Mobile device escape method and device and storage medium
By constructing a map of the environment where the mobile device is located and determining the longest distance point, the control device moves towards the point, solving the problem of being trapped in the complex terrain and improving the efficiency of getting out of trouble.
Patent Information
- Application Number
- CN202411275436.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-11
- Publication Date
- 2025-01-24
AI Technical Summary
Mobile devices may be trapped in complex terrain or areas, affecting their normal use.
By constructing a map of the environment where the device is located, the point on the map that is farthest from the device's current location is determined, and the device is controlled to move toward that point to determine whether it is out of trouble, thereby planning an escape path.
The equipment has achieved the purpose of planning the process of getting out of trouble, avoiding blind attempts, and improving the efficiency of getting out of trouble.
Smart Images
Figure CN119356308A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of intelligent control technology, and in particular to a method, device and storage medium for escaping a movable device. Background Art
[0002] In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent control technology has become a hot spot in the research field of modern intelligent equipment.
[0003] However, while these mobile smart devices bring convenience during use, they may also encounter some challenges, especially in complex and changing environments. For example, sweeping robots, as a highly practical representative of smart devices, can automatically complete floor cleaning tasks with a certain degree of artificial intelligence, but sometimes in a home environment they may get stuck in complex terrain such as on carpets or under beds, thus affecting the normal use of the device. Summary of the invention
[0004] In order to solve the above technical problems, the technical solution adopted in this application is: to provide a method, device and storage medium for escaping a movable device, so as to at least solve the problem in the related technology that the movable device may be trapped in certain complex terrains or areas during use, thereby affecting the normal use of the device.
[0005] According to one embodiment of the present invention, a method for escaping a movable device is provided, comprising:
[0006] When the movable device is in a trapped state, constructing a map of the environment in which the movable device is located;
[0007] Determine a farthest distance point in the map, the farthest distance point being a point farthest from a current position of the movable device;
[0008] The movable device is controlled to move toward the farthest distance point, and at the same time, it is determined whether the movable device is out of trouble.
[0009] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, it is used to implement the method for removable device to escape from trouble in the above technical solution.
[0010] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide a computer-readable storage medium, which is used to store a computer program. When the computer program is executed by a processor, it is used to implement the method for removable device to escape from trouble in the above technical solution.
[0011] Through the above scheme, the beneficial effect of the present application is: the movable device escape method provided by the present application constructs a map of the environment in which the movable device is located when it is in a trapped state, and determines the point in the map that is farthest from the current position of the movable device, controls the movable device to move to the farthest distance point, and at the same time determines whether the movable device is out of trouble, thereby enabling the movable device to plan an escape path in a targeted manner, avoiding blind attempts, and improving the escape efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:
[0013] Figure 1 It is a flowchart of an embodiment of a method for escaping a movable device provided by the present application;
[0014] Figure 2 It is a flowchart of another embodiment of the method for escaping a movable device provided by the present application;
[0015] Figure 3 It is a structural schematic diagram of an automatic cleaning device provided by the present application;
[0016] Figure 4 This is a schematic diagram of a situation in which a device provided by the present application successfully escapes from a predicament;
[0017] Figure 5 It is a schematic diagram of a process of escaping a device provided by the present application;
[0018] Figure 6 It is another schematic diagram of a process of escaping a device provided by the present application;
[0019] Figure 7 It is a schematic diagram of a situation in which a device fails to escape from a predicament provided by the present application;
[0020] Figure 8 It is a schematic diagram of a traditional escape strategy provided by the present application;
[0021] Fig. 9 It is a structural schematic diagram of an embodiment of an electronic device provided by the present application;
[0022] Fig.10 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION
[0023] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.
[0024] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0025] It should be noted that, in the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.
