Robot wake-up method, robot, and storage medium

Abstract

The application discloses a robot wake-up method, a robot and a storage medium, and belongs to the technical field of robots. The method comprises the following steps: when a robot is in a standby mode, if a pressure signal is detected in a target area of the robot, the robot is controlled to enter a working mode; and the robot is controlled to move away from an initial position, wherein the initial position is a position of the robot when the pressure signal is detected. The application aims to ensure the safety of the robot when the robot encounters an accident in the standby mode, and improve the safety of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot wake-up method, a robot, and a storage medium. Background Technology

[0002] As a representative of emerging technologies, robotics is being applied more and more widely as its technology improves. Current robots are generally designed with working modes, standby modes, and power-off modes, enabling them to intelligently switch between the corresponding modes according to the actual working conditions.

[0003] Considering the potential for accidents to occur during operation, current technologies include methods to avoid such accidents or hazards. However, these methods are generally applied to the robot's operating mode and do not address safety issues when the robot is in standby mode. When a robot encounters an accident in standby mode, it cannot respond appropriately or avoid the accident and can only passively accept its impact, thus compromising its safety. Summary of the Invention

[0004] The main objective of this invention is to provide a robot wake-up method, a robot, and a storage medium, which aims to ensure the safety of the robot in the event of an accident in standby mode and improve the robot's safety.

[0005] To achieve the above objectives, the present invention provides a robot wake-up method, which includes the following steps:

[0006] The robot is in standby mode. When a pressure signal is detected in the target area of ​​the robot, the robot is controlled to enter working mode.

[0007] The robot is controlled to move away from its initial position, which is the position the robot was in when it detected the pressure signal.

[0008] Optionally, when the robot is in standby mode, the step of controlling the robot to enter working mode when a pressure signal is detected in the target area of ​​the robot includes:

[0009] The robot is electrically connected to the charging station, and when the robot is charging, it is in standby mode.

[0010] Detect whether there is a pressure signal in the charging module area of ​​the robot, wherein the target area includes the charging module area;

[0011] If the force applied to the charging module area of ​​the robot by the charging pile is greater than or equal to the preset force, then it is determined that the pressure signal exists in the charging module area of ​​the robot, and the robot is controlled to enter the working mode.

[0012] If the force exerted on the charging module area of ​​the robot by the charging pile is less than the preset force, then it is determined that the pressure signal does not exist in the charging module area of ​​the robot.

[0013] Optionally, the step of controlling the robot away from its initial position includes:

[0014] When the charging pile applies a force to the charging module area to propel the robot a first preset distance to a first safe position, the robot is controlled to leave the first safe position and reach a second safe position, so that the robot is far away from the initial position.

[0015] Optionally, the step of controlling the robot to leave the first safe position and reach the second safe position, so as to move the robot away from the initial position, includes:

[0016] Obtain an environment map;

[0017] Determine the escape direction based on the location of the charging station on the environmental map;

[0018] The second safe location is determined in the escape direction, and an escape path from the first safe location to the second safe location is planned and output based on the environmental map and the first safe location;

[0019] The robot is controlled to travel along the escape path so that it reaches the second safe location.

[0020] Optionally, when the robot is in standby mode, the step of controlling the robot to enter working mode when a pressure signal is detected in the target area of ​​the robot includes:

[0021] When the robot is not performing a task, the robot is in the standby mode;

[0022] When a pressure signal is detected in a preset body area of ​​the robot, the robot is controlled to enter the working mode, and the target area includes the preset body area.

[0023] Optionally, the step of controlling the robot to enter the working mode includes:

[0024] The robot is controlled to rotate in place and collect current environmental information;

[0025] The robot's positioning information is determined based on the current environmental information;

[0026] The step of controlling the robot away from its initial position includes:

[0027] The robot is controlled to move away from the initial position based on the positioning information.

[0028] Optionally, the step of controlling the robot to move away from the initial position based on the positioning information includes:

[0029] Determine the direction of force on the robot corresponding to the pressure signal;

[0030] The direction of movement of the robot is determined based on the direction of the force applied.

