Method for robot to escape from trouble, robot and nonvolatile readable storage medium

Abstract

The application relates to the technical field of robots and discloses a robot escape method, a robot and a nonvolatile readable storage medium. The method comprises the following steps: when the robot is in a trapped state, a wall detection component is controlled to rotate at a target angle to obtain a target wall detection signal; strength distribution information is generated according to the signal strength of the target wall detection signal and a preset strength threshold; and the robot is controlled to perform an escape operation according to the strength distribution information. In the embodiment, the strength distribution information can be quickly generated without requiring much computing power, and the time required for accurately calculating the distance or position of an obstacle in related technologies is saved. The robot can be quickly and efficiently controlled to perform the escape operation according to the strength distribution information. In addition, the robot can be controlled to perform the escape operation without relying on obstacle information provided by a map and without using complex and high-cost sensors, so that the embodiment has strong compatibility and low escape cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot disentanglement method, a robot and a non-volatile readable storage medium. BACKGROUND

[0002] The robot provided by the related art can automatically construct a map and automatically navigate according to the map. When the robot is blocked by obstacles in multiple directions and is trapped in a related area, the robot performs a disentanglement operation according to a preset disentanglement logic. Generally, the preset disentanglement logic includes that the robot finds a gap according to position information of the obstacles so as to walk out of the related area through the gap. However, the robot provided by the related art mainly relies on data collected by a gyroscope and an odometer of a walking wheel to construct a map and to position and navigate, and is limited by limited computing power of a microprocessor of the robot. The accuracy of the map constructed by the robot in real time is not high, and the position of the obstacles is not accurate enough, which leads to that the robot cannot reliably and accurately find the gap, and further leads to that the robot is still blocked by the obstacles and trapped in the related area. The robot needs to consume a long time for calculating the position of the obstacles in the above disentanglement process, and the disentanglement efficiency is low. SUMMARY

[0003] An object of embodiments of the present application is to provide a robot disentanglement method, a robot and a non-volatile readable storage medium, and to solve the technical problem of low disentanglement efficiency of the related art.

[0004] In a first aspect, embodiments of the present application provide a robot disentanglement method, comprising:

[0005] When the robot is in a trapped state, a wall detection component is controlled to rotate in place by a robot by a target angle, the wall detection component can emit a wall detection signal towards an obstacle and receive a wall detection signal reflected back by the obstacle, an angle experienced by the robot in the process of rotating by the target angle is a process angle, and adjacent two process angles are separated by a preset angle difference;

[0006] A target wall detection signal is acquired in the process of rotating the robot, the target wall detection signal is a wall detection signal reflected back by the obstacle corresponding to a target process angle, and the target process angle is one of the process angles;

[0007] Intensity distribution information is generated according to a signal strength of the target wall detection signal and a preset strength threshold, and the intensity distribution information includes obstacle calibration information corresponding to the target process angle;

[0008] The robot is controlled to perform a disentanglement operation according to the intensity distribution information.

[0009] Optionally, the generating the intensity distribution information according to the signal strength of the target wall detection signal and the preset intensity threshold comprises:

[0010] generating the obstacle calibration information corresponding to the target process angle according to the signal strength of the target wall detection signal and the preset intensity threshold;

[0011] recording the obstacle calibration information of each target process angle to obtain the intensity distribution information.

[0012] Optionally, the obstacle calibration information comprises obstacle marks and non-obstacle marks, and the generating the obstacle calibration information corresponding to the target process angle according to the signal strength of the target wall detection signal and the preset intensity threshold comprises:

[0013] determining whether the signal strength of the target wall detection signal is greater than or equal to the preset intensity threshold;

[0014] if greater than or equal to, generating the obstacle mark corresponding to the target process angle;

[0015] if less than, generating the non-obstacle mark corresponding to the target process angle.

[0016] Optionally, the preset intensity threshold is the intensity of the wall detection signal reflected by the position point with a preset radius from the center of the robot.

[0017] Optionally, the controlling the robot to perform the escape operation according to the intensity distribution information comprises:

[0018] determining the exit according to the intensity distribution information;

[0019] when the number of exits is at least two, determining the exit satisfying the optimal exit condition as an escape exit in the at least two exits;

[0020] controlling the robot to move towards the escape exit.

[0021] Optionally, the obstacle calibration information comprises obstacle marks and non-obstacle marks.

[0022] the exit is jointly defined by a first position point and a second position point, and the first position point and the second position point are both on the circumference corresponding to the preset radius;

[0023] the obstacle calibration information of the first position point and the obstacle calibration information of the second position point are both obstacle marks, and the obstacle calibration information of the position points passed by the first position point along the circumference to the second position point are all non-obstacle marks.

[0024] Optionally, the determining the exit according to the intensity distribution information comprises:

[0025] sequentially traversing the obstacle marking information corresponding to each of the process angles according to the intensity distribution information;

[0026] if it is detected that the obstacle marking information corresponding to the current process angle is an obstacle mark and the obstacle marking information corresponding to the next process angle is a non-obstacle mark, then on the circumference corresponding to the preset radius, a position point with an angle of the current process angle is taken as a first position point, wherein the next process angle is a process angle arranged after the current process angle;

[0027] if it is detected that the obstacle marking information corresponding to the current process angle is a non-obstacle mark and the obstacle marking information corresponding to the next process angle is an obstacle mark, then on the circumference corresponding to the preset radius, a position point with an angle of the next process angle is taken as a second position point, and the first position point and the second position point jointly define an exit.

