Abnormal recovery method, device, robot and storage medium

Abstract

The present invention discloses an abnormality recovery method, device, robot and storage medium. The method includes: when the robot navigation is abnormal and a first label image of a preset type label is collected, a first position point corresponding to the label is obtained; a second position point corresponding to the current position of the robot is obtained; based on the first position point and the second position point, the relative position of the label and a preset virtual wall is determined; based on the relative position, the robot is controlled to resume normal navigation. By running the technical solution provided by the embodiment of the present invention, it is possible to solve the problem that when the robot navigation state is interrupted and cannot continue to move, the movement path is planned according to the label that is located within the virtual wall by default, and when the label is actually located outside the virtual wall, the normal navigation function may not be restored, thereby achieving the beneficial effect of improving the success rate and reliability of abnormality recovery.

Description

Technical Field

[0001] The present invention relates to robotics technology, and in particular to an abnormality recovery method, device, robot and storage medium. Background Art

[0002] Currently, more and more robots are entering human life, replacing some human labor. Their applications are becoming increasingly widespread and diverse, especially in the service industry. Using tags for positioning is one way robots navigate and locate. During movement, robots may be forced to deviate from their planned paths due to abnormal reasons such as being pushed by humans, resulting in interruptions in their navigation.

[0003] This problem can be addressed by determining the tag corresponding to the robot's current location based on the captured image data when the robot triggers navigation resumption. If the robot's current location is outside a preset virtual wall, the robot plans a path from the current location to the tag's location. However, this approach assumes that the tags are located within the virtual wall, failing to account for the possibility that the tags may actually be outside the virtual wall, resulting in an inability to resume normal navigation. Summary of the Invention

[0004] The present invention provides an abnormality recovery method, device, robot and storage medium to improve the success rate and reliability of abnormality recovery.

[0005] According to one aspect of the present invention, there is provided an abnormality recovery method applied to a robot, the method comprising:

[0006] When the robot navigation is abnormal and a first label image of a preset type label is collected, a first position point corresponding to the label is obtained;

[0007] Acquire a second position point corresponding to the current position of the robot;

[0008] Determining the relative position of the tag and a preset virtual wall according to the first position point and the second position point;

[0009] The robot is controlled to resume normal navigation according to the relative position.

[0010] According to another aspect of the present invention, there is provided an abnormality recovery device, which is configured on a robot and includes:

[0011] A first position point acquisition module is configured to acquire a first position point corresponding to a first label image of a preset type label when the robot navigation is abnormal and the robot collects the first label image of the preset type label;

[0012] A second position point acquisition module, used to acquire a second position point corresponding to the current position of the robot;

[0013] a relative position determination module, configured to determine the relative position of the tag and a preset virtual wall based on the first position point and the second position point;

[0014] The navigation recovery control module is used to control the robot to resume normal navigation according to the relative position.

[0015] According to another aspect of the present invention, there is provided a robot, comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the abnormality recovery method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the abnormality recovery method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention is as follows: when the robot navigation is abnormal and the first label image of the preset type label is collected, a first position point corresponding to the label is obtained; a second position point corresponding to the current position of the robot is obtained; based on the first position point and the second position point, the relative position of the label and the preset virtual wall is determined; and based on the relative position, the robot is controlled to resume normal navigation. The technical solution of the present application, by first determining the relative position of the label and the virtual wall, and then specifically controlling the robot to resume normal navigation based on the relative position, can reduce the problem of being unable to resume normal navigation function due to the default label being inside the virtual wall while the label is actually outside the virtual wall, thereby achieving the beneficial effect of improving the success rate and reliability of abnormal recovery.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flowchart of an abnormality recovery method provided in Example 1 of the present invention;

[0023] Figure 2A flowchart of an abnormality recovery method provided in Example 2 of the present invention;

[0024] Figure 3 A location diagram provided for the second embodiment of the present invention;

