A method and device for a robot to escape from trouble, a robot, and a storage medium

Abstract

The embodiments of the present application relate to the field of robots, and disclose a method and device for a robot to escape from trouble, a robot, and a storage medium. The method includes: recording the historical driving route of the robot when driving forward into a narrow environment; if it is detected that the robot cannot move forward in the narrow environment, obtaining first environmental information behind the robot; determining a trouble escape position according to the first environmental information and the historical driving route, and planning and outputting a safe path based on the current position and the trouble escape position of the robot; controlling the robot to reverse according to the safe path to escape from the narrow environment. When the surrounding environment changes dynamically, the present application can effectively avoid directly reversing and hitting obstacles, or causing collisions or scratches due to sensor blind spots during large-angle rotations, ensure the safety of the robot during the trouble escape process, and effectively improve the working efficiency of the robot.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and in particular to a robot escape method, device, robot and storage medium. Background Art

[0002] In the prior art, most robot escape solutions are based on the structural design of the robot, and they either rotate on the spot to get rid of the problem of blocked path planning, or directly replan a new path to find the target point, thereby achieving escape at the trapped point.

[0003] In the process of implementing the embodiments of the present application, the inventors of the present application found that when a traditional robot with a special shape encounters a narrow space, it usually stops first and then looks for a target point to plan a new path. However, this method will lead to low working efficiency of the robot and easily cause space blockage. If a rotating on the spot behavior similar to that of a circular robot is adopted, it will easily cause the risk of scratching obstacles. Therefore, it is necessary to propose an efficient way to escape. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a robot escape method, device, robot and storage medium, so as to avoid the robot from having to wait for a long time when working in a narrow environment, thereby reducing work efficiency and effectively improving the robot's escape efficiency.

[0005] To solve the above technical problems, the embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a robot escape method, comprising:

[0007] Record the historical driving sections of the robot when it moves forward into narrow environments;

[0008] If it is detected that the robot cannot move forward in the narrow environment, obtaining first environmental information behind the robot;

[0009] Determine an escape position according to the first environmental information and the historical driving section, and plan and output a safe path based on the current position of the robot and the escape position;

[0010] The robot is controlled to travel backward according to the safety path to escape from the narrow environment.

[0011] In some embodiments, recording the historical driving sections of the robot moving forward into a narrow environment includes:

[0012] Acquire second environmental information in front of the robot, and determine whether the narrow environment exists in front of the robot within a preset distance range according to the second environmental information;

[0013] If the narrow environment exists, the robot is controlled to drive forward into the narrow environment, and the driving section of driving forward into and driving in the narrow environment is recorded as the historical driving section.

[0014] In some embodiments, recording the driving section of entering and driving in the narrow environment as the historical driving section includes:

[0015] Acquiring road spaciousness during the process of entering and driving in the narrow environment;

[0016] The historical driving section is determined according to the spaciousness of the road surface and the driving section of the robot.

[0017] In some embodiments, the determining of the historical driving section according to the road space and the driving section of the robot includes:

[0018] Determining a plurality of sampling path points in the driving section;

[0019] According to the spaciousness of the road surface, the plurality of sampling path points are respectively corrected so that each of the sampling path points is located in the middle part of the road width;

[0020] The plurality of sampled path points are connected and subjected to path smoothing processing to obtain the historical driving section.

[0021] In some embodiments, determining the escape position according to the first environmental information and the historical driving section, and planning and outputting a safe path based on the current position of the robot and the escape position, includes:

[0022] Determining whether there is an obstacle on the driving path according to the first environmental information;

[0023] If there is no obstacle on the driving path, a path point of the historical driving section is used as an escape position;

[0024] The safe path is planned and output based on the current position of the robot and the escape position, wherein the safe path is part or all of the historical driving section.

[0025] In some embodiments, the method further comprises:

[0026] If there is an obstacle on the driving path, determining an escape position in an open area before entering the narrow environment;

[0027] The safe path is planned and output based on the current position of the robot and the escape position.

[0028] In some embodiments, if there is an obstacle on the driving path, determining an escape position in an open area before entering the narrow environment includes:

[0029] If there is an obstacle on the driving path, determining an optional escape position between the obstacle and the current position of the robot;

[0030] If the optional escape position is located in the narrow environment, the escape position is determined in an open area before entering the narrow environment, and the optional escape position is used for segmented planning and outputting the safe path, and the optional escape position is located in the safe path.

