Troubleshooting Escape Method and Device for Robot, Processor, and Robot

Abstract

In this application, a trouble escape method and apparatus for a robot, a processor, and a robot are provided. Such a method includes: a step of obtaining a historical movement trajectory of the robot; a step of obtaining an entry position and an entry angle at which the robot enters a narrow area via a predetermined narrow passage based on the historical movement trajectory of the robot; a step of determining a departure position and a departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and the entry angle; and a step of controlling the robot to leave the narrow area according to the departure position and the departure angle. According to this technical means, the robot can be smoothly separated from the narrow area.

Description

Technical Field

[0001] This application relates to the field of robots, and specifically to a method and device for a robot to escape from troubles, a processor, and a robot.

[0002] [Related Application] This application claims the priority of a Chinese patent application with an application number of 202210988109.5 and an invention title of "Method, Device, Processor, and Robot for a Robot to Escape from Troubles", which was filed on August 17, 2022. The full text of the Chinese patent application is incorporated herein by reference.

Background Art

[0003] With the acceleration of the life rhythm, in order to save the household cleaning time, cleaning robots have entered many households and become a powerful assistant for household cleaning. The cleaning robot senses the environment where it is located by the sensors mounted thereon, plans an appropriate cleaning strategy, and further realizes the cleaning and cleaning of the household floor.

[0004] In the actual household environment, there are a large number of complex areas and corners, such as various tables and chairs, installed brackets and furniture, etc. In the case of a normal cleaning robot, by colliding, it can judge whether it can enter the bottom of the chair or the bracket area. Especially when the distance between the legs of the chair or between the horizontal planes of the brackets is close to the width or diameter of the cleaning robot, there may be a situation where the cleaning robot enters the bottom of the chair or the bracket but cannot come out. The cleaning robot is trapped in these areas and cannot find a solution strategy to escape from the trouble by itself. Therefore, there is no other way but to stop the cleaning and give an alarm to wait for human assistance, which results in poor cleaning efficiency and user experience.

[0005] Therefore, in the conventional robots (including cleaning robots), there is a problem that they cannot escape from narrow areas.

Summary of the Invention

Problems to be Solved by the Invention

[0006] The main object of the present application is to provide a robot trouble escape method, an apparatus, a processor, and a robot for solving the problem that a robot according to the prior art cannot escape from a narrow area.

Means for Solving the Problem

[0007] In order to achieve the above object, according to one aspect of the present application, a robot trouble escape method is provided. Such a method includes steps of: acquiring a historical movement trajectory of the robot; acquiring an entry position and an entry angle at which the robot enters a narrow area via a predetermined narrow passage based on the historical movement trajectory of the robot; determining a departure position and a departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and the entry angle; and controlling the robot to leave the narrow area according to the departure position and the departure angle.

[0008] In some embodiments, the narrow area is surrounded by a plurality of obstacle points, and a narrow passage is formed between two adjacent obstacle points. The entry position is an intersection position between a connection line of the two obstacle points in the predetermined narrow passage and the historical movement trajectory, the entry angle is an angle between the entry direction of the robot and a perpendicular line, and the perpendicular line is perpendicular to the connection line of the two obstacle points. The departure position is an intersection position between a trajectory for the robot to leave the narrow area and the connection line of the two obstacle points in the predetermined narrow passage, and the departure angle is an angle between the departure direction of the robot and the perpendicular line.

[0009] In some embodiments, the step of determining, based on the entry position and the entry angle, a departure position and a departure angle for the robot to leave the narrow area via the predetermined narrow passage includes determining a departure reference position and a departure reference angle, determining an optimal departure position from a vicinity area of the departure reference position and an optimal departure angle from a vicinity area of the departure reference angle, determining the optimal departure position as the departure position for the robot to leave the narrow area via the predetermined narrow passage, and determining the optimal departure angle as the departure angle for the robot to leave the narrow area via the predetermined narrow passage.

[0010] In some embodiments, determining the departure reference position and the departure reference angle includes determining the departure reference angle to be equal to the entry angle and determining the departure reference position based on distance information. Specifically, the distance information includes a first distance and a second distance. The first distance is the distance between the entry position and a first obstacle point, and the second distance is the distance between the departure reference position and a second obstacle point. The first obstacle point corresponds to the obstacle point corresponding to the shorter distance among the distances between the entry position and two obstacle points in the predetermined narrow passage, and the second obstacle point corresponds to the obstacle point corresponding to the longer distance among the distances between the entry position and two obstacle points in the predetermined narrow passage. The departure reference position is selected as the position where the second distance is equal to the first distance.