[0025] Figure 4 A schematic structural diagram of an abnormality recovery device provided in Embodiment 3 of the present invention;

[0026] Figure 5 Schematic diagram of the structure of a robot used to implement an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," "target," and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flowchart of an abnormality recovery method provided in the first embodiment of the present invention. This embodiment is applicable to the case where a robot recovers from an abnormal navigation and recovers to normal navigation. This method can be executed by the abnormality recovery device provided in the embodiment of the present invention. The device can be implemented in software and / or hardware and can be integrated into the robot. Figure 1 The abnormality recovery method provided in this embodiment includes:

[0031] S110: When the robot navigation is abnormal and a first label image of a preset type label is collected, a first position point corresponding to the label is obtained.

[0032] A robot navigation anomaly may be caused by an abnormal navigation state, such as a navigation interruption. This anomaly may be caused by human error or an internal system failure, such as the robot being manually pushed into an area where path planning is not possible, or the robot malfunctioning into an area where path planning is not possible. This embodiment does not limit this.

[0033] The image data of the current position can be collected by the robot's image acquisition device, and the label image can be determined from the image data, and the label type corresponding to the label image can be determined to collect the label image of the preset type. Each label image can correspond to a preset collectible range, that is, when the robot is within the preset collectible range, the label image can be collected. Among them, the label is a landmark that is fixed in position in advance, for example, affixed to the indoor ceiling, and is used by the robot to perform its own indoor positioning and navigation based on the label's identification information and the label's location information. The identification information and location information of each label, such as ID and map coordinates, can be recorded in the navigation map. Specifically, a label can be composed of a plurality of circular labels arranged in an array.

[0034] The label type may include no label, illegal label, legal label, etc. When the label type is no label, that is, the image acquisition device does not acquire the label, it indicates that the image data does not contain label data; when the label type is an illegal label, it may indicate that the current label is a label that has not been entered in the current navigation map, that is, the image data contains label image data, but when the robot identifies the label image data, it cannot obtain the location information corresponding to the label; when the label type is a legal label, it indicates that the current label is a label that has been entered in the current navigation map, that is, the image data contains label image data, and when the robot identifies the label image data, it can obtain the label location information corresponding to the label. The label location information can be the latitude and longitude information of the label's location or the coordinates in the navigation map, etc. This embodiment does not limit this.

[0035] The first label image of the preset type label can be a label image of a legal label type. When the first label image of a legal label is collected, the first label image data is identified, so that the first position point corresponding to the label can be obtained based on the label position information contained in the first label image.

[0036] S120: Acquire a second position point corresponding to the current position of the robot.

[0037] Among them, the second position point is the current position of the robot, which can be determined based on information such as a single first position point, the installation height of the image acquisition device, the acquisition angle, and the height of the label. This embodiment does not limit this.

[0038] In this embodiment, optionally, obtaining a second position point corresponding to the current position of the robot includes:

[0039] Determining whether there are other label images of the preset type of label except the first label image within the image acquisition range of the robot;

[0040] If so, the second position point is determined according to the first label image and the other label images.

[0041] The robot's image acquisition range can be the preset acquisition range of the robot's image acquisition device, for example, a 360° capture range along the robot's circumference. One or more image acquisition devices can be placed at a preset position on the robot, with the acquisition range corresponding to a single image acquisition device or the collection of acquisition ranges corresponding to multiple image acquisition devices serving as the preset acquisition range. The preset position can be the top of the robot, in which case the tag can be located on the indoor ceiling.

[0042] It is determined whether there are other label images of preset type labels other than the first label image within the image acquisition range of the robot, for example, whether images of other legal labels are acquired in addition to the first label image.

[0043] If it exists, the position point corresponding to each label image is identified from the first label image and other label images, and the position points are calculated together to obtain the second position point through methods such as triangulation positioning.

[0044] This avoids errors when determining the second position point based on a single first position point, improves the accuracy of determining the second position point, and thus improves the accuracy of subsequent determination of the relative position of the tag and the preset virtual wall.