[0026] Mobile devices generally refer to devices that can move autonomously or under the control of an operator, including mobile robots, sweeping robots, and service robots. During the use of mobile devices, due to environmental factors such as complex terrain, narrow space, or obstacles, the mobile device does not have a real-time map of the current environment, resulting in the inability to continue to move along the established path or target, affecting the normal use of the mobile device.
[0027] In the prior art, an automatic cleaning device such as a sweeping robot is in a trapped state when it is located in a carpet area or other surface medium area that may cause the sweeping robot to fail to work normally. The device will control the sweeping robot to leave the carpet area in a direction perpendicular to the edge of the carpet based on an established carpet area map and the current position of the sweeping robot, thereby completing the escape.
[0028] However, if the device is working for the first time or the working area has changed, the above escape method may fail if the device does not have a corresponding historical map. In addition, some sweeping robots will gradually expand the search range to find an escape path, that is, starting from the current position, gradually try to move in small ranges in different directions until a feasible escape path is found. Although this method can eventually find a way out, it is less efficient.
[0029] The present application provides a method for dislodging a movable device, which constructs a map of the environment in which the movable device is located when the movable device is in a trapped state, determines the point in the map that is farthest from the current position of the movable device, controls the movable device to move toward the farthest distance point, and determines whether the movable device is out of trouble. This allows the movable device to plan an escape path in a targeted manner, gets rid of dependence on historical maps, avoids blind attempts, and further improves the escape efficiency.
[0030] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of a method for escaping a movable device provided in the present application. It should be noted that if there are substantially the same results, this embodiment is not limited to Figure 1 The process sequence shown is limited. Figure 1 As shown, this embodiment includes:
[0031] S110: When the movable device is in a trapped state, construct a map of the environment in which the movable device is located.
[0032] When a movable device is in a trapped state, by constructing a map of the environment in which it is located, the movable device can more accurately understand its position in the environment and plan the escape path of the movable device more efficiently.
[0033] In one embodiment, the mobile device is in a trapped state when it is started, and environmental data is collected by using sensors carried by the mobile device, such as lidar, cameras, etc. In addition, the mobile device can also receive environmental data detected by other devices in the same environment to build a map of the environment in which it is located, which is not limited here.
[0034] Through SLAM (Simultaneous Localization and Mapping) technology, which is simultaneous positioning and map building technology, mobile devices can perform real-time positioning in unknown environments and build maps of the environment by scanning the surrounding environment through radar, and locate their own position on the map. In this way, mobile devices can reduce their dependence on prior maps by autonomously exploring unknown environments and building maps, and can better adapt to dynamically changing environments, thereby improving the speed and efficiency of task execution.
[0035] S120: Determine the farthest distance point in the map, where the farthest distance point is the point farthest from the current position of the movable device.
[0036] After building a map of the environment where the mobile device is located, determine the current precise position of the mobile device on the map. Based on the current position of the mobile device, determine the point in the map farthest from the current position as the farthest distance point.
[0037] In one embodiment, the distance between each point on the map and the current position is calculated. Preferably, to reduce the calculation, the distance between each point on the map boundary and the current position can also be directly calculated. According to the statistically calculated distances, the farthest distance point of the current position of the movable device is determined. If there are multiple farthest points, one of them is arbitrarily selected as the farthest distance point.
[0038] In one embodiment, if there are obstacles in the environment where the movable device is located, the entire map can be divided into multiple areas based on the positions of the obstacles in the map. When determining the farthest distance point, within the range of the current area where the movable device is located, the point farthest from the current position of the movable device in the area is selected as the farthest distance point.
[0039] In one embodiment, if the movable device needs to go through multiple explorations in the map before leaving the trapped area or the non-task execution area, in order to further improve the detection or escape efficiency and avoid the movable device from repeatedly exploring the already explored area, the farthest distance point in the subsequent rounds of exploration cycles can be selected as the point that is farthest from the current position of the movable device and meets the preset conditions. The preset condition is that the connection line between the current position of the movable device and the farthest distance point does not pass through the explored area.
