Control method, device, terminal and storage medium for robot in narrow space

Abstract

The present invention discloses a control method for a robot in a narrow space, comprising the following steps: establishing a coordinate system with the center of the robot as the origin; calculating a mapping relationship table between the rotation angle and the distance cost value of each coordinate point of the robot; detecting and calculating the distance cost value between each coordinate point and the nearest obstacle in the surrounding space; querying the allowable rotation angle range [θ min ,θ max ]; Get the deflection angle θ of the robot in the current moving path; Determine whether the deflection angle is within the rotation angle range. If θ min <θ<θ max , then the robot is controlled to move forward along the current moving path; if θ<θ min Or θ>θ max The present invention can obtain information on whether the robot can pass through the current narrow space by detecting the distance of the surrounding space and judging the current deflection angle, thereby avoiding the problem of the robot being stuck due to inability to turn and improving the robot's ability to pass.

Description

Technical field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device, terminal and storage medium for controlling a robot in a narrow space. [Background Technology]

[0002] As mobile robot technology matures, its functions become more diverse, and its operational scenarios become more extensive, placing increasing demands on its maneuverability. To meet these functional requirements, current robots on the market often have non-circular contours, and their sensors typically only detect the area in front of them. This limits the robot's ability to rotate if it enters a confined space or encounters an obstacle in close proximity. If the robot's desired movement path falls outside its steering range, its movement often becomes stuck, significantly limiting its maneuverability and, in turn, reducing its applicability.

[0003] In view of this, it is necessary to provide a method, device, terminal and storage medium for controlling a robot in a narrow space to overcome the above-mentioned defects. [Summary of the invention]

[0004] The purpose of the present invention is to provide a control method, device, terminal and storage medium for a robot in a narrow space, aiming to improve the problem that existing non-circular robots are easily stuck when moving in a narrow space, and to enhance the robot's ability to pass through a narrow space.

[0005] In order to achieve the above object, the present invention provides a first aspect of a method for controlling a robot in a narrow space, comprising the following steps:

[0006] Establish a coordinate system with the center of the robot as the origin;

[0007] Calculating, based on the actual physical contour information of the robot, a mapping relationship table between the rotation angle and the distance cost value of each coordinate point on the physical contour of the robot when the robot achieves a 360-degree rotation without hitting any obstacles;

[0008] Detecting and calculating a distance cost value between each coordinate point on the physical outline of the robot and the nearest obstacle in the surrounding space;

[0009] The allowed rotation angle range [θ min ,θ max ];

[0010] Obtaining the deflection angle θ of the robot in the current moving path;

[0011] Determine whether the deflection angle is within the rotation angle range. If θ min <θ<θ max , then control the robot to move forward along the current moving path; if θ<θ min Or θ>θ max , the robot is controlled to slow down and move backward.

[0012] In a preferred embodiment, the step of establishing a coordinate system with the robot center as the origin includes:

[0013] A coordinate system is established with the center of the robot as the origin, the front of the robot as the positive direction of the X axis, the right side of the robot as the positive direction of the Y axis, and the center of the robot perpendicular to the ground upward as the positive direction of the Z axis.

[0014] In a preferred embodiment, the step of detecting and calculating the distance cost between the coordinates on the physical outline of the robot and the nearest obstacle in the surrounding space includes the following sub-steps:

[0015] receiving distance information between the robot and the surrounding space detected by a sensor, and mapping the distance information into the coordinate system to generate a two-dimensional coordinate map containing the surrounding space information;

[0016] Calculating the closest distance from each coordinate position in the two-dimensional coordinate map to the nearest obstacle, defining the closest distance as the distance cost of each coordinate position, and generating a distance cost map;

[0017] A distance cost value in the distance cost map is obtained according to the coordinates on the physical outline of the robot.

[0018] In a preferred embodiment, the rotation angle range [θ min ,θ max ] steps include:

[0019] Obtaining the rotation angle range allowed for each coordinate point on the physical outline of the robot in the surrounding space;

[0020] Take the intersection of the rotation angle ranges of all coordinate points on the physical outline of the robot to obtain the rotation angle range [θ min ,θ max ].