[0045] S130: Determine the relative position of the tag and a preset virtual wall according to the first position point and the second position point.

[0046] A preset virtual wall is a predefined virtual wall, such as one set during robot mapping. It can be used to separate the robot's legal and illegal driving areas. The relative position of a label to the preset virtual wall can be either inside or outside the preset virtual wall.

[0047] Based on the first position point and the second position point, the relative position of the tag and the preset virtual wall is determined. When the robot can collect legal tags but the navigation is still abnormal, it is often because the robot itself is outside the virtual wall, that is, the second position point is outside the preset virtual wall. The relative position relationship between the first position point and the preset virtual wall can be judged based on the second position point. For example, the line connecting the first position point and the second position point can be used to determine whether the line intersects with the preset virtual wall, etc. This embodiment does not limit this.

[0048] S140: Control the robot to resume normal navigation according to the relative position.

[0049] Depending on the relative position, different methods can be used to control the robot to resume normal navigation. For example, when the relative position is that the tag is located within a preset virtual wall, the robot can be controlled to return to the original planned path of the robot before the navigation state was abnormal within the virtual wall based on the first position point to resume normal navigation. Because the robot needs to be positioned through the first position point, there is no need to obtain other position points when controlling the robot to resume navigation through the first position point, which facilitates the robot to quickly resume normal navigation. When the relative position is that the tag is located outside the preset virtual wall, other position information can be obtained, and the robot can be controlled to return to the original planned path within the virtual wall to resume normal navigation based on the other position information. This embodiment does not limit this.

[0050] When setting labels, many tags are often added to improve robot positioning accuracy. In illegal areas (i.e., outside virtual walls), while the robot is prohibited from driving in these areas by default, tags can still be added to aid positioning. This ensures accurate robot positioning while also preventing unsightly overcrowding in legal areas and areas where labeling may not be feasible, such as those with lights or decorations.

[0051] The technical solution provided in this embodiment takes into account the situation where the label is located outside the preset virtual wall. When the robot navigation is abnormal and the first label image of the preset type label is collected, a first position point corresponding to the label is obtained; a second position point corresponding to the current position of the robot is obtained; and based on the first position point and the second position point, the relative position of the label and the preset virtual wall is determined.

[0052] Controlling the robot to resume normal navigation based on relative position avoids the problem of being unable to restore normal navigation if the tag is actually outside the virtual wall and the abnormal recovery method is still used when the tag is inside the virtual wall. Implementing a corresponding normal navigation recovery method based on different relative positions improves the success rate and reliability of abnormal recovery.

[0053] Example 2

[0054] Figure 2 This is a flowchart of an exception recovery method provided in Example 2 of the present invention. This technical solution supplements the process of determining the relative position of the label and the preset virtual wall based on the first and second location points. Compared with the above solution, this solution is specifically optimized to determine the relative position of the label and the preset virtual wall based on the first and second location points, including:

[0055] Determine a first connecting line according to the first position point and the second position point;

[0056] Determine whether the first connecting line has an intersection with a virtual wall edge line corresponding to the preset virtual wall;

[0057] If it does not exist, the relative position of the label and the preset virtual wall is determined to be that the label is located outside the preset virtual wall. Figure 2 As shown:

[0058] S210: When the robot navigation is abnormal and a first label image of a preset type label is collected, a first position point corresponding to the label is obtained.

[0059] S220: Acquire a second position point corresponding to the current position of the robot.

[0060] S230: Determine a first connecting line according to the first location point and the second location point.

[0061] A first connecting line AB may be formed by connecting the first position point and the second position point based on the navigation map of the robot.

[0062] S240: Determine whether there is an intersection between the first connecting line and the virtual wall edge line corresponding to the preset virtual wall.

[0063] The virtual wall edge corresponding to the preset virtual wall can be a line obtained by fitting the data points corresponding to the preset virtual wall. It can be a straight line or a curve set during the mapping process.