[0040] S130: Control the movable device to move to the farthest distance point, and determine whether the movable device is out of trouble.
[0041] Based on the current position and the farthest distance point of the movable device, a moving path between the two points is planned, the movable device is controlled to move toward the farthest distance point, and during the movement, it is detected in real time whether the movable device is out of trouble.
[0042] In one embodiment, during the process of controlling the movable device to move to the farthest distance point, when it is detected that the movable device has reached a specific safe area, the current state can determine that the movable device has successfully escaped. For example, if the automatic cleaning device is trapped in a carpet area while performing cleaning work and needs to execute the escape mode, during the process of controlling the automatic cleaning device to move to the farthest distance point, when the automatic cleaning device reaches a safe area such as a floor or tile surface area where the cleaning work can be performed normally, it can be determined that the automatic cleaning device has successfully escaped.
[0043] In one embodiment, a usage environment that causes the movable device to be trapped may cause the sensing device carried by the movable device to fail. When it is detected that the sensing system carried by the movable device, such as the camera, radar and / or ultrasonic sensor, has resumed normal operation and can correctly sense the surrounding environment, the current state may also determine that the movable device has successfully escaped.
[0044] If during the process of controlling the movable device to move toward the farthest distance point, it is not detected that the movable device has been successfully escaped, in response to the movable device reaching the farthest distance point and the movable device has not been escaped, the process returns to sequentially execute the steps of determining the farthest distance point in the map, where the farthest distance point is the point farthest from the current position of the movable device, and controlling the movable device to move toward the farthest distance point and judging whether the movable device has been escaped, until it is determined that the movable device has been successfully escaped.
[0045] In one embodiment, in response to the movable device reaching the far distance point and the movable device is not out of trouble, the explored area of the movable device in the current movement round is determined based on the initial position of the movable device in the current movement round and the farthest distance point.
[0046] Exemplarily, the circumscribed area of the initial position and the farthest distance point is taken as the explored area, wherein the connecting line formed by the initial position and the farthest distance point is the longest connecting line between the points in the explored area. In one example, at the beginning of the current movement round, the initial position of the movable device in the environment is recorded; by constructing an environmental map, the farthest distance point that can be reached from the initial position is determined, and the movement trajectory of the movable device from the initial position to the farthest distance point is tracked. The circumscribed area between the initial position and the farthest distance point is calculated, and the circumscribed area is regarded as the explored area of the movable device. If the movable device is controlled to move in a straight line when moving to the farthest distance point, the circumscribed area may be a circle with the moving trajectory as the diameter, or it may be a rectangle or polygon with the moving trajectory as the diagonal. Furthermore, the explored area can be recorded and / or marked in the map, and the determined explored area information can be fed back to the exploration strategy to provide a basis for the next movement and exploration.
[0047] Control the movable device to move until it leaves the explored area, return to sequentially execute the steps of determining the farthest distance point in the map, where the farthest distance point is the point farthest from the current position of the movable device, and control the movable device to move toward the farthest distance point, while judging whether the movable device is out of trouble, so that the movable device enters the next moving round of the current moving round.
[0048] Exemplarily, when the movable device reaches the farthest distance point, it is determined based on the environmental map whether there is an unexplored area. If there is an unexplored area, the movable device is controlled to move until it leaves the explored area and reaches the unexplored area. Among them, the unexplored area is the area in the map except for the explored area of all movement rounds. It should be noted that all movement rounds are the areas recorded and divided in the constructed map when the current escape is made. When the movable device starts a new escape, if the current environment changes, the explored area and unexplored area recorded on the map are automatically refreshed. If the current environment has not changed, the area mark recorded when the last escape is also referred to to help quickly escape.
[0049] In response to the movable device reaching the unexplored area, the steps of returning to sequentially determine the farthest distance point in the map, where the farthest distance point is the point farthest from the current position of the movable device, and controlling the movable device to move toward the farthest distance point, while determining whether the movable device is out of trouble.
