Robot escape method and device, robot, and storage medium

Abstract

The application provides a robot disentanglement method and device, a robot and a computer readable storage medium, and belongs to the technical field of cleaning robots. The method comprises the following steps: when a robot is performing edge-following movement in a working place, if a movement track forms a closed figure, it is determined whether the robot is moving around an obstacle; if yes, a circumscribed quadrilateral of the closed figure is determined; a middle navigation point is determined from the vertices of the circumscribed quadrilateral; the robot is controlled to move from the middle navigation point to the boundary of the working place, and after the robot reaches the boundary, the robot is controlled to perform edge-following movement. According to the application, the circumscribed quadrilateral of the closed figure of the movement track when moving around the obstacle is determined, and the middle navigation point is selected from the vertices of the circumscribed quadrilateral, so that the robot can break away from the movement around the obstacle and return to the normal movement track of edge-following movement.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a robot escape method and device, a robot, and a computer-readable storage medium. Background Technology

[0002] Mobile robot technology has developed rapidly in recent years and is widely used in many fields such as logistics warehousing, intelligent inspection, smart homes, and shopping mall hooks. Among them, the most common is the household robotic vacuum cleaner. Before performing a full-coverage cleaning of a workplace (such as a residence), a robotic vacuum cleaner can perform edge-movement within the workplace. The boundary of the workplace can be a physical boundary or a virtual boundary, and edge-movement means moving along the boundary for one full cycle. Edge-movement has two functions: first, it forms a large closed loop, obtaining the actual working boundary when the robot performs the cleaning work; second, it perceives environmental information of the workplace and obtains an environmental map.

[0003] During edge-movement, the robot can detect physical boundaries using sensors on one side (left or right), or navigate autonomously along virtual boundaries in a clockwise or counter-clockwise direction. When the robot's trajectory forms a large closed shape, and the current direction of movement is the same as the initial direction, the edge-movement can be considered complete, forming the outer contour of the workplace.

[0004] There may be obstacles at the boundary of the workplace. When the robot collides with an obstacle, it moves along the boundary of the obstacle using sensors until the robot's trajectory forms a large closed shape and the current direction of movement is the same as the initial direction of movement. At this point, it can be determined that the movement along the boundary has ended. Alternatively, if the obstacle is near a virtual boundary, after the robot moves along the boundary of the obstacle to the virtual boundary, it continues to move along the boundary until the robot's trajectory forms a large closed shape and the current direction of movement is the same as the initial direction of movement. At this point, it can be determined that the movement along the boundary has ended.

[0005] However, during the movement along the edge, if you encounter some obstacles that are close to the wall, you may have to repeatedly circle around the obstacles. Summary of the Invention

[0006] The purpose of this application is to provide a robot escape method and apparatus, a robot, and a computer-readable storage medium to solve the problem of a robot repeatedly circling around obstacles.

[0007] On the one hand, this application provides a method for a robot to escape from difficult situations, including:

[0008] When a robot moves along an edge in the workplace, if the movement trajectory forms a closed shape, it is determined whether the robot is moving around an obstacle.

[0009] If so, determine the circumscribed quadrilateral of the closed figure;

[0010] Determine the intermediate navigation point from the vertices of the circumscribed quadrilateral;

[0011] Control the robot to move from the intermediate navigation point to the boundary of the workplace, and control the robot to move along the boundary after it reaches the boundary.

[0012] In one embodiment, before determining whether the robot is moving around an obstacle, the method further includes:

[0013] The coordinates of the robot's trajectory along the edge are recorded in real time.

[0014] Based on multiple consecutive coordinate points of the motion trajectory, determine whether the motion trajectory forms a closed figure.

[0015] In one embodiment, determining whether the robot is moving around an obstacle includes:

[0016] Determine whether the robot's current direction of motion when forming a closed shape is the same as its initial direction of motion along the edge;

[0017] If not, determine that the robot is moving around the obstacle.

[0018] In one embodiment, before determining whether the robot's current direction of motion when forming a closed shape is equal to the initial direction of motion along the edge, the method further includes:

[0019] The position of the sensors activated by the robot on the robot body is obtained when the robot moves along the edge; wherein, the position includes the left or right side;

[0020] Based on the position, determine the initial direction of movement along the edge; wherein the direction of movement along the edge is clockwise or counterclockwise, with clockwise corresponding to the left side and counterclockwise corresponding to the right side.

[0021] In one embodiment, determining the circumscribed quadrilateral of the closed figure includes:

[0022] Determine the smallest circumscribed quadrilateral of the closed figure.