[0011] In some embodiments, determining an optimal departure position from the vicinity of the departure reference position and an optimal departure angle from the vicinity of the departure reference angle means that when the robot successfully departs from the narrow region based on the departure reference position and the departure reference angle, determining the departure reference position as the optimal departure position and the departure reference angle as the optimal departure angle; and when the robot fails to depart from the narrow region based on the departure reference position and the departure reference angle, executing a predetermined step at least once. The predetermined step refers to selecting a position from the vicinity of the departure reference position as the current departure position and selecting an angle from the vicinity of the departure reference angle as the current departure angle. When the predetermined step is executed for the last time, setting the departure position selected at that time as the optimal departure position and the departure angle selected when the predetermined step is executed for the last time as the optimal departure angle. This includes the above.

[0012] In some embodiments, the step of determining a departure position and a departure angle for the robot to depart from the narrow region via the predetermined narrow passage based on the entry position and the entry angle includes obtaining the confinement duration of the robot, and when the confinement duration is greater than a predetermined duration, determining a departure position and a departure angle for the robot to depart from the narrow region via the predetermined narrow passage based on the entry position and the entry angle.

[0013] In some embodiments, the step of obtaining the entry angle at which the robot enters the narrow region via a predetermined narrow passage based on the historical movement trajectory of the robot includes selecting a first point and a second point from the vicinity of the entry position in the historical movement trajectory, obtaining a first slope of the line connecting the first point and the second point, obtaining a second slope of the line connecting two obstacle points in the predetermined narrow passage, determining a third slope of the perpendicular line based on the second slope, and determining the entry angle based on the first slope and the third slope.

[0014] In some embodiments, the first point and the second point are located on the same side of the entry position or on both sides of the entry position.

[0015] According to another aspect of the present application, there is provided a trouble escape device for a robot, and such a device includes a first acquisition unit for acquiring the historical movement trajectory of the robot, and based on the historical movement trajectory of the robot, a second acquisition unit for acquiring an entry position and an entry angle at which the robot enters a narrow area via a predetermined narrow passage, a determination unit for determining a departure position and a departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and the entry angle, and a control unit for controlling the robot to leave the narrow area according to the departure position and the departure angle.

[0016] In some embodiments, the narrow area is surrounded by a plurality of obstacle points, and a narrow passage is formed between two adjacent obstacle points. The entry position is the intersection position between the connection line of the two obstacle points in the predetermined narrow passage and the historical movement trajectory, the entry angle is the angle between the entry direction of the robot and the perpendicular line, and the perpendicular line is perpendicular to the connection line of the two obstacle points. The departure position is the intersection position between the trajectory of the robot leaving the narrow area and the connection line of the two obstacle points in the predetermined narrow passage, and the departure angle is the angle between the departure direction of the robot and the perpendicular line.

[0017] According to yet another aspect of the present application, there is provided a processor, and when such a processor is operating, the steps of the method according to any one of the above embodiments are executed.

[0018] According to yet another aspect of the present application, a robot is provided, which includes one or more processors, a memory, and one or more programs stored in the memory. When the one or more programs are executed by the one or more processors, the one or more processors are configured to execute the steps of the method according to any one of the above embodiments.

[0019] In some embodiments, the robot is a cleaning robot.

Advantages of the Invention

[0020] With the technical means according to the present application, the historical movement trajectory of the robot is obtained, and based on the historical movement trajectory of the robot, the entry position and entry angle at which the robot enters the narrow area via a predetermined narrow passage are obtained. Then, based on the entry position and entry angle, the departure position and departure angle for the robot to leave the narrow area via the predetermined narrow passage are determined. Finally, the robot is controlled to leave the narrow area according to the departure position and departure angle. According to this technical means, by determining the departure position and departure angle based on the entry position and entry angle, the robot can be smoothly separated from the narrow area. Furthermore, the problem that the robot cannot escape from the narrow area can be solved, and the user experience can be improved.

Brief Description of the Drawings

[0021] The drawings in the specification forming a part of the present application are provided for a further understanding of the present application. The exemplary embodiments and their descriptions of the present application are for interpreting the present application and do not unduly limit the present application. Hereinafter, the drawings will be briefly described.

Figure 1

Figure 2

Figure 3

Best Mode for Carrying Out the Invention

[0022] Specifically, the embodiments and features of the embodiments described in the present application can be combined with each other as long as there is no contradiction. Hereinafter, the present application will be described in detail in relation to the embodiments with reference to the drawings.

[0023] To enable those skilled in the art to better understand the technical means of the present application, hereinafter, the technical means according to the embodiments of the present application will be clearly and completely described in relation to the drawings related to the embodiments of the present application. Needless to say, the embodiments described below are only a part of the embodiments of the present application, not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor shall fall within the protection scope of the present application.

