot virtual wall system may further have the following additional technical features:
  • the electronic map 1 includes a reference coordinate system and obstacle information.
  • the different areas of the electronic map 1 divided by the virtual wall will express different attributes according to the function.
  • the electronic map 1 is automatically generated by a robot or manually assisted.
  • the shape of the virtual wall is a geometric shape including a straight line, a curve, a circle, and a polygon.
  • the virtual wall is generated by an external device and transmitted to the robot by communication.
  • the virtual wall is automatically generated by the robot itself.
  • the virtual wall automatically adjusts on the robot according to actual environmental requirements.
  • the electronic map 1 can be automatically updated by the robot according to the environment during the movement of the robot to form the electronic map 2.
  • the automatically updated electronic map 2 can be matched by the algorithm and the electronic map 1 and adjusted by the reference frame in which the electronic map 1 is located.
  • the virtual wall further includes a time attribute, including an effective time, an expiration time, and a generation time.
  • the different meanings expressed by the region include the prohibition of entry, key areas.
  • FIG. 1 is a software operation interface diagram of a virtual wall according to an embodiment of the present application.
  • FIG. 1 is a software operation interface diagram of a virtual wall according to an embodiment of the present application.
  • the robot virtual wall system 100 is mostly used in the field of sweeping robots.
  • a software operation interface diagram as shown in FIG. 1 may be generated, wherein the system 100 includes: a motion device, an electronic map 1, a virtual wall module, and a storage device.
  • the motion device is used to control the robot to achieve motion.
  • Electronic map 1 used to describe the environmental information of the robot.
  • the virtual wall module divides the electronic map 1 into a virtual wall. As shown in FIG. 1, the virtual wall will be drawn in the electronic map 1.
  • the motion device is moved according to the electronic map 1 behind the virtual wall.
  • the storage device stores not only the electronic map 1 of the environment in which the robot is located, but also the electronic map 1 after dividing the virtual wall.
  • the area can be drawn on the electronic map of the environment information of the robot, so that the robot walks in the drawn area, and cannot cross the virtual wall of the drawing area, instead of the function of the hardware virtual wall, which
  • the method of directly drawing a virtual wall on an electronic map facilitates the user to set a virtual wall and reduces the cost of making the robot.
  • the virtual wall in this application emphasizes the boundary wall that cannot be obtained by the robot's own sensor on the electronic map. It must be called virtual wall by software calculation or the user thinks that the setting is obtained.
  • the boundary wall directly obtained by the robot scan can be called a solid wall.
  • the electronic map 1 includes a reference coordinate system and obstacle information, and the electronic map 1 can be automatically generated by a robot or manually assisted.
  • the basis for the robot to draw the virtual wall is to have a map, in which the electronic map 1 can be installed on the mobile robot by a single or multiple sensors such as a laser radar, a depth camera, an infrared ranging, an ultrasonic, an IMU, an odometer, and the like.
  • the combination implements the mapping and positioning algorithms to determine.
  • the electronic map 1 of the software virtual wall may be a partially incomplete map or a complete map. The requirement is that there is a certain coordinate system reference, and there are enough obstacle features on the map.
  • the obstacle information generally refers to the physical information corresponding to the virtual wall on the electronic map 1, including the physical wall, the physical object, and the like.
  • the shape of the virtual wall is a geometric shape including, but not limited to, a straight line, a curve, a circle, a polygon, and the like.
  • the specific place is circled, and the circle drawing may be a straight line or a curve. It can be a circle, a polygon, or a combination of lines and polygons.
  • the virtual wall is generated by an external device and sent to the robot via communication.
  • the user can draw various lines of operation, such as a mobile phone APP, a WeChat public application, a web application, a computer application, and the like, in a line, a point, a line, a multi-point customization area, and the like.
  • the region can be circled by several vertices, and the region is defined by increasing, decreasing, and dragging the vertices. This method can simplify the operation and is more precise than direct hand drawing.
  • the virtual wall can be automatically generated by the robot itself.
  • the virtual map can be drawn on the electronic map 1 by the robot itself through a predetermined algorithm.
  • the virtual wall can also be intelligently optimized. That is, the virtual wall automatically adjusts on the robot according to actual environmental requirements.
  • the line is drawn along the electronic map 1 to obtain a completely divided linear virtual wall, and/or the drawn area is contracted, expanded, and deformed along the obstacle of the electronic map 1 to obtain a complete segmentation with the obstacle.