[0064] To determine whether there is an intersection between the first connecting line and the virtual wall edge line corresponding to the preset virtual wall, the first connecting line and the virtual wall edge line can be used to calculate whether an intersection is generated through a formula for the first connecting line and the virtual wall edge line, or the first connecting line and the virtual wall edge line can be drawn in the navigation map to determine whether the first connecting line and the virtual wall edge line in the map have an intersection. This embodiment does not limit this.

[0065] S250: If not, determine the relative position of the label and the preset virtual wall as that the label is located outside the preset virtual wall.

[0066] If there is no intersection, that is, the tag and the robot are on the same side of the preset virtual wall, and the robot is outside the preset virtual wall, then the relative position of the tag and the preset virtual wall is determined to be that the tag is outside the preset virtual wall.

[0067] In this embodiment, optionally, if present, the relative position of the label and the preset virtual wall is determined to be that the label is located on the inner side of the preset virtual wall.

[0068] If so, the relative position of the label and the preset virtual wall is determined to be that the label is located on the inner side of the preset virtual wall.

[0069] If there is an intersection, that is, the tag and the robot are located on both sides of the preset virtual wall, and the robot is located outside the preset virtual wall, then the relative position of the tag and the preset virtual wall is determined to be that the tag is located inside the preset virtual wall.

[0070] S260: Control the robot to resume normal navigation according to the relative position.

[0071] In this embodiment, optionally, controlling the robot to resume normal navigation according to the relative position includes:

[0072] determining a second virtual wall area according to a second intersection point of the first connecting line and the virtual wall edge line;

[0073] The restriction of the second virtual wall area is lifted, and the robot is controlled to pass through the second virtual wall area and reach the inner side of the preset virtual wall to resume normal navigation.

[0074] The intersection of the first connecting line and the virtual wall edge is recorded as the second intersection point. The second virtual wall area is determined based on the second intersection point. The second virtual wall area can be determined as the area of ​​the virtual wall within a preset range centered on the second intersection point. The size of the preset range can be determined based on the size of the robot and the position of the image acquisition device to facilitate smooth subsequent movement of the robot through the second virtual wall area. This is not limited in this embodiment. Considering that the virtual wall connecting line may be curved, to ensure smooth passage of the robot, a portion of the virtual wall edge that is 1.5 to 2 times the robot width can be used as the virtual wall area. For example, if the robot is 80 cm wide and the image acquisition device is located at the center of the robot's width, the virtual wall area can be centered around the second intersection point and 60 cm on either side of the virtual wall edge. This means that the total length of the virtual wall area is 120 cm, which is 1.5 times the robot's width. If the image acquisition device is not located at the center of the robot's width, the length of the virtual wall area can be twice the robot's width to ensure smooth passage.

[0075] The restriction of the second virtual wall area is lifted so that the robot can move from the outside of the virtual wall to the inside of the virtual wall through the second virtual wall area. The return method can be to control the robot to move to the first position point according to the first connecting line. This is not restricted in this embodiment. If the virtual wall is set with an obstacle avoidance distance, the obstacle avoidance distance restriction can be lifted during the process of the robot returning to the inside of the virtual wall to prevent the robot from being too close to the virtual wall that has not been lifted, triggering obstacle avoidance and being unable to return to the virtual wall smoothly. Then, normal navigation is resumed inside the virtual wall, and the navigation state that was originally interrupted inside the preset virtual wall is continued. For example, according to the destination position corresponding to the first position point and the original planned path before the navigation state is abnormal, the current moving path is planned and moved without having to return to the original planned path, thereby improving the movement efficiency of the robot.

[0076] The first connecting line determined by the first position point and the second position point, and the virtual wall edge line are used to determine the second virtual wall area and release the restriction of the second virtual wall area. When the tag is located on the inner side of the preset virtual wall, the robot's passage area from the outside of the preset virtual wall to the inside of the preset virtual wall can be directly determined based on the tag, which is efficient, so that normal navigation can be restored on the inner side of the preset virtual wall later, thereby improving the efficiency of abnormal recovery.