[0050] In one example, if there is an unexplored area in the map, the shortest path from the movable device to the unexplored area is determined, and the movable device is controlled to move along the shortest path to the unexplored area, so that the movable device can quickly and effectively plan and execute the movement from the explored area to the next explored area. When the movable device reaches the farthest distance point, the farthest distance point is updated to the current position of the movable device; the current position of the movable device is used as the starting point, and a point or boundary of the unexplored area is used as the target point, and a path planning algorithm such as the Dijkstra algorithm is used to calculate the shortest path from the starting point to the target point; finally, according to the calculated shortest path, the movable device is controlled to move along the path to the unexplored area.
[0051] After the movable device reaches the unexplored area, it enters the next moving round of the current moving round, and returns to sequentially execute the steps of determining the farthest distance point in the map, controlling the movable device to move toward the farthest distance point, and determining whether the movable device is out of trouble.
[0052] In response to the movable device reaching the farthest distance point of the next moving round and the movable device has not escaped, the next moving round is taken as the current moving round, and the execution is returned to determine the explored area of the movable device in the current moving round based on the initial position and the farthest distance point of the movable device in the current moving round, until it is determined that the movable device has escaped successfully, or there is no unexplored area in the environment where the movable device is located, and the above steps are stopped.
[0053] If there is no unexplored area in the currently constructed map and the movable device has not yet escaped, it is determined that the movable device has failed to escape. At this time, the device can be controlled to execute a procedure of stopping work on the spot and alarming.
[0054] See also Figure 2 , Figure 2 This is a flow chart of another embodiment of the method for removable equipment to escape from a trap provided by the present application. To better understand the method for removable equipment to escape from a trap proposed by the present application, take an automatic cleaning device as an example. When the device is in a carpet area, it indicates that the device is trapped. Leaving the carpet area indicates that the device has escaped successfully. The specific process is as follows:
[0055] 1. The automatic cleaning device starts the escape mode.
[0056] When the automatic cleaning device is started to start cleaning, the automatic cleaning device is in the carpet area, which means that the device is currently in a trapped state. To restore to a normal working state, it needs to get out of the carpet area in time.
[0057] 2. Build a map by scanning the environment with radar.
[0058] Automatic cleaning equipment uses radar and other sensor scanning devices to collect data on the surrounding environment and generates environmental maps based on SLAM technology, enabling the automatic cleaning equipment to achieve autonomous positioning and map construction in unknown environments, providing the necessary spatial information for escape and cleaning.
[0059] 3. Take the current position as the origin and find the farthest distance point.
[0060] The automatic cleaning device takes the current position as the origin, finds the point on the map that is farthest from the current position and regards it as the farthest distance point as the target point for escape movement. If the map is divided into multiple areas, the area can also be used as a unit, and the farthest distance point in the area where the automatic cleaning device is currently located is determined as the target point for escape movement.
[0061] 4. Move to the farthest distance point and determine whether the device has left the carpet.
[0062] Control the automatic cleaning device to move to the farthest distance point, and continuously detect whether the device has left the carpet area during the movement. Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of an automatic cleaning device provided by the present application. The device is provided with a carpet detection sensor to continuously detect whether the device enters or leaves a carpet area. Preferably, the carpet detection sensor is arranged at the front end of the device in the moving direction, and is arranged opposite to the mop, so as to avoid the mop getting on the carpet when the front is detected as a carpet area during normal cleaning, thereby affecting the normal operation of the device.
[0063] 5. If it is detected that the device has left the carpet, the depth-first escape is determined to be successful; if it is not detected that the device has left the carpet, the device is controlled to continue moving until it reaches the farthest distance point.