  • Regional virtual wall For example, after drawing a line or an area, due to the limited accuracy of the electronic map 1 and the limited operation mode of the user, the user's operation data is inaccurate with the actual desired operation, so a corresponding method is added to optimize the line drawn by the user. / or area, and intelligently identify the intent of the user's operation. If the user draws a line, a certain method is used to extend the virtual wall according to the growth of the map to form a completely divided wall. If the user draws an area, the area is automatically contracted, expanded, and deformed according to the obstacles in the area, so that it is consistent with the distribution of obstacles on the map.
  • area 1 and area 2 are virtual walls for drawing regionality, so that the robot can walk in this area, and the lines are drawn virtual walls of lines, so that the robot is in contact with the linear virtual When you are on the wall, turn around and avoid crossing the past.
  • the current position of the robot, which side of the virtual wall is recognized is the area that the user is allowed to enter, and can also assist the user to interact with the data for confirmation.
  • a regional virtual wall is obtained by a preset algorithm and according to interaction with the user's data. That is to say, when the user draws a virtual wall, there may be various operations such as drawing a line on the map, connecting a line to a line, a multi-point custom area, and drawing a circle drawing area, etc., and may also assist in intelligent recognition operation, and may also draw point.
  • the preset algorithm automatically divides a certain area according to the map as the area set by the user. To prevent the misoperation caused by the algorithm error, the user is reminded to interact with the data result and allow the user to further Set the area.
  • the electronic map 1 is formed by the robot automatically updating according to the environment during the movement of the robot. Further, the automatically updated electronic map 2 can be matched by the algorithm and the electronic map 1 and adjusted by the reference frame in which the electronic map 1 is located.
  • the electronic map 1 may have offset, rotation, deformation, etc., and the user interaction data will be In order to cope with the above changes, the data of the user interaction (ie, the virtual wall) can be corrected by the method of sub-picture matching, so that the user's operation data (ie, the virtual wall) is still in the vicinity of the previously set obstacle.
  • the electronic map 2 can be acquired by the method of the electronic map 1 obtained by the above positioning, and the sub-picture matching is to match the area near the virtual wall in the electronic map 1 with the new map (ie, the electronic map 2), and calculate the In the new location in the electronic map 2, through the matching optimization of the front virtual wall and the electronic map 2, a virtual wall matching the electronic map 2 can be generated.
  • the virtual wall further includes: a time attribute, wherein the time attribute includes an effective time, an expiration time, and a generation time.
  • the time attribute includes an effective time, an expiration time, and a generation time.
  • the time zone of a certain regional setting cannot be entered, that is, the effective time is morning, the invalidation time is afternoon, and the generation time is the time for drawing the virtual wall.
  • the time of creation can be specified, and the invalidation time and effective time can be specified.
  • the time is 8:00 am, and it takes effect after 4 hours.
  • the effective time is 2 hours. That is, the virtual wall takes effect from 12 o'clock, and the effective time is 2 hours.
  • the expiration time is after 2 pm.
  • the electronic map 1 is divided by different areas of the virtual wall, and different attributes are expressed according to the function.
  • the area can represent different meanings, including but not limited to prohibiting entry, key areas, and so on.
  • the area map information on the environmental obstacles, the area where the robot can move the obstacles, and the area not explored by the unknown robot are recorded on the electronic map 1. For example, in a certain area, in a certain time zone in the afternoon, go to the middle of patrol or sweeping and the like. When the corresponding area is set in the corresponding time period, the virtual wall is in effect, and the mobile robot can perform patrol or cleaning in this area.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless otherwise explicitly stated and defined. , or integrated; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two components or the interaction of two components, unless otherwise specified Limited.