[0023] In one embodiment, determining the intermediate navigation point from the vertices of the circumscribed quadrilateral includes:

[0024] Based on the intersection of the diagonals of the circumscribed quadrilateral and its four vertices, determine four direction vectors originating from the intersection of the diagonals.

[0025] From the four direction vectors, select two direction vectors that are close to the robot's forward direction before moving around the obstacle, and use them as target direction vectors, and determine the endpoint of the target direction vectors as the target vertex;

[0026] Determine a baseline that passes through the intersection of the diagonals and is perpendicular to the boundary of the workplace;

[0027] Select the target vertex that is furthest from the baseline as the intermediate navigation point.

[0028] In one embodiment, before controlling the robot to move from the intermediate navigation point to the boundary of the workplace, the method further includes:

[0029] Control the robot to move along the boundary of the circumscribed quadrilateral to the intermediate navigation point.

[0030] On the other hand, this application provides a robot escape device, comprising:

[0031] The judgment module is used to determine whether the robot is moving around an obstacle if the movement trajectory forms a closed shape during the robot's movement along the edge in the workplace.

[0032] The first determining module is used to determine the circumscribed quadrilateral of the closed figure when the robot moves around the obstacle;

[0033] The second determining module is used to determine the intermediate navigation point from the vertices of the circumscribed quadrilateral;

[0034] The control module is used to control the robot to move from the intermediate navigation point to the boundary of the workplace, and to control the robot to move along the boundary after it reaches the boundary.

[0035] Furthermore, this application provides a robot, the robot comprising:

[0036] processor;

[0037] Memory used to store processor-executable instructions;

[0038] The processor is configured to execute the above-described robot escape method.

[0039] In addition, this application provides a computer-readable storage medium storing a computer program that can be executed by a processor to complete the above-described robot escape method.

[0040] In this application, when the robot detects that the movement trajectory forms a closed shape during its movement along the edge of the workplace, it can determine whether it is moving around an obstacle. If it is moving around an obstacle, it can determine the circumscribed quadrilateral of the closed shape, determine the intermediate navigation point from the vertices of the circumscribed quadrilateral, and then move from the intermediate navigation point to the boundary of the workplace so as to continue moving along the edge after reaching the boundary.

[0041] By determining the circumscribed quadrilateral, which forms the closed shape of the trajectory when moving around an obstacle, and selecting intermediate navigation points from the vertices of the circumscribed quadrilateral, the robot can break free from its circling motion around the obstacle and return to its normal trajectory along the edge. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0043] Figure 1 This is a schematic diagram illustrating repeated circling during edge movement according to an embodiment of this application;

[0044] Figure 2 A schematic diagram illustrating repeated circling during edge movement, provided as another embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the structure of a robot provided in one embodiment of this application;

[0046] Figure 4 A flowchart illustrating a robot extrication method according to an embodiment of this application;

[0047] Figure 5 This is a schematic diagram illustrating repeated circling during edge movement, provided as another embodiment of this application.

[0048] Figure 6 This is a schematic diagram illustrating a robot's escape from a difficult situation according to an embodiment of this application;

[0049] Figure 7 for Figure 4 A detailed flowchart of step 330 is shown below;

[0050] Figure 8 A block diagram of a robot extrication device provided in an embodiment of this application. Detailed Implementation

[0051] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0052] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0053] See Figure 1 This diagram illustrates a robot's repeated circling motion along an edge, as provided in one embodiment of this application. The solid-lined rectangular area represents the workspace. The robot senses the wall using its right-side sensor or autonomously navigates to track a virtual boundary, thus performing counter-clockwise edge-movement. During edge-movement, when four chair legs are present at the boundary, the robot first collides with chair leg 1, then adjusts its direction and continues moving forward. Next, it collides with chair leg 2, and the robot continues to adjust its direction, beginning to move around chair leg 2. Because the gap between chair legs 2 and 3 is too small, the robot cannot pass through and collides with chair leg 3, then continues to move around chair leg 3. Since the distance between chair legs 3 is sufficient for the robot to pass without colliding, the robot can move along chair leg 3 to the space between chair legs 1 and 2, and continue moving around chair leg 2. During this process, the robot cannot move to the boundary of the area. Although the movement forms a closed shape, the direction of movement when forming the closed shape is different from the initial direction of movement. Therefore, the robot repeatedly moves around chair legs 2 and 3 in an infinite loop.

