Robot disentanglement method, system, electronic device, and storage medium

Abstract

The application discloses a robot escape method, system, electronic equipment and storage medium, and the method comprises the following steps: after the robot enters an elevator, a first current heading angle of the robot is recorded, and the first current heading angle is recorded as G0; an escape treatment is triggered; a center point of the elevator is calculated, and the robot is controlled to return to the center point of the elevator; the orientation of the robot is rotated, so that the robot faces the elevator door, and a target coordinate for the robot to go out is calculated; the elevator is controlled to reach a predetermined floor, the elevator door is controlled to be opened, and the robot walks out of the elevator. The robot escape method is simple and practical, can complete elevator escape in the case that the positioning and the map of the robot have lost effect, and is suitable for large-area popularization and application.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot manufacturing, and more particularly to a robot escape method, system, electronic device and storage medium. BACKGROUND

[0002] In the process of executing the elevator control, the robot is prone to abnormal displacement inside the elevator, resulting in loss of positioning of the robot inside the elevator car. For example, the robot is moved by a person when taking the elevator, and the robot is in a completely symmetrical environment. At this time, the robot cannot find the position, thereby causing the robot to be stranded. SUMMARY

[0003] An object of the present application is to provide a new technical solution of a robot escape method, system, electronic device and storage medium, which can at least solve the problem that the robot is prone to abnormal displacement inside the elevator, resulting in loss of positioning of the robot inside the elevator car.

[0004] In a first aspect, the present application provides a robot escape method, comprising the following steps:

[0005] After the robot enters the elevator, the current first heading angle of the robot is recorded, and the current first heading angle is denoted as G0;

[0006] Triggering the escape processing;

[0007] Calculating the center point of the elevator and controlling the robot to return to the center point of the elevator;

[0008] Rotating the orientation of the robot so that the robot faces the elevator door, and calculating the destination coordinates of the robot going out;

[0009] Controlling the elevator to reach a predetermined floor, and controlling the elevator door to open, and the robot to walk out of the elevator.

[0010] Optionally, the step of calculating the center point of the elevator and controlling the robot to return to the center point of the elevator comprises:

[0011] Obtaining a first laser point cloud of the current position of the robot, denoted as point cloud A;

[0012] Rotating the robot in place and obtaining a second laser point cloud of the rotated position, denoted as point cloud B;

[0013] Rotating and transforming the point cloud A to obtain a third laser point cloud, denoted as point cloud C;

[0014] According to the point cloud B and the point cloud C, calculating the center point P inside the elevator car relative to the laser origin;

[0015] Controlling the robot to return to the elevator center point.

[0016] Optionally, the rotation angle of the robot is 180°, and the rotation angle of the point cloud A rotation transformation is 180°.

[0017] Optionally, the point cloud A contains n laser point coordinates, wherein, the point cloud B contains n laser point coordinates, wherein, the coordinates of the point cloud C obtained after the point cloud A rotation transformation are (X , ), wherein,

[0018] ,

[0019] ,

[0020] ,

[0021] .

[0022] Optionally, according to the point cloud B and the point cloud C, the coordinates of the center point P in the elevator car relative to the laser origin are (X p , Y p ), wherein the calculation formula of X p in the coordinates of the center point P is:

[0023] ,

[0024] the calculation formula of Y p in the coordinates of the center point P is:

[0025] .

[0026] Optionally, the calculation formula for controlling the robot to return to the elevator center point is:

[0027] ,

[0028] ,

[0029] ,

[0030] wherein, V l is the linear velocity of the control issued, V a is the angular velocity of the control issued, k is an error coefficient, x g is the current coordinates xwith X p the difference between the current coordinate y and y g the difference between the current coordinate y and Y p the difference between the current coordinate y and G is the current heading angle.

[0031] Optionally, the step of rotating the orientation of the robot comprises: rotating the first heading angle of the robot by 180° to obtain a second heading angle, and the second heading angle is denoted as G1.