[0031] Control the robot to move a second preset distance from its current position along the direction of movement.

[0032] Optionally, the step of controlling the robot away from its initial position includes:

[0033] Obtain the current position of the robot;

[0034] When the current position does not match the initial position, the direction from the initial position to the current position is determined as the robot's movement direction;

[0035] Control the robot to move a third preset distance from its current position along the direction of movement.

[0036] In addition, to achieve the above objectives, this application also proposes a robot comprising: a memory, a processor, and a robot wake-up program stored in the memory and executable on the processor, the robot wake-up program being configured to implement the steps of the robot wake-up method as described in any of the preceding claims.

[0037] In addition, to achieve the above objectives, this application also proposes a storage medium storing a robot wake-up program, which, when executed by a processor, implements the steps of the robot wake-up method as described in any of the preceding claims.

[0038] This invention proposes a robot wake-up method. When the robot is in standby mode, the method detects the presence of pressure signals on a target area of ​​the robot. When a pressure signal is detected, it indicates that an object outside the robot is contacting and applying pressure to the target area. Therefore, the robot is woken up from standby mode and put into working mode. Then, the robot is controlled to move away from its initial position, which was the position where the pressure signal was detected. Compared to current methods where robots in standby mode can only passively accept the impact of unexpected events, this invention, by detecting the presence of pressure signals on a target area of ​​the robot in standby mode, can promptly identify unexpected situations when external objects push or collide with the robot, and wake it up from standby mode. After waking up, the robot can utilize its functional modules in working mode to take targeted actions, moving away from the position where the pressure signal was detected, thereby ensuring the robot's safety in case of unexpected events in standby mode and improving robot safety. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the hardware structure involved in the operation of an embodiment of the robot of the present invention;

[0040] Figure 2 This is a flowchart illustrating an embodiment of the robot wake-up method of the present invention;

[0041] Figure 3 This is a flowchart illustrating another embodiment of the robot wake-up method of the present invention;

[0042] Figure 4 This is a flowchart illustrating another embodiment of the robot wake-up method of the present invention;

[0043] Figure 5 This is a flowchart illustrating another embodiment of the robot wake-up method of the present invention.

[0044] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0046] This invention provides a robot. For example... Figure 1As shown, the robot may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0047] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the robot. The robot may also include functional modules for achieving other functions, including more or fewer parts than shown, or combinations of certain parts, or different arrangements of parts.

[0048] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include a robot wake-up program. Figure 1 In the robot shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 can be used to call the robot wake-up program stored in the memory 1005 and execute the steps of the robot wake-up method provided in the embodiments of the present invention.

[0049] This invention also provides a robot wake-up method, applied to the aforementioned robot.

[0050] Reference Figure 2 This application proposes an embodiment of a robot wake-up method. In this embodiment, the robot wake-up method includes the following steps:

[0051] Step S10: The robot is in standby mode. When a pressure signal is detected in the target area of ​​the robot, the robot is controlled to enter working mode.

[0052] In this embodiment, the robot's operating state is divided into three modes: working mode, standby mode, and power-off mode. Working mode is used when the robot is performing a task. In working mode, most of the robot's functional modules are constantly running to meet various needs that may arise during the task, or all functional modules are active. Standby mode is used when the robot is waiting for the next task to be assigned (equivalent to not performing a task) or is in a charging state. In this case, some functional modules are turned off to reduce the robot's energy consumption. Power-off mode is used when the robot stops running. In other embodiments, the robot may include other operating states besides working mode, standby mode, and power-off mode, such as hibernation mode, or operating states of the same type as working mode, standby mode, or power-off mode.

[0053] Furthermore, to distinguish the specific structure of the robot, a robot is defined as having a host computer and a slave computer. The host computer is mainly used to perform the actions required by the task or to provide a human-machine interaction interface, while the slave computer is mainly used for the robot's navigation, positioning, and movement. In other embodiments, the robot may also include structures other than the host computer and slave computer, or other similar structures.