[0031] In a second aspect, an embodiment of the present application further provides a robot escape device, the device comprising:

[0032] A recording module, used to record the historical driving sections of the robot when it moves forward into a narrow environment;

[0033] An acquisition module, configured to acquire first environmental information behind the robot if it is detected that the robot cannot move forward in the narrow environment;

[0034] A planning module, used to determine an escape position according to the first environmental information and the historical driving section, and to plan and output a safe path based on the current position of the robot and the escape position;

[0035] The escape module is used to control the robot to travel backward along the safe path to escape from the narrow environment.

[0036] In a third aspect, the present application further provides a robot, comprising:

[0037] at least one processor, and

[0038] A memory, wherein the memory is communicatively connected to the processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the steps of the robot escape method as described in the first aspect above.

[0039] In a fourth aspect, the present application also provides a non-volatile computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, which, when executed by a robot, implement the steps of the robot escape method as described in the first aspect above.

[0040] Beneficial effects of the embodiments of the present application: Different from the prior art, the robot escape method, device, robot and storage medium provided by the embodiments of the present application record the historical driving section of the robot moving forward into the narrow environment; if it is detected that the robot cannot move forward in the narrow environment, it means that the robot needs to be escaped, at this time, the first environmental information behind the robot is obtained; then the escape position is determined according to the first environmental information and the historical driving section, and a safe path is output based on the current position of the robot and the escape position; the robot is controlled to travel backward according to the safe path to escape from the narrow environment. When the robot cannot continue to move forward in a narrow environment, a safe path is planned so that the robot can travel backward according to the safe path, thereby effectively improving the efficiency of the robot to escape from the narrow environment; and the planned safe path can effectively avoid directly retreating and hitting obstacles when the surrounding environment changes dynamically, or collision or scratching caused by the blind spot of the sensor during large-angle rotation, ensuring the safety of the robot in the escape process, effectively improving the working efficiency of the robot in a narrow environment, and reducing the robot's requirements for the working environment. Furthermore, when the robot enters a narrow environment while driving forward and becomes trapped, the robot exits the narrow environment by driving backward, thereby avoiding collision or scratching caused by rotation in the narrow environment, thereby ensuring the safety of the robot during the escape process. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0042] Figure 1 is a schematic diagram of an embodiment of the robot of the present application in a driving area;

[0043] Figure 2 It is a schematic diagram of a flow chart of an embodiment of the robot escape method of the present application;

[0044] Figure 3 It is a schematic diagram of a robot entering a narrow environment in the robot escape method of the present application;

[0045] Figure 4 It is a schematic diagram of a driving section of a robot in the robot escape method of the present application;

[0046] Figure 5 It is a schematic diagram of the historical driving section L of the robot in the robot escape method of the present application;

[0047] Figure 6 It is a safe path planning diagram when there are obstacles on the driving path of the robot in the robot escape method of the present application;

[0048] Figure 7 It is a structural schematic diagram of another embodiment of the robot escape device of the present application;

[0049] Figure 8 It is a schematic diagram of the hardware structure of the controller in one embodiment of the robot of the present application. DETAILED DESCRIPTION

[0050] The present application is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements can also be made without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. In addition, the words "first", "second", "third", etc. used herein do not limit the data and the execution order, but only distinguish the same items or similar items with substantially the same functions and effects.

[0053] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification and in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0054] In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0055] The robot escape method and device provided in the embodiment of the present application can be applied to robots. The robot of the present application can be a robot of a special shape, such as a square robot, or a robot that is inconvenient to rotate, which is not limited here. Figure 1As shown, taking a square robot as an example, the robot 100 includes a controller. When the robot 100 is working, it walks in area A. Area A includes obstacle area B (including obstacle B1, obstacle B2 and obstacle B3), narrow area C (including narrow area C1 and narrow area C2) and open area D. The narrow area C is an area relative to the size of the robot 100 itself. If the robot 100 cannot rotate or turn around smoothly in the area, or is prone to collision or scratching, the area is defined as a narrow area. At this time, it is necessary to use the robot escape method of the present application to escape efficiently.