[0028] Optionally, the determining, from the at least two exits, the exit that satisfies the optimal exit condition as the escape exit comprises:

[0029] calculating an included angle according to the process angle of the first position point and the process angle of the second position point of the exit;

[0030] selecting, from the at least two included angles, the exit with the maximum included angle as the escape exit.

[0031] Optionally, the controlling the robot to move towards the escape exit comprises:

[0032] determining a middle line of the included angle of the escape exit as an escape direction;

[0033] controlling the robot to move according to the escape direction.

[0034] Optionally, the detecting that the robot is in a trapped state comprises:

[0035] when the robot collides, controlling the robot to rotate a specified angle to adjust a moving direction, and controlling the robot to walk according to the adjusted moving direction;

[0036] recalculating a walking distance of the robot;

[0037] detecting that the robot collides when the walking distance is less than a preset distance, and calculating a total process angle of the robot;

[0038] if the total process angle is greater than a preset angle threshold, determining that the robot is in a trapped state.

[0039] In a second aspect, an embodiment of the present application provides a robot, comprising:

[0040] a robot body;

[0041] a walking assembly mounted on the robot body;

[0042] a wall detection assembly mounted on a side of the robot body, configured to emit a wall detection signal towards an obstacle on the side of the robot body and receive a wall detection signal reflected by the obstacle;

[0043] a gyroscope mounted on the robot body;

[0044] a controller electrically connected with the walking assembly, the wall detection assembly and the gyroscope respectively, configured to execute the above-mentioned robot escape method.

[0045] In a third aspect, an embodiment of the present application provides a non-volatile readable storage medium, which stores computer executable instructions for causing a robot to execute the above-mentioned robot escape method.

[0046] In the robot escape method, the robot and the non-volatile readable storage medium provided by the embodiments of the present application, when detecting that the robot is in a trapped state, the robot is controlled to drive the wall detection assembly to rotate by a target angle, the wall detection assembly can emit a wall detection signal towards an obstacle and receive a wall detection signal reflected by the obstacle, the target angle includes a plurality of process angles, a target wall detection signal is obtained during the rotation of the robot, the target wall detection signal is a wall detection signal reflected by the obstacle corresponding to a target process angle, the target process angle is one of the plurality of process angles, intensity distribution information is generated according to a signal strength of the target wall detection signal and a preset strength threshold, the intensity distribution information includes obstacle calibration information corresponding to the target process angle, and the robot is controlled to perform an escape operation according to the intensity distribution information. The embodiment can quickly generate intensity distribution information without opening up more computing power, and also saves the time required by related technologies to accurately calculate the distance or position of the obstacle, and the embodiment can quickly and efficiently control the robot to perform the escape operation according to the intensity distribution information. In addition, the embodiment can control the robot to perform the escape operation without relying on obstacle information provided by a map or complex and high-cost sensors, and therefore, the embodiment has strong compatibility and low escape cost. BRIEF DESCRIPTION OF DRAWINGS

[0047] One or more embodiments are illustrated by way of example in the figures that are part of this disclosure and which are illustrative, but not restrictive, of the embodiments, wherein elements having the same reference numerals designate corresponding elements and wherein the notation “some” or “one or more” or “one or more instances” in relation to an element indicates that multiple instances of the element can be present and a single instance of the element can be present. The figures in the drawings are not to scale and the figures in the drawings are not intended to limit the scope of the embodiments.

[0048] Figure 1A structural schematic diagram of a robot provided by an embodiment of the present application;

[0049] Figure 2 A circuit structural schematic diagram of a robot provided by an embodiment of the present application;

[0050] Figure 3 A flow schematic diagram of a robot escape method provided by an embodiment of the present application;

[0051] Figure 4 A first schematic diagram of a robot trapped in a target area provided by an embodiment of the present application;

[0052] Figure 5 A second schematic diagram of a robot trapped in a target area provided by an embodiment of the present application;

[0053] Figure 6 A third schematic diagram of a robot trapped in a target area provided by an embodiment of the present application;

[0054] Figure 7 A structural schematic diagram of a robot escape device provided by an embodiment of the present application;

[0055] Figure 8 A circuit structural schematic diagram of a robot provided by another embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0057] It should be noted that the various features in the embodiments of the present application can be combined with each other without conflict, and all fall within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the order in the flowchart. Furthermore, the "first", "second", "third" and the like used in the present application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.

[0058] An embodiment of the present application provides a robot. Please refer to Figure 1 and Figure 2The robot 100 comprises a robot body 11, a walking assembly 12, a wall detection assembly 13, a gyroscope 14 and a controller 15.

[0059] The robot body 11 can be configured in any suitable shape, such as a cylinder, an elliptical cylinder or a square, etc. The robot body 200 provides a receiving space for receiving various components.