[0054] It should be noted that in standby mode, the robot may be waiting for the next task to be assigned or in a charging state, and it does not need to perform positioning and navigation according to the task being performed. Therefore, the robot's navigation module is also turned off in standby mode.

[0055] Furthermore, the target area is the region on the robot's shell that may come into contact with other objects. The specific location can be determined by the operator based on the robot's shape and is not limited here. Additionally, the robot is equipped with pressure sensors to detect the presence of pressure signals in the target area, i.e., to detect whether the target area has been pushed or collided with by other objects, thus creating a mechanical pressure signal.

[0056] Optionally, when the robot is in standby mode, the pressure sensor remains on, continuously detecting the presence of pressure signals in the target area. This allows the robot to continue detecting whether other objects are pushing or colliding with it even in standby mode. When the pressure sensor detects a pressure signal in the target area, the robot is awakened, switching from standby mode back to working mode and activating the relevant functional modules, including the navigation module.

[0057] Step S20: Control the robot to move away from the initial position, which is the position where the robot was when it detected the pressure signal.

[0058] When the robot is in working mode, the navigation module is activated, enabling the robot to determine its position and direction, thus allowing it to move away from its initial position.

[0059] Optionally, since the robot detects a pressure signal at the initial position, it can be inferred that if the robot continues to remain at the initial position, there is a risk of further collision or other dangers. Therefore, the robot can be controlled to move away from the initial position to avoid possible accidents.

[0060] This invention proposes a robot wake-up method. When the robot is in standby mode, the method detects the presence of a pressure signal on a target area of ​​the robot. When a pressure signal is detected, it indicates that an object outside the robot is contacting and applying pressure to the target area. Therefore, the robot is woken up from standby mode and put into working mode. Then, the robot is controlled to move away from its initial position, which was the position where the pressure signal was detected. Compared to current methods where robots in standby mode can only passively accept the impact of unexpected events, this invention, by detecting the presence of a pressure signal on a target area of ​​the robot in standby mode, can promptly identify unexpected situations when an external object pushes or collides with the robot, and wake it up from standby mode. After waking up, the robot can utilize its functional modules in working mode to take targeted actions, moving away from the position where the pressure signal was detected, thereby ensuring the robot's safety when encountering unexpected events in standby mode and improving robot safety.

[0061] Furthermore, based on the above embodiments, another embodiment of the robot wake-up method of this application is proposed. In this embodiment, reference is made to... Figure 3 Step S10, where the robot is in standby mode, and when a pressure signal is detected in the target area of ​​the robot, the step of controlling the robot to enter working mode includes:

[0062] Step S11: The robot is electrically connected to the charging pile. When the robot is charging, it is in standby mode.

[0063] Considering the risk of unexpected situations occurring while the robot is charging, such as charging station malfunctions (including fires, short circuits, or explosions), this embodiment is proposed for scenarios where the robot is charging in standby mode. After the robot docks with the charging station, the robot is electrically connected to the charging station and begins charging. While the robot is charging, it is in standby mode.

[0064] Step S12: Detect whether there is a pressure signal in the charging module area of ​​the robot, where the target area includes the charging module area.

[0065] Optionally, the charging station itself is also designed with contingency plans for unexpected situations. When charging the robot, the charging station can detect whether the equipment itself is operating normally and whether dangerous situations such as fire, short circuit or explosion have occurred. When a dangerous situation is detected, the charging station can issue a warning action to prompt the robot, that is, use the charging electrodes or other components connected to the robot to push the robot out. The charging station actively disconnects the electrical connection with the robot and pushes the robot away. In this embodiment, the pressure signal corresponds to the pressure applied by the charging station to push the robot out when it detects a dangerous situation.

[0066] During robot charging, the charging interface connected to the charging electrodes of the charging station, and the area within a preset range of the charging interface, such as the edge area of ​​the charging interface, constitute the charging module area. When the charging station pushes the robot out, the pressure of the pushing action is applied to the charging module area to push the robot out. In addition, a pressure sensor is provided to detect whether there is a pressure signal in the charging module area.

