Breaking-out method and device, readable storage medium and robot

Abstract

The invention provides a detrapping method and device, a readable storage medium and a robot. The escape method comprises the steps that the robot is controlled to rotate in the first rotating direction; in the process that the robot rotates in the first rotating direction, under the condition that a first collision signal is obtained, the robot is controlled to rotate in the second rotating direction; controlling the robot to rotate to a target course angle in the first rotating direction under the condition that a second collision signal is obtained in the process that the robot rotates in the second rotating direction; and controlling the robot to run along the target running direction. The robot can quickly and safely get out of the low, long and narrow trapped area, the situation that the robot is trapped is reduced, and meanwhile the cleaning capacity of the robot in the long and narrow area is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving devices, in particular to a method and device for escaping from a trap, a readable storage medium and a robot. BACKGROUND

[0002] With the advancement of technology, more and more families choose to use a robot vacuum cleaner to clean the indoor environment. A square robot vacuum cleaner can better clean the right-angle areas in the indoor environment, and has the advantages of a large cleaning range and high cleaning efficiency.

[0003] During the cleaning process of the square robot vacuum cleaner, the indoor environment is variable and complex. The robot may be trapped in a low and narrow area during the cleaning process. Since the radar sensor is relatively high, it cannot sense low obstacles. The line laser sensor can only scan the obstacles in front, and cannot sense the environment behind the robot. The robot is usually trapped in a low and narrow area and cannot clean normally. SUMMARY

[0004] The present application aims to solve one of the technical problems in the prior art or related art.

[0005] To this end, the first aspect of the present application provides a method for escaping from a trap.

[0006] The second aspect of the present application provides a device for escaping from a trap.

[0007] The third aspect of the present application provides a device for escaping from a trap.

[0008] The fourth aspect of the present application provides a readable storage medium.

[0009] The fifth aspect of the present application provides a robot.

[0010] Therefore, according to the first aspect of the present application, a method for escaping from a trap is provided, which is applied to a robot, the robot comprising a collision sensing assembly for triggering a collision signal, the method comprising: controlling the robot to rotate in a first rotation direction; in the case that a first collision signal is obtained during the rotation of the robot in the first rotation direction, controlling the robot to rotate in a second rotation direction; in the case that a second collision signal is obtained during the rotation of the robot in the second rotation direction, controlling the robot to rotate in the first rotation direction to a target heading angle; and controlling the robot to travel in a target travel direction.

[0011] In this technical solution, the robot is provided with a collision sensing assembly for triggering a collision signal. The collision sensing assembly is arranged on the body of the robot. When the robot collides, the collision sensing assembly can trigger a collision signal to prompt the robot that a collision has occurred.

[0012] In the technical solution, the robot is in a trapped state, the robot is controlled to rotate in a first rotation direction, and whether the first collision signal is acquired by the collision sensing assembly is continuously monitored during rotation of the robot in the first rotation direction.

[0013] It should be noted that the collision sensing assembly includes a first collision sensor arranged on one side of the robot and a second collision sensor arranged on the other side of the robot. When the robot rotates in the first rotation direction, the robot is in a trapped state, and the first collision sensor triggers the first collision signal during rotation of the robot. After the first collision signal is triggered during rotation of the robot in the first rotation direction, it is determined that the robot is still in a trapped state, and the robot is controlled to rotate in a second rotation direction.

[0014] In the technical solution, when the robot rotates in the second rotation direction, it is determined that the robot is still in a trapped state when the robot acquires the second collision signal triggered by the second collision sensor. At this time, the robot is controlled to rotate in the first rotation direction again until a target heading angle, which is an escape heading angle, is reached.

[0015] In the technical solution, during rotation of the robot in the first rotation direction, if the robot collides with an obstacle, the collision sensing assembly can trigger the first collision signal, and at this time, the robot records a first heading angle at which the first collision signal is triggered. During rotation of the robot in the second rotation direction, if the robot collides with an obstacle, the collision sensing assembly can trigger the second collision signal, and at this time, the robot records a second heading angle at which the second collision signal is triggered. When the robot rotates to the target heading angle, the robot retreats in a direction matching a central axis of a channel formed by the obstacle, and at this time, the robot can travel in a target travel direction corresponding to the target heading angle to travel away from the obstacle.

[0016] In the technical solution, by arranging the first collision sensor and the second collision sensor on both sides of the robot, the robot can be accurately controlled to switch to rotation in the second rotation direction based on the first collision signal triggered by the first collision sensor during rotation of the robot in the first rotation direction, avoiding the robot continuing to rotate after collision, and improving the timeliness of switching the rotation direction of the robot.

[0017] It should be noted that the target travel direction of the robot can be a forward direction or a backward direction.

[0018] In the technical solution of the present application, when the robot is trapped in a low and narrow environment, the robot is controlled to rotate in the first rotation direction and the second rotation direction in turn, and the target heading angle in the robot escape running process is determined during the rotation process, so that the robot can rotate to the target heading angle and run along the target running direction at the target heading angle, thereby freeing the robot from the trap. The present application enables the robot to quickly and safely escape from the low and narrow trapped area, reduces the occurrence of robot trapping, and improves the cleaning ability of the robot in the narrow area.

[0019] In some technical solutions, optionally, after controlling the robot to run along the target running direction, the escape method further comprises:

[0020] In the case where the robot runs along the target running direction for a preset distance, the step of controlling the robot to rotate in the first rotation direction is returned to the step of controlling the robot to run along the target running direction.

[0021] In this technical solution, the path of the channel formed by the obstacle may not be a straight path, and the robot may collide again along the target running direction according to the target heading angle. In order to reduce the possibility of collision of the robot during the escape process, after determining the target heading angle, the robot runs a preset distance along the target running direction once, and then returns to execute the process of rotating in the first rotation direction and the second rotation direction to determine the target heading angle. After the target heading angle is updated, the robot continues to run a preset distance according to the updated target heading angle, and the above operation steps are repeated, and the robot is continuously monitored whether it reaches the escape condition. If the escape condition is reached, it is determined that the robot has successfully escaped.

[0022] In the technical solution of the present application, after the robot runs a preset distance along the target running direction at the target heading angle, the step of controlling the robot to rotate in the first rotation direction and the second rotation direction is returned to update the target heading angle, and the robot continues to run along the target running direction based on the updated target heading angle to escape, which realizes continuous updating of the target heading angle and improves the escape efficiency of the robot.