[0024] Specifically, the terms "first", "second", etc. in the specification, claims and the above drawings of the present application are not for explaining a specific order or sequence before and after, but for distinguishing similar objects. It should be understood that the data used in this way can be exchanged under appropriate circumstances for the embodiments of the present application described here. In addition, the terms "comprising", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to the steps or units clearly listed, but may include steps or units not clearly listed, or other steps or units inherent to these processes, methods, products or devices.

[0025] It should be understood that when an element (e.g., a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element or there may be intervening elements. And in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or may be "connected" to the other element via a third element.

[0026] As described in the background art, conventional robots cannot escape from narrow areas. In the embodiments of the present application, in order to solve the problem that a robot cannot escape from a narrow area, a trouble escape method and device for a robot, a processor, and a robot are provided.

[0027] In the embodiments of the present application, a trouble escape method for a robot is provided.

[0028] FIG. 1 is a flowchart of a trouble escape method for a robot according to an embodiment of the present application. As shown in FIG. 1, such a method includes the following steps S101 to S104.

[0029] Step S101: Obtain the historical movement trajectory of the robot. Specifically, the historical movement trajectory is the movement trajectory of the robot before the current time. At the current time, the robot is located within a narrow area, and the narrow area is surrounded by a plurality of obstacle points. The space between two adjacent obstacle points is a narrow passage, and the plurality of obstacle points are located on one or more obstacles.

[0030] Step S102: Based on the historical movement trajectory of the robot, obtain the entry position and entry angle at which the robot entered the narrow area via a predetermined narrow passage. Specifically, the entry position is the intersection position between the line connecting two obstacle points in the predetermined narrow passage and the historical movement trajectory, and the entry angle is the angle between the entry direction of the robot and the perpendicular line. The perpendicular line is a straight line perpendicular to the line connecting two obstacle points in the predetermined narrow passage.

[0031] Step S103: Based on the entry position and entry angle, determine the departure position and departure angle for the robot to leave the narrow area via a predetermined narrow passage. Specifically, the departure position is the intersection position between the trajectory of the robot leaving the narrow area and the line connecting two obstacle points in the predetermined narrow passage, and the departure angle is the angle between the departure direction of the robot and the perpendicular line.

[0032] Step S104: Control the robot to leave the narrow area according to the departure position and departure angle.

[0033] FIG. 2 is a schematic diagram showing the robot leaving the narrow area according to an embodiment of the present application. As shown in FIG. 2, the line connecting obstacle point A and obstacle point B is L1, the perpendicular line is L2, the historical movement trajectory is S, the intersection of the historical movement trajectory and the line L1 connecting obstacle point A and obstacle point B is O, the entry angle is α, and the departure position is O'.

[0034] Specifically, examples of the narrow area include, for example, an area surrounded by the bottom of a chair, an area surrounded by the bottom of a bracket, and examples of the narrow passage include, for example, the passage between two legs of a chair.

[0035] Specifically, the robot is a cleaning robot.

[0036] In the embodiment of the present application, the historical movement trajectory of the robot is acquired, and based on the acquired historical movement trajectory of the robot, the entry position and entry angle at which the robot enters the narrow area via a predetermined narrow passage are acquired. Then, based on the entry position and entry angle, the departure position and departure angle for the robot to leave the narrow area via the predetermined narrow passage are determined. Finally, the robot is controlled to leave the narrow area according to the departure position and departure angle. According to this technical means, by determining the departure position and departure angle based on the entry position and entry angle, the robot can be smoothly separated from the narrow area, and further, the problem that the robot cannot escape from the narrow area can be solved, and the user experience can be improved.

[0037] Specifically, the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer-executable instructions. Although the flowchart shows a logical order, in some cases, the steps illustrated or described may be executed in an order different from the order here.

[0038] In one embodiment of the present application, the step of step S103: determining, based on the entry position and the entry angle, the departure position and the departure angle for the robot to leave the narrow area via a predetermined narrow passage includes determining a departure reference position and a departure reference angle, determining an optimal departure position from the vicinity area of the departure reference position, determining an optimal departure angle from the vicinity area of the departure reference angle, determining the optimal departure position as the departure position for the robot to leave the narrow area via a predetermined narrow passage, and determining the optimal departure angle as the departure angle for the robot to leave the narrow area via a predetermined narrow passage.