[0060] The walking assembly 12 is mounted on the robot body 11 and is used to drive the robot body 11 to walk. The walking assembly can adopt any suitable power mechanism to drive the robot body 11 to walk.

[0061] The wall detection assembly 13 is mounted on the side of the robot body 11 and is used to emit a wall detection signal towards an obstacle on the side of the robot body 11 and receive the wall detection signal reflected back by the obstacle. As shown in Figure 1 , the wall detection assembly 13 comprises an infrared emitter 131 and an infrared receiver 132. The infrared emitter 131 emits an infrared signal, and the infrared signal is reflected back to the infrared receiver 132 via the obstacle, wherein the infrared signal is the wall detection signal.

[0062] The gyroscope 14 is mounted on the robot body 11, such as the center of the robot body 11. The gyroscope 14 is used to detect the angle during the rotation of the robot 100.

[0063] The controller 15 is electrically connected with the walking assembly 12, the wall detection assembly 13 and the gyroscope 14 respectively and is used to control the walking assembly 12, the wall detection assembly 13 and the gyroscope 14. The controller 15 can be a single-chip microcomputer or other microprocessor. The controller 15 can control the walking assembly 12 to drive the robot body 11 to move, and the robot body 11 drives the wall detection assembly 13 to move. When the controller 15 controls the walking assembly 12 to drive the robot body 11 to rotate, the wall detection assembly 13 rotates in place with the robot body 11. The wall detection assembly 13 is controlled by the controller 15 to emit a wall detection signal to the external environment and receive the wall detection signal reflected back by the obstacle. When the robot body 11 drives the wall detection assembly 13 to rotate, the wall detection assembly 13 transmits and receives the wall detection signal during the rotation. The gyroscope 14 collects the angle of the robot body 11 during the rotation and sends the angle to the controller 15. The controller 15 executes relevant business logic according to the angle.

[0064] As another aspect of the embodiment of the present application, the embodiment of the present application provides a robot escape method. Please refer to Figure 3 , the robot escape method comprises the following steps:

[0065] S31: When the robot is in the trapped state, the robot is controlled to rotate in place by a target angle, and the wall detection component can emit a wall detection signal towards the obstacle and receive the wall detection signal reflected by the obstacle.

[0066] In this step, the trapped state is a state in which the robot cannot successfully leave the target area, and the target area is an area surrounded by one obstacle or more than two obstacles distributed in a scattered manner.

[0067] In some embodiments, detecting that the robot is in the trapped state includes determining the number of collisions of the robot within a preset time period, and determining that the robot is in the trapped state if the number of collisions is greater than a preset number. Determining the number of collisions of the robot within the preset time period includes calculating the number of times the robot receives a collision signal within the preset time period, and taking the number as the number of collisions.

[0068] In some embodiments, detecting that the robot is in the trapped state includes determining the number of collisions of the robot when the walking distance is less than a preset distance, and determining that the robot is in the trapped state if the number of collisions is greater than a preset number.

[0069] In some embodiments, detecting that the robot is in the trapped state includes: when the robot collides, controlling the robot to rotate a specified angle to adjust the moving direction, and controlling the robot to walk according to the adjusted moving direction, recalculating the walking distance of the robot, detecting that the robot collides when the walking distance is less than a preset distance, calculating the total process angle of the robot, and determining that the robot is in the trapped state if the total process angle is greater than a preset angle threshold, and controlling the robot to rotate a specified angle to adjust the moving direction and controlling the robot to walk according to the adjusted moving direction if the total process angle is less than the preset angle threshold.

[0070] The specified angle, the preset distance, and the preset angle threshold can be defined by the designer according to engineering experience, such as a specified angle of 30 degrees or 60 degrees, a preset distance of 5 cm or 8 cm, and a preset angle threshold of 180 degrees or 360 degrees. The walking distance is the distance walked by the robot between two collisions. The total process angle is the sum of the specified angles at each collision.

[0071] Please refer to Figure 4, the robot 100 enters the target area 200 according to the moving direction corresponding to 0 degrees, wherein the target area 200 is formed by the first obstacle 21, the second obstacle 22, the third obstacle 23 and the fourth obstacle 24. In this embodiment, the specified angle is set to 30 degrees, the preset distance is set to 5 cm, and the preset angle threshold is set to 360 degrees. The robot 100 collides with the first obstacle 21, and then the robot 100 rotates 30 degrees to adjust the moving direction, walks according to the moving direction corresponding to 30 degrees, and recalculates the walking distance of the robot 100. When the robot 100 walks 3 cm, it collides with the second obstacle 22, and then the robot 100 rotates 30 degrees to adjust the moving direction, walks according to the moving direction corresponding to 60 degrees, and recalculates the walking distance of the robot 100. In this way, when the robot rotates 360 degrees and still encounters an obstacle, the robot determines that it is in a trapped state and needs to perform an escape operation.

[0072] The target angle can be defined by the designer according to engineering experience, such as 180 degrees or 360 degrees.