[0064] During the movement of the automatic cleaning device to the farthest point, please refer to Figure 4 , Figure 4 This is a schematic diagram of a successful device escape provided by this application. If the device is detected to have left the carpet area, it is determined that the escape is successful; if the device is not detected to have left the carpet area, please refer to Figure 5 , Figure 5 This is a schematic diagram of a situation of a device escape process provided by the present application, controlling the device to continue moving toward the farthest distance point until the device reaches the farthest distance point and enters the following process 6.
[0065] 6. After the device reaches the farthest distance point, it determines the explored area.
[0066] When the device reaches the farthest distance point and detects that the device has not left the carpet area, the initial position of the device and the graphic circumscribed by the farthest distance point are set as the explored area, and the following process 7 is entered.
[0067] In one example, the explored area is calculated by the slope and intercept of two points. For example, assuming that the initial position coordinates A(x 1 ,y 1 ), the coordinates of the farthest point B(x 2 ,y 2 ), the two points are the two end points of the straight line; the slope m of the straight line is calculated using the coordinate information of the two points, and the calculation method is: m = (y 2 -y 1 ) / (x 2 -x 1 ) ; Use the slope m and the coordinates of one of the points to further calculate the intercept b of the straight line, calculated as: b = y 1 -m*x 1 ; From this, the equation of the line can be written: y=mx+b; the line is used as the diagonal endpoint of the explored area, and the boundary of the explored area of the current moving round is determined. Preferably, since most building spaces are rectangular, in order to facilitate the division of areas, the explored area is set to a rectangle, that is, the straight line connecting the position of the device and the farthest distance point is used as the diagonal of the explored area to determine the explored rectangular area in the map.
[0068] 7. Determine whether there is an unexplored area in the map. If so, control the device to move to the nearest unexplored area and return to execute process 3-6 in sequence.
[0069] Check if there are any unexplored areas in the current environment map of the automatic cleaning device. Figure 6 , Figure 6 This is another schematic diagram of a device escape process provided by the present application. If there is an unexplored area in the current environmental map where the automatic cleaning device is located, the control device moves to the point in the unexplored area that is closest to the current position, returns to execute processes 3-6 in sequence, and continues to execute the above-mentioned escape process until there is no unexplored area in the current map, and executes the following process 8.
[0070] 8. If there is no unexplored area, the depth-first escape is considered a failure.
[0071] See also Figure 7 , Figure 7This is a schematic diagram of a situation in which a device fails to escape from a trapped state provided by the present application. When the device has gradually explored all areas in the map and there are no unexplored areas, it is detected that the device is still in a trapped state, and it is determined that the depth-first escape has failed.
[0072] The above process enables the automatic cleaning equipment to cover more areas, improve cleaning efficiency and coverage, and quickly get out of the trapped state and resume normal working state by continuously exploring and updating the map in unknown environments without historical environmental maps. Figure 8 As shown, Figure 8 This is a schematic diagram of a traditional escape strategy provided by the present application. It can be seen that compared with the traditional escape method of gradually expanding the exploration range, the escape path provided by the present application is shorter, less time-consuming, and more efficient.
[0073] See also Fig. 9 , Fig. 9 6 is a schematic diagram of the structure of an embodiment of an electronic device provided by the present application. The electronic device 60 includes a memory 61 and a processor 62 connected to each other. The memory 61 is used to store a computer program. When the computer program is executed by the processor 62, it is used to implement the method for removing a movable device from a trap in the above embodiment. Exemplarily, the above electronic device can be a movable robot, such as a sweeping robot.
[0074] The above-mentioned method is an embodiment, which can exist in the form of a computer program. Therefore, the present application proposes a computer-readable storage medium. Fig.10 , Fig.10 It is a schematic diagram of the structure of an embodiment of a computer-readable storage medium provided in the present application. The computer-readable storage medium 80 is used to store a computer program 81, which can be executed to implement the method for removable device escape in the above embodiment.
[0075] The computer-readable storage medium 80 may be a server, a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or other media that can store program codes.