[0067] Step S13: If the force applied to the charging module area of ​​the robot by the charging pile is greater than or equal to the preset force, then it is determined that the pressure signal exists in the charging module area of ​​the robot, and the robot is controlled to enter the working mode.

[0068] To prevent the robot from being woken up by a slight accidental touch, a preset force is set as a threshold. Only when the force corresponding to the detected pressure signal is greater than or equal to the preset force can it be determined that the force is applied to the charging module area of ​​the robot by the charging pile, thus waking the robot up and putting it into working mode. The preset force can be determined through multiple experiments by the staff.

[0069] Step S14: If the force applied to the charging module area of ​​the robot by the charging pile is less than the preset force, then it is determined that the pressure signal does not exist in the charging module area of ​​the robot.

[0070] If the force corresponding to the detected pressure signal is less than the preset force, it is determined that the force is a false trigger, and the robot continues to maintain electrical connection with the charging station for charging.

[0071] When the robot is charging in standby mode, it can detect whether the charging station has detected a fault and issue a warning action by detecting whether there is a pressure signal in the charging module area. The robot can then wake up in time and take subsequent actions to avoid accidents during charging, thereby improving the robot's safety.

[0072] Furthermore, in this embodiment, step S20, controlling the robot to move away from the initial position, where the initial position is the position of the robot when the pressure signal is detected, includes:

[0073] When the charging pile applies a force to the charging module area to propel the robot a first preset distance to a first safe position, the robot is controlled to leave the first safe position and reach a second safe position, so that the robot is far away from the initial position.

[0074] In this embodiment, the initial position is the position where the robot can be electrically connected to the charging station and charge. The first preset distance is the distance at which it can be determined that the robot has left the charging station, for example, 20 centimeters. The position where the robot has left the charging station at the first preset distance is the first safe position. The second safe position is a safe position point pre-recorded on the environmental map, generally set at a location far away from the charging area. After determining that it has reached the first safe position, the robot can further determine the second safe position far away from the initial position.

[0075] Optionally, considering extreme situations outside the charging station that could lead to a fire, the second safe location is a location that can ensure the robot's safe stay, such as another safe room on the floor where the charging station is located, or a room on another safe floor of the building where the charging station is located, separated from the location of the charging station by a fireproof wall.

[0076] Optionally, when the charging station pushes out the robot, the pushing action causes the robot to leave the charging station and move a first preset distance in the direction of the push. The robot is then ejected to a first safe position due to this pushing action, and is awakened to enter working mode, confirming that it has now left the charging station. A second safe position is then determined, and the robot is controlled to move to the second safe position, away from the initial position.

[0077] Setting a first preset distance for the robot to exit the charging station ensures it reaches a first safe position, guaranteeing complete detachment and improving safety during disengagement. Once detachment is confirmed, the restarted navigation module uses a second safe position, based on preset records, as the robot's safe resting point. The robot then moves to this second safe position, further distancing itself from the charging station and enhancing overall safety.

[0078] Furthermore, in this embodiment, the step of controlling the robot to leave the first safe position and reach the second safe position, so as to move the robot away from the initial position, includes:

[0079] Obtain an environment map;

[0080] Determine the escape direction based on the location of the charging station on the environmental map;

[0081] The second safe location is determined in the escape direction, and an escape path from the first safe location to the second safe location is planned and output based on the environmental map and the first safe location;

[0082] The robot is controlled to travel along the escape path so that it reaches the second safe location.

[0083] The robot uses Simultaneous Localization and Mapping (SLAM) technology to build maps and navigate. The environmental map includes grid maps and semantic maps. The environmental map provides map information about the area where the robot is currently located, including information such as traversable areas and obstacle areas.