[0073] When the target angle is 360 degrees and the preset angle difference is 1 degree, the robot rotates the wall detection assembly 360 degrees in place, and in the rotation process, the robot experiences a process angle of 1 degree, a process angle of 2 degrees, a process angle of 3 degrees, a process angle of 4 degrees, and a process angle of 180 degrees.

[0074] When the target angle is 360 degrees and the preset angle difference is 2 degrees, the robot rotates the wall detection assembly 360 degrees in place, and in the rotation process, the robot experiences a process angle of 2 degrees, a process angle of 4 degrees, a process angle of 6 degrees, a process angle of 8 degrees, and a process angle of 180 degrees.

[0075] S32: Acquire a target wall detection signal in the rotation of the robot, the target wall detection signal being a wall detection signal reflected by an obstacle corresponding to a target process angle, and the target process angle being one of the process angles.

[0076] In this step, in the process of rotating the target angle by the robot with the wall detection assembly, the wall detection assembly emits a wall detection signal in the direction corresponding to each process angle, and receives a wall detection signal reflected by an obstacle in the direction corresponding to the process angle. In this embodiment, the signal strength of the target wall angle signal acquired at each target process angle is recorded, and a signal record table is generated, as shown in Table 1:

[0077] Table 1

[0078]

[0079]

[0080] As shown in Table 1, the robot can receive the wall detection signals reflected back at each process angle, wherein the signal strength of the wall detection signals reflected back by the farther obstacles is smaller, and the signal strength of the wall detection signals reflected back by the closer obstacles is larger. The target process angle is any one of the 360 process angles between 0 degree and 360 degrees, wherein the robot sequentially selects a corresponding process angle as the target process angle in a specified order, such as in a clockwise direction, first selects the process angle of 0 degree as the target process angle, then selects the process angle of 1 degree as another target process angle, and so on.

[0081] Please refer to Figure 4 , in a clockwise direction, the process angles corresponding to the wall detection signals reflected back by the first obstacle 21 are mainly concentrated in [0 degree, 30 degree] and [345 degree, 0 degree]. The process angles corresponding to the wall detection signals reflected back by the second obstacle 22 are mainly concentrated in [75 degree, 105 degree]. The process angles corresponding to the wall detection signals reflected back by the third obstacle 23 are mainly concentrated in [135 degree, 195 degree]. The process angles corresponding to the wall detection signals reflected back by the fourth obstacle 24 are mainly concentrated in [235 degree, 285 degree].

[0082] Since the obstacles outside the exit can also reflect back the wall detection component, the wall detection signals reflected back through the exit also exist, but since the obstacles outside the exit are far away from the robot, the signal strength of the received wall detection signals is small. As can be seen from Table 1, the exit 25 located between the first obstacle 21 and the second obstacle 22 corresponds to the process angles mainly concentrated in (30 degrees, 75 degrees). The exit 26 located between the second obstacle 22 and the third obstacle 23 corresponds to the process angles mainly concentrated in (105 degrees, 135 degrees). The exit 27 located between the third obstacle 23 and the fourth obstacle 24 corresponds to the process angles mainly concentrated in (195 degrees, 235 degrees). The exit 28 located between the fourth obstacle 24 and the first obstacle 21 corresponds to the process angles mainly concentrated in (285 degrees, 345 degrees).

[0083] S33: generating intensity distribution information according to the signal strength of the target wall detection signal and the preset intensity threshold, wherein the intensity distribution information includes the obstacle calibration information corresponding to the target process angle.

[0084] In this step, the preset intensity threshold can be defined by the designer according to engineering experience, such as 50 or 60, etc. In some embodiments, the preset intensity threshold is the intensity of the wall detection signal reflected back by the position point with a preset radius from the center of the robot.

[0085] As shown in Figure 4 FIG. 1, the distance between the position point K1 and the center of the robot 100 is the preset radius R. When there is an obstacle at the position point K1, the obstacle at the position point K1 can reflect the wall detection signal from the target process angle back to the robot 100. At this time, the strength threshold of the wall detection signal received by the robot 100 is the preset strength threshold.

[0086] The obstacle calibration information is information for indicating whether there is an obstacle in the direction corresponding to the target process angle when the distance is less than the preset radius. The obstacle calibration information includes an obstacle mark and a non-obstacle mark. The obstacle mark is used to indicate that there is an obstacle in the direction corresponding to the target process angle within the preset radius. The non-obstacle mark is used to indicate that there is no obstacle in the direction corresponding to the target process angle within the preset radius. In this embodiment, a corresponding numerical value can be selected to represent the obstacle mark and the non-obstacle mark. For example, the numerical value "1" is selected to represent the obstacle mark, and the numerical value "0" is selected to represent the non-obstacle mark.

[0087] Please refer to Figure 4 FIG. 1, the target process angle corresponding to the position point K1 on the preset radius is 0 degrees. Within the preset radius, there is an obstacle in the direction corresponding to 0 degrees. Therefore, the obstacle calibration information corresponding to the direction corresponding to 0 degrees is the obstacle mark "1". The target process angle corresponding to the position point K2 on the preset radius is 60 degrees. Within the preset radius, there is no obstacle in the direction corresponding to 60 degrees. Therefore, the obstacle calibration information corresponding to the direction corresponding to 60 degrees is the non-obstacle mark "0". The distance between the position point K3 and the robot is less than the preset radius. The target process angle corresponding to the position point K3 is 90 degrees. There is an obstacle in the direction corresponding to 90 degrees. Therefore, the obstacle calibration information corresponding to the direction corresponding to 90 degrees is the obstacle mark "1".