[0077] In this embodiment, optionally, controlling the robot to pass through the second virtual wall area and reach the inner side of the preset virtual wall to resume normal navigation includes:

[0078] controlling the robot to move to the second intersection;

[0079] Planning a navigation path according to the second intersection point and the mission destination position of the robot;

[0080] The robot is controlled to move according to the navigation path and the restriction of the second virtual wall area is restored.

[0081] The robot can be controlled to move from the second position point to the second intersection point along the first connecting line, that is, the first connecting line is used as the driving path of the robot, which is not limited in this embodiment.

[0082] A navigation path is planned based on the second intersection point and the robot's mission destination, where the robot's mission destination is the location of the destination of the mission performed before the robot's navigation anomaly. The robot is controlled to move to the mission destination along the planned navigation path.

[0083] A navigation path is planned based on the second intersection and the robot's mission destination, and the robot is controlled to move along the navigation path. Once the robot returns to the inside of the preset virtual wall, normal navigation can be resumed, allowing it to complete the task that was interrupted before the navigation anomaly occurred, improving both anomaly recovery and task execution efficiency. The restrictions in the area around the second virtual wall are also restored, making it a temporary passageway. This prevents prolonged restrictions from affecting the robot's subsequent movement and reduces the impact of anomaly recovery on the robot's operation.

[0084] In this embodiment, optionally, controlling the robot to resume normal navigation according to the relative position includes:

[0085] Determine a target navigation location point from candidate navigation location points according to the first location point;

[0086] Determine a second connecting line according to the second location point and the target navigation location point;

[0087] Determine a first virtual wall area according to a first intersection point of the second connecting line and the virtual wall edge line;

[0088] The restriction of the first virtual wall area is lifted, and the robot is controlled to pass through the first virtual wall area and reach the inner side of the preset virtual wall to resume normal navigation.

[0089] Navigation points are path points determined during the navigation map construction process. These path points facilitate robot path planning. Because path points are used by the robot to pass through and stop during actual operation, they are located within pre-set virtual walls. The candidate navigation points can be all navigation points. The target navigation point is determined from the candidate navigation points based on the first point. The target navigation point can be the candidate navigation point closest to the first point.

[0090] The second location point and the target navigation location point are connected to determine a second connecting line. Since the target navigation location point is located within the virtual wall, the second connecting line intersects the edge of the virtual wall at a point, and this point is recorded as the first intersection. The first virtual wall area is determined based on the first intersection. The first virtual wall area can be determined by defining an area of ​​the virtual wall within a preset range centered on the first intersection as the first virtual wall area. The size of the preset range can be determined based on the size of the robot to facilitate the robot's subsequent smooth movement through the first virtual wall area. This embodiment does not limit this.

[0091] The restriction of the first virtual wall area is released, so that the robot can move from the outside of the virtual wall to the inside of the virtual wall through the first virtual wall area.

[0092] The return method can be to drive into the virtual wall along the second connecting line, or to obtain the robot's movement path backup information and obtain the return path in reverse based on the movement path backup information, so as to move to the inside of the virtual wall along the return path. At this time, the range of the first virtual wall area can be determined according to the path backup information, and the restrictions of the first virtual wall area can be restored after returning.

[0093] The movement path backup information is the route information recorded by the robot during its historical movement. Optionally, after the robot is started, a gyroscope sensor or other device on the robot can be used to record and store the location information of the robot's movement in real time as the robot moves, and this information can be used as the movement path backup information. The location information can be the coordinate point information of the navigation map stored by the robot in the map coordinate system, and this embodiment is not limited to this.