[0039] In one embodiment of the present application, determining the departure reference position and the departure reference angle includes determining the departure reference position based on distance information and determining an angle equal to the entry angle as the departure reference angle. Specifically, the distance information includes a first distance and a second distance. The first distance is the distance between the entry position and the first obstacle point, and the second distance is the distance between the departure reference position and the second obstacle point. The first obstacle point corresponds to the obstacle point with the shorter distance among the distances between the entry position and the two obstacle points in the predetermined narrow passage, and the second obstacle point corresponds to the obstacle point with the longer distance among the distances between the entry position and the two obstacle points in the predetermined narrow passage. The position where the second distance is equal to the first distance is selected as the departure reference position. In other words, first, the departure reference position and the departure reference angle are respectively determined based on the distance information and the entry angle. Then, an optimal departure position is determined from the vicinity area of the departure reference position, and an optimal departure angle is determined from the vicinity area of the departure reference angle. Finally, the robot is controlled to leave the narrow area according to the optimal departure position and the optimal departure angle.

[0040] In one embodiment of the present application, determining the optimal departure position from the vicinity area of the departure reference position and determining the optimal departure angle from the vicinity area of the departure reference angle means that when the robot successfully departs from a narrow area based on the departure reference position and the departure reference angle, determining the departure reference position as the optimal departure position and the departure reference angle as the optimal departure angle, and when the robot fails to depart from a narrow area based on the departure reference position and the departure reference angle, executing a predetermined step at least once. The predetermined step includes selecting a position from the vicinity area of the departure reference position as the current departure position and selecting an angle from the vicinity area of the departure reference angle as the current departure angle. By executing the predetermined step at least once, the robot can be made to depart from the narrow area. The departure position selected when the predetermined step is executed for the last time is set as the optimal departure position, and the departure angle selected when the predetermined step is executed for the last time is set as the optimal departure angle. In other words, when the robot fails to depart from a narrow area based on the departure reference position and the departure reference angle, the optimal departure position and the optimal departure angle are finally determined by repeating the predetermined step until the robot successfully departs from the narrow area.

[0041] In one embodiment of the present application, the first distance is the distance between the entry position and the first obstacle point, the second distance is the distance between the departure reference position and the second obstacle point, the first obstacle point corresponds to the obstacle point with the shorter distance among the distances between the entry position and the two obstacle points in a predetermined narrow passage, the second obstacle point corresponds to the obstacle point with the longer distance among the distances between the entry position and the two obstacle points in a predetermined narrow passage, and the departure reference position is selected as the position where the second distance is equal to the first distance. With this setting, it becomes even easier to escape from trouble.

[0042] In one embodiment of the present application, step S103: determining a departure position and a departure angle for the robot to leave the narrow area via a predetermined narrow passage based on the entry position and the entry angle includes obtaining the confinement duration of the robot, and when the confinement duration is greater than a predetermined duration, determining a departure position and a departure angle for the robot to leave the narrow area via a predetermined narrow passage based on the entry position and the entry angle. In other words, step S103 is executed only when it is determined based on the confinement duration that the robot is surely confined in the narrow area.

[0043] TIFF2025520555000002.tif140160

[0044] In one embodiment of the present application, the first point O1 and the second point O2 are located on the same side of the entry position or on both sides of the entry position.

[0045] Furthermore, in an embodiment of the present application, a trouble escape device for a robot is provided. It should be particularly noted that the trouble escape device for a robot according to an embodiment of the present application is for executing the trouble escape method for a robot provided in an embodiment of the present application. Hereinafter, the trouble escape device for a robot provided in an embodiment of the present application will be described.

[0046] FIG. 3 is a schematic diagram of a trouble escape device for a robot according to an embodiment of the present application. As shown in FIG. 3, such a device includes a first acquisition unit 10, a second acquisition unit 20, a determination unit 30, and a control unit 40.

[0047] The first acquisition unit 10 is configured to acquire the historical movement trajectory of the robot. Specifically, the historical movement trajectory is the movement trajectory of the robot before the current time. At the current time, the robot is located within a narrow area, the narrow area is surrounded by a plurality of obstacle points, a narrow passage is formed between two adjacent obstacle points, and the plurality of obstacle points are located on one or more obstacles.

[0048] The second acquisition unit 20 is configured to acquire the entry position and entry angle at which the robot enters the narrow area via a predetermined narrow passage based on the historical movement trajectory of the robot. Specifically, the entry position is the intersection position between the line connecting two obstacle points in the predetermined narrow passage and the historical movement trajectory, the entry angle is the angle between the entry direction of the robot and the perpendicular line, and the perpendicular line is a straight line perpendicular to the line connecting two obstacle points in the predetermined narrow passage.

[0049] The determination unit 30 is configured to determine the departure position and departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and entry angle. Specifically, the departure position is the intersection position between the trajectory of the robot leaving the narrow area and the line connecting two obstacle points in the predetermined narrow passage, and the departure angle is the angle between the departure direction of the robot and the perpendicular line.