[0088] In some embodiments, generating the strength distribution information according to the signal strength of the target wall detection signal and the preset strength threshold includes the following steps: generating the obstacle calibration information corresponding to the target process angle according to the signal strength of the target wall detection signal and the preset strength threshold, recording the obstacle calibration information of each target process angle, and obtaining the strength distribution information.

[0089] Generating the obstacle calibration information corresponding to the target process angle according to the signal strength of the target wall detection signal and the preset strength threshold includes: judging whether the signal strength of the target wall detection signal is greater than or equal to the preset strength threshold. If yes, the obstacle mark corresponding to the target process angle is generated. If no, the non-obstacle mark corresponding to the target process angle is generated.

[0090] Please refer to Table 2. The strength distribution information is shown in Table 2:

[0091] Table 2

[0092]

[0093]

[0094] As shown in Table 2, the closest distance between the obstacle in the direction corresponding to the target process angle 0 and the robot is less than the preset radius R, so the signal strength of the wall detection signal reflected back by the obstacle in the direction corresponding to the target process angle 0 is relatively large, but as long as the signal strength is greater than the preset strength threshold, the embodiment marks that the direction corresponding to the target process angle 0 is an obstacle, and matches the target process angle 0 with the obstacle mark “1”.

[0095] Within the preset radius R, there is no obstacle in the direction corresponding to the target process angle 40, wherein the signal strength of the wall detection signal reflected back by the obstacle in the direction corresponding to the target process angle 40 (the distance from the robot is greater than the preset radius) is relatively small, and the signal strength is less than the preset strength threshold, so the embodiment marks that the direction corresponding to the target process angle 40 is not an obstacle, and matches the target process angle 40 with the non-obstacle mark “0”, and so on.

[0096] As can be seen from Table 2, the embodiment for generating the intensity distribution information does not need to accurately calculate the obstacle distance or determine the obstacle position, and only needs to generate the intensity distribution information within the preset radius, which can effectively reflect the obstacle distribution within the preset radius. As described above, the computing power of the robot is limited, and the embodiment adopts this scheme to match the current limited computing power, without the need for complex operations, and can quickly and efficiently generate the intensity distribution information, thereby quickly and efficiently performing the escape.

[0097] S34: controlling the robot to perform an escape operation according to the intensity distribution information.

[0098] In general, the embodiment can quickly generate the intensity distribution information without requiring more computing power, and also saves the time required by related technologies to accurately calculate the obstacle distance or the obstacle position, and the embodiment can quickly and efficiently control the robot to perform an escape operation according to the intensity distribution information. In addition, the embodiment can control the robot to perform an escape operation without relying on the obstacle information provided by the map or complex and high-cost sensors, so the embodiment has strong compatibility and low escape cost.

[0099] In some embodiments, controlling the robot to perform an escape operation according to the intensity distribution information includes the following steps: determining an exit according to the intensity distribution information, when the number of exits is at least two, determining an exit that satisfies an optimal exit condition as an escape exit in the at least two exits, and controlling the robot to move towards the escape exit.

[0100] The exit is defined by a first position point and a second position point, both of which are on a circumference corresponding to a preset radius, the obstacle labeling information of the first position point and the obstacle labeling information of the second position point are both obstacle markers, and the obstacle labeling information of the position points passed by the first position point along the circumference to the second position point are all non-obstacle markers.

[0101] Referring to Figure 5 , the robot 100 is trapped in a target area surrounded by the obstacle 51 and the obstacle 52, wherein a first exit 53 exists between one side of the obstacle 51 and one side of the obstacle 52, and a second exit 54 exists between the other side of the obstacle 51 and the other side of the obstacle 52.

[0102] The first exit 53 is defined by a first position point a1 and a second position point a2, and the second exit 54 is defined by a first position point b1 and a second position point b2, wherein the obstacle labeling information of the first position point a1, the second position point a2, the first position point b1 and the second position point b2 are all obstacle markers.

[0103] For the first exit 53, the obstacle labeling information of the position points passed by the first position point a1 along the circumference of the preset radius to the second position point a2 are all non-obstacle markers, that is, the first position point a1 along the circumference of the preset radius to the second position point a2 does not encounter obstacles. Similarly, for the second exit 54, the first position point b1 along the circumference of the preset radius to the second position point b2 does not encounter obstacles.

[0104] In some embodiments, determining the exit according to the intensity distribution information comprises the following steps: sequentially traversing the obstacle labeling information corresponding to each process angle according to the intensity distribution information, if it is detected that the obstacle labeling information corresponding to the current process angle is an obstacle marker, and the obstacle labeling information corresponding to the next process angle is a non-obstacle marker, then on the circumference corresponding to the preset radius, the position point with the angle of the current process angle is taken as the first position point, wherein the next process angle is the process angle arranged after the current process angle, if it is detected that the obstacle labeling information corresponding to the current process angle is a non-obstacle marker, and the obstacle labeling information corresponding to the next process angle is an obstacle marker, then on the circumference corresponding to the preset radius, the position point with the angle of the next process angle is taken as the second position point, and the first position point and the second position point jointly define the exit.