[0023] In some technical solutions, optionally, the escape method further comprises:

[0024] In the case where the rotation angle of the robot rotating in the first rotation direction reaches an angle threshold and the first collision signal is not triggered, the robot is controlled to run according to the target running path;

[0025] In the case where the rotation angle of the robot rotating in the second rotation direction reaches an angle threshold and the second collision signal is not triggered, the robot is controlled to run according to the target running path.

[0026] In the technical solution, in the case that the robot rotates along the first rotation direction or along the second rotation direction, when the rotation angle of the robot rotating along the first rotation direction reaches the angle threshold and the first collision signal is not triggered, it is determined that the robot has entered the escape state, or the robot rotates along the first rotation direction until the first collision signal is triggered, and when the rotation angle of the robot rotating along the second rotation direction reaches the angle threshold and the second collision signal is not triggered, it is determined that the robot has entered the escape state.

[0027] Specifically, the robot finds a target heading angle, rotates to the target heading angle, travels a preset distance along a target travel direction, and repeats the above steps. In the process of finding the target heading angle, the robot rotates along the first rotation direction and the second rotation direction in turn. In the case that the rotation angle of the robot rotating along the first rotation direction or along the second rotation direction reaches the angle threshold, it is determined that the robot has successfully escaped.

[0028] In the technical solution of the present application, when the rotation angle of the robot rotating along the first rotation direction or along the second rotation direction reaches the angle threshold in the process of finding the target heading angle by rotating along the first rotation direction and the second rotation direction in turn, it is determined that the robot has successfully escaped. By combining the process of finding the target heading angle with the process of determining whether the robot has successfully escaped, the step of separately setting the escape success detection is realized, and the accuracy of the escape success detection is also ensured.

[0029] In some technical solutions, after controlling the robot to travel along the target travel path, the method further comprises:

[0030] acquiring and storing target trajectory information and / or target position information,

[0031] The target trajectory information comprises at least one of the following: a rotation trajectory along the first rotation direction, a rotation trajectory along the second rotation direction, and a travel trajectory along the target travel direction.

[0032] The target position information comprises at least one of the following: a rotation position along the first rotation direction, a rotation position along the second rotation direction, and a travel position along the target travel direction.

[0033] In the technical solution, after the robot travels along the target travel path to escape, the robot acquires and stores target trajectory information and / or target position information. The target trajectory information comprises the travel trajectory of the robot in the escape travel process, and the target position information comprises the travel position of the robot in the escape travel process.

[0034] In the technical solution of the present application, the robot can record the trapped position and the escape trajectory by acquiring and storing at least one of the target trajectory information and the target position information, so as to avoid the robot from entering the trapped position again when the robot drives next time.

[0035] In some technical solutions, the robot comprises an inertial sensing component for collecting the heading angle of the robot.

[0036] Before the robot is controlled to rotate to the target heading angle in the first rotation direction, the escape method further comprises:

[0037] The first heading angle of the robot corresponding to the first collision signal is acquired, and the second heading angle of the robot corresponding to the second collision signal is acquired.

[0038] The target heading angle is determined according to the first heading angle and the second heading angle.

[0039] In the technical solution, the robot is further provided with an inertial sensing component for collecting the attitude of the robot, which can continuously collect the attitude of the robot to determine the current heading angle of the robot. During the driving process of the robot, whether the robot is in a trapped state can be determined according to the collision signal triggered by the collision sensing component and the heading angle collected by the inertial sensing component.

[0040] In the technical solution, when it is detected that the robot is in a trapped state, the robot is controlled to rotate in the first rotation direction and the second rotation direction in turn, and the inertial sensing component continuously records the heading angle of the robot during the rotation of the robot.

[0041] In the technical solution, during the rotation of the robot in the first rotation direction, if the robot collides with an obstacle, the collision sensing component can trigger a first collision signal, and at this time, the robot records a first heading angle at which the first collision signal is triggered. During the rotation of the robot in the second rotation direction, if the robot collides with an obstacle, the collision sensing component can trigger a second collision signal, and at this time, the robot records a second heading angle at which the second collision signal is triggered.

[0042] In the technical solution, after the robot acquires the first heading angle at which the first collision signal is triggered and the second heading angle at which the second collision signal is triggered, the target heading angle can be determined according to the first heading angle and the second heading angle.

[0043] In the technical solution of the present application, the first heading angle is acquired when the robot rotates in the first rotation direction and triggers the first collision signal, and the second heading angle is acquired when the robot rotates in the second rotation direction and triggers the second collision signal. The target heading angle can be determined by the first heading angle and the second heading angle, thereby improving the success rate of the robot escaping in the target driving direction.

[0044] In some embodiments, the first heading angle of the robot corresponding to the first collision signal is acquired, and the second heading angle of the robot corresponding to the second collision signal is acquired, comprising:

[0045] In the case that the first collision sensor triggers the first collision signal, the robot is controlled to stop rotating, and the first heading angle collected by the inertial sensing component is acquired.

[0046] In the case that the second collision sensor triggers the second collision signal, the robot is controlled to stop rotating, and the second heading angle collected by the inertial sensing component is acquired.

[0047] In this embodiment, when the robot rotates in the first rotation direction and the first collision signal triggered by the first collision sensor is acquired, it is determined that the robot collides at this time, i.e., it cannot continue to rotate in the first rotation direction, and the first heading angle is recorded at this time. The first heading angle can represent the maximum angle that the robot can rotate in the first rotation direction. When the robot rotates in the second rotation direction and the second collision signal triggered by the second collision sensor is acquired, it is determined that the robot collides at this time, i.e., it cannot continue to rotate in the second rotation direction, and the second heading angle is recorded at this time. The second heading angle can represent the maximum angle that the robot can rotate in the second rotation direction.

[0048] Specifically, the inertial sensing component continuously monitors the heading angle of the robot. When the first collision signal is acquired, the heading angle monitored at this time is determined as the first heading angle. When the second collision signal is acquired, the heading angle monitored at this time is determined as the second heading angle.

[0049] In the technical solution of the present application, the first heading angle and the second heading angle can be collected by the collision sensing component in cooperation with the inertial sensing component, which improves the accuracy of the acquired first heading angle and second heading angle. The first heading angle and the second heading angle respectively represent the maximum angle that the robot can rotate in the first direction and the second direction. Based on the first heading angle and the second heading angle, the target heading angle for the robot to escape and travel can be determined, which improves the accuracy of subsequent robot escape and travel.

[0050] In some embodiments, the target heading angle is determined according to the first heading angle and the second heading angle, comprising:

[0051] The first heading angle and the second heading angle are averaged to determine the target heading angle.

