Skid escape method and device and self-moving robot

Abstract

The invention relates to the field of robots, and discloses a slipping escape method and device and a self-moving robot, and the method comprises the steps: obtaining the operation state information of the self-moving robot, and judging whether the self-moving robot is in a slipping state or not according to the operation state information; if yes, the self-moving robot is controlled to execute an escape action; the escape action comprises a retreating action and an advancing action along an arc track. According to the method, compared with the mode that the self-moving robot self-rotates in situ to get out of trapping, larger friction force does not need to be provided on the ground, and the getting-out success rate is higher.

Description

[Technical field]

[0001] The present invention relates to the field of robots, and in particular to a method and device for escaping from slipping and a self-moving robot. [Background Technology]

[0002] When a self-propelled robot, such as an intelligent lawn mower robot, performs a lawn mowing task, the moisture in the grass can significantly reduce the friction between the robot's wheels and the ground. That is, excessive watering or heavy rain will leave stagnant water or turn the soil into mud, which can act as a lubricant and reduce traction. In addition, mud will accumulate on the wheels and tread patterns, further reducing grip and causing the lawn mower robot to slip. That is, the lawn mower robot may be blocked by obstacles, insufficient wheel grip, or excessive watering or silt accumulation, which reduces the friction between the wheels and the ground, causing the rear wheels to spin in place and cause abnormal movement.

[0003] Existing exception handling methods generally control the lawn mowing robot to spin in place, turn to a preset angle and then continue walking. However, in the process of controlling the device to turn to a preset angle, the ground needs to provide greater friction, but the friction between the ground and the rear wheels cannot be changed. Therefore, the self-spinning method is prone to failure. [Summary of the invention]

[0004] The purpose of the embodiments of the present invention is to provide a method and device for a self-moving robot to escape from a slipping state, and a self-moving robot. The present invention achieves escape from a slipping state by executing an escape action including a backward action and a forward action along an arc trajectory when the self-moving robot is identified as being in a slipping state according to its motion state, thereby increasing the probability of escape and reducing the probability of abnormal shutdown of the self-moving robot.

[0005] To solve the above technical problems, an embodiment of the present invention provides a method for a self-moving robot to escape from a slipping state, comprising: obtaining the operating status information of the self-moving robot, and judging whether the self-moving robot is in a slipping state according to the operating status information; if so, controlling the self-moving robot to perform an escape action; the escape action comprises: a backward action and a forward action along an arc trajectory.

[0006] An embodiment of the present invention also provides a skidding and escape device for a self-moving robot, comprising: a detection module, used to obtain operating status information of the self-moving robot, and determine whether the self-moving robot is in a skidding state based on the operating status information; a control module, used to control the self-moving robot to perform an escape action when the self-moving robot is in the skidding state; the escape action includes: a backward action and a forward action along an arc trajectory.

[0007] An embodiment of the present invention further provides a self-moving robot, comprising: at least one self-moving robot skidding escape device, an IMU attitude sensor and an odometer.

[0008] An embodiment of the present invention further provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the steps in the method for self-moving robot to escape from slipping as described above.

[0009] In addition, the obtaining of the operating status information of the self-moving robot and judging whether the self-moving robot is in a slipping state according to the operating status information include: obtaining first posture angle information and first mileage information of the self-moving robot; obtaining second posture angle information and second mileage information of the self-moving robot after a preset time;

[0010] Determine an attitude angle difference according to the first attitude angle information and the second attitude angle information, and determine a mileage difference according to the first mileage information and the second mileage information; and determine whether the self-moving robot is in a normal working state or a slipping state according to the attitude angle difference and the mileage difference.

[0011] In addition, controlling the self-moving robot to execute an escape action includes: controlling the self-moving robot to retreat in a straight line for a first preset distance, and then controlling the left and right wheels of the self-moving robot to rotate differentially so that the self-moving robot moves forward along the arc trajectory for a second preset distance.

[0012] In addition, the arc trajectory includes a first arc trajectory; the control of the differential rotation of the left and right wheels of the self-moving robot includes: controlling the differential rotation of the wheels of the self-moving robot when the left wheel speed is greater than the right wheel speed, so that the self-moving robot moves along the first arc trajectory the second preset distance.