  • the specific meanings of the above terms in the present application can be understood on a case-by-case basis.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种机器人虚拟墙系统，包括：运动装置，用于控制机器人实现运动；电子地图1，用于描述机器人所在的环境信息；虚拟墙模块，是对电子地图1进行区域划分形成虚拟墙；存储装置，用于存储机器人所在环境的电子地图。

Description

机器人虚拟墙系统
相关申请的交叉引用
本申请要求于2017年04月28日提交中国专利局，申请号为201710295958.1，发明名称为“机器人虚拟墙系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人制造技术领域，特别涉及一种机器人虚拟墙系统。
背景技术
随着科技的进步，机器人不仅使用大型工业中，还进入的寻常百姓家，特别是扫地机。然而，入住家中的机器人经常会在各种地方移动，可能给家庭生活带来麻烦，因此需要用到虚拟墙来限制机器人的运动。
相关技术中，扫地机或移动机器人的设置的虚拟墙经常采用硬件来实现，如红外墙或磁性条等。这些虚拟墙仅为一条直线，能实现的墙的形态单一、长度有限、成本高，而且在机器人和虚拟墙上都得安装相关的感应模块。在实际操作使用过程中，设置不同虚拟墙，每次都得手动放置，操作复杂。
发明内容
本申请旨在至少在一定程度上解决上述相关技术中的技术问题之一。
为此，本申请的一个目的在于提出一种机器人虚拟墙系统。该机器人虚拟墙系统替代了硬件虚拟墙的功能，这种在电子地图上直接绘制虚拟墙的方法，方便了用户设置虚拟墙，降低了制作机器人的成本。
为了实现上述目的，本申请的一方面公开了一种机器人虚拟墙系统，包括：运动装置，用于控制机器人实现运动；电子地图1，用于描述机器人所在的环境信息；虚拟墙模块，是对电子地图1进行区域划分形成虚拟墙；存 储装置，用于存储机器人所在环境的电子地图。
根据本申请的机器人虚拟墙系统，可以通过在机器人所在环境信息的电子地图上绘制区域，使得机器人在绘制的区域中行走，并不能跨越绘制区域的虚拟墙，替代了硬件虚拟墙的功能，这种在电子地图上直接绘制虚拟墙的方法，方便了用户设置虚拟墙，降低了制作机器人的成本。
另外，根据本申请上述实施例的机器人虚拟墙系统还可以具有如下附加的技术特征：
进一步地，电子地图1，包括参考坐标系和障碍物信息。
进一步地，电子地图1被虚拟墙所划分出来的不同区域，将根据功能表达不同的属性。
进一步地，电子地图1，由机器人自动产生或由人工辅助产生。
进一步地，虚拟墙的形状为几何形状，包括直线，曲线，圆形，多边形。
进一步地，所述虚拟墙，其由外部设备产生，并通过通信发送到所述机器人。
进一步地，所述虚拟墙由机器人本身自动产生。
进一步地，所述虚拟墙根据实际环境需求，在机器人上自动进行调整。
进一步地，所述电子地图1，在机器人运动过程中，可根据环境由机器人自动更新，形成电子地图2。
进一步地，自动更新后的电子地图2，可以通过算法和电子地图1进行匹配，并以电子地图1所在的参考系进行调整。
进一步地，虚拟墙，还包括时间属性，包括生效时间，失效时间，产生时间。
进一步地，区域所表示的不同含义，包括禁止进入，重点区域。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1是根据本申请一个实施例的虚拟墙的软件操作界面图。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
以下结合附图描述根据本申请实施例的机器人虚拟墙系统。
图1是根据本申请一个实施例的虚拟墙的软件操作界面图。
根据本申请一个实施例的机器人虚拟墙系统100，多使用在扫地机器人领域。可以产生如图1所示的软件操作界面图，其中，该系统100包括：运动装置、电子地图1、虚拟墙模块和存储装置。
具体来说，运动装置，用于控制机器人实现运动。电子地图1，用于描述机器人所在的环境信息。虚拟墙模块，是对电子地图1进行区域划分形成虚拟墙，如图1所示，将在电子地图1中绘制虚拟墙。存储装置，用于存储机器人所在环境的电子地图1。