[0052] In the technical solution, since the first heading angle is the maximum heading angle that the robot can rotate in the first rotation direction, and the second heading angle is the maximum heading angle that the robot can rotate in the second rotation direction, the average of the first heading angle and the second heading angle is taken as the target heading angle, and the robot is controlled to rotate to the target heading angle and then travel in the target travel direction, so that the robot can successfully escape from the trapped state.

[0053] In the technical solution, the target heading angle of the robot during the escape travel is determined by performing mean value calculation on the first heading angle and the second heading angle collected by the inertial sensing assembly, thereby improving the accuracy of the travel heading angle of the robot during the escape travel and improving the escape efficiency.

[0054] In some technical solutions, before controlling the robot to rotate in the first rotation direction, the escape method further comprises:

[0055] In the case that the collision sensing assembly triggers the third collision signal, the current angular velocity of the robot is obtained;

[0056] In the case that the current angular velocity is less than the first angular velocity threshold, and the preset angular velocity of the robot is greater than the second angular velocity threshold, it is determined that the robot is in a trapped state;

[0057] The first angular velocity threshold is less than the second angular velocity threshold.

[0058] In the technical solution, when the robot obtains the third collision signal triggered by the collision sensing assembly, since the inertial sensing assembly continuously collects sensing signals, the current angular velocity of the robot can be directly obtained, which is the angular velocity generated during the actual travel of the robot. At this time, the preset angular velocity of the robot is read, which is the set angular velocity of the robot in the current travel program. When it is determined that the current angular velocity is less than the first angular velocity threshold, and the preset angular velocity is greater than the second angular velocity threshold, it is determined that the actual current angular velocity of the robot is lower than the preset angular velocity in the travel program, and therefore it is determined that the robot is in a trapped state.

[0059] It should be noted that the collision sensing assembly includes a plurality of collision sensors, and the plurality of collision sensors are distributed on the side wall of the robot. Any collision sensor in the plurality of collision sensors triggers a collision signal, which is determined as the third collision signal.

[0060] In the technical solution, the robot can determine whether it is in a trapped state according to the third collision signal triggered by the collision sensing assembly and the current angular velocity collected by the inertial sensing assembly, thereby improving the accuracy of determining whether the robot is in a trapped state, and enabling the robot to timely perform subsequent escape actions.

[0061] According to a second aspect of the present application, a robot is provided, the robot comprising a collision sensing component configured to trigger a collision signal, and the robot further comprising a robot escape device comprising: a control module configured to control the robot to rotate in a first rotation direction; the control module configured to control the robot to rotate in a second rotation direction in a case that the first collision signal is obtained during the robot rotating in the first rotation direction; the control module configured to control the robot to rotate in the first rotation direction to a target heading angle in a case that the second collision signal is obtained during the robot rotating in the second rotation direction; and the control module configured to control the robot to move in a target moving direction.

[0062] In the technical solution of the present application, when the robot is trapped in a low and narrow environment, the robot is controlled to rotate in the first rotation direction and the second rotation direction in turn, and the target heading angle in the robot escape moving process is determined during the rotation, so that the robot can rotate to the target heading angle and move in the target moving direction at the target heading angle, thereby escaping from the low and narrow trapped area. The present application enables the robot to quickly and safely escape from the low and narrow trapped area, reduces the occurrence of the robot being trapped, and improves the cleaning ability of the robot in the narrow area.

[0063] According to a third aspect of the present application, a robot escape device is provided, wherein the robot escape device comprises a processor and a memory, and the memory stores a program or instructions, and the program or instructions are executed by the processor to implement the steps of the robot escape method in any of the above technical solutions. Therefore, the robot escape device has all the beneficial effects of the robot escape method in any of the above technical solutions, which will not be repeated here.

[0064] According to a fourth aspect of the present application, a readable storage medium is provided, and the readable storage medium stores a program or instructions, and the program or instructions are executed by a processor to implement the robot escape method in any of the above technical solutions, and thus have all the beneficial effects of the robot escape method in any of the above technical solutions.

[0065] According to a fifth aspect of the present application, a robot is provided, comprising: the robot escape device in any of the above technical solutions, and / or the readable storage medium in any of the above technical solutions, and thus has all the beneficial effects of the robot escape device in any of the above technical solutions, and / or the readable storage medium in any of the above technical solutions, which will not be repeated here.

[0066] In some technical solutions, the robot further comprises a body; the collision sensing component and the inertial sensing component are arranged on the body.

[0067] In the technical scheme of the present application, the robot body is provided with a collision sensing component, and the collision signal triggered by the collision sensing component can determine whether the robot collides, and the robot body is also provided with an inertia sensing component, and the heading angle and angular velocity of the robot can be collected through the inertia sensing component.

[0068] In some technical schemes, the collision sensing component comprises a first collision sensor and a second collision sensor, which are respectively arranged on the two sides of the body.

[0069] In the technical scheme of the present application, the collision sensing component comprises a first collision sensor and a second collision sensor, which are respectively arranged on the two sides of the body, and the collision of the robot in different directions can be detected through the first collision sensor and the second collision sensor.

[0070] Additional aspects and advantages of the present application will become apparent from the following description with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0071] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

[0072] Figure 1 One of the flowcharts of the escape method provided in some embodiments of the present application is shown;

[0073] Figure 2 One of the driving schematic diagrams of the robot provided in some embodiments of the present application is shown;

[0074] Figure 3 The second driving schematic diagram of the robot provided in some embodiments of the present application is shown;

[0075] Figure 4 The third driving schematic diagram of the robot provided in some embodiments of the present application is shown;

[0076] Figure 5 The fourth driving schematic diagram of the robot provided in some embodiments of the present application is shown;

[0077] Figure 6 One of the schematic block diagrams of the escape device provided in some embodiments of the present application is shown;

[0078] Figure 7 The second schematic block diagram of the escape device provided in some embodiments of the present application is shown;

[0079] Figure 8 The structural schematic diagram of the robot provided in some embodiments of the present application is shown.

[0080] Figure 8 The reference signs in the drawings correspond as follows:

[0081] 300 robot, 310 body, 320 collision sensing assembly, 322 first collision sensor, 324 second collision sensor, 340 inertial sensing assembly. DETAILED DESCRIPTION

[0082] In order to enable a more complete understanding of the above-mentioned objects, features and advantages of the present application, the present application will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the features in the embodiments and the embodiments can be combined with each other without conflict.