[0021] In a preferred embodiment, when controlling the robot to decelerate and retreat, if θ<θ min , then control the robot to turn left at the same time; if θ>θ max, then control the robots to turn right at the same time.

[0022] A second aspect of the present invention provides a control device for a robot in a narrow space, comprising a space detection module for collecting the distance between the robot's physical outline and an obstacle and a motion control module for controlling the movement of the robot, and further comprising:

[0023] Coordinate system establishment module, used to establish a coordinate system with the center of the robot as the origin;

[0024] A mapping table generating module is used to calculate, based on the actual physical contour information of the robot, a mapping relationship table between the rotation angle and the distance cost value of each coordinate point on the physical contour of the robot when the robot achieves a 360-degree rotation without hitting an obstacle;

[0025] a cost value calculation module, configured to calculate a distance cost value between each coordinate point on the physical outline of the robot and the nearest obstacle in the surrounding space according to the distance between the physical outline of the robot and the obstacle;

[0026] Angle range determination module, used for querying the rotation angle range [θ min ,θ max ];

[0027] A deflection angle acquisition module is used to obtain the deflection angle θ of the robot in the current moving path;

[0028] Angle judgment module, used to judge whether the deflection angle is within the rotation angle range, if θ min <θ<θ max , then control the robot to move forward along the current moving path; if θ<θ min Or θ>θ max , the robot is controlled to slow down and move backward.

[0029] In a preferred embodiment, the space detection module includes a laser sensor, an ultrasonic sensor and an infrared sensor; the infrared sensor is located at the bottom of the robot, the ultrasonic sensor is located above the infrared sensor, and the laser sensor is located above the ultrasonic sensor.

[0030] A third aspect of the present invention provides a terminal, which includes a memory, a processor, and a control program for a robot's narrow space stored in the memory and runnable on the processor. When the control program for the robot's narrow space is executed by the processor, the various steps of the robot's narrow space control method as described in any one of the above-mentioned embodiments are implemented.

[0031] A fourth aspect of the present invention provides a computer-readable storage medium, which stores a control program for a robot's narrow space. When the control program for a robot's narrow space is executed by a processor, the various steps of the robot's narrow space control method as described in any one of the above embodiments are implemented.

[0032] The control method for a robot in a narrow space provided by the present invention pre-calculates the mapping relationship between the rotation angle and the distance cost value of each coordinate point during rotation based on the physical outline of the robot, and then detects and calculates the distance cost value between each coordinate point of the robot and the nearest obstacle in real time during the movement of the robot in the narrow space, and obtains the rotation angle range allowed for each coordinate point in the surrounding space based on the mapping relationship, and finally determines the next movement direction of the robot by judging whether the deflection angle of the robot in the moving path is within the rotation angle range. Therefore, by detecting the distance to the surrounding space and judging the current deflection angle, information on whether the robot can pass through the current narrow space can be obtained, thereby avoiding the problem of the robot being stuck due to inability to turn, and improving the robot's passability.

Brief Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A flow chart of the method for controlling a robot in a narrow space provided by the present invention;

[0035] Figure 2 A framework diagram of the narrow space control device for a robot provided by the present invention;

[0036] Figure 3 A schematic diagram of the robot's structure. [Specific implementation method]

[0037] In order to make the purpose, technical solution and beneficial technical effects of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are only for the purpose of explaining the present invention and are not intended to limit the present invention.

[0038] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in the specification and appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0039] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0040] In an embodiment of the present invention, a first aspect provides a control method for a robot in a narrow space, which is used to control the robot through a control device for a narrow space, so that the robot can judge in real time whether it can pass through the narrow space, thereby avoiding the robot from being stuck in the narrow space, and thus improving the robot's ability to pass.