[0056] It can be understood that the robot 100 is a movable robot, for example, a square sweeping robot, which is convenient for cleaning the wall, or a square delivery robot, and the robot 100 also includes various types of sensors, such as lidar, inertial measurement unit (IMU) and wheel odometer (ODOM) and other sensors to obtain optical flow, sonar, camera and other information to ensure that the robot can walk normally, and can detect real-time environmental information around the robot 100, and the controller analyzes and processes the real-time environmental information.

[0057] See also Figure 2 , is a flow chart of an embodiment of the robot escape method applied to the present application. The method can be executed by a controller in the robot 100, and the method includes steps S201 to S204.

[0058] S201: Record the historical driving sections of the robot when it moves forward into a narrow environment.

[0059] Take the square robot as an example. Figure 3 As shown, the robot 100 walks in a certain area according to a pre-planned route, such as area A. The area A includes an open area D and a narrow area C (including narrow area C1 and narrow area C2). It can be understood that the robot 100 walks in the normal mode in the open area D. If it can walk normally in the narrow area C1, it walks in the normal mode. When it cannot continue to move forward in the narrow area C2, it enters the escape mode. After successfully escaping, it enters the normal mode.

[0060] In some embodiments, in order to detect whether the environment into which the robot is moving forward is a narrow environment or an open environment, the method may further include:

[0061] When the robot is walking, controlling the robot to perform collision detection or road width detection in the current environment to obtain a detection result;

[0062] According to the detection result, it is determined that the current environment of the robot is a narrow environment or an open environment.

[0063] Specifically, when the robot 100 is walking, in order to detect the current environment where the robot 100 is located, collision detection or road width detection can be performed. According to the detection results, it is determined whether the current section of the environment can be rotated or turned around. If it can be rotated or turned around, it can be determined that the current environment of the robot 100 is an open environment, such as in the open area D. If it cannot be rotated or turned around, or it is likely to cause collisions or scratches, it can be determined that the current environment where the robot 100 is located is a narrow environment, such as in the narrow area C1 or the narrow area C2.

[0064] When it is determined that the current environment where the robot 100 is located is an open environment, it walks in the normal mode; when it is determined that the current environment where the robot 100 is located is a narrow environment but it can travel normally, it walks in the normal mode.

[0065] If the robot 100 moves forward into a narrow environment, in order to avoid being unable to move forward after entering the narrow environment and needing to escape, record the historical driving sections when the robot moves forward into the narrow environment.

[0066] In some embodiments, the recording of the historical driving sections when the robot moves forward into the narrow environment includes:

[0067] Obtain the second environmental information in front of the robot, and determine whether there is the narrow environment within a preset distance range according to the second environmental information;

[0068] If there is the narrow environment, control the robot to move forward into the narrow environment, and record the driving sections when moving forward into and driving in the narrow environment as the historical driving sections.

[0069] Specifically, first, obtain the second environmental information in front of the robot, and determine whether there is a narrow environment within a preset distance range according to the second environmental information. If there is the narrow environment, that is, there is the narrow area C1 and / or the narrow area C2, control the robot to move forward into the narrow environment, and record the driving sections when moving forward into and driving in the narrow environment as the historical driving sections. As Figure 4 shown, the driving section when moving forward into is l1, and the driving sections when driving in the narrow environment are l2, l3, and l4. Combine l1, l2, l3, and l4 into the historical driving sections.

[0070] In some embodiments, the recording of the driving sections when moving forward into and driving in the narrow environment as the historical driving sections includes:

[0071] During the process of moving forward into and driving in the narrow environment, obtain the road width condition;

[0072] Determine the historical driving section according to the road width condition and the driving section where the robot travels.

[0073] Specifically, when recording the driving section of driving forward and driving in the narrow environment as the historical driving section, during the process of driving forward and driving in the narrow environment, the road width condition can be obtained. The road width condition can be obtained by radar and is used to represent the width of the road surface. Then, according to the road width condition and the driving section where the robot travels, the historical driving section is determined.

[0074] Further, the determining the historical driving section according to the road width condition and the driving section where the robot travels includes:

[0075] Determine a plurality of sampling path points in the driving section;

[0076] Correct the plurality of sampling path points respectively according to the road width condition so that each sampling path point is located in the middle part of the road width;

[0077] Connect the plurality of sampling path points and perform path smoothing processing to obtain the historical driving section.