[0054] See Figure 2 This diagram illustrates a robot repeatedly circling along an edge during movement, as provided in another embodiment of this application. The solid-lined rectangular area represents the workplace. The robot senses the wall using its right-side sensor or autonomously navigates to track a virtual boundary, thus performing counter-clockwise edge-movement. During edge-movement, when an obstacle (e.g., a shoebox) exists at the boundary, the robot's direction of movement deflects, preventing it from passing through the gap between the two obstacles. The robot then adjusts its direction and begins moving around the outer obstacles (e.g., sofas, cabinets). The robot moves from corner a to corner b, from corner b to corner c, from corner c to corner d, and from corner d back to corner a, continuing its movement around the outer obstacles. During this process, the robot cannot reach the area boundary. Although the movement forms a closed shape, the direction of movement when forming the closed shape differs from the initial direction. Therefore, the robot repeatedly moves around the outer obstacles abcd in an infinite loop.

[0055] like Figure 3 As shown, this embodiment provides a robot 1, including: at least one processor 11 and a memory 12. Figure 3Taking a processor 11 as an example, the processor 11 and the memory 12 are connected via a bus 10. The memory 12 stores instructions that can be executed by the processor 11. The instructions are executed by the processor 11 to enable the robot 1 to perform all or part of the processes of the methods described in the following embodiments. In one embodiment, the robot 1 may be a sweeping robot, a patrol robot, etc., used to perform robot escape methods.

[0056] The memory 12 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0057] This application also provides a computer-readable storage medium storing a computer program that can be executed by a processor 11 to complete the robot escape method provided in this application.

[0058] See Figure 4 This is a flowchart illustrating a robot extrication method according to an embodiment of this application. Figure 4 As shown, the method may include steps 310-340.

[0059] Step 310: When the robot is moving along the edge in the workplace, if the movement trajectory forms a closed shape, determine whether the robot is moving around the obstacle.

[0060] Step 320: If so, determine the circumscribed quadrilateral of the closed figure.

[0061] During edge-movement in the workplace, the robot can check in real time whether its trajectory forms a closed shape. If a closed shape is formed, the robot can determine whether it is currently moving around an obstacle. On one hand, if it is not moving around an obstacle, it indicates that the edge-movement has ended. On the other hand, if it is moving around an obstacle, the robot can determine the circumscribed quadrilateral of the closed shape within its trajectory. The robot can select the four outermost points of the closed shape in multiple directions (e.g., up, down, left, and right) to draw straight lines, thus obtaining the circumscribed quadrilateral that encompasses the entire closed shape.

[0062] Step 330: Determine the intermediate navigation point from the vertices of the circumscribed quadrilateral.

[0063] Step 340: Control the robot to move from the intermediate navigation point to the boundary of the workplace, and control the robot to move along the boundary after it reaches the boundary.

[0064] After obtaining the circumscribed quadrilateral, the robot can select the vertex furthest along the direction of travel from its four vertices as an intermediate navigation point. Once the intermediate navigation point is determined, the robot can move to it and then proceed towards the boundary of the work area. Upon reaching the boundary, the robot continues its movement along the edge.

[0065] By taking the above measures, after determining the robot's movement around the obstacle, by determining the circumscribed quadrilateral of the circular motion trajectory (closed figure) and selecting the intermediate navigation point from the vertices of the circumscribed quadrilateral, the robot can be freed from the circular motion and return to the normal motion trajectory along the edge, thus avoiding the robot repeatedly circling around the obstacle.

[0066] In one embodiment, before determining whether the robot is moving around an obstacle, the coordinates of the robot's trajectory along the edge can be recorded in real time. The robot can construct a coordinate system of the workplace during its movement, thereby recording its own coordinates after changing position.

[0067] A robot can determine whether a motion trajectory forms a closed shape based on multiple consecutive coordinate points. Specifically, it can determine the shape of the trajectory based on these coordinate points, and thus, if the trajectory forms a shape and two identical coordinate points exist, it can be considered a closed trajectory.

[0068] In one embodiment, the robot can determine whether it is moving around an obstacle by its own direction of motion. The robot can determine whether its current direction of motion when forming a closed shape is the same as its initial direction of motion along the edge. Here, during the edge-movement process, the robot's trajectory will eventually form a closed shape; therefore, the direction of motion can be clockwise or counterclockwise.

[0069] On one hand, if the current direction of movement is the same as the initial direction of movement (i.e., both are clockwise or counterclockwise), it indicates that the robot has moved around the entire workplace and has ended its movement along the edge. On the other hand, if the current direction of movement is not the same as the initial direction of movement, it can be determined that the robot is moving around an obstacle.

[0070] See Figure 5 This is a schematic diagram of repeated circling during edge movement according to another embodiment of this application, such as... Figure 5 As shown, the initial direction of movement along the edge is counterclockwise, while the current direction is clockwise. Since the robot's direction of movement only changes after it senses an obstacle, the direction of movement can be used to accurately determine whether the robot is moving around an obstacle.