[0084] Optionally, the robot's escape direction is determined based on the location of the charging pile on the environmental map. Then, a safe location point on the escape direction is selected as the second safe location based on the environmental map. An escape path is planned and output from the current first safe location to the second safe location, avoiding obstacles. The escape path is located in a passable area on the environmental map. This operation is mainly implemented based on the navigation module restarted in the working mode. According to the escape path, the robot can safely travel from the first safe location to the second safe location.

[0085] In other embodiments, after being pushed out of a charging station, the robot can also upload its initial location (i.e., the location of the corresponding charging station) to the server's map information for warning purposes and update the environmental map. The server will then share the updated environmental map. The robot can obtain the latest environmental map marked with faulty charging stations from the server; while obtaining the latest environmental map from the server, the robot can also obtain warning information (the location of the faulty charging station) uploaded by other robots, and use those warning locations as locations to be avoided when planning its escape route.

[0086] By generating escape paths, the robot plans its route from the first safe position to the second safe position, creating a safe movement route and preventing the robot from encountering other unexpected situations during the movement, thus improving the robot's safety.

[0087] Furthermore, based on the above embodiments, another embodiment of the robot wake-up method of this application is proposed. In this embodiment, reference is made to... Figure 4 Step S10, where the robot is in standby mode, and when a pressure signal is detected in the target area of ​​the robot, the step of controlling the robot to enter working mode includes:

[0088] Step S15: When the robot is in a state of not performing a task, the robot is in the standby mode.

[0089] When the robot finishes its task and there is no next task to be performed, it returns to the preset waiting point to enter the standby mode when no task is being performed. The robot is also in standby mode when no task is being performed.

[0090] Step S16: When a pressure signal is detected in a preset body area of ​​the robot, the robot is controlled to enter the working mode, and the target area includes the preset body area.

[0091] The preset body area is the area on the robot body that is prone to collision, or the area that will be touched first when a collision occurs, such as the front shell, rear shell, or side shell in the direction of movement. The specific location can be set by the staff according to the specific shape of the robot, and is not limited here.

[0092] In this scenario, the main potential accident the robot might encounter is a collision with other objects, and the pressure signal corresponds to the force experienced by the robot when it collides with another object. Additionally, the scenario in this embodiment could also be a warning collision to alert the robot to avoid it, or a worker pushing the robot away in advance to prevent collisions with other objects; in this case, the pressure signal corresponds to the pressure applied by the worker when pushing the robot away.

[0093] By detecting whether there is a pressure signal in a preset area of ​​the robot body when it is in standby mode and not performing a task, it is possible to determine whether the robot has collided with other objects, experienced a warning collision, or been pushed by staff. The robot can be woken up in time to respond appropriately to the collision, warning collision, or staff pushing, thereby avoiding further accidents and improving the robot's safety.

[0094] Furthermore, in this embodiment, the step of controlling the robot to enter the working mode includes:

[0095] The robot is controlled to rotate in place and collect current environmental information;

[0096] The robot's positioning information is determined based on the current environmental information.

[0097] Step S20, controlling the robot to move away from the initial position, where the initial position is the position of the robot when the pressure signal is detected, includes:

[0098] The robot is controlled to move away from the initial position based on the positioning information.

[0099] The robot is also equipped with sensors that can detect environmental information, such as depth cameras or laser sensors. The robot rotates in place and collects current environmental information through its sensors. The robot's positioning information, including its current position, can be determined based on the collected environmental information.

[0100] In conjunction with the above description of this embodiment, when the robot is awakened due to the detection of a pressure signal in a preset body area, the corresponding scenario may be a collision with other objects, a prompt collision, or being pushed by a staff member. These situations will cause the robot to deviate from its original position. Since the robot is in standby mode when the deviation occurs, it is easy for the robot to lose its current position. Therefore, after the robot is awakened, it is necessary to re-determine its positioning information (current position) in order to move away from the initial position according to the positioning information.

[0101] In other embodiments, the sensors configured on the robot may also include thermal sensors, which can detect whether there are dangerous heat sources near the robot based on the collected current environmental information, so as to avoid colliding with the dangerous heat source and avoid other dangers in the environment when the robot moves away from the initial position.