[0078] Specifically, when determining the historical driving section, a plurality of sampling path points are determined in the driving section. As Figure 4 shown, a plurality of sampling path points are determined in the driving sections l1, l2, l3, and l4, which are sampling path point a1, sampling path point b1, sampling path point c1, and sampling path point d1 respectively; then, the plurality of sampling path points are corrected respectively according to the road width condition so that each sampling path point is located in the middle part of the road width. As Figure 5 shown, after correcting each sampling path point, sampling path points located in the middle part of the road width are obtained, which are sampling path point a2, sampling path point b2, sampling path point c2, and sampling path point d2 respectively; finally, the plurality of sampling path points are connected and path smoothing processing is performed to obtain the historical driving section L.

[0079] S202: If it is detected that the robot cannot move forward in the narrow environment, obtain the first environmental information behind the robot.

[0080] When it is detected that the environment where the robot 100 walks is a narrow environment and it cannot move forward, as Figure 5As shown, the robot 100 cannot move forward after entering the area C2, and the robot 100 is controlled to enter the escape process. When escaping, the first environmental information behind the robot 100 is obtained. The robot 100 can obtain optical flow, sonar, camera and other information through its own camera and sensors, such as laser radar, inertial measurement unit (IMU) and wheel odometer (ODOM), so as to obtain the first environmental information behind the robot 100.

[0081] S203: Determine an escape position according to the first environmental information and the historical driving section, and plan and output a safe path based on the current position of the robot and the escape position.

[0082] When it is determined that the robot cannot move forward in a narrow environment, such as Figure 5 As shown, when entering the narrow area C2, the robot 100 cannot move forward, indicating that the robot 100 needs to escape, obtain the first environmental information behind the robot 100, and then determine the escape position based on the first environmental information behind the robot 100 and the historical driving section L, and further plan and output a safe path.

[0083] In some embodiments, in order to allow the robot to escape safely, it is necessary to detect obstacles. Therefore, determining the escape position according to the first environmental information and the historical driving section, and planning and outputting a safe path based on the current position of the robot and the escape position may include:

[0084] Determining whether there is an obstacle on the driving path according to the first environmental information;

[0085] If there is no obstacle on the driving path, a path point of the historical driving section is used as an escape position;

[0086] The safe path is planned and output based on the current position of the robot and the escape position, wherein the safe path is part or all of the historical driving section.

[0087] Specifically, since the robot 100 cannot drive in front, the robot 100 may consider driving from the rear to achieve escape. It determines whether there are obstacles on the driving path based on the first environmental information behind the robot 100. If there are no obstacles on the driving path, it means that the historical driving section L may be traversable. A path point (such as path point a2) of the historical driving section L is used as the escape position. The safe path is planned and output based on the current position of the robot and the escape position, wherein the safe path is part or all of the historical driving section.

[0088] Optionally, the path point used as the escape position may be the path point in the historical driving section that is farthest from the current position of the robot. Figure 5 As shown, path point a2 is the path point farthest from the current position of the robot among multiple path points in the historical driving section. According to the real-time environmental information, it can be determined whether there is an obstacle at path point a2. If there is no obstacle at path point a2, it means that path point a2 is a passable path point; if there is an obstacle at path point a2, it means that path point a2 is an inaccessible path point.

[0089] In some embodiments, the safe path is planned and output based on the current position of the robot and the escape position, wherein the safe path is part or all of the historical driving section, including:

[0090] The safety path is planned with the current position of the robot as the starting point of the safety path and the escape position as the end point of the safety path, and the safety path avoids obstacles corresponding to the obstacle information.

[0091] Correspondingly, if there is an obstacle on the driving path, an optional escape position is determined between the obstacle and the current position of the robot;

[0092] If the optional escape position is located in the narrow environment, the escape position is determined in an open area before entering the narrow environment, and the optional escape position is used for segmented planning and outputting the safe path, and the optional escape position is located in the safe path.

[0093] Specifically, if there is an obstacle on the driving path, it means that an optional escape position needs to be found, and the optional escape position can be determined between the obstacle and the current position of the robot. Figure 6 As shown, there is an obstacle F on the driving path, then an optional escape position can be determined between the obstacle F and the current position of the robot.