[0050] The control unit 40 is configured to control the robot to leave the narrow area according to the departure position and departure angle.

[0051] Specifically, examples of the narrow area include an area surrounded by the bottom of a chair and an area surrounded by the bottom of a bracket, and examples of the narrow passage include a passage between two legs of a chair.

[0052] Specifically, the robot is a cleaning robot.

[0053] In an embodiment of the present application, the first acquisition unit is configured to acquire the historical movement trajectory of the robot, the second acquisition unit is configured to acquire the entry position and entry angle at which the robot enters the narrow area via a predetermined narrow passage based on the historical movement trajectory of the robot, the determination unit is configured to determine the departure position and departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and entry angle, and the control unit is configured to control the robot to leave the narrow area according to the departure position and departure angle. According to this technical means, by determining the departure position and departure angle based on the entry position and entry angle, the robot can be smoothly separated from the narrow area. Furthermore, the problem that the robot cannot escape from the narrow area can be solved, and the user experience can be improved.

[0054] In one embodiment of the present application, the determination unit includes a first determination module and a second determination module. The first determination module is configured to determine a departure reference position and a departure reference angle. The second determination module is configured to determine an optimal departure position from the vicinity area of the departure reference position and an optimal departure angle from the vicinity area of the departure reference angle, and determine the optimal departure position as the departure position for the robot to leave the narrow area via the predetermined narrow passage, and determine the optimal departure angle as the departure angle for the robot to leave the narrow area via the predetermined narrow passage.

[0055] In one embodiment of the present application, the first determination module is configured to determine a departure reference position and a departure reference angle. Specifically, the first determination module determines the departure reference position based on distance information and determines an angle equal to the entry angle as the departure reference angle. Specifically, the distance information includes a first distance and a second distance. The first distance is the distance between the entry position and the first obstacle point, and the second distance is the distance between the departure reference position and the second obstacle point. The first obstacle point corresponds to the obstacle point with the shorter distance among the distances between the entry position and the two obstacle points in a predetermined narrow passage, and the second obstacle point corresponds to the obstacle point with the longer distance among the distances between the entry position and the two obstacle points in a predetermined narrow passage. The departure reference position is selected as the position when the second distance is equal to the first distance. In other words, first, the departure reference position and the departure reference angle are respectively determined based on the distance information and the entry angle. Then, the optimal departure position is determined from the vicinity area of the departure reference position, and the optimal departure angle is determined from the vicinity area of the departure reference angle. Finally, the robot is controlled to leave the narrow area based on the optimal departure position and the optimal departure angle.

[0056] In one embodiment of the present application, the second determination module includes a determination sub-module, an execution sub-module, and a processing sub-module.

[0057] When the robot successfully leaves the narrow area according to the departure reference position and the departure reference angle, the determination sub-module is configured to determine the departure reference position as the optimal departure position and determine the departure reference angle as the optimal departure angle.

[0058] When the robot fails to leave the narrow area according to the departure reference position and the departure reference angle, the execution sub-module is configured to execute a predetermined step at least once to enable the robot to leave the narrow area. The predetermined step includes selecting a position from the vicinity area of the departure reference position as the current departure position and selecting an angle from the vicinity area of the departure reference angle as the current departure angle.

[0059] The processing sub-module is configured to set the separation position selected when a predetermined step is executed for the last time as the optimal separation position, and the separation angle selected when the predetermined step is executed for the last time as the optimal separation angle. In other words, if the robot fails to leave the narrow area based on the separation reference position and the separation reference angle, the predetermined step is repeated until the robot successfully leaves the narrow area, and finally the optimal separation position and the optimal separation angle are determined.

[0060] In one embodiment of the present application, the first distance is the distance between the entry position and the first obstacle point, the second distance is the distance between the separation reference position and the second obstacle point, the first obstacle point corresponds to the obstacle point with the shorter distance among the distances between the entry position and the two obstacle points in a predetermined narrow passage, the second obstacle point corresponds to the obstacle point with the longer distance among the distances between the entry position and the two obstacle points in the predetermined narrow passage, and the position where the second distance is equal to the first distance is selected as the separation reference position. By setting it in this way, it becomes even easier to escape from trouble.

[0061] In one embodiment of the present application, the determination unit includes a first acquisition module and a third determination module. The first acquisition module is configured to acquire the confinement duration of the robot. The third determination module is configured to determine the separation position and the separation angle for the robot to leave the narrow area via a predetermined narrow passage based on the entry position and the entry angle when the confinement duration is greater than a predetermined duration. In other words, the determination unit determines the separation position and the separation angle for the robot to leave the narrow area via a predetermined narrow passage based on the entry position and the entry angle only when it is determined that the robot is surely confined in the narrow area based on the confinement duration.