[0032] In a second aspect of the present application, a robot escape system is provided, which is applied to the robot escape method described in the above embodiments, and the system comprises:

[0033] A recording module is configured to record a first heading angle of the robot when the robot enters the elevator, and the first heading angle is denoted as G0.

[0034] A triggering module is configured to trigger an escape process.

[0035] A first calculation module is configured to calculate a center point of the elevator and control the robot to return to the center point of the elevator.

[0036] A second calculation module is configured to calculate a target coordinate of the robot after rotating the orientation of the robot.

[0037] A control module is configured to control the elevator to reach a predetermined floor and control the elevator door to open, so that the robot walks out of the elevator.

[0038] In a third aspect of the present application, an electronic device is provided, which comprises a processor and a memory, and computer program instructions are stored in the memory, wherein when the computer program instructions are run by the processor, the processor is caused to execute the steps of the robot escape method described in the above embodiments.

[0039] In a fourth aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and when the computer program is run by a processor, the processor is caused to execute the steps of the robot escape method described in the above embodiments.

[0040] The robot escape method can record the first heading angle of the robot, trigger the escape processing, control the robot to return to the elevator center point by calculating the elevator center point, and calculate the target coordinate of the robot going out, so as to ensure that the robot can walk out of the elevator and complete the escape. The robot escape method is simple and practical, can complete the elevator escape when the positioning and map of the robot have lost effect, and is suitable for large-area popularization and application.

[0041] Other features of the present application, and their advantages, will become apparent from the following detailed description of illustrative embodiments of the present application, with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0043] Figure 1 is a flowchart of a robot escape method according to an embodiment of the present application

[0044] Figure 2 is a schematic diagram of an electronic device according to an embodiment of the present application.

[0045] Reference Signs:

[0046] a processor 201;

[0047] a memory 202; an operating system 2021; an application program 2022;

[0048] a network interface 203;

[0049] an input device 204;

[0050] a hard disk 205;

[0051] a display device 206. DETAILED DESCRIPTION

[0052] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in these embodiments, numerical expressions, and numerical values, unless specifically stated otherwise, do not limit the scope of the present application.

[0053] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0054] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0055] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0056] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0057] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0058] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0059] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] The robot escape method according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0061] like Figure 1 As shown, the robot escape method according to an embodiment of the present invention includes the following steps:

[0062] S1. After the robot enters the elevator, record the robot's current first heading angle, which is denoted as G0.

[0063] S2, trigger the escape procedure;

[0064] S3, calculating the elevator center point, controlling the robot to return to the elevator center point;

[0065] S4, rotating the orientation of the robot so that the robot faces the elevator door, and calculating the destination coordinates of the robot going out;

[0066] S5, controlling the elevator to reach the predetermined floor, and controlling the elevator door to open, and the robot to walk out of the elevator.

[0067] In other words, referring to Figure 1 In the robot escape method of the embodiment of the application, first, after the robot enters the elevator, the current first heading angle of the robot can be recorded, and the current first heading angle is recorded as G0. Then, in the case of abnormal displacement of the robot, the escape processing is triggered. The case of abnormal displacement of the robot can be that the robot is moved by a person when taking the elevator, etc. At this time, the positioning and map of the robot have been lost, and the corresponding point cloud can be obtained according to the laser point cloud device, the elevator center point is calculated, and the robot is controlled to return to the elevator center point. Then, the orientation of the robot can be rotated so that the robot faces the elevator door, and the destination coordinates of the robot going out are calculated. Finally, the elevator is controlled to reach the predetermined floor, and the elevator door is controlled to open, and the robot walks out of the elevator to realize escape.

[0068] Therefore, according to the robot escape method of the embodiment of the application, the first heading angle of the robot can be recorded, and the escape processing is triggered, the elevator center point is calculated, the robot is controlled to return to the elevator center point, and the destination coordinates of the robot going out are calculated, so that the robot can walk out of the elevator and complete escape. The robot escape method is simple and practical, can complete elevator escape in the case that the positioning and map of the robot have lost effect, and is suitable for large-area popularization and application.