[0013] In addition, the arc trajectory includes a second arc trajectory; the control of the differential rotation of the left and right wheels of the self-moving robot includes: controlling the wheels of the self-moving robot to rotate differentially when the right wheel speed is greater than the left wheel speed, so that the self-moving grass robot moves along the second arc trajectory the second preset distance.

[0014] In addition, before controlling the self-moving robot to execute the escape action, the method also includes: determining whether the self-moving robot is at the boundary position of the working area; controlling the self-moving robot to execute the escape action includes: when the self-moving robot is at the boundary position, controlling the self-moving robot to retreat in a straight line the first preset distance, and then controlling the self-moving robot to move forward along a target arc trajectory, wherein the target arc trajectory is located inside the working area and has no intersection with the boundary line of the working area.

[0015] In addition, after controlling the self-moving robot to perform the escape action, the method further includes: determining again whether the self-moving robot is in the slipping state; if so, controlling the self-moving robot to perform the escape action again.

[0016] Compared with the prior art, the embodiments of the present invention determine whether the self-moving robot is in a slipping state by obtaining the operating status information of the self-moving robot, and execute backward and forward actions along an arc trajectory to escape when the self-moving robot is in a slipping state. This allows the self-moving robot to escape more efficiently and work continuously in a scenario where an abnormal slip occurs. Compared with allowing the self-moving robot to spin in place to escape, it does not require the ground to provide greater friction and has a higher success rate in escaping. [Drawings]

[0017] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0018] Figure 1 It is a schematic flow chart of a method for a self-moving robot to escape from slipping provided by an embodiment of the present invention;

[0019] Figure 2 is a schematic flow chart of a method for a self-moving robot to escape from slipping provided by another embodiment of the present invention;

[0020] Figure 3 It is a roadmap for a self-moving robot to perform an escape action provided by an embodiment of the present invention;

[0021] Figure 4 is a route map for a self-moving robot to perform an escape action provided by another embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a route for a self-moving robot to perform an escape action at a boundary position of a working area provided by another embodiment of the present invention;

[0023] Figure 6 It is a schematic diagram of a route for a self-moving robot to perform an escape action at a boundary position of a working area provided by another embodiment of the present invention. [Specific implementation method]

[0024] In order to make the purpose, technical scheme and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are provided to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.

[0025] One embodiment of the present invention relates to a method for a self-propelled robot to escape from slipping. Figure 1 As shown, the specific steps include:

[0026] Step 101: Obtain the operating status information of the self-moving robot, and determine whether the self-moving robot is in a slipping state according to the operating status information.

[0027] Specifically, the self-moving robot in this embodiment may be a lawn mowing robot or a sweeping robot, etc., which is not limited here.

[0028] During the operation of the self-moving robot, the operating status information of the self-moving robot can be obtained by using sensors and other equipment, and the self-moving robot can be judged to be in a normal working state or a slipping state according to its operating status information. For example, the attitude angle of the self-moving robot can be measured according to the attitude sensor installed on the self-moving robot, and the current operating status of the self-moving robot can be obtained by measuring the attitude angle of the self-moving robot. In addition, the odometer of the self-moving robot can also be used to estimate the travel distance of the self-moving robot. The self-moving robot can be judged to be in a normal working state or a slipping state by combining the change of the attitude angle and the travel distance of the self-moving robot.

[0029] In an example, Figure 2 As shown, step 101 may include the following sub-steps:

[0030] Step 1011: Obtain first posture angle information and first mileage information of the mobile robot.

[0031] Specifically, the self-moving robot is pre-installed with an IMU (Inertial Measurement Unit) attitude sensor, and the three-axis attitude angle (pitch angle, heading angle, and roll angle) of the self-moving robot can be obtained based on the data measured by the IMU attitude sensor installed on the self-moving robot. In addition, the rear wheels of the self-moving robot (rear-drive device) are installed with a wheel odometer to count the number of rotations of the wheels to determine the distance the self-moving robot should move. Therefore, when obtaining the operating status information of the self-moving robot, the three-axis attitude angle of the self-moving robot measured by the IMU attitude sensor can be read at a certain moment as the first attitude angle information, and the mileage measured by the wheel odometer can be synchronously read as the first mileage information.