[0041] In this embodiment, the robot's narrow space control device includes a space detection module for collecting the distance between the robot's physical outline and obstacles and a motion control module for controlling the robot's movement. The space detection module includes a laser sensor 11, an ultrasonic sensor 12, and an infrared sensor 13. The infrared sensor 11 is located at the bottom of the robot, the ultrasonic sensor 12 is located above the infrared sensor, and the laser sensor 13 is located above the ultrasonic sensor. It can be understood that, if Figure 3 As shown, some non-circular robots are typically divided into two parts: a drive unit 101 located near the ground, which enables the robot's autonomous movement; and a carrier 102 located above the drive unit, which enables the robot's cargo-carrying function. Generally speaking, the physical outline of the drive unit 101 is larger than that of the carrier 102. Therefore, the infrared sensor 11 can be located at the bottom of the drive unit 101, the ultrasonic sensor 12 can be located in the middle of the drive unit 101, and the laser sensor 13 can be located at the connection between the drive unit 101 and the carrier 102. This effectively increases the applicable range of each sensor and avoids obstruction.

[0042] It should be noted that the present invention is applicable to the fusion of various sensors for detecting the distance, position or space of objects, and is also applicable to the fusion of position, distance or space obtained through wireless communication or calibration, and is also applicable to obstacle distance or position information obtained through computer image recognition, etc., and is not limited to the types of sensors mentioned in this embodiment.

[0043] like Figure 1 As shown, the method includes the following steps S11-S16.

[0044] Step S11: Establish a coordinate system with the robot center as the origin. Specifically, the coordinate system is established with the robot center as the origin, the front of the robot as the positive X-axis, the right of the robot as the positive Y-axis, and the robot center perpendicular to the ground upward as the positive Z-axis. The coordinate unit can be set to meters.

[0045] Step S12 , calculating a mapping relationship table between the rotation angle and the distance cost value of each coordinate point on the physical contour of the robot when the robot achieves 360-degree rotation without hitting any obstacles based on the actual physical contour information of the robot.

[0046] Specifically, a 2D grid is generated in the coordinate system. Based on the robot's physical dimensions, a robot center grid and corresponding grid value map are generated. Several coordinate points with certain characteristics are selected based on the robot's physical contours, such as the coordinate points of the edges with the largest rotation radius and the coordinate points of the corners with the smallest rotation radius, thereby generating the robot's inscribed and circumscribed areas. It can be understood that the inscribed area of ​​the robot's center grid is the complete collision zone, the area outside the circumscribed area is the free safety zone, and the area between the inscribed and circumscribed areas is defined as the dangerous collision zone. Within the dangerous collision zone, the robot can rotate its own position to pass through some narrow spaces. For coordinate points on the robot, especially those in the dangerous collision zone, there is a mapping relationship between the rotation angle and the distance cost value when passing through the narrow space. Therefore, a mapping relationship table between the rotation angle and distance cost value of each coordinate point can be generated in advance based on the robot's physical contours through calculation, which can be recorded as Table 1.

[0047] It should be noted that in a 2D grid map, the size of each grid can be pre-set. Let d(p) be the minimum Euclidean distance from a grid p to an obstacle in the coordinate system. The distance cost value of grid p is recorded as C(p), and obeys C(p) = Q(d(p)). The Q function is a decreasing function of the variable d(p) (e.g., an exponentially decreasing function). This function can convert the distance value in the coordinate system into the grid cost value in the distance cost map. The Q function can refer to existing decreasing functions or cost functions, and the present invention is not limited here.

[0048] Step S13 is executed to detect and calculate the distance cost between each coordinate point on the physical outline of the robot and the nearest obstacle in the surrounding space.

[0049] In this step, as the robot moves, the sensors in the spatial detection module detect the surrounding space, generating an initial static map. The distances measured by the sensors are then converted into distance cost values ​​in real time based on the Q function, transforming the initial static map into a dynamic cost map that is more suitable for robot navigation. This provides real-time information about the environment for the robot's autonomous obstacle avoidance and path planning functions. Specifically, this step includes the following sub-steps:

[0050] Receive the distance information between the robot and the surrounding space detected by the sensor and map it into the coordinate system to generate a two-dimensional coordinate map containing the surrounding space information. Among them, the distance information detected by infrared, ultrasonic, laser and other sensors are mapped into the robot's coordinate system to obtain a set of two-dimensional coordinate maps of the surrounding space information, which can be recorded as Map1;

[0051] Calculate the minimum distance from each coordinate position in the two-dimensional coordinate map (Map1) to the nearest obstacle, define the minimum distance as the distance cost of each coordinate position, that is, use the minimum Euclidean distance as the obstacle avoidance cost from the coordinate position to the nearest obstacle, and generate a distance cost map Map2; the smaller the distance cost, the closer the robot is to the obstacle, and the more restricted the robot's movement space is;

[0052] The distance cost value in the distance cost map (Map2) is obtained according to the coordinates on the physical contour of the robot.