[0069] According to an embodiment of the application, the step of calculating the elevator center point and controlling the robot to return to the elevator center point comprises:

[0070] Obtaining a first laser point cloud of the current position of the robot, and the first laser point cloud is recorded as point cloud A;

[0071] Rotating the robot in place and obtaining a second laser point cloud of the rotated position, recorded as point cloud B;

[0072] Rotating and transforming the point cloud A to obtain a third laser point cloud, recorded as point cloud C;

[0073] According to the point cloud B and the point cloud C, calculating the center point P in the elevator car body relative to the laser origin point;

[0074] Controlling the robot to return to the elevator center point.

[0075] That is, in the process of calculating the elevator center point and controlling the robot to return to the elevator center point, first, a first laser point cloud of the current position of the robot can be obtained through laser point cloud setting, and the first laser point cloud is recorded as point cloud A. Then, the robot can be rotated in place, and the rotation angle of the robot rotated in place can be 180°, and a second laser point cloud of the position after rotation is obtained, recorded as point cloud B. Next, point cloud A can be rotated to the left, and the rotation angle of point cloud A can be 180°, to obtain a third laser point cloud, recorded as point cloud C. Finally, the center point P in the elevator car body relative to the laser origin can be calculated according to point cloud B and point cloud C, and the robot is controlled to return to the elevator center point.

[0076] In the robot escape method of the application, point cloud A contains n laser point coordinates, wherein, Point cloud B contains n laser point coordinates, wherein, The coordinates of point cloud C obtained after rotating point cloud A are (x , ), wherein,

[0077] ,

[0078] ,

[0079] ,

[0080] .

[0081] According to point cloud B and point cloud C, the coordinates of the center point P in the elevator car body relative to the laser origin can be calculated as (X p , Y p ), wherein the calculation formula of X p in the coordinates of the center point P is:

[0082] ,

[0083] The calculation formula of Y p in the coordinates of the center point P is:

[0084] .

[0085] According to one embodiment of the application, the following motion control algorithm can be used to calculate the linear velocity and angular velocity commands. The calculation formula for controlling the robot to return to the elevator center point is:

[0086]

[0087] , ,

[0088] ,

[0089] wherein, V l is a linear speed of the control, V a is an angular speed of the control, k is an error coefficient, x g is a current coordinate x and X p is a difference, y g is a difference between a current coordinate y and Y p is a difference, G is a current heading angle.

[0090] According to one embodiment of the present application, in the process of rotating the orientation of the robot, a first heading angle of the robot is rotated 180° to obtain a second heading angle, which is denoted as G1. A target point P1 (D, 0) relative to the laser origin is set, wherein D is a distance value set according to the actual environment. Then, the elevator is controlled to reach a specific floor, and the elevator door is opened. Finally, the robot is controlled to reach P1 by using the above control algorithm, and the escape is completed. The present application can be used to complete the elevator escape in the special environment of the elevator, where the positioning and the map of the robot have lost their effects, and the walls are almost the same. At this time, the robot can escape by relying on the laser and by using the above robot escape method.

[0091] In summary, the robot escape method according to the embodiment of the present application can record a first heading angle of the robot, trigger an escape process, calculate a center point of the elevator, control the robot to return to the center point of the elevator, and calculate a target coordinate of the robot to go out, so as to ensure that the robot can go out of the elevator and complete the escape. The robot escape method is simple and practical, can complete the elevator escape in the case where the positioning and the map of the robot have lost their effects, and is suitable for large-area popularization and application.

[0092] According to a second aspect of the present application, a robot escape system is provided, which is applied to the robot escape method in the above embodiment. The system comprises a recording module, a triggering module, a first calculation module, a second calculation module and a control module. The recording module is used to record a first heading angle of the robot after the robot enters the elevator, and the current first heading angle is denoted as G0. The triggering module is used to trigger an escape process. The first calculation module is used to calculate a center point of the elevator and control the robot to return to the center point of the elevator. The second calculation module is used to calculate a target coordinate of the robot to go out after rotating the orientation of the robot. The control module is used to control the elevator to reach a predetermined floor and control the elevator door to open, so that the robot can go out of the elevator.