[0032] Step 1012: Obtain second posture angle information and second mileage information of the mobile robot after a preset time.

[0033] Specifically, after obtaining the first attitude angle information and the first mileage information, after a preset time interval, the three-axis attitude angle of the self-moving robot measured by the IMU attitude sensor is read again as the second attitude angle information, and the mileage measured by the wheel odometer is synchronously read as the second mileage information.

[0034] Step 1013: Determine an attitude angle difference according to the first attitude angle information and the second attitude angle information, and determine a mileage difference according to the first mileage information and the second mileage information.

[0035] Specifically, since at least one of the three-axis attitude angles of the self-mobile robot will continue to change as the self-mobile robot moves during the normal execution of its work tasks. Similarly, during the normal execution of its work tasks, as the mileage of the odometer continues to increase, the self-mobile robot should travel a corresponding distance. That is, during the normal execution of its work tasks, its attitude angle information and mileage information should both change, and there is a certain correspondence between the changes of the two. This embodiment determines the attitude angle difference based on the first attitude angle information and the second attitude angle information, and determines the mileage difference based on the first mileage information and the second mileage information. The attitude angle difference can reflect the attitude change of the self-mobile robot within a preset time, and the mileage difference can reflect the distance traveled by the self-mobile robot within a preset time.

[0036] Step 1014: Determine whether the self-moving robot is in a normal working state or a slipping state according to the attitude angle difference and the mileage difference.

[0037] Specifically, when the self-moving robot is in a slipping state, the wheels can only spin idly while the self-moving robot itself cannot move forward, and accordingly, the three-axis attitude angle will not change significantly. Therefore, the attitude angle difference and the mileage difference can be used to determine whether the self-moving robot is in a normal working state or a slipping state. For example, the mileage difference of the self-moving robot measured according to the above steps is large but the attitude angle difference has not changed. This state indicates that the wheels of the self-moving robot have been rotating within a preset time, but the self-moving robot itself has not moved. It can be determined that the self-moving robot is in a slipping state at this time. It should be noted that the attitude angle difference can be any one or any combination of the heading angle difference, the pitch angle difference, and the roll angle difference, and this embodiment does not impose specific restrictions on this.

[0038] Step 102: If yes, the self-moving robot is controlled to perform an escape action; the escape action includes: a backward action and a forward action along an arc trajectory.

[0039] Specifically, after determining that the self-moving robot is in a slipping state according to the running state information of the self-moving robot, the self-moving robot is controlled to perform an escape action. The escape action in this embodiment includes a straight-line backward action and an arc-shaped forward action.

[0040] In one example, controlling the self-moving robot to execute an escape action specifically includes: controlling the self-moving robot to retreat in a straight line for a first preset distance, and then controlling the left and right wheels of the self-moving robot to rotate differentially so that the self-moving robot moves forward along an arc trajectory for a second preset distance.

[0041] Specifically, the first preset distance for controlling the self-mobile robot to retreat in a straight line can be set according to the actual size of the self-mobile robot, and this application does not make specific limitations. After controlling the self-mobile robot to retreat in a straight line for the first preset distance, the left and right wheels of the self-mobile robot are controlled to rotate at different linear speed differentials. Since the linear speeds of the left and right wheels of the self-mobile robot are different, the self-mobile robot will generate angular velocities accordingly, so that it can move forward along an arc trajectory, and complete the escape action after moving forward a second preset distance. In an optional embodiment, the arc trajectory can be a separate arc trajectory, or it can be a combination of an arc trajectory and a straight line trajectory. For example, after the self-mobile robot retreats a first preset distance, it first moves forward a preset distance through the left and right wheel differential arc, and then moves forward in a straight line toward an arbitrary angle, or after the self-mobile robot retreats a first preset distance, it first moves forward a preset distance toward an arbitrary angle, and then moves forward a preset distance through the left and right wheel differential arc.

[0042] Accordingly, when controlling the self-moving robot to move forward a second preset distance along an arc trajectory, there are generally two arc trajectories to choose from.