[0094] Furthermore, if the optional escape position is located in the narrow environment, such as in area C1, an escape position, such as path point a, is determined in an open area D before entering the narrow environment C1. The optional escape position is used to output the safe path in segmented planning. The optional escape position is located in the safe path, such as path point a. Figure 6 As shown, the previously open area may be area D, and optionally, the escape location may be path point a.

[0095] In some embodiments, the escape position is determined in the open area before entering the narrow environment, the optional escape position is used to plan and output the safe path in sections, and the optional escape position is located on the safe path, and may also include:

[0096] The historical driving section is shortened until a passable path point is found as the escape position, and the path point is the path point farthest from the current position of the robot in the shortened historical driving section.

[0097] Specifically, in order to find a passable path point in the historical driving section, the historical driving section can be shortened. For example, the original historical driving section includes path point a2, path point b2, path point c2, and path point d2. When the path point farthest from the current position of the robot 100 is path point a2, which is an inaccessible path point (occupied by obstacle F), the historical driving section is shortened, and the shortened historical driving section includes path point b2, path point c2, and path point a. Then, the path point farthest from the current position of the robot 100 is found to be path point a, and it is determined whether path point a is a passable path point. If so, path point a is determined as the escape position.

[0098] S204: Control the robot to move backward along the safe path to escape from the narrow environment.

[0099] Specifically, after planning a safe path, the robot can travel backwards according to the safe path, thereby leaving the narrow environment in a timely and effective manner without having to wait for a long time at the current position or rotating on the spot, thereby effectively improving the robot's work efficiency.

[0100] In some embodiments, after escaping from the narrow environment, the method further comprises:

[0101] When it is detected that the environment where the robot is walking is an open environment, the robot is controlled to exit the escape mode and enter the normal walking mode.

[0102] Specifically, after the robot leaves the narrow environment, when the robot walks to an open environment, such as being in an open area D, it means that the robot has escaped from the trap. At this time, the robot is controlled to exit the escape mode and enter the normal walking mode.

[0103] In the embodiment of the present application, the historical driving section of the robot moving forward into the narrow environment is recorded; if it is detected that the robot cannot move forward in the narrow environment, it means that the robot needs to be rescued. At this time, the first environmental information behind the robot is obtained; then the escape position is determined according to the first environmental information and the historical driving section, and a safe path is output based on the current position of the robot and the escape position; the robot is controlled to travel backward according to the safe path to escape from the narrow environment. When the robot cannot continue to move forward in a narrow environment, a safe path is planned so that the robot can travel backward according to the safe path, thereby effectively improving the efficiency of the robot to escape from the narrow environment; and the planned safe path can effectively avoid directly retreating and hitting obstacles to cause scratches when the surrounding environment changes dynamically, ensuring the safety of the robot in the process of escape, effectively improving the work efficiency of the robot in a narrow environment, and reducing the robot's requirements for the working environment. In addition, when the robot enters a narrow environment and is trapped while driving forward, the robot exits the narrow environment by traveling backward to avoid collisions or scratches caused by rotating in a narrow environment, thereby ensuring the safety of the robot in the process of escape.

[0104] The present application also provides a robot escape device, see Figure 7 , which shows the structure of a robot escape device provided in an embodiment of the present application, the robot escape device 700 includes:

[0105] The recording module 701 is used to record the historical driving sections of the robot when it moves forward into a narrow environment;

[0106] An acquisition module 702 is configured to acquire first environmental information behind the robot if it is detected that the robot cannot move forward in the narrow environment;

[0107] A planning module 703, configured to determine an escape position according to the first environmental information and the historical driving section, and to plan and output a safe path based on the current position of the robot and the escape position;

[0108] The escape module 704 is used to control the robot to travel backward along the safe path to escape from the narrow environment.