[0062] TIFF2025520555000003.tif148160

[0063] In one embodiment of the present application, the first point O1 and the second point O2 are located on the same side of the entry position or on both sides of the entry position.

[0064] In a specific embodiment of the present application, the robot is a cleaning robot.

[0065] The above-mentioned trouble escape device for a robot includes a processor and a memory. The first acquisition unit, the second acquisition unit, the determination unit, the control unit, etc. are all stored in the memory as program units, and the corresponding functions can be realized by the processor executing the program units stored in the memory.

[0066] The processor includes a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be provided, and the robot can be smoothly separated from the narrow area by adjusting the parameters of the kernel.

[0067] The memory includes forms such as volatile memory, random access memory (RAM) and / or non-volatile memory among computer-readable media. For example, read-only memory (ROM) or flash memory (flash RAM) can be mentioned, and the memory includes at least one memory chip.

[0068] In an embodiment of the present invention, a computer-readable storage medium including a stored program is provided, and when the program is executed, it controls so that the trouble escape method for a robot is executed on the device where the computer-readable storage medium is located.

[0069] In an embodiment of the present invention, a processor configured to execute a program is provided, and when the program is executed, the trouble escape method for a robot according to any one of the above embodiments is executed.

[0070] In an embodiment of the present invention, a processor is provided, and when such a processor is operating, the steps of the method according to any one of the above embodiments are executed.

[0071] In an embodiment of the present invention, a robot is provided. Such a robot includes one or more processors, a memory, and one or more programs stored in the memory. When the one or more programs are executed by the one or more processors, the one or more processors execute the steps of the robot trouble escape method according to any one of the above embodiments.

[0072] In an embodiment of the present invention, a device is provided. Such a device includes a processor, a memory, and a program stored in the memory and executable by the processor. When the program is executed by the processor, the steps of the robot trouble escape method according to any one of the above embodiments are executed.

[0073] The device in this specification may be a server, a PC, a PAD, a mobile phone, etc.

[0074] In the present application, a computer program product is further provided. When such a computer program product is executed on a data processing device, it is adapted to execute the steps of the robot trouble escape method according to any one of the above embodiments.

[0075] It will be apparent to those skilled in the art that the embodiments of the present application can be embodied as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Further, the present application can take the form of a computer program product executed on one or more computer-usable storage media (including, but not limited to, magnetic disk data, CD-ROM, optical memory, etc.) incorporating computer-usable program code.

[0076] This application will be described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, may be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, and further, by the instructions executed by the processor of the computer or other programmable data processing devices, an apparatus for realizing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram is generated.

[0077] These computer program instructions may be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, and as a result, a product including an instruction apparatus for realizing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram is generated by the instructions stored in the computer-readable memory.

[0078] These computer program instructions may be loaded into a computer or other programmable data processing device, and as a result, a series of operation steps are executed on the computer or other programmable device, thereby generating a process implemented by the computer, and further, steps for realizing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram are provided by the instructions executed on the computer or other programmable device.

[0079] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0080] The memory includes forms such as volatile memory, random access memory (RAM), and / or non-volatile memory among computer-readable media, for example, read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable media.

[0081] A computer-readable medium includes volatile and non-volatile media, removable and non-removable media, and any method or technology may be used to realize information storage. The information may be computer-readable instructions, data structures, program modules, or other data. Exemplary computer storage media include phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage, or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device, but are not limited thereto. According to the definition herein, a computer-readable medium does not include transitory media, such as modulated data signals and carriers.

[0082] In particular, it should be noted that the term "comprising", "containing", or any other variation thereof is intended to include non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also other elements not expressly listed, or elements specific to such a process, method, article, or device. Without more limitations, an element limited by the phrase "one...comprising" does not exclude the presence of other like elements in the process, method, article, or device that includes the element.

[0083] To better support the present technical means, specific embodiments will be described below with reference to specific examples.

[0084] 。 In this embodiment, a specific troubleshooting escape method for a cleaning robot is provided, and such a method includes the following steps.

[0085] Step S1: Create a two-dimensional rectangular coordinate system for the position of the room.

[0086] Based on any one of the cleaning map of the robot, the detection radar of the robot, the construction drawing of the cleaning area, and the size of the cleaning area, the size division and position determination can be accurately carried out. For example, any wall corner or other fixed position in the room can be selected as the origin of the rectangular coordinate system, and the position coordinates of any obstacle in the cleaning area can be confirmed.

[0087] Step S2: The robot enters the cleaning area.