[0105] Referring to Figure 6 , the intensity distribution information near the position point c1, the position point c2, the position point c3 and the position point c4 is shown in Table 3:

[0106] Table 3

[0107]

[0108]

[0109] As shown in Table 3, the target process angle corresponding to the position point c1 is 300 degrees, the target process angle corresponding to the position point c2 is 15 degrees, and the target process angle corresponding to the position point c3 is 55 degrees, wherein the outlet 61 is jointly defined by the position point c1 and the position point c2. The target process angle corresponding to the position point c4 is 150 degrees, and the outlet 62 is jointly defined by the position point c3 and the position point c4.

[0110] When the current process angle 300 changes to the next process angle 301, the obstacle marking information jumps from the obstacle mark "1" to the non-obstacle mark "0", so the position point corresponding to the current process angle 300 is the position point c1, and the position point c1 is the first position point.

[0111] When the current process angle 14 changes to the next process angle 15, the obstacle marking information jumps from the obstacle mark "0" to the non-obstacle mark "1", so the position point corresponding to the next process angle 15 is the position point c2, and the position point c2 is the second position point. The first position point c1 along the circumference of the preset radius to the second position point c2 does not encounter an obstacle, so the first position point c1 and the second position point c2 jointly define the outlet 61.

[0112] When the current process angle 45 changes to the next process angle 46, the obstacle marking information jumps from the obstacle mark "1" to the non-obstacle mark "0", so the position point corresponding to the current process angle 300 is the position point c3, and the position point c3 is the first position point.

[0113] When the current process angle 149 changes to the next process angle 150, the obstacle marking information jumps from the obstacle mark "0" to the non-obstacle mark "1", so the position point corresponding to the next process angle 150 is the position point c4, and the position point c4 is the second position point. The first position point c3 along the circumference of the preset radius to the second position point c4 does not encounter an obstacle, so the first position point c3 and the second position point c4 jointly define the outlet 62.

[0114] In some embodiments, determining the outlet satisfying the optimal outlet condition as the escape outlet in the at least two outlets comprises: calculating an included angle according to the process angle of the first position point and the process angle of the second position point of the outlet, and selecting the outlet with the largest included angle among the at least two included angles as the escape outlet.

[0115] As described above, the included angle of the outlet 61 is 15+360-300=75 degrees, and the included angle of the outlet 62 is 150-45=105 degrees, so the outlet 62 is a escape outlet. Since the outlet 62 is wider, it is not easy to block the robot, which is beneficial for the robot to pass through the outlet 62 and improve the success rate of escape.

[0116] In some embodiments, the control of the robot moving towards the escape outlet includes: determining the middle line of the included angle of the escape outlet as an escape direction, and controlling the robot to move according to the escape direction.

[0117] As described above, the embodiment moves the advancing direction of the robot to a direction corresponding to 52.5 degrees, which is beneficial to reduce the probability of collision with obstacles on the left and right sides of the robot during passing through the outlet 62, and improve the success rate of escape.

[0118] It should be noted that in the above various embodiments, there is no certain sequence between the above steps, and those skilled in the art can understand from the description of the embodiments of the present application that the above steps can have different execution sequences in different embodiments, that is, they can be executed in parallel, or exchanged and executed, etc.

[0119] As another aspect of the embodiments of the present application, the embodiments of the present application provide a robot escape device. The robot escape device can be a software module, which includes a plurality of instructions stored in a memory, and a processor can access the memory to call and execute the instructions to complete the robot escape method described in the above various embodiments.

[0120] In some embodiments, the robot escape device can also be built by hardware devices, for example, the robot escape device can be built by one or more chips, and each chip can work with each other to complete the robot escape method described in the above various embodiments. For another example, the robot escape device can also be built by various logic devices, such as general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), single-chip microcomputers, ARM (Acorn RISC Machine), or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination of these components.

[0121] Please refer to Figure 7 , the robot escape device 700 includes a wall detection and rotation module 71, a signal acquisition module 72, a strength distribution module 73, and an escape operation module 74.

[0122] The wall detection rotating module 71 is configured to control the robot to rotate the wall detection assembly by a target angle when the robot is in a trapped state, the wall detection assembly can emit a wall detection signal towards the obstacle and receive a wall detection signal reflected by the obstacle, an angle experienced by the robot during the rotation of the target angle is a process angle, and adjacent two process angles are separated by a preset angle difference.

[0123] The signal acquisition module 72 is configured to acquire a target wall detection signal during the rotation of the robot, the target wall detection signal is a wall detection signal reflected by the obstacle and corresponding to a target process angle, and the target process angle is one of the process angles.

[0124] The intensity distribution module 73 is configured to generate intensity distribution information according to a signal intensity of the target wall detection signal and a preset intensity threshold, and the intensity distribution information includes obstacle calibration information corresponding to the target process angle.