[0109] In the embodiment of the present application, the historical driving section of the robot entering the narrow environment is recorded; if it is detected that the robot cannot move forward in the narrow environment, it means that the robot needs to be rescued. At this time, the first environmental information behind the robot is obtained; then the escape position is determined according to the first environmental information and the historical driving section, and a safe path is output based on the current position of the robot and the escape position; the robot is controlled to travel backward according to the safe path to escape from the narrow environment. When the robot cannot continue to move forward in a narrow environment, a safe path is planned so that the robot can travel backward according to the safe path, thereby effectively improving the efficiency of the robot to escape from the narrow environment; and the planned safe path can effectively avoid directly retreating and hitting obstacles when the surrounding environment changes dynamically, or causing collisions or scratches due to the blind area of ​​the sensor during large-angle rotation, thereby ensuring the safety of the robot in the process of escape, effectively improving the work efficiency of the robot in a narrow environment, and reducing the robot's requirements for the working environment. In addition, when the robot enters a narrow environment and is trapped while driving forward, the robot exits the narrow environment by traveling backward to avoid collisions or scratches caused by rotating in a narrow environment, thereby ensuring the safety of the robot in the process of escape.

[0110] In some embodiments, the recording module 701 is further configured to:

[0111] Acquire second environmental information in front of the robot, and determine whether the narrow environment exists in front of the robot within a preset distance range according to the second environmental information;

[0112] If the narrow environment exists, the robot is controlled to drive forward into the narrow environment, and the driving section of driving forward into and driving in the narrow environment is recorded as the historical driving section.

[0113] In some embodiments, the recording module 701 is further configured to:

[0114] Acquiring road spaciousness during the process of entering and driving in the narrow environment;

[0115] The historical driving section is determined according to the spaciousness of the road surface and the driving section of the robot.

[0116] In some embodiments, the recording module 701 is further configured to:

[0117] Determining a plurality of sampling path points in the driving section;

[0118] According to the spaciousness of the road surface, the plurality of sampling path points are respectively corrected so that each of the sampling path points is located in the middle part of the road width;

[0119] The plurality of sampled path points are connected and subjected to path smoothing processing to obtain the historical driving section.

[0120] In some embodiments, the planning module 703 is further configured to:

[0121] Determining whether there is an obstacle on the driving path according to the first environmental information;

[0122] If there is no obstacle on the driving path, a path point of the historical driving section is used as an escape position;

[0123] The safe path is planned and output based on the current position of the robot and the escape position, wherein the safe path is part or all of the historical driving section.

[0124] In some embodiments, the robot escape device 700 further includes an escape position determination module 705, which is used to:

[0125] If there is an obstacle on the driving path, determining an escape position in an open area before entering the narrow environment;

[0126] The safe path is planned and output based on the current position of the robot and the escape position.

[0127] In some embodiments, the escape location determination module 705 is further used to:

[0128] If there is an obstacle on the driving path, determining an optional escape position between the obstacle and the current position of the robot;

[0129] If the optional escape position is located in the narrow environment, the escape position is determined in an open area before entering the narrow environment, and the optional escape position is used for segmented planning and outputting the safe path, and the optional escape position is located in the safe path.

[0130] It should be noted that the above device can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in the device embodiment, please refer to the method provided in the embodiment of the present application.

[0131] Figure 8 FIG. 1 is a schematic diagram of the hardware structure of a controller of a robot 100 in one embodiment of the robot. Figure 8 As shown, the controller includes:

[0132] One or more processors 111 and memory 112 . Figure 8 In the figure, a processor 111 and a memory 112 are taken as an example.

[0133] The processor 111 and the memory 112 may be connected via a bus or other means. Figure 8 The example of connecting through bus is taken in the following.

[0134] The memory 112 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the robot escape method in the embodiment of the present application (for example, the attached Figure 7 The processor 111 executes various functional applications and data processing of the controller by running the non-volatile software programs, instructions and modules stored in the memory 112, that is, the robot escape method of the above method embodiment is implemented.

[0135] The memory 112 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created according to the use of the personnel entry and exit detection device, etc. In addition, the memory 112 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 112 may optionally include a memory remotely arranged relative to the processor 111, and these remote memories may be connected to the robot via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0136] The one or more modules are stored in the memory 112, and when executed by the one or more processors 111, execute the robot escape method in any of the above method embodiments, for example, execute the above described Figure 2 Steps S201 to S204 of the method; implementing Figure 7 The functions of modules 701-705 in.

[0137] The above-mentioned product can execute the method provided in the embodiment of the present application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided in the embodiment of the present application.