[0043] In an example, Figure 3As shown, the arc trajectory includes a first arc trajectory; at this time, controlling the left and right wheels of the self-moving robot to rotate at a differential speed includes:

[0044] The wheels of the self-moving robot are controlled to rotate differentially when the speed of the left wheel is greater than the speed of the right wheel and the speed difference between the speed of the left wheel and the speed of the right wheel is a preset speed, so that the self-moving robot moves forward a second preset distance along the first arc trajectory. It can be understood that the speed difference between the left and right wheels can be any value, which is specifically set according to actual conditions. If the speed difference between the left and right wheels is different, the arc size of the arc trajectory is also different accordingly.

[0045] Specifically, the self-moving robot is controlled to move forward with differential rotation when the left wheel (rotation) speed is greater than the right wheel (rotation) speed, and the difference between the rotation speeds of the two is a preset speed. At this time, since the left wheel (rotation) speed of the self-moving robot is greater than the right wheel (rotation) speed, the self-moving robot will turn right. The running trajectory of turning right generated at this time is the first arc trajectory. The self-moving robot is controlled to move forward along the first arc trajectory for a second preset distance before the escape action is completed. It should be noted that the second preset distance is the arc distance that the self-moving robot moves forward along the first arc trajectory. This embodiment does not impose specific restrictions on the specific value of the second preset distance, and it can be set according to the actual size of the self-moving robot.

[0046] In another example, Figure 4 As shown, the arc trajectory includes a second arc trajectory; at this time, controlling the left and right wheels of the self-moving robot to rotate differentially includes: controlling the wheels of the self-moving robot to rotate differentially when the left wheel speed is less than the right wheel speed, and the speed difference between the right wheel speed and the left wheel speed is a preset speed, so that the self-moving robot moves along the second arc trajectory a second preset distance.

[0047] Specifically, the self-moving robot is controlled to move forward with differential rotation when the right wheel (rotation) speed is greater than the left wheel (rotation) speed, and the difference between the rotation speeds of the two is a preset speed. At this time, since the right wheel (rotation) speed of the self-moving robot is greater than the left wheel (rotation) speed, the self-moving robot will turn left, and the left-turning running trajectory generated at this time is the second arc trajectory. The self-moving robot is controlled to move forward along the second arc trajectory for a second preset distance before the escape action is completed. It should be noted that the second preset distance is the arc distance that the self-moving robot moves forward along the second arc trajectory. This embodiment does not impose specific restrictions on the specific value of the second preset distance, and it can be set according to the actual size of the self-moving robot.

[0048] In some cases, before the self-mobile robot performs an escape action, all escape routes corresponding to the self-mobile robot's escape action can be pre-planned in the operation map of the self-mobile robot, and two escape routes corresponding to the escape action can be pre-planned, one route is a route corresponding to a first preset distance after a straight line retreats along a first arc trajectory and advances along a second preset distance; the other route is a route corresponding to a second preset distance after a straight line retreats along a second arc trajectory. It should be noted that the operation map is a map of the working area where the self-mobile robot performs operations, which is pre-scanned and stored inside the self-mobile robot. After pre-calculating the escape route corresponding to the escape action, it is necessary to verify whether there is space in the current working area where the self-mobile robot is located to execute any escape route. If so, any escape route can be randomly selected to control the self-mobile robot to perform the escape action. Whether there is enough escape space for the self-mobile robot to perform the escape action can be determined by judging whether each escape route intersects with the boundary line of the operation map. If an intersection occurs, it proves that there is insufficient escape space, and the self-mobile robot may go out of bounds when performing the escape action on the escape route, which may cause damage to the self-mobile robot. Specifically, in order to ensure that the self-moving robot has enough escape space to perform the escape action, it is necessary to select an escape route that does not intersect with the boundary line of the operation map as the target escape route. If there is no intersection, it proves that there is enough escape space and the self-moving robot can safely perform the escape action on this escape route. Then the self-moving robot can be controlled to perform the escape action along the target escape route. In addition, during the escape action, the self-moving robot will monitor the boundary line signal in real time through the sensor installed on the front of the vehicle to monitor whether it has gone out of the boundary, and immediately stop the action when it detects that it is about to go out of the boundary.