[0102] By controlling the robot to collect current environmental information to determine its positioning information, it is possible to ensure that the robot does not lose its current position after being awakened, thereby improving its accuracy when it moves away from the initial position and enhancing the robot's safety.

[0103] Furthermore, in this embodiment, the step of controlling the robot to move away from the initial position based on the positioning information includes:

[0104] Determine the direction of force on the robot corresponding to the pressure signal;

[0105] The direction of movement of the robot is determined based on the direction of the force applied.

[0106] Control the robot to move a second preset distance from its current position along the direction of movement.

[0107] In addition to detecting the presence of a pressure signal, the pressure sensor can also determine the direction of the force corresponding to the pressure signal. The direction of the force indicates from which other objects or personnel come into contact with the robot and apply pressure. The robot's movement direction is determined based on the direction of the force. Generally, the direction of the force and the direction of movement are the same, thus avoiding collisions with other objects head-on, providing warning collisions, or responding to the push of personnel. In other embodiments, the movement direction can also be corrected based on the current environmental information. In this case, the corrected movement direction is different from the direction of the force.

[0108] Optionally, if the preset body area of ​​the robot is subjected to an externally applied force greater than or equal to the preset force, it is determined that there is a pressure signal in the preset body area of ​​the robot, and the robot is controlled to enter the working mode; if the preset body area of ​​the robot is subjected to an externally applied force less than the preset force, it is determined that there is no pressure signal in the preset body area of ​​the robot.

[0109] The second preset distance is a set avoidance distance, such as 0.5 meters. The robot moves the second preset distance from its current position along the direction of movement, which is equivalent to avoiding a collision by the second preset distance from its current position in the direction of movement.

[0110] By determining the direction of force corresponding to the pressure signal, and using this direction to determine the robot's movement direction when moving away from the initial position, it can be ensured that the movement direction is chosen in response to the cause of the pressure signal, rather than a predetermined direction, thus improving the robot's movement safety when moving away from the initial position. Simultaneously, controlling the robot to move a second predetermined distance along the movement direction allows the robot to avoid collisions head-on or, in the event of a friendly push by a worker, avoid a position within the second predetermined distance, further enhancing the robot's safety.

[0111] It should be noted that in this embodiment, the step of collecting current environmental information to determine positioning information is used to determine the robot's current position, while determining the force direction and movement direction based on the pressure signal is used to determine the robot's movement direction away from its initial position. For example, a safe position is determined in the movement direction, and the robot is controlled to reach the safe position. In this embodiment, the robot can perform appropriate actions after being awakened, improving the robot's safety.

[0112] Furthermore, based on the above embodiments, another embodiment of the robot wake-up method of this application is proposed. In this embodiment, reference is made to... Figure 5 Step S20, controlling the robot to move away from the initial position, where the initial position is the position of the robot when the pressure signal is detected, includes:

[0113] Step S21: Obtain the current position of the robot.

[0114] Optionally, since the robot determines whether to wake up based on the detection of pressure signals, once the robot wakes up and enters working mode, it is necessary to obtain the robot's current position and determine whether the force corresponding to the pressure signal that caused the robot to wake up has also caused the robot's position to shift.

[0115] Step S22: When the current position does not match the initial position, determine the direction from the initial position to the current position as the robot's movement direction.

[0116] When the robot is in working mode, its activated functional modules can accurately obtain its current and initial positions. For example, the initial position can be determined using the position information from historical SLAM localization results when the robot was in standby mode, and the current position can be determined based on the position information from the current SLAM localization results. When the obtained current position does not match the initial position, it indicates that the robot moved from the initial position to the current position due to pressure, possibly due to a collision with another object, being pushed to the current position by the impact, or being actively pushed to the current position by human intervention. Therefore, to avoid collisions head-on or to comply with human intervention, the direction of movement is taken from the initial position to the current position. When the obtained current position matches the initial position, it indicates that the robot has not been pushed by an external force to move. In this case, the robot can still be woken up to control it to enter working mode.