[0053] It should be noted that, in one embodiment, in order to ensure that the robot does not collide with obstacles during movement, a Q function (such as an exponential descent function) is constructed using the minimum Euclidean distance between each grid and the nearest obstacle to ensure that the farther the grid is from the obstacle, the lower the required distance cost. Map1 is processed by the Q function to generate a safety cost map. Of course, in other embodiments, environmental energy consumption parameters can also be added to the Q function, and different grids are assigned different cost weights according to the degree of roughness of the road surface, thereby generating an energy cost map. The safety cost map and the energy cost map can be linearly superimposed to obtain the final distance cost map.

[0054] Continue to step S14, query the allowed rotation angle range [θ min ,θ max Specifically, it includes the following sub-steps:

[0055] Obtain the rotation angle range allowed for each coordinate point on the robot's physical outline in the surrounding space. It is understandable that when the robot is operating in a narrow space, different coordinate points on the robot's outline have different distribution positions, resulting in different coordinates in the coordinate system, and thus different distance cost values ​​in the distance cost map (Map2). This is manifested in the fact that some parts of the robot can rotate at a large angle when passing through a narrow space, while some parts can rotate at a smaller angle. For example, for a robot with a rectangular cross-section, when passing through a narrow space, the rotation angle of the coordinate points on the side parts is larger, while the rotation angle of the coordinate points on the edge between the two side parts is smaller. Therefore, it is necessary to calculate and query the rotation angle range of each coordinate point separately according to its cost value in Map2 to obtain a separate rotation angle range for each coordinate point.

[0056] Take the intersection of the rotation angle ranges of all coordinate points on the physical contour of the robot to obtain the rotation angle range allowed by the robot in the surrounding space [θ min ,θ max ]. It can be understood that when a robot passes through a narrow space, all coordinate points on the robot's outline must be able to pass through the distance cost map (Map2). Therefore, take the intersection [θ min ,θ max ], thereby satisfying the rotation range of all coordinate points.

[0057] Continuing to step S15, the deflection angle θ of the robot in the current moving path is obtained.

[0058] Specifically, the deflection angle θ is relative to the robot's positive X-axis. For ease of description, the angle for a left turn can be described as 0 to -180°, and the angle for a right turn can be described as 0 to 180°. The robot operates along a path, and the robot's path planning can refer to existing technologies, such as algorithms such as A* and D*, and is not limited in this invention. While operating along the path, the robot may sometimes turn, and the rotation angle required for this turn is the deflection angle θ.

[0059] Step S16, determine whether the deflection angle is within the rotation angle range. If θ min <θ<θ max , it means that the robot will not collide with surrounding obstacles when turning. At this time, the robot can be controlled to move along the current moving path through the motion control module. Among them, the control of the robot to follow the path movement can refer to existing methods such as DWA control algorithm and PID follow-up point, which are not limited in this invention. min Or θ>θ max, it means that when the robot turns, the angle it needs to rotate exceeds the rotation range of some coordinate points. At this time, these coordinate points will collide with surrounding obstacles, causing jamming and damage to the robot. Therefore, the motion control module is used to control the robot to slow down and retreat to avoid jamming. Among them, when controlling the robot to slow down and retreat, if θ<θ min , then control the robot to turn left at the same time; if θ>θ max , then control the robot to turn right at the same time.

[0060] To sum up, the control method of the robot in a narrow space provided by the present invention pre-calculates the mapping relationship between the rotation angle and the distance cost value of each coordinate point during rotation based on the physical outline of the robot, and then detects and calculates the distance cost value between each coordinate point of the robot and the nearest obstacle in real time during the movement of the robot in the narrow space, and obtains the rotation angle range allowed for each coordinate point in the surrounding space based on the mapping relationship, and finally determines the next movement direction of the robot by judging whether the deflection angle of the robot in the moving path is within the rotation angle range. Therefore, by detecting the distance of the surrounding space and judging the current deflection angle, information on whether the robot can pass through the current narrow space can be obtained, thereby avoiding the problem of the robot being stuck due to inability to turn, and improving the robot's passability.