其中，运动装置是根据划分虚拟墙后的电子地图1进行运动。存储装置存储的不仅是机器人所在环境的电子地图1，还可以存储划分虚拟墙后的电子地图1。
根据本申请的机器人虚拟墙系统，可以通过在机器人所在环境信息的电子地图上绘制区域，使得机器人在绘制的区域中行走，并不能跨越绘制区域的虚拟墙，替代了硬件虚拟墙的功能，这种在电子地图上直接绘制虚拟墙的方法，方便了用户设置虚拟墙，降低了制作机器人的成本。本申请中的虚拟 墙特别强调为在电子地图上无法通过机器人自带传感器获得的边界墙体，必须通过软件计算或者用户认为设置等方式获得的才叫做虚拟墙。机器人扫描直接得到的边界墙体可以称为实体墙。
在一些实施例中，电子地图1包括参考坐标系和障碍物信息，并且电子地图1可以由机器人自动产生或者由人工辅助产生。具体来说，机器人绘制虚拟墙的基础是要有一个地图，其中，电子地图1可以通过在移动机器人身上安装激光雷达、深度相机、红外测距、超声波、IMU、里程计等单个或多个传感器组合实现建图和定位算法来确定。值得注意的是，软件虚拟墙的电子地图1可以是局部不完全的地图，也可以是完整的地图，要求是有确定的坐标系参考，并且地图上要有足够的障碍物特征。障碍物信息一般情况下指的是电子地图1上与虚拟墙对应的实物信息，包括实体墙、实物等。
在一些实施例中，虚拟墙的形状为几何形状，包括但不限于直线，曲线，圆形，多边形等。参考机器人行走区域的电子地图1的参考坐标系，为了避免和障碍物碰撞或者给定机器人特定的地点行走，将这个特定的地点进行圈画出来，圈画的图线可以是直线，可以是曲线，可以是圆形，可以是多边形，也可以是线条和多边形等的结合多种方式。
在一些实施例中，虚拟墙由外部设备产生，并通过通信发送到机器人。例如，用户可以在手机APP、微信公众号小应用、网页应用、电脑应用等等软件应用上，绘制线条、连点成线、多点定制区域等多种操作方式。
如图1所示，在APP上，可以通过几个顶点圈定区域，通过增加、减少、拖动顶点划定区域。这个方法可以使操作简化点，比直接手绘更精准点。
或者，虚拟墙可以由机器人本身自动产生。例如，可以通过机器人本身通过预定算法，对电子地图1进行绘制虚拟墙。
在一些实施例中，还可以对虚拟墙进行智能优化。即，虚拟墙根据实际环境需求，在机器人上自动进行调整。
具体包括：将绘制的线沿电子地图1而增长，得到完整分割的线性的虚拟墙，和/或将绘制的区域沿电子地图1障碍物进行收缩、膨胀、形变，得到 与障碍物完整分割的区域性的虚拟墙。例如，在绘制线条或者区域后，由于电子地图1精度受限、用户操作方式受限等原因，用户的操作数据与实际想要的操作有误差，因此添加了相应的方法优化用户绘制的线和/或区域，并智能识别用户操作的意图。若用户绘制的是线，则采用一定的方法，根据地图增长而延长虚拟墙，使其形成完整分割的墙。若用户绘制的是个区域，则根据区域内障碍物的情况，自动收缩、膨胀、形变区域，使其与地图上的障碍物分布情况一致。
再结合图1所示，区域1和区域2为绘制区域性的虚拟墙，使得机器人可以在这个区域内进行行走，其中的线条为绘制的线条性的虚拟墙，使得机器人在接触到线条性虚拟墙时，转弯避开，不能跨越过去。
特别是，确定用户绘制线条和/或区域后，根据电子地图1特征(如区域属性特征、和未知区域是否接壤和距离、可移动区域面积特征等)、或历史运动情况(若是扫地机器人可以是历史清扫情况)、机器人当前的位置，自识别虚拟墙的哪一边才是用户允许进入的区域，也可以辅助用户交互数据进行确认。
根据第一地图的参考坐标系和障碍物，绘制点，通过预设算法并根据与用户的数据交互，得到区域性的虚拟墙。也就是说，当用户绘制虚拟墙的操作可以有在地图上绘制线条、连点成线、多点定制区域、画圈绘制区域等多种操作方式，也可以辅助以智能识别操作，还可以绘制点。用户在地图上点一个点的时候，通过预设的算法，自动根据地图划分出某片区域作为用户设置的区域，为防止算法误差导致的误操作，会提醒用户交互数据结果，并允许用户进一步设置区域。
无论是绘制线、区域、或者点，都可以在虚拟墙和障碍物之间设置安全距离。
在一些实施例中，还包括：电子地图1在机器人运动过程中，根据环境由机器人自动更新形成电子地图2。进一步地，自动更新后的电子地图2可以通过算法和电子地图1进行匹配，并以电子地图1所在的参考系进行调整。