[0083] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be practiced without other different ways from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0084] The following refers to Figures 1 to 8 The escape method, escape device, readable storage medium and robot according to some embodiments of the present application are described.

[0085] According to one embodiment of the present application, Figure 1 The flowchart of an escape method provided in some embodiments of the present application is shown, as Figure 1 As shown in the figure, an escape method is proposed, applied to a robot, the robot comprising a collision sensing assembly, the collision sensing assembly being configured to trigger a collision signal, the escape method comprising:

[0086] Step 102, controlling the robot to rotate in a first rotation direction;

[0087] In this embodiment, the robot is provided with a collision sensing assembly for triggering a collision signal, the collision sensing assembly being arranged on the body of the robot, and the collision sensing assembly being capable of triggering a collision signal when the robot collides, so as to prompt the robot that a collision has occurred.

[0088] Exemplarily, the collision sensing assembly can be a collision plate sensor.

[0089] Figure 2 One of the driving schematic diagrams of the robot provided in some embodiments of the present application is shown, as Figure 2 As shown in the figure, the robot 201 is a square robot, and when the robot 201 drives to the end of the low and narrow obstacle 202, the robot 201 will turn around and drive, but due to the interference of the obstacle 202, the robot 201 cannot rotate, at this time, it is determined that the robot 201 is in a trapped state.

[0090] Step 104, in the case that the first collision signal is acquired during the rotation of the robot in the first rotation direction, the robot is controlled to rotate in a second rotation direction;

[0091] In this embodiment, the robot is in the trapped state, and the robot is first controlled to rotate in the first rotation direction. During the rotation of the robot in the first rotation direction, it is continuously monitored whether the first collision signal is acquired by the collision sensing assembly.

[0092] It should be noted that the collision sensing assembly includes a first collision sensor arranged on one side of the robot and a second collision sensor arranged on the other side of the robot. When the robot rotates in the first rotation direction, since the robot is in the trapped state, the first collision sensor will trigger the first collision signal during the rotation of the robot. After the first collision signal is triggered during the rotation of the robot in the first rotation direction, it is determined that the robot is still in the trapped state, and the robot is controlled to rotate in the second rotation direction.

[0093] Step 106, in the case that the second collision signal is acquired during the rotation of the robot in the second rotation direction, the robot is controlled to rotate in the first rotation direction to a target heading angle;

[0094] In this embodiment, when the robot rotates in the second rotation direction, it is determined that the robot is still in the trapped state when the robot acquires the second collision signal triggered by the second collision sensor. At this time, the robot is controlled to rotate again in the first rotation direction until the target heading angle, which is the escape heading angle, is reached.

[0095] Step 108, the robot is controlled to travel in a target travel direction.

[0096] It should be noted that the target travel direction of the robot can be a forward direction or a backward direction.

[0097] For example, in the case that the robot is trapped while traveling forward, the target travel direction can be the backward direction of the robot. In the case that the robot is trapped while traveling backward, the target travel direction can be the forward direction of the robot.

[0098] In this embodiment, during the rotation of the robot in the first rotation direction, if the robot collides with the obstacle, the collision sensing component can trigger a first collision signal, at this time, the robot records the first heading angle when the first collision signal is triggered. During the rotation of the robot in the second rotation direction, if the robot collides with the obstacle, the collision sensing component can trigger a second collision signal, at this time, the robot records the second heading angle when the second collision signal is triggered. When the robot rotates to the target heading angle, the robot retreats in the direction matching the central axis of the channel formed by the obstacle, at this time, the robot can drive in the target driving direction corresponding to the target heading angle to move away from the obstacle.

[0099] Figure 3 Fig. 2 shows a driving schematic diagram of a robot provided in some embodiments of the present application, as shown in the robot 201 rotates to the target heading angle θ3, the robot 201 is controlled to drive in the target driving direction C to move away from the obstacle. Exemplarily, the first rotation direction is counterclockwise, the first collision sensor is arranged on the left side of the robot, and the second rotation direction is clockwise, and the second collision sensor is arranged on the right side of the robot. Figure 3

[0100] Exemplarily, the first rotation direction is clockwise, the first collision sensor is arranged on the right side of the robot, and the second rotation direction is counterclockwise, and the second collision sensor is arranged on the left side of the robot.

[0101] In this embodiment, by arranging the first collision sensor and the second collision sensor on the two sides of the robot respectively, the robot can be accurately controlled to switch to the second rotation direction based on the first collision signal triggered by the first collision sensor during the rotation in the first rotation direction, avoiding the robot continuing to rotate after collision, and improving the timeliness of the robot switching the rotation direction.

[0102] In the embodiments of the present application, when the robot drives into a low and narrow environment and is trapped, the robot is controlled to rotate in the first rotation direction and the second rotation direction in turn, and the target heading angle in the robot escape driving process is determined during the rotation, so that the robot can rotate to the target heading angle and drive in the target driving direction at the target heading angle, so that the robot can escape. The present application enables the robot to quickly and safely escape from the low and narrow trapped area, reduces the occurrence of the robot being trapped, and improves the cleaning ability of the robot in the narrow area.

[0103] In some embodiments, optionally, after the robot is controlled to drive in the target driving direction, the escape method further comprises:

[0104] ​In the case where the robot travels a preset distance along the target travel direction, the step of controlling the robot to rotate along the first rotation direction is returned to the step of controlling the robot to travel along the target travel direction.

[0105] It should be noted that, in the case where the robot travels a preset distance along the target travel direction, the steps of steps 102 to 108 are returned to. Figure 1

[0106] In this embodiment, since the path of the channel formed by the obstacle can not be a straight path, the robot can collide again along the target travel direction according to the target heading angle. To reduce the possibility of collision of the robot during the escape process, after the target heading angle is determined, the robot travels a preset distance along the target travel direction once, and the process of rotating along the first rotation direction and the second rotation direction to determine the target heading angle is returned to. After the target heading angle is updated, the robot continues to travel a preset distance along the updated target heading angle, and the above operation steps are repeated, and the robot is continuously monitored whether the escape condition is reached. In the case where the escape condition is reached, it is determined that the robot successfully escapes.

[0107] Exemplarily, the preset distance is in the range of 100 mm to 200 mm.

[0108] Figure 4 A third travel schematic diagram of the robot provided in some embodiments of the present application is shown as shown in Figure 3 and Figure 4 After the robot 201 travels a preset distance L1 backward, the robot 201 returns to perform rotation along the first rotation direction A. The target heading angle θ3 is updated during the rotation process, and the robot travels a preset distance L1 again according to the target heading angle until the escape is completed.