[0138] The embodiment of the present application provides a non-volatile computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as Figure 8 A processor 111 in the embodiment may enable the one or more processors to execute the robot escape method in any of the above method embodiments, for example, executing the above describedFigure 2 Method steps S201 to S204 in; implement Figure 7 the functions of modules 701 - 705 in.

[0139] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] Through the description of the above embodiments, those of ordinary skill in the art can clearly understand that each embodiment can be implemented by means of software plus a general - purpose hardware platform, and of course, it can also be implemented by hardware. Those of ordinary skill in the art can understand that all or part of the processes of implementing the above - described embodiment methods can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer - readable storage medium. When the program is executed, it can include the processes of the above - described method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read - only memory (ROM), or a random access memory (RAM), etc.

[0141] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for a robot to escape from a predicament, characterized in that, the method includes: Recording the historical driving section when the robot drives forward into a narrow environment, including: obtaining the second environmental information in front of the robot, and determining whether there is the narrow environment within a preset distance range according to the second environmental information; if there is the narrow environment, controlling the robot to drive forward into the narrow environment, and recording the driving section when driving forward into and driving in the narrow environment as the historical driving section; When it is detected that the robot cannot move forward in the narrow environment, obtaining the first environmental information behind the robot; Determining the escape position according to the first environmental information and the historical driving section, and planning and outputting a safe path based on the current position and the escape position of the robot, including: determining whether there are obstacles on the driving path according to the first environmental information; if there are no obstacles on the driving path, using a path point of the historical driving section as the escape position; planning and outputting the safe path based on the current position and the escape position of the robot, wherein the safe path is part or all of the historical driving section; Controlling the robot to reverse and drive according to the safe path to escape from the narrow environment.

2. The method according to claim 1, characterized in that, The recording of the driving section when driving forward into and driving in the narrow environment as the historical driving section includes: During the process of driving forward into and driving in the narrow environment, obtaining the road width condition; Determining the historical driving section according to the road width condition and the driving section of the robot.

3. The method according to claim 2, characterized in that, The determining of the historical driving section according to the road width condition and the driving section of the robot includes: Determining a plurality of sampling path points in the driving section; Respectively correcting the plurality of sampling path points according to the road width condition so that each sampling path point is located in the middle part of the road width; Connecting the plurality of sampling path points and performing path smoothing processing to obtain the historical driving section.

4. The method according to claim 1, characterized in that, the method further includes: If there are obstacles on the driving path, determining an escape position in the open area before entering the narrow environment; Planning and outputting the safe path based on the current position and the escape position of the robot.

5. The method according to claim 4, characterized in that, The if there are obstacles on the driving path, determining an escape position in the open area before entering the narrow environment includes: If there are obstacles on the driving path, determining an optional escape position between the obstacle and the current position of the robot; If the optional escape position is located in the narrow environment, determining an escape position in the open area before entering the narrow environment, the optional escape position is used to segment and plan and output the safe path, and the optional escape position is located on the safe path.

6. A robot escape device, It is characterized in that The device comprises: The recording module is used to record the historical driving sections of the robot when it moves forward and enters the narrow environment, including: obtaining the second environment information in front of the robot, and determining whether there is the narrow environment in front within a preset distance range according to the second environment information; if there is the narrow environment, controlling the robot to move forward and enter the narrow environment, and recording the driving sections of the robot when it moves forward and enters and drives in the narrow environment as the historical driving sections; An acquisition module, configured to acquire first environmental information behind the robot if it is detected that the robot cannot move forward in the narrow environment; A planning module, used to determine an escape position according to the first environmental information and the historical driving section, and to plan and output a safe path based on the current position of the robot and the escape position, including: determining whether there is an obstacle on the driving path according to the first environmental information; if there is no obstacle on the driving path, taking a path point of the historical driving section as the escape position; planning and outputting the safe path based on the current position of the robot and the escape position, wherein the safe path is part or all of the historical driving section; The escape module is used to control the robot to travel backward along the safe path to escape from the narrow environment.

7. A robot, It is characterized in that The robot comprises: at least one processor, and A memory, wherein the memory is communicatively connected to the processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the steps of the robot escape method as described in any one of claims 1 to 5.

8. A non-volatile computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a robot, implement the steps of the robot escape method as described in any one of claims 1 to 5.

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