[0093] The robot escape system according to the embodiment of the present application can record the first heading angle of the robot, trigger the escape process, control the robot to return to the center point of the elevator by calculating the center point of the elevator, and calculate the target coordinate of the robot to ensure that the robot can walk out of the elevator and complete the escape. The robot escape method is simple and practical, can complete the elevator escape when the positioning and map of the robot have lost effect, and is suitable for large-area popularization and application.

[0094] According to the third aspect of the present application, an electronic device is further provided, comprising a processor 201 and a memory 202, and the memory 202 stores computer program instructions, wherein when the computer program instructions are run by the processor 201, the processor 201 executes the steps of the robot escape method in the above embodiment.

[0095] Further, as shown in Figure 2 The electronic device further comprises a network interface 203, an input device 204, a hard disk 205, and a display device 206.

[0096] The various interfaces and devices can be interconnected through a bus architecture. The bus architecture can include any number of interconnected buses and bridges. Various circuits represented by one or more central processing units 201 (CPUs) and one or more memories 202 are connected together. The bus architecture can also connect various other circuits such as peripheral devices, voltage stabilizers, and power management circuits. It can be understood that the bus architecture is used to realize the connection and communication between these components. The bus architecture includes a data bus, a power bus, a control bus, and a status signal bus, which are well known in the art, and therefore will not be described in detail herein.

[0097] The network interface 203 can be connected to a network (such as the Internet, a local area network, etc.), obtain relevant data from the network, and can be saved in the hard disk 205.

[0098] The input device 204 can receive various instructions input by an operator and send them to the processor 201 for execution. The input device 204 can include a keyboard or a pointing device (e.g., a mouse, a trackball, a touchpad, or a touch screen, etc.).

[0099] The display device 206 can display the results obtained by the processor 201 executing the instructions.

[0100] The memory 202 is used to store programs and data necessary for the operation of the operating system 2021, and intermediate results and other data in the calculation process of the processor 201.

[0101] It is to be understood that the memory 202 in embodiments of this application can be volatile or nonvolatile memory, or can include both volatile and nonvolatile memory. In this regard, the nonvolatile memory can be read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as external cache. The memory 202 of the apparatus and method described herein is intended to include, but not be limited to, these and any other suitable types of memory 202.

[0102] In some embodiments, the memory 202 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof: an operating system 2021 and an application program 2022.

[0103] The operating system 2021 contains various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application program 2022 contains various application programs 2022, such as a browser (Browser), etc., for implementing various application services. The program for implementing the method of the embodiments of this application can be contained in the application program 2022.

[0104] The processor 201 described above, when invoking and executing the application program 2022 and the data stored in the memory 202, specifically, the program or instruction stored in the application program 2022, executes the steps of the robot escape method according to the above embodiments.

[0105] The method disclosed in the above embodiments of the present application can be applied to the processor 201 or implemented by the processor 201. The processor 201 can be an integrated circuit chip having a signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit or an instruction in the form of software in the processor 201. The processor 201 described above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application. The general processor can be a microprocessor or the processor 201 can also be any conventional processor 201 and the like. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware coding processor for execution, or a combination of hardware and software modules in the coding processor. The software module can be located in a storage medium in the art such as random access memory (RAM), a flash memory, a read only memory (ROM), a programmable read-only memory (PROM), an electrically programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register, or a remote server. The storage medium is located in the memory 202, and the processor 201 reads information in the memory 202 and combines hardware to complete the steps of the above method.

[0106] It can be understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing units can be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

[0107] For software implementation, the techniques can be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes can be stored in the memory 202 and executed by the processor 201. The memory 202 can be implemented within the processor 201 or external to the processor 201.