[0109] In the embodiments of the present application, after the robot travels a preset distance along the target travel direction at the target heading angle, the step of controlling the robot to rotate along the first rotation direction and the second rotation direction is returned to, so as to update the record of the target heading angle, and the robot continues to travel along the target travel direction based on the updated target heading angle until the escape is completed. The target heading angle is continuously updated, and the escape efficiency of the robot is improved.

[0110] In some embodiments, optionally, the escape method further comprises:

[0111] In the case where the rotation angle of the robot rotating along the first rotation direction reaches an angle threshold and the first collision signal is not triggered, the robot travels according to the target travel path;

[0112] ​In a case where the rotation angle of the robot rotating in the second rotation direction reaches the angle threshold and the second collision signal is not triggered, the robot is controlled to travel according to the target travel path.

[0113] In this embodiment, in a case where the robot rotates in the first rotation direction or in the second rotation direction, in a case where the rotation angle of the robot rotating in the first rotation direction reaches the angle threshold and the first collision signal is not triggered, it is determined that the robot has entered the escape state, or in a case where the robot rotates in the first rotation direction until the first collision signal is triggered, and in a case where the rotation angle of the robot rotating in the second rotation direction reaches the angle threshold and the second collision signal is not triggered, it is determined that the robot has entered the escape state.

[0114] Specifically, the robot finds a target heading angle, travels in a target travel direction for a preset distance after rotating to the target heading angle, and repeats the above steps. In the process of finding the target heading angle, the robot rotates in the first rotation direction and the second rotation direction in turn. In a case where the rotation angle of the robot rotating in the first rotation direction or in the second rotation direction reaches the angle threshold, it is determined that the robot has escaped successfully, and at this time, the robot can continue to travel normally.

[0115] In the embodiments of the present application, in the process of finding the target heading angle by rotating in the first rotation direction and the second rotation direction in turn, in a case where the rotation angle of the robot rotating in the first rotation direction or in the second rotation direction reaches the angle threshold, it is determined that the robot has escaped successfully. By combining the process of finding the target heading angle with the process of determining whether the robot has escaped successfully, the step of separately setting the escape success detection is realized, and the accuracy of the escape success detection is also ensured.

[0116] In some embodiments, after the robot is controlled to travel according to the target travel path, the method further comprises:

[0117] obtaining and storing target trajectory information and / or target position information,

[0118] The target trajectory information comprises at least one of the following: a rotation trajectory of rotating in the first rotation direction, a rotation trajectory of rotating in the second rotation direction, and a travel trajectory of traveling in the target travel direction.

[0119] The target position information comprises at least one of the following: a rotation position of rotating in the first rotation direction, a rotation position of rotating in the second rotation direction, and a travel position of traveling in the target travel direction.

[0120] In this embodiment, after the robot drives along the target driving path to get out of the trapped state, the robot acquires and stores target trajectory information and / or target position information, the target trajectory information including a driving trajectory of the robot during the driving process of getting out of the trapped state, and the target position information including a driving position of the robot during the driving process of getting out of the trapped state.

[0121] In the embodiments of the present application, the robot can record the trapped position and the getting-out-of-trapped trajectory by acquiring and storing at least one of the target trajectory information and the target position information, so as to avoid the robot from entering the trapped position again during the next driving.

[0122] In some embodiments, optionally, the robot comprises an inertial sensing component for collecting a heading angle of the robot.

[0123] Before the robot is controlled to rotate in the first rotation direction to the target heading angle, the method for getting out of the trapped state further comprises:

[0124] The first heading angle of the robot corresponding to the first collision signal is acquired, and the second heading angle of the robot corresponding to the second collision signal is acquired.

[0125] The target heading angle is determined according to the first heading angle and the second heading angle.

[0126] In this embodiment, the robot is further provided with an inertial sensing component for collecting the attitude of the robot, and the inertial sensing component can continuously collect the attitude of the robot, so as to determine the current heading angle of the robot. During the driving process of the robot, whether the robot is in the trapped state can be determined according to the collision signal triggered by the collision sensing component and the heading angle collected by the inertial sensing component.

[0127] Exemplarily, the inertial sensing component can be an IMU (Inertial Measurement Unit) sensor.

[0128] In this embodiment, after it is detected that the robot is in the trapped state, the robot is controlled to rotate in the first rotation direction and the second rotation direction in sequence, and the inertial sensing component continuously records the heading angle of the robot during the rotation of the robot.

[0129] In this embodiment, during the rotation of the robot in the first rotation direction, if the robot collides with the obstacle, the collision sensing component can trigger the first collision signal, and at this time, the robot records the first heading angle at the time of triggering the first collision signal. During the rotation of the robot in the second rotation direction, if the robot collides with the obstacle, the collision sensing component can trigger the second collision signal, and at this time, the robot records the second heading angle at the time of triggering the second collision signal.

[0130] In this embodiment, after the robot obtains the first heading angle that triggers the first collision signal and the second heading angle that triggers the second collision signal, it can determine the target heading angle based on the first heading angle and the second heading angle.

[0131] In this embodiment, when the robot rotates along the first rotation direction and triggers the first collision signal, the first heading angle is obtained; when the robot rotates along the second rotation direction and triggers the second collision signal, the second heading angle is obtained. The target heading angle can be determined by the first and second heading angles, thereby improving the success rate of the robot getting out of trouble along the target driving direction.

[0132] In some embodiments, optionally, obtaining the first heading angle of the robot corresponding to the first collision signal and obtaining the second heading angle of the robot corresponding to the second collision signal includes:

[0133] When the first collision sensor triggers the first collision signal, the robot is controlled to stop rotating and the first heading angle collected by the inertial sensing component is acquired.

[0134] When the second collision sensor triggers the second collision signal, the robot is controlled to stop rotating and acquire the second heading angle collected by the inertial sensing component.

[0135] In this embodiment, when the robot receives a first collision signal triggered by the first collision sensor while rotating along the first rotation direction, it is determined that a collision has occurred, meaning the robot can no longer rotate along the first rotation direction. At this point, a first heading angle is recorded, representing the maximum angle the robot can rotate along the first rotation direction. Similarly, when the robot receives a second collision signal triggered by the second collision sensor while rotating along the second rotation direction, it is determined that a collision has occurred, meaning the robot can no longer rotate along the second rotation direction. At this point, a second heading angle is recorded, representing the maximum angle the robot can rotate along the second rotation direction.