[0094] The return path can be planned based on the content of the movement path backup information and the order of information recording. For example, if the movement path backup information recorded when the robot is turned on is point information A0A1A2...A n , you can follow A n A n- 1A n-2 ...A0 points are sequentially planned to move along a path, allowing the robot to return from its current position to the inside of the preset virtual wall. It should be noted that when returning to the inside of the preset virtual wall, the required movement path backup information can be determined based on the return requirements, without using all movement path backup information. For example, if the robot reaches the inside of the preset virtual wall, the return path ends. For example, if A n ——A n-4 Located outside the preset virtual wall, A n-5 If the robot is located inside the preset virtual wall, it only needs to go from A n Start moving to A n-5 , and according to A n-6 and A n-5 Determine the first virtual wall area without moving to A1.

[0095] A return path is planned based on the backup movement path information, allowing the robot to return to an area close to where it was before the navigation anomaly occurred, resuming the interrupted navigation state inside the preset virtual wall, thereby improving the robot's work efficiency. A movement path can be planned based on the return position and the target position to resume normal navigation. The return position can be a location within the original planned path or a location within the virtual wall outside the original planned path, although this embodiment does not limit this.

[0096] If the return position is within the original planned path, the robot can continue along the original planned path, saving computing power. If the final position is outside the planned path, the robot can plan the current path and move based on the destination position corresponding to the arrival position and the original movement path, without having to return to the original planned path, thereby improving the robot's movement efficiency.

[0097] The first virtual wall area is determined by the target navigation position point and the second position point and the restriction of the first virtual wall area is released, so that when the tag is located outside the preset virtual wall, the robot can still be controlled to pass through the first virtual wall area and return from the outside of the preset virtual wall to the inside of the preset virtual wall, avoiding the failure of abnormal recovery when the tag is located outside the preset virtual wall and improving the success rate of abnormal recovery.

[0098] Figure 3 A position diagram provided in the second embodiment of the present invention is as follows: Figure 3 As shown, virtual wall edges 31 are determined based on data points 311 in the preset virtual wall. The area between two virtual wall edges 31 is the interior of the preset virtual wall. Navigation points 331 are located within the preset virtual wall. A corresponding movement path 33 is planned based on each navigation point 331. Label 32a is located within the preset virtual wall, and label 32b is located outside the preset virtual wall.

[0099] The embodiment of the present invention determines a first connecting line based on a first position point and a second position point; determines whether there is an intersection between the first connecting line and a virtual wall edge line corresponding to a preset virtual wall; if not, determines that the relative position of the label and the preset virtual wall is that the label is located outside the preset virtual wall, so as to determine the relative position relationship between the label and the preset virtual wall, thereby improving the pertinence of the label position determination; facilitates determining the subsequent method of controlling the robot to resume normal navigation when it is determined that the label is located outside the preset virtual wall, avoids the problem that the normal navigation function cannot be restored due to the default label being located inside the virtual wall and performing abnormal recovery according to the abnormal recovery method for the label being located inside the virtual wall, thereby improving the success rate of abnormal recovery.

[0100] Example 3

[0101] Figure 4 This is a schematic diagram of the structure of an abnormality recovery device provided by the third embodiment of the present invention. The device can be implemented by hardware and / or software, configured on a robot, and can execute an abnormality recovery method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 4 As shown, the device includes:

[0102] A first position point acquisition module 410 is configured to acquire a first position point corresponding to a first label image of a preset type label when the robot navigation is abnormal and the first label image of the preset type label is acquired;

[0103] A second position point acquisition module 420 is used to acquire a second position point corresponding to the current position of the robot;

[0104] A relative position determination module 430 is configured to determine the relative position of the tag and a preset virtual wall based on the first position point and the second position point;

[0105] The navigation recovery control module 440 is used to control the robot to resume normal navigation according to the relative position.

[0106] Based on the above technical solutions, optionally, the relative position determination module includes:

[0107] a first connection line determining unit, configured to determine a first connection line according to the first position point and the second position point;

[0108] an intersection point existence determination unit, configured to determine whether the first connecting line has an intersection point with a virtual wall edge line corresponding to the preset virtual wall;

[0109] The first relative position determining unit is configured to determine that the relative position between the label and the preset virtual wall is that the label is located outside the preset virtual wall if the intersection existence determining unit determines that the intersection does not exist.