[0088] Step S21: Record the movement path (i.e., the historical movement trajectory) before entering the narrow area.

[0089] During the actual cleaning process by the robot (the cleaning trajectory can be displayed or recorded on the actual map), as shown in Figure 2, the movement trajectory before entering the narrow area is curve S.

[0090] Step S22: Search for the entry position and entry angle corresponding to the narrow area.

[0091] Step S221: Determine the entry position.

[0092] TIFF2025520555000004.tif35160

[0093] Step S222: Determine the entry angle of the robot.

[0094] TIFF2025520555000005.tif102161

[0095] Step S3: Create a trouble escape method after the robot enters the narrow area.

[0096] Step S31: Set the trouble escape mode.

[0097] The robot has entered a certain area, but within the time interval t, the cleaning robot cannot leave this area. Instead of directly issuing an alarm, the robot sets the trouble escape mode and tries to leave this area.

[0098] Step S32: The robot executes trouble escape.

[0099] Step S321: Determine the departure position and departure angle.

[0100] As shown in Figure 2, when the robot enters the narrow area, the entry intersection is O. Since it faces different directions to enter and exit the narrow area, coordinate symmetry transformation is performed based on the coordinates of O, and the found intersection is O'. The logical relationship is as follows: The relationship satisfied by the coordinates of O' is O'A = OB (it is easy to obtain the coordinates of O' from the coordinates of two points A and B and the coordinates of O). The departure angle is maintained to be the same as the entry angle, which is also α.

[0101] Step S322: The robot truly tries to escape from trouble.

[0102] Step S3221: As shown in Figure 2, with O' as the reference point, maintain the angle between the robot and the perpendicular line L2 of the straight line AB to be α, and execute trouble escape. If it can leave directly like this, the robot succeeds in escaping from trouble.

[0103] TIFF2025520555000006.tif82161

[0104] Step S4: The robot escapes from the trouble, marks it as a complex area, and determines a cleaning strategy.

[0105] According to the above steps, the robot escapes from the narrow area, this location is marked as a complex area, and when the robot enters this area next time, it can try to collide many times. Still, if this location still matches the map at the time of marking, the robot will not enter this location for cleaning. If this location matches the map at the time of marking, this location is cleaned normally.

[0106] As is clear from the above description, according to the above embodiments of the present application, the following technical effects can be achieved.

[0107] 1) In the robot trouble escape method according to the present application, the historical movement trajectory of the robot is obtained, and based on the obtained historical movement trajectory of the robot, the entry position and entry angle at which the robot enters the narrow area via a predetermined narrow passage are obtained. Then, based on the entry position and entry angle, the departure position and departure angle for the robot to leave the narrow area via a predetermined narrow passage are determined. Finally, the robot is controlled to leave the narrow area according to the departure position and departure angle. According to this technical means, by determining the departure position and departure angle based on the entry position and entry angle, the robot can be smoothly separated from the narrow area. Furthermore, the problem that the robot cannot escape from the narrow area can be solved, and the user experience can be improved.

[0108] 2) In the trouble escape device for a robot according to the present application, the first acquisition unit is configured to acquire the historical movement trajectory of the robot, the second acquisition unit is configured to acquire the entry position and entry angle at which the robot enters a narrow area via a predetermined narrow passage based on the historical movement trajectory of the robot, the determination unit is configured to determine the departure position and departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and entry angle, and the control unit is configured to control the robot to leave the narrow area according to the departure position and departure angle. According to this technical means, by determining the departure position and departure angle based on the entry position and entry angle, the robot can be smoothly separated from the narrow area. Furthermore, the problem that the robot cannot escape from the narrow area can be solved, and the user experience can be improved.

[0109] The above are merely preferred embodiments of the present application and do not limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any corrections, equivalent replacements, improvements, etc. made without departing from the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. Obtaining a historical movement trajectory of a robot; Based on the historical movement trajectory of the robot, obtaining an entry position and an entry angle at which the robot enters a narrow area via a predetermined narrow passage; Based on the entry position and the entry angle, determining a departure position and a departure angle for the robot to leave the narrow area via the predetermined narrow passage; Controlling the robot to leave the narrow area according to the departure position and the departure angle, characterized in that it comprises a trouble escape method for a robot.

2. The narrow area is surrounded by a plurality of obstacle points, and a narrow passage is formed between two adjacent obstacle points. The entry position is the intersection position between the connection line of the two obstacle points in the predetermined narrow passage and the historical movement trajectory, the entry angle is the angle between the entry direction of the robot and the perpendicular line, and the perpendicular line is perpendicular to the connection line of the two obstacle points. The departure position is the intersection position between the trajectory of the robot leaving the narrow area and the connection line of the two obstacle points in the predetermined narrow passage, and the departure angle is the angle between the departure direction of the robot and the perpendicular line. The method according to claim 1, characterized in that.