[0136] Figure 5 The fourth illustration shows a schematic diagram of the robot's movement provided in some embodiments of this application, such as... Figure 2 and Figure 5 As shown, robot 201 first rotates along the first rotation direction A until it collides with obstacle 202. At this time, the collision sensing component triggers the first collision signal and records the first heading angle θ1. After robot 201 obtains the first collision signal, it then rotates along the second rotation direction B until it collides with obstacle 202 again. At this time, the collision sensing component triggers the second collision signal and records the second heading angle θ2.

[0137] Specifically, the inertial sensing assembly continuously monitors the heading angle of the robot, determines the heading angle monitored at the time when the robot acquires the first collision signal as the first heading angle, and determines the heading angle monitored at the time when the robot acquires the second collision signal as the second heading angle.

[0138] In the embodiments of the present application, the robot can collect the first heading angle and the second heading angle through the collision sensing assembly in cooperation with the inertial sensing assembly, thereby improving the accuracy of the acquired first heading angle and second heading angle. The first heading angle and the second heading angle respectively represent the maximum angle that the robot can rotate along the first direction and the second direction. Based on the first heading angle and the second heading angle, the target heading angle of the robot for escaping from the trouble can be determined, thereby improving the accuracy of subsequent robot escape driving.

[0139] In some embodiments, optionally, the target heading angle is determined according to the first heading angle and the second heading angle, comprising:

[0140] The first heading angle and the second heading angle are subjected to mean value calculation to determine the target heading angle.

[0141] In the technical solution, since the first heading angle is the maximum heading angle that the robot can rotate along the first rotation direction, and the second heading angle is the maximum heading angle that the robot can rotate along the second rotation direction, the average value of the first heading angle and the second heading angle is taken as the target heading angle, and the robot is controlled to rotate to the target heading angle and then drive along the target driving direction, so that the robot can successfully escape from the trouble.

[0142] Exemplarily, the expression (1) of the target heading angle is as follows:

[0143] θ3=(θ1+θ2) / 2; (1)

[0144] Wherein, θ3 is the target heading angle, θ1 is the first heading angle, and θ2 is the second heading angle.

[0145] In the technical solution of the present application, the first heading angle and the second heading angle collected by the inertial sensing assembly are subjected to mean value calculation to determine the target heading angle of the robot in the escape driving process, thereby improving the accuracy of the driving heading angle of the robot for performing escape driving and improving the escape efficiency.

[0146] In some embodiments, optionally, before the robot is controlled to rotate along the first rotation direction, the escape method further comprises:

[0147] In the case that the collision sensing assembly triggers the third collision signal, the current angular velocity of the robot is acquired;

[0148] In a case that the current angular velocity is less than the first angular velocity threshold and the preset angular velocity of the robot is greater than the second angular velocity threshold, it is determined that the robot is in the trapped state.

[0149] The first angular velocity threshold is less than the second angular velocity threshold.

[0150] In this embodiment, when the robot obtains the third collision signal triggered by the collision sensing component, the current angular velocity of the robot can be directly obtained because the inertial sensing component continuously collects sensing signals. The current angular velocity is the angular velocity generated in the actual driving process of the robot. At this time, the preset angular velocity of the robot is read, which is the set angular velocity of the robot in the current driving program. When it is determined that the current angular velocity is less than the first angular velocity threshold and the preset angular velocity is greater than the second angular velocity threshold, it is determined that the actual current angular velocity of the robot is lower than the preset angular velocity in the driving program, and thus it is determined that the robot is in the trapped state.

[0151] Exemplarily, the first angular velocity threshold has a value range of 0.5 rad / s to 2 rad / s, and the second angular velocity threshold has a value range of 3 rad / s to 5 rad / s. For example, when the robot obtains the third collision signal and the current angular velocity of the robot is 0 and the preset angular velocity is 5 rad / s, it is determined that the robot is in the trapped state.

[0152] It should be noted that the collision sensing component includes a plurality of collision sensors, and the plurality of collision sensors are distributed on the side wall of the robot. Any collision sensor in the plurality of collision sensors triggers a collision signal, and the collision signal is determined as the third collision signal.

[0153] In the embodiment of the application, the robot can determine whether the robot is in the trapped state according to the third collision signal triggered by the collision sensing component and the current angular velocity collected by the inertial sensing component, thereby improving the accuracy of determining whether the robot is in the trapped state and enabling the robot to timely perform subsequent escape actions.

[0154] As Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, in some embodiments, optionally, when the collision sensing component of the robot 201 triggers a third collision signal, and the angular velocity of the robot 201 determined by the inertial sensing component is almost 0, and the condition is met for N seconds, it is determined that the robot is currently trapped in a low and narrow area, and the low and narrow area escape action is performed. When it is detected that the robot 201 is in a trapped state, first rotate the robot in a first rotation direction (counterclockwise direction) until the first collision signal is triggered, record the first heading angle θ1 at the triggering time of the first collision signal, then rotate in a second rotation direction (clockwise direction) until the second collision signal is triggered, record the second heading angle θ2 at the triggering time of the second collision signal, calculate the target heading angle θ3 = (θ1 + θ2) / 2, rotate in the first rotation direction (counterclockwise direction) to the target heading angle θ3, at this time the robot is in the axis position in the low and narrow area, retreat a preset distance (optionally 150 mm), repeat the above steps, if the robot 201 is rotated in the first rotation direction or the second rotation method reaches an angle threshold (optionally 90 degrees), the collision sensing component of the robot 201 still does not trigger, it is considered that the robot successfully escapes, and switches to normal cleaning. According to an embodiment of the present application, Figure 6 A schematic block diagram of an escape device provided in some embodiments of the present application is shown as follows, Figure 6 As shown, an escape device 600 is proposed, which is applied to a robot, the robot includes a collision sensing component, the collision sensing component is used to trigger a collision signal, the escape device 600 includes:

[0155] The control module 602 is used to control the robot to rotate in a first rotation direction;

[0156] The control module 602 is used to control the robot to rotate in a second rotation direction when the first collision signal is obtained during the rotation of the robot in the first rotation direction;

[0157] The control module 602 is used to control the robot to rotate in the first rotation direction to a target heading angle when the second collision signal is obtained during the rotation of the robot in the second rotation direction;

[0158] The control module 602 is used to control the robot to travel in a target travel direction.