[0110] Based on the above technical solutions, optionally, the navigation recovery control module includes:

[0111] a target navigation location point determining unit, configured to determine a target navigation location point from candidate navigation location points according to the first location point;

[0112] A second connection line determining unit, configured to determine a second connection line according to the second location point and the target navigation location point;

[0113] a first virtual wall area determining unit, configured to determine a first virtual wall area according to a first intersection point between the second connecting line and the virtual wall edge line;

[0114] The first navigation recovery control unit is used to release the restriction of the first virtual wall area and control the robot to pass through the first virtual wall area to reach the inner side of the preset virtual wall to resume normal navigation.

[0115] On the basis of the above technical solutions, optionally, the device further includes:

[0116] The second relative position determining unit is configured to determine that the relative position between the label and the preset virtual wall is that the label is located inside the preset virtual wall if the intersection existence determining unit determines that the intersection exists.

[0117] Based on the above technical solutions, optionally, the navigation recovery control module includes:

[0118] a second virtual wall area determining unit, configured to determine a second virtual wall area according to a second intersection point between the first connecting line and the virtual wall edge line;

[0119] The second navigation recovery control unit is used to release the restriction of the second virtual wall area and control the robot to pass through the second virtual wall area to reach the inner side of the preset virtual wall to resume normal navigation.

[0120] Based on the above technical solutions, optionally, the second navigation recovery control unit includes:

[0121] a first movement control subunit, configured to control the robot to move to the second intersection;

[0122] a navigation path planning unit, configured to plan a navigation path according to the second intersection point and the mission destination position of the robot;

[0123] The second movement control subunit is used to control the robot to move according to the navigation path and restore the restrictions of the second virtual wall area.

[0124] Based on the above technical solutions, optionally, the second location point acquisition module includes:

[0125] a label image existence determination unit, configured to determine whether there are other label images of the preset type of label except the first label image within the image acquisition range of the robot;

[0126] The second position point determining unit is configured to determine the second position point according to the first label image and the other label images if the label image existence determining unit determines that the label image exists.

[0127] Example 4

[0128] Figure 5 A schematic diagram of a robot 10 that can be used to implement embodiments of the present invention is shown. The robot is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The robot may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided for example purposes only and are not intended to limit the implementation of the present inventions described and / or claimed herein.

[0129] like Figure 5 As shown, the robot 10 includes at least one processor 11 and memory, such as a read-only memory (ROM) 12 and a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM) 12 or loaded from the storage unit 18 into the random access memory (RAM) 13. The RAM 13 can also store various programs and data required for the operation of the robot 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0130] Various components in the robot 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the robot 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0131] The processor 11 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the exception recovery method.

[0132] In some embodiments, the exception recovery method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the robot 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the exception recovery method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the exception recovery method in any other suitable manner (e.g., via firmware).

[0133] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0134] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0135] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0136] To provide interaction with a user, the systems and techniques described herein can be implemented on a robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the robot. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0137] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0138] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0139] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0140] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. An abnormality recovery method, applied to a robot, characterized in that: include: When the robot navigation is abnormal and a first label image of a preset type label is collected, a first position point corresponding to the label is obtained; One or more image acquisition devices are provided at a preset position of the robot, the preset position including the top of the robot, and the tag is located on the indoor ceiling; Acquire a second position point corresponding to the current position of the robot; wherein the second position point is located outside a preset virtual wall; Determining the relative position of the tag and the preset virtual wall based on the first position point and the second position point, including: determining the relative position relationship between the first position point and the preset virtual wall based on the second position point; the relative position of the tag and the preset virtual wall is that the tag is located inside the preset virtual wall, or the tag is located outside the preset virtual wall; controlling the robot to resume normal navigation according to the relative position; If the tag is outside the preset virtual wall, controlling the robot to resume normal navigation according to the relative position includes: Determine a target navigation location point based on the first location point from the candidate navigation location points that is closest to the first location point; the candidate navigation location point is a moving path point determined during the mapping process of the navigation map; Determine a second connecting line according to the second location point and the target navigation location point; Determine a first virtual wall area according to a first intersection point of the second connecting line and the virtual wall edge line; The restriction of the first virtual wall area is lifted, and the robot is controlled to pass through the first virtual wall area and reach the inner side of the preset virtual wall to resume normal navigation.