[0049] Generally speaking, when a self-propelled robot is performing a task in a working area, if it slips, after retreating a first preset distance in a straight line, the self-propelled robot can randomly select Figure 3 or Figure 4 The arc trajectory shown advances the preset distance. However, if slipping occurs when performing a work task at the boundary of the work area, if the arc trajectory is randomly selected, it may cause the self-propelled robot to go out of bounds and cause uncontrollable damage.

[0050] Therefore, in another embodiment, before controlling the self-propelled robot to perform the escape action in step 102, the steps of this solution further include the following steps:

[0051] Determine whether the self-moving robot is at the boundary of the working area.

[0052] Specifically, before starting to execute the escape action, this solution needs to first determine whether the self-moving robot is at the boundary position of the working area. The specific determination method can be by locating the position of the self-moving robot in the working area of ​​the self-moving robot. Whether the self-moving robot is at the boundary position of the working area determines the direction in which the subsequent self-moving robot executes the escape action.

[0053] After the judgment result is obtained, the steps of controlling the self-moving robot to perform an escape action include:

[0054] When the self-moving robot is at the boundary position, the self-moving robot is controlled to retreat in a straight line for a first preset distance, and then the self-moving robot is controlled to move forward along a target arc trajectory, which is located inside the working area and has no intersection with the boundary line of the working area.

[0055] Specifically, Figure 5 As shown, when the self-moving robot is in the clockwise patrol state, after the self-moving robot is controlled to retreat in a straight line for a first preset distance, the self-moving robot is controlled to move forward along the target arc trajectory. At this time, the target arc trajectory is an arc trajectory turning right into the working area; Figure 6 As shown, when the self-moving robot is in a counterclockwise patrol state, the self-moving robot is controlled to retreat in a straight line for a first preset distance, and then the self-moving robot is controlled to move forward along a target arc trajectory. At this time, the target arc trajectory is an arc trajectory turning left into the working area, and the target arc trajectory does not intersect with the boundary of the working area.

[0056] In another example, after controlling the self-moving robot to perform an escape action, the method of this embodiment further includes: determining again whether the self-moving robot is in a slipping state; if so, controlling the self-moving robot to perform an escape action again.

[0057] Specifically, the step of determining whether the self-moving robot is in a slipping state again is the same as steps 1011-1014 in the aforementioned embodiment, and this embodiment will not be repeated here. It should be noted that a preset execution number can be set for the escape action, and after the first escape action is executed, it is determined again whether the self-moving robot is in a slipping state. If it is still in a slipping state, the escape action is executed again, and the above process is repeated until the escape action is repeated more than or equal to the preset execution number. At this time, if the self-moving robot is still in a slipping state, the escape fails and the self-moving robot sends an alarm.

[0058] Compared with the related art, the embodiment of the present invention determines whether the self-moving robot is in a slipping state by obtaining the operating status information of the self-moving robot, and executes backward and forward actions along an arc trajectory to escape when the self-moving robot is in a slipping state. This allows the self-moving robot to escape more efficiently and work continuously in the event of an abnormal slipping situation. Compared with allowing the self-moving robot to spin in place to escape, it does not require the ground to provide greater friction and has a higher success rate of escape.

[0059] Another embodiment of the present invention relates to a skidding escape device for a self-moving robot, comprising:

[0060] A detection module, used for obtaining the running state information of the self-moving robot, and determining whether the self-moving robot is in a slipping state according to the running state information;

[0061] The control module is used to control the self-moving robot to perform an escape action when the self-moving robot is in the slipping state; the escape action includes: a backward action and a forward action along an arc trajectory.

[0062] It is worth noting that the working principle of the self-propelled robot skidding escape device provided in the above embodiments can refer to the working process of the self-propelled robot skidding escape method provided in any of the above embodiments, which will not be described in detail here. In addition, the specific implementation details related to the detection module and the control module have been recorded in the above embodiments, and the implementation details recorded in each embodiment can be used in this embodiment, which will not be described in detail here.

[0063] Compared with the related art, the skidding escape device of the self-moving robot in this embodiment determines whether the self-moving robot is in a skidding state by acquiring the operating status information of the self-moving robot, and executes backward and forward actions along an arc trajectory to escape when the self-moving robot is in a skidding state. This enables the self-moving robot to escape more efficiently and work uninterruptedly in the event of an abnormal skidding situation. Compared with allowing the self-moving robot to spin in place to escape, it does not require the ground to provide greater friction and has a higher success rate of escape.