[0071] In one embodiment, the robot can determine the initial direction of motion before determining whether the current direction of motion is the same as the initial direction of motion along the edge. The robot can acquire the positions of the sensors activated during edge motion on its body. These positions include the left and right sides.

[0072] When the robot moves along the edge, it may activate either the sensor on the left or the sensor on the right in the direction of travel. The robot can determine whether the sensor is located on the left or right side of the body in the direction of travel based on which sensor is activated.

[0073] The robot can determine its initial direction of movement along an edge based on the position of the sensors on its body. Since the robot needs to detect physical boundaries using sensors, the sensor's position on the body determines the direction of movement it can perform along the edge. When the sensor is located on the left side of the body, the robot can only move along the edge in a clockwise direction; therefore, the initial direction of movement is clockwise. When the sensor is located on the right side of the body, the robot can only move along the edge in a counter-clockwise direction; therefore, the initial direction of movement is counter-clockwise.

[0074] In one embodiment, when determining the circumcircle of a closed figure, the robot can determine the smallest circumcircle of the closed figure. When determining the circumcircle of the closed figure, adjustments can be made to minimize the area of ​​the circumcircle. This measure allows the robot to avoid missing too many workplace boundaries that it didn't reach during its edge-moving process when escaping obstacles via the vertices of the circumcircle, which serve as intermediate navigation points, thus enabling more accurate identification of the workplace's outer contour. Furthermore, it reduces the workload required for escape and improves work efficiency.

[0075] See Figure 6 This is a schematic diagram of a robot escaping from a difficult situation according to an embodiment of this application, as shown below. Figure 6As shown, Figure 5 After the scene robot repeatedly circles around the obstacle, the smallest circumscribed quadrilateral of the closed figure is P1P2P3P4.

[0076] In one embodiment, see Figure 7 ,for Figure 4 A detailed flowchart of step 330 is shown below. Figure 7 As shown, intermediate navigation points can be determined through the following steps 331-334.

[0077] Step 331: Based on the intersection of the diagonals of the circumscribed quadrilateral and its four vertices, determine the four direction vectors starting from the intersection of the diagonals.

[0078] After determining the circumscribed quadrilateral, the robot can determine the intersection of its diagonals, and using this intersection and the four vertices, determine four direction vectors originating from the intersection. Figure 5 For example, the intersection of the diagonals is point O, and the four directional vectors are OP1, OP2, OP3, and OP4.

[0079] Step 332: From the four direction vectors, select two direction vectors that are close to the robot's forward direction before moving around the obstacle, and use them as target direction vectors, and determine the endpoint of the target direction vector as the target vertex.

[0080] by Figure 6 For example, the direction of travel before circling the obstacle is Figure 6 As shown by the arrows, the direction vectors OP3 and OP4 are close to the forward direction and serve as the target direction vectors. Vertices P3 and P4 are the target vertices.

[0081] Step 333: Determine the baseline that passes through the intersection of the diagonals and is perpendicular to the boundary of the workplace.

[0082] Step 334: Select the target vertex that is farthest from the baseline as the intermediate navigation point.

[0083] by Figure 6 For example, the robot determines a baseline OH that passes through the intersection point O of the diagonals and is perpendicular to the boundary. The robot can check the distance from each target vertex to the baseline and use the target vertex with the farthest distance as an intermediate navigation point. Figure 6 The distance from vertex P3 to baseline OH is greater than the distance from vertex P4 to baseline OH, therefore vertex P3 is chosen as the intermediate navigation point.

[0084] In one embodiment, before moving from the intermediate navigation point to the boundary of the workplace, the robot can control itself to move along the boundary of the circumscribed quadrilateral to the intermediate navigation point. After determining the intermediate navigation point, the robot can set the area inside the circumscribed quadrilateral as a temporary restricted area and set the edges of the circumscribed quadrilateral as navigation paths, thereby moving along the navigation paths to the intermediate navigation point.

[0085] by Figure 6 For example, the circumscribed quadrilateral is P1P2P3P4, and the interior is a temporary restricted area. P1P2 and P2P3 are used as navigation paths, allowing the robot to move to the intermediate navigation point.

[0086] After reaching the central navigation point, the robot can adjust its direction and move towards the boundary until it reaches it. At this point, the robot breaks free from its movement around the obstacle and can continue moving along the edge. Furthermore, the robot can remove temporary restricted areas, allowing it to subsequently enter and perform cleaning and other tasks.