[0061] A second aspect of the present invention provides a robot narrow space control device 100 for controlling a robot through a narrow space to improve its ability to pass through a narrow space. It should be noted that the implementation principles and implementation methods of the robot narrow space control device 100 are consistent with the aforementioned robot narrow space control method, and therefore will not be further described below.

[0062] like Figure 2 As shown, the robot narrow space control device 100 includes, in addition to the space detection module 10 and the motion control module 20, the following components:

[0063] A coordinate system establishing module 30 is used to establish a coordinate system with the center of the robot as the origin;

[0064] A mapping table generating module 40 is configured to calculate, based on the actual physical contour information of the robot, a mapping relationship table between the rotation angle and the distance cost value of each coordinate point on the robot's physical contour when the robot achieves a 360-degree rotation without encountering obstacles;

[0065] a cost value calculation module 50 for calculating a distance cost value between each coordinate point on the physical outline of the robot and the nearest obstacle in the surrounding space according to the distance between the physical outline of the robot and the obstacle;

[0066] Angle range determination module 60 is used to query the allowed rotation angle range [θ min ,θ max ];

[0067] The deflection angle acquisition module 70 is used to obtain the deflection angle θ of the robot in the current moving path;

[0068] Angle judgment module 80 is used to judge whether the deflection angle is within the rotation angle range. If θ min <θ<θ max , then the robot is controlled to move forward along the current moving path; if θ<θ min Or θ>θ max , the robot is controlled to slow down and move backward.

[0069] The third aspect of the present invention provides a terminal (not shown in the figure), which includes a memory, a processor, and a control program for a robot's narrow space stored in the memory and runnable on the processor. When the control program for the robot's narrow space is executed by the processor, the various steps of the robot's narrow space control method as described in any one of the above-mentioned embodiments are implemented.

[0070] The fourth aspect of the present invention provides a computer-readable storage medium (not shown in the figure), which stores a control program for a robot's narrow space. When the control program for the robot's narrow space is executed by a processor, the various steps of the robot's narrow space control method as described in any of the above embodiments are implemented.

[0071] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0072] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0073] Those skilled in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0074] In the embodiments provided by the present invention, it should be understood that the disclosed systems or devices / terminal devices and methods can be implemented in other ways. For example, the system or device / terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0075] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0076] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0077] The present invention is not limited to what is described in the specification and embodiments, and additional advantages and modifications will be readily apparent to those skilled in the art. Therefore, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein without departing from the spirit and scope of the general concept defined by the claims and their equivalents.

Claims

1. A method for controlling a robot in a narrow space, characterized in that: The following steps are involved: Establish a coordinate system with the center of the robot as the origin; Calculating, based on the actual physical contour information of the robot, a mapping relationship table between the rotation angle and the distance cost value of each coordinate point on the physical contour of the robot when the robot achieves a 360-degree rotation without hitting any obstacles; Detecting and calculating a distance cost value between each coordinate point on the physical outline of the robot and the nearest obstacle in the surrounding space; According to the distance cost value, query the allowed rotation angle range [θmin, θmax] of the surrounding space in the mapping relationship table; Obtain the deflection angle θ of the robot in the current moving path; the deflection angle θ is based on the positive direction of the robot's X-axis, and the angle when the robot turns left is described as 0 to 180 degrees, and the angle when the robot turns right is described as 0 to 180 degrees; Determine whether the deflection angle is within the rotation angle range, and if θmin<θ<θmax, control the robot to move forward along the current moving path; if θ<θmin or θ>θmax, control the robot to decelerate and retreat; The step of establishing a coordinate system with the robot center as the origin includes: A coordinate system is established with the center of the robot as the origin, the front of the robot as the positive direction of the X axis, the right side of the robot as the positive direction of the Y axis, and the center of the robot perpendicular to the ground upward as the positive direction of the Z axis; When controlling the robot to decelerate and retreat, if θ<θmin, the robot is controlled to turn left at the same time; if θ>θmax, the robot is controlled to turn right at the same time; The step of querying the allowed rotation angle range [θmin, θmax] of the surrounding space in the mapping relationship table according to the distance cost value includes: Obtaining the rotation angle range allowed for each coordinate point on the physical outline of the robot in the surrounding space; The intersection of the rotation angle ranges of all coordinate points on the physical outline of the robot is taken to obtain the rotation angle range [θmin, θmax] allowed for the robot in the surrounding space.