[0159] In the embodiment of the present application, when the robot is trapped in a low and narrow environment, the robot is controlled to rotate in the first rotation direction and the second rotation direction in turn in the opposite direction, and the target heading angle of the robot in the escape travel process is determined during the rotation, so that the robot can rotate to the target heading angle and travel in the target travel direction at the target heading angle, so that the robot escapes. The present application enables the robot to quickly and safely escape from the low and narrow trapped area, reduces the occurrence of the robot being trapped, and at the same time improves the cleaning ability of the robot in the narrow area.

[0160] In some embodiments, the escape device 600 further comprises, optionally:

[0161] The execution module is configured to return to execute the step of controlling the robot to rotate in the first rotation direction to the step of controlling the robot to travel in the target travel direction if the robot travels a preset distance in the target travel direction.

[0162] In the embodiments of the present application, after the robot travels a preset distance in the target travel direction at the target heading angle, the robot returns to execute the step of controlling the robot to rotate in the first rotation direction and the second rotation direction to update the target heading angle, and continues to travel in the target travel direction based on the updated target heading angle until the robot escapes, which realizes continuous updating of the target heading angle and improves the escape efficiency of the robot.

[0163] In some embodiments, the escape device further comprises, optionally:

[0164] The control module 602 is configured to control the robot to travel according to the target travel path if the rotation angle of the robot rotating in the first rotation direction reaches the angle threshold and the first collision signal is not triggered.

[0165] The control module 602 is configured to control the robot to travel according to the target travel path if the rotation angle of the robot rotating in the second rotation direction reaches the angle threshold and the second collision signal is not triggered.

[0166] In the embodiments of the present application, during the process of sequentially rotating in the first rotation direction and the second rotation direction to find the target heading angle, if the rotation angle of the robot rotating in the first rotation direction or the second rotation direction reaches the angle threshold, it is determined that the robot escapes successfully. By combining the process of finding the target heading angle with the process of determining whether the robot escapes successfully, the step of separately setting the escape success detection is realized, and the accuracy of the escape success detection is also ensured.

[0167] In some embodiments, the escape device 600 further comprises, optionally:

[0168] The acquisition module is configured to acquire target trajectory information and / or target position information.

[0169] The storage module is configured to store the target trajectory information and / or the target position information.

[0170] The target trajectory information includes at least one of the following: a rotation trajectory of rotating in the first rotation direction, a rotation trajectory of rotating in the second rotation direction, and a travel trajectory of traveling in the target travel direction.

[0171] The target position information includes at least one of the following: the rotational position along the first rotational direction, the rotational position along the second rotational direction, and the driving position along the target driving direction.

[0172] In this embodiment of the application, by acquiring and storing at least one of the target trajectory information and the target location information, the robot can record the trapped location and the escape trajectory, thereby preventing the robot from re-entering the trapped location during its next trip.

[0173] In some embodiments, the robot may optionally include an inertial sensing component for acquiring the robot's heading angle;

[0174] The acquisition module is used to acquire the first heading angle of the robot corresponding to the first collision signal, and to acquire the second heading angle of the robot corresponding to the second collision signal;

[0175] The escape device 600 also includes:

[0176] The determination module is used to determine the target heading angle based on the first heading angle and the second heading angle.

[0177] In this embodiment, when the robot rotates along the first rotation direction and triggers the first collision signal, the first heading angle is obtained; when the robot rotates along the second rotation direction and triggers the second collision signal, the second heading angle is obtained. The target heading angle can be determined by the first and second heading angles, thereby improving the success rate of the robot getting out of trouble along the target driving direction.

[0178] In some embodiments, optionally, the control module 602 is configured to control the robot to stop rotating and acquire the first heading angle collected by the inertial sensing component when the first collision sensor triggers the first collision signal.

[0179] The control module 602 is used to control the robot to stop rotating and acquire the second heading angle collected by the inertial sensing component when the second collision sensor triggers the second collision signal.

[0180] In this embodiment, the robot can acquire a first heading angle and a second heading angle through a collision sensing component and an inertial sensing component, which improves the accuracy of the acquired first heading angle and second heading angle. The first heading angle and the second heading angle represent the maximum angle that the robot can rotate along the first direction and the second direction, respectively. Based on the first heading angle and the second heading angle, the target heading angle for the robot to get out of trouble can be determined, which improves the accuracy of the robot's subsequent getting out of trouble.

[0181] In some embodiments, the escape device 600 may optionally further include:

[0182] The determining module is configured to determine a target heading angle by averaging the first heading angle and the second heading angle.

[0183] In the technical solution, the target heading angle of the robot during the escape driving process is determined by averaging the first heading angle and the second heading angle collected by the inertial sensing assembly, the accuracy of the driving heading angle of the robot performing the escape driving is improved, and the escape efficiency is improved.

[0184] In some embodiments, the obtaining module is configured to obtain the current angular velocity of the robot when the collision sensing assembly triggers the third collision signal.

[0185] The determining module is configured to determine that the robot is in the trapped state when the current angular velocity is less than the first angular velocity threshold and the preset angular velocity of the robot is greater than the second angular velocity threshold.

[0186] The first angular velocity threshold is less than the second angular velocity threshold.

[0187] In the embodiments, the robot can determine whether the robot is in the trapped state according to the third collision signal triggered by the collision sensing assembly and the current angular velocity collected by the inertial sensing assembly, the accuracy of determining whether the robot is in the trapped state is improved, and the robot can perform subsequent escape actions in a timely manner.

[0188] According to one embodiment of the present application, Figure 7 Fig. 2 shows a schematic block diagram of a device for escaping from a trap according to some embodiments of the present application, as Figure 7 As shown in Fig. 2, the device 700 for escaping from a trap includes a processor 702 and a memory 704, and the memory 704 stores a program or instructions which, when executed by the processor 702, implement the steps of the method for escaping from a trap in any of the above embodiments. Therefore, the device 700 for escaping from a trap has all the beneficial effects of the method for escaping from a trap in any of the above embodiments, and will not be described here.

[0189] According to one embodiment of the present application, optionally, a readable storage medium is provided, and the readable storage medium stores a program or instructions, and the program or instructions, when executed by a processor, implement the method for escaping from a trap in any of the above embodiments, and thus have all the beneficial technical effects of the method for escaping from a trap in any of the above embodiments.

[0190] The readable storage medium can be, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or the like.

[0191] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media, or electrical signals transmitted through a wire cable or optical cable, and the like.