[0087] This measure allows the robot to move quickly and without obstacles to the intermediate navigation point.

[0088] Figure 8 This is a block diagram of a robot escape device according to an embodiment of the present invention, as shown below. Figure 8 As shown, the device may include:

[0089] The judgment module 710 is used to determine whether the robot is moving around an obstacle if the movement trajectory forms a closed shape during the robot's movement along the edge in the workplace.

[0090] The first determining module 720 is used to determine the circumscribed quadrilateral of the closed figure when the robot moves around the obstacle;

[0091] The second determining module 730 is used to determine the intermediate navigation point from the vertices of the circumscribed quadrilateral;

[0092] The control module 740 is used to control the robot to move from the intermediate navigation point to the boundary of the workplace, and to control the robot to move along the boundary after it reaches the boundary.

[0093] The specific implementation process of the functions and roles of each module in the above-mentioned device can be found in the implementation process of the corresponding steps in the above-mentioned robot escape method, and will not be repeated here.

[0094] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0095] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0096] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A method of robot escape, characterized by, The method comprises: when the robot is performing edge-following movement in a work site, if a movement trajectory forms a closed figure, determining whether the robot moves around an obstacle; if so, determining an outer quadrilateral of the closed figure; determining an intermediate navigation point from vertices of the outer quadrilateral; controlling the robot to move from the intermediate navigation point to a boundary of the work site, and controlling the robot to perform edge-following movement after the robot reaches the boundary; the determining of the intermediate navigation point from the vertices of the outer quadrilateral comprises: determining four direction vectors with a diagonal intersection point of the outer quadrilateral as a starting point according to the diagonal intersection point and the four vertices; selecting two direction vectors similar to a forward direction of the robot before moving around the obstacle from the four direction vectors as target direction vectors, and determining a terminal point of the target direction vectors as a target vertex; determining a reference line perpendicular to the boundary of the work site passing through the diagonal intersection point; selecting the target vertex farthest from the reference line as the intermediate navigation point.

2. The robotic escape method of claim 1, wherein, Before the determining of whether the robot moves around the obstacle, the method further comprises: recording coordinate points of the movement trajectory in real time when the robot performs edge-following movement; determining whether the movement trajectory forms a closed figure according to the continuous coordinate points of the movement trajectory.

3. The robotic escape method of claim 1, wherein, The determining of whether the robot moves around the obstacle comprises: determining whether a current movement direction of the robot when the closed figure is formed is identical to an initial movement direction of the edge-following movement; if not, determining that the robot moves around the obstacle.

4. The robotic escape method of claim 3, wherein, Before the determining of whether the current movement direction of the robot when the closed figure is formed is identical to the initial movement direction of the edge-following movement, the method further comprises: obtaining a position of a sensor enabled when the robot performs edge-following movement on a body; wherein the position comprises a left side or a right side; determining the initial movement direction of the edge-following movement according to the position; wherein the direction of the edge-following movement is clockwise or counterclockwise, and the clockwise corresponds to the left side and the counterclockwise corresponds to the right side.

5. The robotic escape method of claim 1, wherein, The determining of the outer quadrilateral of the closed figure comprises: determining a minimum outer quadrilateral of the closed figure.

6. The robotic escape method of claim 1, wherein, Before the controlling of the robot to move from the intermediate navigation point to the boundary of the work site, the method further comprises: controlling the robot to move along a boundary of the outer quadrilateral to the intermediate navigation point.

7. A robotic escape device characterized by, The method comprises: a judging module, configured to, when a robot is performing edge-following movement in a work site, if a movement trajectory forms a closed figure, determine whether the robot moves around an obstacle; a first determining module, configured to, when the robot moves around the obstacle, determine an outer quadrilateral of the closed figure; a second determining module, configured to determine an intermediate navigation point from vertices of the outer quadrilateral; a control module, configured to control the robot to move from the intermediate navigation point to a boundary of the work site, and control the robot to perform edge-following movement after the robot reaches the boundary; the second determining module is further configured to: determine four direction vectors with a diagonal intersection point of the outer quadrilateral as a starting point according to the diagonal intersection point and the four vertices; From the four direction vectors, two direction vectors close to the advancing direction of the robot before moving around the obstacle are selected as target direction vectors, and the end point of the target direction vector is determined as a target vertex; A reference line perpendicular to the boundary of the work site passing through the diagonal intersection point is determined; The target vertex farthest from the reference line is selected as the intermediate navigation point.

8. A robot, characterized in that The robot comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the robot escape method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program executable by the processor to complete the robot escape method of any one of claims 1-6.

Images