2. The method for controlling a robot in a narrow space according to claim 1, wherein: The step of detecting and calculating the distance cost value between the coordinates on the physical outline of the robot and the nearest obstacle in the surrounding space includes the following sub-steps: receiving distance information between the robot and the surrounding space detected by a sensor, and mapping the distance information into the coordinate system to generate a two-dimensional coordinate map containing the surrounding space information; Calculating the closest distance from each coordinate position in the two-dimensional coordinate map to the nearest obstacle, defining the closest distance as the distance cost of each coordinate position, and generating a distance cost map; A distance cost value in the distance cost map is obtained according to the coordinates on the physical outline of the robot.

3. A control device for a robot in a narrow space, comprising a space detection module for collecting the distance between the robot's physical outline and obstacles and a motion control module for controlling the movement of the robot, characterized in that: Also includes: Coordinate system establishment module, used to establish a coordinate system with the center of the robot as the origin; A mapping table generating module is used to calculate, based on the actual physical contour information of the robot, a mapping relationship table between the rotation angle and the distance cost value of each coordinate point on the physical contour of the robot when the robot achieves a 360-degree rotation without hitting an obstacle; a cost value calculation module, configured to calculate a distance cost value between each coordinate point on the physical outline of the robot and the nearest obstacle in the surrounding space according to the distance between the physical outline of the robot and the obstacle; An angle range determination module, configured to query the allowed rotation angle range [θmin, θmax] of the surrounding space in the mapping relationship table according to the distance cost value; A deflection angle acquisition module is used to obtain the deflection angle θ of the robot in the current movement path; the deflection angle θ is based on the positive direction of the robot's X-axis, and the angle when the robot turns left is described as 0 to 180 degrees, and the angle when the robot turns right is described as 0 to 180 degrees; An angle judgment module, used to judge whether the deflection angle is within the rotation angle range, and if θmin<θ<θmax, control the robot to move forward along the current moving path; if θ<θmin or θ>θmax, control the robot to decelerate and retreat; Establish a coordinate system with the robot center as the origin, including: A coordinate system is established with the center of the robot as the origin, the front of the robot as the positive direction of the X axis, the right side of the robot as the positive direction of the Y axis, and the center of the robot perpendicular to the ground upward as the positive direction of the Z axis; When controlling the robot to decelerate and retreat, if θ<θmin, the robot is controlled to turn left at the same time; if θ>θmax, the robot is controlled to turn right at the same time; Querying the allowed rotation angle range [θmin, θmax] of the surrounding space in the mapping relationship table according to the distance cost value includes: Obtaining the rotation angle range allowed for each coordinate point on the physical outline of the robot in the surrounding space; The intersection of the rotation angle ranges of all coordinate points on the physical outline of the robot is taken to obtain the rotation angle range [θmin, θmax] allowed for the robot in the surrounding space.

4. The robot narrow space control device according to claim 3, characterized in that: The space detection module includes a laser sensor, an ultrasonic sensor and an infrared sensor; the infrared sensor is located at the bottom of the robot, the ultrasonic sensor is located above the infrared sensor, and the laser sensor is located above the ultrasonic sensor.

5. A terminal, characterized in that: The terminal includes a memory, a processor, and a control program for a robot narrow space stored in the memory and runnable on the processor. When the control program for the robot narrow space is executed by the processor, the various steps of the robot narrow space control method as described in any one of claims 1-2 are implemented.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a control program for a robot narrow space, and when the control program for the robot narrow space is executed by a processor, each step of the robot narrow space control method according to any one of claims 1 to 2 is implemented.

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