[0192] According to one embodiment of the present application, optionally, there is provided a robot, comprising: the escape device according to any one of the preceding embodiments, and / or the computer readable storage medium according to any one of the preceding embodiments, thus having all the beneficial technical effects of the escape device according to any one of the preceding embodiments, and / or the computer readable storage medium according to any one of the preceding embodiments, which will not be repeated here.

[0193] Figure 8 A structural schematic diagram of a robot provided in some embodiments of the present application is shown as follows: Figure 8 As shown in some embodiments, optionally, the robot 300 further comprises a body 310; a collision sensing assembly 320 and an inertial sensing assembly 340, which are arranged on the body 310.

[0194] In the embodiments of the present application, the body 310 of the robot 300 is provided with the collision sensing assembly 320, and the collision signal triggered by the collision sensing assembly 320 can determine whether the robot 300 has collided. In addition, the body 310 of the robot 300 is also provided with the inertial sensing assembly 340, and the heading angle and angular velocity of the robot can be collected through the inertial sensing assembly 340.

[0195] In some embodiments, optionally, the collision sensing assembly 320 comprises: a first collision sensor 322 and a second collision sensor 324, which are arranged on two sides of the body 310, respectively.

[0196] In the embodiments of the present application, the collision sensing assembly 320 includes a first collision sensor 322 and a second collision sensor 324 arranged on two sides of the body 310 respectively, and the first collision sensor 322 and the second collision sensor 324 can detect collisions of the robot 300 in different directions.

[0197] It should be noted that, in the claims, the specification and the drawings of the present application, the term "multiple" refers to two or more than two, unless there is an additional explicit limitation, the terms "upper", "lower" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and making the description process more simple, and not for indicating or implying that the device or element must have the described specific orientation, structure and operation, therefore these descriptions cannot be understood as the limitation of the present application; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be fixed connection between multiple objects, or detachable connection between multiple objects, or integrally connected; can be direct connection between multiple objects, or indirect connection between multiple objects through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances of the above data.

[0198] In the claims, the specification and the drawings of the present application, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the claims, the specification and the drawings of the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0199] The above is only the preferred embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of escaping from a predicament, characterized by, The method is applied to a robot comprising a collision sensing component for triggering a collision signal, and the method comprises: controlling the robot to rotate in a first rotation direction; controlling the robot to rotate in a second rotation direction in the case that a first collision signal is obtained during the rotation of the robot in the first rotation direction; controlling the robot to rotate in the first rotation direction to a target heading angle in the case that a second collision signal is obtained during the rotation of the robot in the second rotation direction; controlling the robot to travel in a target travel direction.

2. The method of claim 1, wherein, After the step of controlling the robot to travel in the target travel direction, the method further comprises: returning to the step of controlling the robot to rotate in the first rotation direction to the step of controlling the robot to travel in the target travel direction in the case that the robot travels a preset distance in the target travel direction.

3. The method of claim 1, wherein, The method further comprises: controlling the robot to travel according to a target travel path in the case that the rotation angle of the robot in the first rotation direction reaches an angle threshold and the first collision signal is not triggered; controlling the robot to travel according to the target travel path in the case that the rotation angle of the robot in the second rotation direction reaches the angle threshold and the second collision signal is not triggered.

4. The method of claim 3, wherein, After the step of controlling the robot to travel according to the target travel path, the method further comprises: obtaining and storing target trajectory information and / or target position information, wherein the target trajectory information comprises at least one of the following: a rotation trajectory in the first rotation direction, a rotation trajectory in the second rotation direction, and a travel trajectory in the target travel direction; the target position information comprises at least one of the following: a rotation position in the first rotation direction, a rotation position in the second rotation direction, and a travel position in the target travel direction.

5. The escape method according to any one of claims 1 to 4, characterized in that, The robot comprises an inertial sensing component for collecting a heading angle of the robot; Before the step of controlling the robot to rotate in the first rotation direction to a target heading angle, the method further comprises: obtaining a first heading angle of the robot corresponding to the first collision signal, and obtaining a second heading angle of the robot corresponding to the second collision signal; determining the target heading angle according to the first heading angle and the second heading angle.

6. The method of claim 5, wherein, The collision sensing component comprises a first collision sensor and a second collision sensor, and the step of obtaining a first heading angle of the robot corresponding to the first collision signal, and obtaining a second heading angle of the robot corresponding to the second collision signal, comprises: controlling the robot to stop rotating and obtaining the first heading angle collected by the inertial sensing component in the case that the first collision sensor triggers the first collision signal; controlling the robot to stop rotating and obtaining the second heading angle collected by the inertial sensing component in the case that the second collision sensor triggers the second collision signal.

7. The method of claim 5, wherein, The step of determining the target heading angle according to the first heading angle and the second heading angle comprises: The first heading angle and the second heading angle are averaged to determine the target heading angle.

8. The escape method according to any one of claims 1 to 4, characterized in that, Before the control module controls the robot to rotate in the first rotation direction, the method further comprises: In a case where the collision sensing component triggers a third collision signal, obtaining a current angular velocity of the robot; In a case where the current angular velocity is less than a first angular velocity threshold and a preset angular velocity of the robot is greater than a second angular velocity threshold, determining that the robot is in a trapped state; The first angular velocity threshold is less than the second angular velocity threshold.

9. An escape apparatus characterised in that, The robot comprises a collision sensing component configured to trigger a collision signal, and the robot further comprises: a control module configured to control the robot to rotate in a first rotation direction; the control module is configured to, in a case where a first collision signal is obtained during the rotation of the robot in the first rotation direction, control the robot to rotate in a second rotation direction; the control module is configured to, in a case where a second collision signal is obtained during the rotation of the robot in the second rotation direction, control the robot to rotate in the first rotation direction to a target heading angle; the control module is configured to control the robot to travel in a target travel direction.

10. An escape apparatus characterised in that, comprises: a processor and a memory, the memory storing a program or instructions, and the processor, when executing the program or instructions in the memory, implements the steps of the method for escaping from a trapped state according to any one of claims 1 to 8.

11. A readable storage medium, characterized by, The readable storage medium stores a program or instructions, and the program or instructions, when executed by a processor, implement the steps of the method for escaping from a trapped state according to any one of claims 1 to 8.

12. A robot, characterized in that comprises: the device for escaping from a trapped state according to claim 9 or 10; and / or the readable storage medium according to claim 11.

13. The robot of claim 12, wherein, comprises: a body; a collision sensing component and an inertial sensing component arranged on the body.

14. The robot of claim 13, wherein, The collision sensing component comprises a first collision sensor and a second collision sensor arranged on two sides of the body, respectively.

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