3. The step of determining a departure position and a departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and the entry angle includes: Determining a departure reference position and a departure reference angle; Determining an optimal departure position from the vicinity area of the departure reference position and an optimal departure angle from the vicinity area of the departure reference angle; Determining the optimal departure position as the departure position for the robot to leave the narrow area via the predetermined narrow passage, and determining the optimal departure angle as the departure angle for the robot to leave the narrow area via the predetermined narrow passage. The method according to claim 1 or 2, characterized in that it comprises.

4. Determining the departure reference position and the departure reference angle includes: Determining the departure reference angle to be equal to the entry angle; Determining the departure reference position based on distance information, including. The distance information includes a first distance and a second distance. The first distance is the distance between the entry position and the first obstacle point. The second distance is the distance between the departure reference position and the second obstacle point. The first obstacle point corresponds to the obstacle point with the shorter distance among the distances between the entry position and two obstacle points in a predetermined narrow passage. The second obstacle point corresponds to the obstacle point with the longer distance among the distances between the entry position and two obstacle points in the predetermined narrow passage. The departure reference position is selected as the position where the second distance and the first distance are equal. The method according to claim 3, characterized in that.

5. Determining an optimal departure position from the vicinity area of the departure reference position and determining an optimal departure angle from the vicinity area of the departure reference angle means that When the robot successfully leaves the narrow area based on the departure reference position and the departure reference angle, determining the departure reference position as the optimal departure position and determining the departure reference angle as the optimal departure angle, When the robot fails to leave the narrow area based on the departure reference position and the departure reference angle, at least one execution of a predetermined step is performed. The predetermined step refers to selecting a position from the vicinity area of the departure reference position as the current departure position and selecting an angle from the vicinity area of the departure reference angle as the current departure angle. Including, when the departure position selected when the predetermined step is executed for the last time is set as the optimal departure position, and the departure angle selected when the predetermined step is executed for the last time is set as the optimal departure angle. The method according to claim 3, characterized in that.

6. The step of determining a departure position and a departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and the entry angle is Obtaining the confinement duration of the robot, When the confinement duration is greater than a predetermined duration, determining a departure position and a departure angle for the robot to leave the narrow area via the predetermined narrow passage based on the entry position and the entry angle. The method according to any one of claims 1 to 5, characterized in that.

7. The step of obtaining the entry angle at which the robot entered the narrow area via a predetermined narrow passage based on the historical movement trajectory of the robot is Selecting a first point and a second point from a vicinity region of the entry position in the history movement trajectory; Obtaining a first inclination of a line connecting the first point and the second point; Obtaining a second inclination of a line connecting two obstacle points in the predetermined narrow passage; Determining a third inclination of the perpendicular line based on the second inclination; Determining the entry angle based on the first inclination and the third inclination, the method according to any one of claims 1 to 5, characterized by including the above.

8. The method according to claim 7, characterized in that the first point and the second point are located on the same side of the entry position or on both sides of the entry position.

9. A first acquisition unit for acquiring a history movement trajectory of a robot; A second acquisition unit for acquiring an entry position and an entry angle at which the robot enters a narrow region via a predetermined narrow passage based on the history movement trajectory of the robot; A determination unit for determining a departure position and a departure angle for the robot to leave the narrow region via the predetermined narrow passage based on the entry position and the entry angle; A control unit for controlling the robot to leave the narrow region according to the departure position and the departure angle, a trouble escape device for a robot, characterized by including the above.

10. The narrow region is surrounded by a plurality of obstacle points, and a narrow passage is formed between two adjacent obstacle points. The entry position is an intersection position between a line connecting the two obstacle points in the predetermined narrow passage and the history movement trajectory, the entry angle is an angle between the entry direction of the robot and a perpendicular line, and the perpendicular line is perpendicular to the line connecting the two obstacle points. The departure position is an intersection position between a trajectory for the robot to leave the narrow region and a line connecting the two obstacle points in the predetermined narrow passage, and the departure angle is an angle between the departure direction of the robot and the perpendicular line. The trouble escape device for a robot according to claim 9, characterized by the above.

11. A processor, characterized in that when the processor is operating, the steps of the method according to any one of claims 1 to 8 are executed.

12. Including one or more processors, a memory, and one or more programs stored in the memory. When the one or more programs are executed by the one or more processors, the steps of the method according to any one of claims 1 to 8 are executed by the one or more processors, and a robot characterized by this.

13. The robot according to claim 12, characterized in that the robot is a cleaning robot.

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