[0125] The trapped operation module 74 is configured to control the robot to perform a trapped operation according to the intensity distribution information.

[0126] The embodiment can quickly generate intensity distribution information without requiring more computing power, and also saves time required by related technologies to accurately calculate the distance or position of the obstacle, and the embodiment can quickly and efficiently control the robot to perform a trapped operation according to the intensity distribution information. In addition, the embodiment can control the robot to perform a trapped operation without relying on obstacle information provided by a map or complex and high-cost sensors, and therefore, the embodiment has strong compatibility and low trapped cost.

[0127] In some embodiments, the intensity distribution module 73 is specifically configured to generate obstacle calibration information corresponding to the target process angle according to the signal intensity of the target wall detection signal and the preset intensity threshold, record the obstacle calibration information of each target process angle, and obtain the intensity distribution information.

[0128] In some embodiments, the obstacle calibration information includes obstacle marks and non-obstacle marks, and the intensity distribution module 73 is further specifically configured to determine whether the signal intensity of the target wall detection signal is greater than or equal to a preset intensity threshold, if yes, generate an obstacle mark corresponding to the target process angle, and if no, generate a non-obstacle mark corresponding to the target process angle.

[0129] In some embodiments, the preset intensity threshold is the intensity of the wall detection signal reflected by a position point with a preset radius from the center of the robot.

[0130] In some embodiments, the escape operation module 74 is specifically configured to: determine an exit according to the intensity distribution information, when the number of exits is at least two, determine an exit that satisfies an optimal exit condition as an escape exit among the at least two exits, and control the robot to move towards the escape exit.

[0131] In some embodiments, the obstacle labeling information includes obstacle labels and non-obstacle labels, the exit is jointly defined by a first position point and a second position point, the first position point and the second position point are both on a circumference corresponding to the preset radius, the obstacle labeling information of the first position point and the obstacle labeling information of the second position point are both obstacle labels, and the obstacle labeling information of the position points passed by the first position point along the circumference to the second position point are all non-obstacle labels.

[0132] In some embodiments, the escape operation module 74 is further specifically configured to: sequentially traverse the obstacle labeling information corresponding to each process angle according to the intensity distribution information, if it is detected that the obstacle labeling information corresponding to a current process angle is an obstacle label and the obstacle labeling information corresponding to a next process angle is a non-obstacle label, then on the circumference corresponding to the preset radius, a position point with an angle of the current process angle is taken as a first position point, wherein the next process angle is a process angle arranged after the current process angle, if it is detected that the obstacle labeling information corresponding to the current process angle is a non-obstacle label and the obstacle labeling information corresponding to the next process angle is an obstacle label, then on the circumference corresponding to the preset radius, a position point with an angle of the next process angle is taken as a second position point, and the first position point and the second position point jointly define an exit.

[0133] In some embodiments, the escape operation module 74 is further specifically configured to: calculate an included angle according to the process angle of the first position point and the process angle of the second position point of the exit, and select an exit with a maximum included angle among the at least two included angles as the escape exit.

[0134] In some embodiments, the escape operation module 74 is further specifically configured to: determine a middle line of the included angle of the escape exit as an escape direction, and control the robot to move according to the escape direction.

[0135] In some embodiments, the wall detection and rotation module 71 is specifically configured to: when the robot collides, control the robot to rotate a specified angle to adjust a moving direction, control the robot to walk according to the adjusted moving direction, recalculate a walking distance of the robot, detect that the robot collides when the walking distance is less than a preset distance, calculate a total process angle of the robot, and if the total process angle is greater than a preset angle threshold, determine that the robot is in a trapped state.

[0136] It should be noted that the robot escape device described above can perform the robot escape method provided by the embodiments of the present application, has the corresponding function modules and beneficial effects of the execution method. The technical details not described in detail in the robot escape device embodiments can be referred to the robot escape method provided by the embodiments of the present application.

[0137] Please refer to Figure 8 , Figure 8 A circuit structure schematic diagram of a robot provided by an embodiment of the present application is shown in the figure. Figure 8 As shown in the figure, the robot 800 includes one or more processors 81 and a memory 82. Among them, Figure 8 Take one processor 81 as an example.

[0138] The processor 81 and the memory 82 can be connected through a bus or other means, Figure 8 Take the example of connection through the bus.

[0139] The memory 82 is a kind of non-volatile computer readable storage medium, which 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 embodiments of the present application. The processor 81 executes the non-volatile software program, instruction and module stored in the memory 82, thereby performing various functional applications and data processing of the robot escape device, i.e. realizing the functions of the robot escape method provided by the above method embodiments and the functions of each module or unit of the above device embodiments.

[0140] The memory 82 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 82 can optionally include a memory remotely arranged with respect to the processor 81, and these remote memories can be connected to the processor 81 through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0141] The program instructions / modules are stored in the memory 82, and when executed by the one or more processors 81, the robot escape method in any of the above method embodiments is executed.

[0142] The embodiments of the present application also provide a non-volatile computer storage medium, which stores computer executable instructions, which are executed by one or more processors, for example Figure 8 One processor 81 in the above, so that the above one or more processors can execute the robot escape method in any of the above method embodiments.