[0076] The above description is only an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A method for escaping a movable device, characterized in that: include: When the movable device is in a trapped state, constructing a map of the environment in which the movable device is located; Determine a farthest distance point in the map, the farthest distance point being a point farthest from a current position of the movable device; The movable device is controlled to move toward the farthest distance point, and at the same time, it is determined whether the movable device is out of trouble.
2. The method according to claim 1, characterized in that The method further comprises: In response to the movable device reaching the farthest distance point and the movable device has not escaped, the steps of determining the farthest distance point in the map, the farthest distance point being the point farthest from the current position of the movable device, and controlling the movable device to move toward the farthest distance point and judging whether the movable device has escaped are returned to be executed in sequence until it is determined that the movable device has escaped successfully.
3. The method according to claim 2, characterized in that In response to the movable device reaching the farthest distance point and the movable device not being out of trouble, returning to sequentially execute the steps of determining the farthest distance point in the map, the farthest distance point being the point farthest from the current position of the movable device, and controlling the movable device to move toward the farthest distance point and determining whether the movable device is out of trouble at the same time, until it is determined that the movable device is out of trouble successfully, including: In response to the movable device reaching the farthest distance point and the movable device not being out of trouble, determining an explored area of the movable device in the current movement round based on an initial position of the movable device in the current movement round and the farthest distance point; Control the movable device to move until it leaves the explored area, return to sequentially execute the steps of determining the farthest distance point in the map, the farthest distance point being the point farthest from the current position of the movable device, and controlling the movable device to move toward the farthest distance point, and determining whether the movable device is out of trouble, so that the movable device enters the next movement round of the current movement round; In response to the movable device reaching the farthest distance point of the next moving round and the movable device has not escaped, the next moving round is taken as the current moving round, and the process of determining the explored area of the movable device in the current moving round based on the initial position of the movable device in the current moving round and the farthest distance point is returned to be executed until it is determined that the movable device has escaped successfully.
4. The method according to claim 3, characterized in that The determining, based on the initial position of the movable device in the current movement round and the farthest distance point, an explored area of the movable device in the current movement round includes: The circumscribed area between the initial position and the farthest distance point is taken as the explored area, wherein the connecting line formed by the initial position and the farthest distance point is the longest connecting line between points in the explored area.
5. The method according to claim 3, characterized in that: The step of controlling the movable device to move until leaving the explored area, returning to sequentially execute the steps of determining the farthest distance point in the map, the farthest distance point being the point farthest from the current position of the movable device, and controlling the movable device to move toward the farthest distance point, and determining whether the movable device is out of trouble, comprises: Determine whether there is an unexplored area based on the map, the unexplored area being an area in the map other than the explored areas of all movement rounds; If the unexplored area exists, controlling the movable device to move to the unexplored area; In response to the movable device reaching the unexplored area, the steps of determining the farthest distance point in the map, the farthest distance point being the point farthest from the current position of the movable device, and controlling the movable device to move toward the farthest distance point and determining whether the movable device is out of trouble are returned to be executed in sequence.
6. The method according to claim 5, characterized in that The controlling the movable device to move to the unexplored area comprises: The shortest path from the movable device to the unexplored area is determined, and the movable device is controlled to move to the unexplored area along the shortest path.
7. The method according to claim 5, characterized in that The determining whether there is an unexplored area based on the map further includes: In response to the unexplored area not existing in the map and the movable device not escaping, it is determined that the movable device fails to escape.
8. The method according to claim 3, characterized in that The farthest distance point is a point that is farthest from the current position of the movable device and satisfies a preset condition, wherein the preset condition is that a connecting line between the current position of the movable device and the farthest distance point does not pass through the explored area.
9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the processor is coupled to the memory, and the processor is configured to execute one or more steps of the method for escaping a movable device as described in any one of claims 1 to 8 based on instructions stored in the memory.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the method for escaping a movable device according to any one of claims 1 to 8.