2. The method according to claim 1, characterized in that Determining the relative position of the tag and a preset virtual wall according to the first position point and the second position point includes: Determine a first connecting line according to the first position point and the second position point; Determine whether the first connecting line has an intersection with a virtual wall edge line corresponding to the preset virtual wall; If not, the relative position of the label and the preset virtual wall is determined to be that the label is located outside the preset virtual wall.

3. The method according to claim 2, characterized in that Also includes: If so, the relative position of the label and the preset virtual wall is determined to be that the label is located on the inner side of the preset virtual wall.

4. The method according to claim 3, characterized in that Controlling the robot to resume normal navigation according to the relative position includes: determining a second virtual wall area according to a second intersection point of the first connecting line and the virtual wall edge line; The restriction of the second virtual wall area is lifted, and the robot is controlled to pass through the second virtual wall area and reach the inner side of the preset virtual wall to resume normal navigation.

5. The method according to claim 4, characterized in that Controlling the robot to pass through the second virtual wall area and reach the inner side of the preset virtual wall to resume normal navigation includes: controlling the robot to move to the second intersection; Planning a navigation path according to the second intersection point and the mission destination position of the robot; The robot is controlled to move according to the navigation path and the restriction of the second virtual wall area is restored.

6. The method according to claim 1, characterized in that Obtaining a second position point corresponding to the current position of the robot, comprising: Determining whether there are other label images of the preset type of label except the first label image within the image acquisition range of the robot; If so, the second position point is determined according to the first label image and the other label images.

7. An abnormality recovery device, configured on a robot, characterized in that: include: a first position point acquisition module, configured to acquire a first position point corresponding to a tag when the robot navigation is abnormal and a first tag image of a preset type tag is acquired; one or more image acquisition devices are provided at a preset position of the robot, the preset position including the top of the robot, and the tag is located on a ceiling indoors; A second position point acquisition module is used to acquire a second position point corresponding to the current position of the robot; wherein the second position point is located outside the preset virtual wall; a relative position determination module, configured to determine the relative position of the tag and the preset virtual wall based on the first position point and the second position point; the relative position of the tag and the preset virtual wall is that the tag is located inside the preset virtual wall, or the tag is located outside the preset virtual wall; The relative position determination module is specifically configured to determine the relative position relationship between the first position point and the preset virtual wall based on the second position point; a navigation recovery control module, configured to control the robot to resume normal navigation according to the relative position; The navigation recovery control module includes: a target navigation position point determination unit, a second connection line determination unit, a first virtual wall area determination unit and a first navigation recovery control unit; The target navigation location point determination unit is configured to determine the target navigation location point from the candidate navigation location points that is closest to the first location point based on the first location point; the candidate navigation location points are movement path points determined during the mapping process of the navigation map; The second connection line determining unit is configured to determine a second connection line according to the second location point and the target navigation location point; The first virtual wall area determining unit is configured to determine the first virtual wall area according to a first intersection point between the second connecting line and the virtual wall edge line; The first navigation recovery control unit is used to release the restriction of the first virtual wall area and control the robot to pass through the first virtual wall area to reach the inner side of the preset virtual wall and resume normal navigation.

8. A robot, characterized in that: The robot comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the abnormality recovery method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the abnormality recovery method according to any one of claims 1 to 6 when executed.

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