具体包括：随着时间的推移，移动机器人所处的环境会有变化，加上建图和定位算法的误差，电子地图1用可能有偏移、旋转、形变等，此时用户交互的数据会与之前的不对应，为了应对上述变化，通过子图匹配的方式可以矫正用户交互的数据(即虚拟墙)，使用户的操作数据(即虚拟墙)还在之前设置的障碍物附近。首先，可以采用上述定位得到的电子地图1的方法获取电子地图2，而子图匹配是将电子地图1中的虚拟墙附近的区域与新的地图(即电子地图2)进行匹配，计算出其在电子地图2中的新位置，再通过前面虚拟墙与电子地图2的匹配优化，即可生成与电子地图2相匹配的虚拟墙。
在一些实施例中，虚拟墙还包括：时间属性，其中，时间属性包括生效时间、失效时间和产生时间。例如，某个区域设置上午的时间段不能进入，即生效时间为上午，失效时间为下午，产生时间为绘制虚拟墙的时间，可以由产生时间起，规定失效时间和生效时间，当绘制虚拟墙的时间为上午8点，设定4个小时后生效，持续生效时间为2小时，即，虚拟墙从12点开始生效，持续生效时间2小时，失效时间为下午2点之后。
在一些实施例中，电子地图1被虚拟墙所划分出来的不同区域，根据功能表达不同属性。其中，区域可以表示不同含义，包括但不限于禁止进入，重点区域等。电子地图1上记录的有所在环境障碍物位置信息、机器人可以移动无障碍物的区域、和未知机器人未探索的区域。例如，某个区域内在下午某个时间区域去中间巡逻或清扫等等类似的操作。当设置的对应的区域在对应的时间段时，虚拟墙生效，可以使得移动机器人在这个区域进行巡逻或者清扫等工作。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接， 或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (15)

  1. 一种机器人虚拟墙系统，其特征在于，包括：
    运动装置，用于控制机器人实现运动；
    虚拟墙模块，是对电子地图1进行区域划分形成虚拟墙，所述电子地图1用于描述机器人所在的环境信息；
    存储装置，用于存储机器人所在环境的电子地图1。
  2. 根据权利要求1所述的机器人虚拟墙系统，其特征在于，所述电子地图1，包括参考坐标系和障碍物信息。
  3. 根据权利要求1所述的机器人虚拟墙系统，其特征在于，所述电子地图1被虚拟墙所划分出来的不同区域，将根据功能表达不同的属性。
  4. 根据权利要求1-3任一项所述的机器人虚拟墙系统，其特征在于，所述电子地图1，由机器人自动产生或由人工辅助产生。
  5. 根据权利要求1所述的机器人虚拟墙系统，其特征在于，所述运动装置，用于控制机器人根据划分虚拟墙后的电子地图1进行运动。
  6. 根据权利要求5所述的机器人虚拟墙系统，其特征在于，所述运动装置，用于控制机器人在划分的区域中行走。
  7. 根据权利要求1的机器人虚拟墙系统，其特征在于，所述虚拟墙由外部设备产生，并通过通信发送到所述机器人。
  8. 根据权利要求1所述的机器人虚拟墙系统，其特征在于，所述虚拟墙的形状为几何形状，所述几何形状为用户在移动设备的显示界面下，通过手指操作所述移动设备的触摸屏所产生的。
  9. 根据权利要求1的机器人虚拟墙系统，其特征在于，所述虚拟墙由机器人本身自动产生。
  10. 根据权利要求9的机器人虚拟墙系统，其特征在于，所述虚拟墙由机器人本身通过预定算法自动对电子地图1进行绘制生成。
  11. 根据权利要求1的机器人虚拟墙系统，其特征在于，所述虚拟墙根据实际环境需求，在机器人上自动进行调整。
  12. 根据权利要求1的机器人虚拟墙系统，其特征在于，所述电子地图1，在机器人运动过程中，可根据环境由机器人自动更新，形成电子地图2。
  13. 根据权利要求12所述的机器人虚拟墙系统，其特征在于，自动更新后的电子地图2，可以通过算法和电子地图1进行匹配，并以电子地图1所在的参考系进行调整。
  14. 根据权利要求1所述的机器人虚拟墙系统，其特征在于，所述虚拟墙还包括时间属性。
  15. 根据权利要求14所述的机器人虚拟墙系统，其特征在于，所述时间属性包括生效时间、失效时间和产生时间。
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