[0117] Step S23: Control the robot to move a third preset distance from the current position along the moving direction.

[0118] Optionally, the robot can be controlled to move a third preset distance from its current position along the direction of movement, which is equivalent to avoiding a collision by a third preset distance from its current position in the direction of movement. This third preset distance can be set to 0.5 meters. This ensures that the robot moves safely away from the location where a collision occurred, or avoids the collision as instructed by the staff, thus improving the robot's safety.

[0119] Furthermore, this embodiment of the invention also proposes a storage medium storing a robot wake-up program, which, when executed by a processor, implements the relevant steps of any of the above embodiments of the robot wake-up method.

[0120] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0121] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0122] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a robot, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0123] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method of waking up a robot, the method comprising: The robot wake-up method comprises the following steps: The robot is in standby mode, and when a pressure signal is detected in a target area of the robot, the robot is controlled to enter a working mode, comprising: the robot is electrically connected with a charging pile, and when the robot is in a charging state, the robot is in standby mode; detecting whether a pressure signal exists in a charging module area of the robot, the target area comprising the charging module area; if the charging module area of the robot is subjected to a force greater than or equal to a preset force applied by the charging pile, it is determined that the charging module area of the robot has the pressure signal, and the robot is controlled to enter the working mode; if the charging module area of the robot is subjected to a force less than the preset force applied by the charging pile, it is determined that the charging module area of the robot does not have the pressure signal; The robot is controlled to move away from an initial position, the initial position being a position of the robot when the pressure signal is detected.

2. The robot wake-up method of claim 1, wherein, The step of controlling the robot to move away from the initial position comprises: When the charging pile ejects the robot a first preset distance by applying a force to the charging module area to reach a first safe position, the robot is controlled to leave the first safe position and reach a second safe position, so that the robot moves away from the initial position.

3. The robot wake-up method of claim 2, wherein, The step of controlling the robot to leave the first safe position and reach a second safe position, so that the robot moves away from the initial position, comprises: An environment map is obtained; A fleeing direction is determined according to a position of the charging pile in the environment map; The second safe position is determined in the fleeing direction, and an escape path from the first safe position to the second safe position is planned according to the environment map and the first safe position; The robot is controlled to travel according to the escape path, so that the robot reaches the second safe position.

4. The robot wake-up method of claim 1, wherein, The step of controlling the robot to enter a working mode when a pressure signal is detected in a target area of the robot in standby mode comprises: When the robot is in a non-task execution state, the robot is in the standby mode; When a pressure signal is detected in a preset body area of the robot, the robot is controlled to enter the working mode, the target area comprising the preset body area.

5. The robot wake-up method of claim 4, wherein, The step of controlling the robot to enter a working mode comprises: The robot is controlled to rotate in place and collect current environment information; Positioning information of the robot is determined according to the current environment information; The step of controlling the robot to move away from an initial position comprises: The robot is controlled to move away from the initial position according to the positioning information.

6. The robot wake-up method of claim 5, wherein, The step of controlling the robot to move away from the initial position according to the positioning information comprises: A force direction of the robot corresponding to the pressure signal is determined; A moving direction of the robot is determined according to the force direction; The robot is controlled to move a second preset distance from a current position of the robot in the moving direction.

7. The robot wake-up method of claim 1, wherein, The step of controlling the robot to move away from an initial position comprises: obtaining a current position of the robot; determining a moving direction of the robot as a direction from the initial position to the current position when the current position does not match the initial position; controlling the robot to move a third preset distance along the moving direction from the current position.

8. A robot, characterized in that The robot comprises a memory, a processor, and a robot wake-up program stored on the memory and executable on the processor, and the robot wake-up program is configured to implement the steps of the robot wake-up method according to any one of claims 1 to 7.

9. A storage medium, characterized by The storage medium stores a robot wake-up program, and the robot wake-up program, when executed by a processor, implements the steps of the robot wake-up method according to any one of claims 1 to 7.

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