[0064] Yet another embodiment of the present invention relates to a self-moving robot including at least one self-moving robot skidding escape device as described in the aforementioned embodiments, an IMU attitude sensor, and an odometer.

[0065] Specifically, the self-moving robot in this embodiment can be used to execute the method for self-moving robots to escape from slipping in any of the above embodiments.

[0066] Another embodiment of the present invention relates to a computer program product, which is stored in a storage medium and executed by at least one processor to implement the steps of the method for self-moving robot to escape from slipping as described in the above method embodiment.

[0067] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code. Those of ordinary skill in the art can understand that the above-mentioned embodiments are specific embodiments of the present invention, and in actual applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for escaping from a slipping situation, applied to a self-propelled robot, characterized in that: include: Acquiring running status information of the self-moving robot, and determining whether the self-moving robot is in a slipping state according to the running status information; If so, the self-moving grass robot is controlled to perform an escape action; the escape action includes: a backward action and a forward action along an arc trajectory.

2. The method according to claim 1, characterized in that The obtaining the running state information of the self-moving robot and judging whether the self-moving robot is in a slipping state according to the running state information comprises: Acquiring first attitude angle information and first mileage information of the self-propelled robot; Acquiring second attitude angle information and second mileage information of the self-propelled robot after a preset time; determining an attitude angle difference according to the first attitude angle information and the second attitude angle information, and determining a mileage difference according to the first mileage information and the second mileage information; It is determined whether the self-propelled robot is in a normal working state or a slipping state according to the attitude angle difference and the mileage difference.

3. The method according to claim 1, characterized in that The controlling the self-propelled robot to perform an escape action comprises: After the self-moving robot is controlled to retreat in a straight line for a first preset distance, the left and right wheels of the self-moving robot are controlled to rotate differentially, so that the self-moving robot moves forward along the arc trajectory for a second preset distance.

4. The method according to claim 3, characterized in that The arc trajectory includes a first arc trajectory; and the step of controlling the left and right wheels of the self-propelled robot to rotate differentially includes: The wheels of the self-propelled robot are controlled to rotate at a differential speed when the speed of the left wheel is greater than the speed of the right wheel, so that the self-propelled robot moves along the first arc trajectory to the second preset distance.

5. The method according to claim 3, characterized in that: The arc trajectory includes a second arc trajectory; and the controlling of the left and right wheels of the self-propelled robot to rotate differentially includes: The wheels of the self-moving robot are controlled to rotate differentially when the speed of the right wheel is greater than the speed of the left wheel, so that the self-moving robot moves forward along the second arc trajectory by the second preset distance.

6. The method according to claim 3, characterized in that Before controlling the self-moving robot to perform an escape action, the method further includes: determining whether the self-moving robot is at a boundary position of a working area; The controlling the self-moving robot to execute the escape action includes: when the self-moving robot is at the boundary position, controlling the self-moving robot to retreat in a straight line for the first preset distance, and then controlling the self-moving robot to move forward along a target arc trajectory, wherein the target arc trajectory is located inside the working area and has no intersection with the boundary line of the working area.

7. The method according to claim 1, characterized in that After controlling the self-moving robot to perform an escape action, the method further includes: determining again whether the self-propelled robot is in the slipping state; If so, the self-moving robot is controlled to perform the escape action again.

8. A skidding escape device for a self-propelled robot, characterized in that: include: A detection module, used for obtaining the running state information of the self-moving robot, and determining whether the self-moving robot is in a slipping state according to the running state information; The control module is used to control the self-moving robot to perform an escape action when the self-moving robot is in the slipping state; the escape action includes: a backward action and a forward action along an arc trajectory.

9. A self-propelled robot, characterized in that: include: At least one of the self-propelled robot's skidding escape device, IMU attitude sensor and odometer as described in claim 8.

10. A computer program product, characterized in that The computer program product is stored in a storage medium, and the computer program product is executed by at least one processor to implement the steps in the method for self-moving robot to escape from slipping as claimed in any one of claims 1 to 7.

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