[0108] In particular, the processor 201 is further configured to read a computer program and execute the following steps: predicting and outputting an answer to a question asked by a user in a pile charging method.

[0109] The fourth aspect of the embodiments of the present application also provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is run by the processor 201, so that the processor 201 executes the steps of the robot escape method of the above embodiments.

[0110] In several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other manners. For example, the embodiments of the device described above are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0111] In addition, each function unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can be a separate physical unit, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software function units.

[0112] The integrated unit implemented in the form of software function units can be stored in a computer readable storage medium. The software function unit stored in the storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute part of the steps of the method for receiving and transmitting according to the embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0113] Although some specific embodiments of the present application have been described in detail by examples, those skilled in the art should understand that the above examples are only for illustration, and are not intended to limit the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A method of robot disentanglement, the method comprising: The method comprises the following steps: After the robot enters the elevator, record the current first heading angle of the robot, and the current first heading angle is recorded as G0; Trigger the escape processing; acquiring a first laser point cloud of a current position of the robot, denoted as point cloud A, the point cloud A containing n laser point coordinates, wherein, ; rotating the robot 180° in place and obtaining a second laser point cloud of the rotated position, denoted as point cloud B, the point cloud B containing n laser point coordinates, wherein, ; The point cloud A is rotated by 180° to obtain a third laser point cloud, denoted as point cloud C, and the coordinates of the point cloud C are , ), wherein, , , , ; Based on the point cloud B and the point cloud C, coordinates of a center point P inside the elevator car body relative to a laser origin are calculated as (X p , Y p ), wherein, ， ， Control the robot to return to the elevator center point P, and the calculation formula for controlling the robot to return to the elevator center point P is: ， ， wherein, V l is a linear velocity for the control to be issued, V a is an angular velocity for the control to be issued, k is an error coefficient, x g is a current coordinate x and X p is a difference between y g is a difference between a current coordinate y and Y p is a difference between G is a current heading angle; Rotate the current first heading angle of the robot by 180° to obtain a second heading angle, and the second heading angle is recorded as G1, so that the robot faces the elevator door, and calculate the target coordinate of the robot going out; Control the elevator to reach the predetermined floor, and control the elevator door to open, and the robot walks out of the elevator.

2. A robot escape system applied to the robot escape method of claim 1, characterized in that, The system comprises: A recording module, which is used to record the current first heading angle of the robot after the robot enters the elevator, and the current first heading angle is recorded as G0; A triggering module, which is used to trigger the escape processing; A first computing module is configured to acquire a first laser point cloud of a current position of the robot, denoted as point cloud A, the point cloud A containing n laser point coordinates, wherein, ; control the robot to rotate 180° in place and acquire a second laser point cloud of the rotated position, denoted as point cloud B, the point cloud B containing n laser point coordinates, wherein, ; transform the point cloud A by 180° rotation to obtain a third laser point cloud, denoted as point cloud C, the coordinates of the point cloud C being ( , ), wherein, , , , ; according to the point cloud B and the point cloud C, the coordinates of a center point P in the elevator car body relative to a laser origin are calculated as (X p , Y p ), wherein, ， ， Control the robot to return to the elevator center point P, and the calculation formula for controlling the robot to return to the elevator center point P is: ， ， in, V l To control the linear velocity, V a To send the angular velocity for control, k The error coefficient, x g Current coordinates x and X p The difference, y g For the current coordinate y and Y p The difference, G The current heading angle; A second calculating module is configured to rotate the first heading angle of the robot by 180 degrees to obtain a second heading angle, denoted as G 1， The robot is made to face the elevator door, and the destination coordinates of the robot going out are calculated. A control module, which is used to control the elevator to reach the predetermined floor, and control the elevator door to open, and the robot walks out of the elevator.

3. An electronic device, comprising: Comprise: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are run by the processor, the processor executes the steps of the robot escape method of claim 1.

4. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and when the computer program is run by the processor, the processor executes the steps of the robot escape method of claim 1.

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