[0143] The embodiment of the present application also provides a computer program product, which comprises a computer program stored on a non-volatile computer readable storage medium, the computer program comprising program instructions which, when executed by a robot, cause the robot to perform the robot escape method of any of the embodiments.

[0144] The device or equipment embodiments described above are merely illustrative, wherein the unit modules described as separate components can or can not be physically separated, and the components shown as module units can or can not be physical units, i.e., can be located in one place or distributed on multiple network module units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0145] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0146] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, 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 changes of the different aspects of the present application as described above. In order to be brief, they are not provided in details; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part 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 application.

Claims

1. A method for escaping from a trouble of a robot, characterized by, The method comprises: detecting that the robot is in a trapped state, and controlling the robot to rotate a wall detection assembly in place by a target angle, the wall detection assembly being capable of emitting a wall detection signal towards an obstacle and receiving a wall detection signal reflected by the obstacle, an angle experienced by the robot during the rotation of the target angle being a process angle, and adjacent two process angles being separated by a preset angle difference; acquiring a target wall detection signal during the rotation of the robot, the target wall detection signal being a wall detection signal reflected by the obstacle and corresponding to a target process angle, the target process angle being one of the process angles; generating intensity distribution information according to a signal strength of the target wall detection signal and a preset intensity threshold, the intensity distribution information including obstacle calibration information corresponding to the target process angle, and the obstacle calibration information including obstacle labels and non-obstacle labels; controlling the robot to perform an escape operation according to the intensity distribution information, including: determining an exit according to the intensity distribution information, the exit being jointly defined by a first position point and a second position point, and the first position point and the second position point both being on a circumference corresponding to a preset radius; when the number of exits is at least two, calculating an included angle according to a process angle of the first position point and a process angle of the second position point of the exit; selecting an exit with a maximum included angle from among at least two included angles as an escape exit; and controlling the robot to move towards the escape exit.

2. The method of claim 1, wherein, The generating of the intensity distribution information according to the signal strength of the target wall detection signal and the preset intensity threshold comprises: generating obstacle calibration information corresponding to the target process angle according to the signal strength of the target wall detection signal and the preset intensity threshold; recording obstacle calibration information of each target process angle to obtain the intensity distribution information.

3. The method of claim 2, wherein, The generating of the obstacle calibration information corresponding to the target process angle according to the signal strength of the target wall detection signal and the preset intensity threshold comprises: judging whether the signal strength of the target wall detection signal is greater than or equal to the preset intensity threshold; if yes, generating an obstacle label corresponding to the target process angle; if no, generating a non-obstacle label corresponding to the target process angle.

4. The method of claim 1, wherein, The preset intensity threshold is an intensity of a wall detection signal reflected by a position point with a distance of the preset radius from the center of the robot.

5. The escape method according to claim 1, wherein: the obstacle calibration information of the first position point and the obstacle calibration information of the second position point are both obstacle labels, and the obstacle calibration information of position points passed by the first position point along the circumference to the second position point are all non-obstacle labels.

6. The method of claim 5, wherein, The determining of the exit according to the intensity distribution information comprises: sequentially traversing obstacle calibration information corresponding to each process angle according to the intensity distribution information; If it is detected that the obstacle calibration information corresponding to the current process angle is an obstacle mark and the obstacle calibration information corresponding to the next process angle is a non-obstacle mark, a position point with an angle of the current process angle is taken as a first position point on a circumference corresponding to the preset radius, wherein the next process angle is a process angle arranged after the current process angle. If it is detected that the obstacle calibration information corresponding to the current process angle is a non-obstacle mark and the obstacle calibration information corresponding to the next process angle is an obstacle mark, a position point with an angle of the next process angle is taken as a second position point on the circumference corresponding to the preset radius, and the first position point and the second position point jointly define the escape exit.

7. The method of claim 1, wherein, The control of the robot to move towards the escape exit comprises: determining a middle line of an included angle of the escape exit as an escape direction; controlling the robot to move according to the escape direction.

8. The escape method according to any one of claims 1 to 7, characterized in that, The detection of the robot in the trapped state comprises: when the robot collides, controlling the robot to rotate a specified angle to adjust a moving direction, and controlling the robot to walk according to the adjusted moving direction; recalculating a walking distance of the robot; detecting that the robot collides when the walking distance is less than a preset distance, calculating a total process angle of the robot; if the total process angle is greater than a preset angle threshold, determining that the robot is in the trapped state.

9. A robot, characterized in that comprise: a robot body; a walking assembly installed on the robot body; a wall detection assembly installed on a side of the robot body, configured to emit a wall detection signal towards an obstacle on the side of the robot body, and receive a wall detection signal reflected by the obstacle; a gyroscope installed on the robot body; a controller electrically connected with the walking assembly, the wall detection assembly and the gyroscope, respectively, configured to execute the escape method of the robot according to any one of claims 1 to 8.

10. A non-volatile readable storage medium, characterized by The non-volatile readable storage medium stores computer executable instructions for causing the robot to execute the escape method of the robot according to any one of claims 1 to 8.

Images