Troubleshooting method and device for robots, 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] The present application relates to the field of robots, and specifically to a trouble escape method and apparatus for a robot, a processor, and a robot.

[0002] [Related Application] The present application claims priority to the Chinese patent application filed on August 17, 2022, with application number 202210988109.5 and titled "Trouble escape method, apparatus for robot, processor, and robot", the entire content of which is incorporated herein by reference.

Background Art

[0003] With the acceleration of life pace, in order to save household cleaning time, cleaning robots have entered many households and become powerful assistants for household cleaning. A cleaning robot senses its surrounding environment via sensors mounted thereon, plans an appropriate cleaning strategy, and further realizes cleaning of the household floor.

[0004] In an actual home environment, there are a large number of complex areas and corners, for example, various tables and chairs, fixed brackets, furniture, etc. Conventional cleaning robots judge whether they can enter the bottom of chairs or bracket areas through collision. Especially when the gap between chair legs or between the horizontal surfaces of brackets is close to the width or diameter of the cleaning robot, the cleaning robot may enter the bottom of the chair or bracket but cannot get out. Since the cleaning robot is trapped in these areas and cannot find a solution by itself to escape from the trouble, it has no choice but to stop cleaning, issue an alarm and wait for manual assistance, which leads to low cleaning efficiency and poor user experience.

[0005] Therefore, conventional robots (including cleaning robots) have the problem of being unable to escape from narrow areas.

Summary of Invention

Problem to be Solved by the Invention

[0006] The main objective of this application is to provide a robot trouble escape method and apparatus, a processor, and a robot to solve the problem that conventional robots cannot escape from narrow areas. [Means for solving the problem]

[0007] To achieve the above-mentioned objectives, a robot trouble escape method is provided in one aspect of the present invention, which includes the steps of: acquiring the robot's historical movement trajectory; acquiring the entry position and entry angle at which the robot entered a narrow area via a predetermined narrow passage based on the robot's historical movement trajectory; determining the departure position and departure angle at which the robot leaves the narrow area via the predetermined narrow passage based on the entry position and entry angle; and controlling the robot to leave the narrow area based on the departure position and departure angle.

[0008] In some embodiments, the narrow region is surrounded by a plurality of obstacle points, and the space between two adjacent obstacle points is a narrow passage. The entry position is the intersection of the line connecting the two obstacle points in the predetermined narrow passage and the trajectory of the historical movement, and the entry angle is the angle between the robot's entry direction and a perpendicular, the perpendicular being perpendicular to the line connecting the two obstacle points. The departure position is the intersection of the trajectory of the robot leaving the narrow region and the line connecting the two obstacle points in the predetermined narrow passage, and the departure angle is the angle between the robot's departure direction and the perpendicular.

[0009] In some embodiments, the step of determining a departure position and 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 determining a reference departure position and a reference departure angle; determining an optimal departure position from a region near the reference departure position and determining an optimal departure angle from a region near the reference departure 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.

[0010] In some embodiments, determining the reference departure position and the reference departure angle includes determining the reference departure angle to be equal to the entry angle and determining the reference departure position based on distance information, specifically, the distance information includes a first distance and a second distance, the first distance being the distance between the entry position and a first obstruction point, the second distance being the distance between the reference departure position and a second obstruction point, the first obstruction point being the obstruction point corresponding to the smaller distance between the entry position and two obstruction points in a predetermined narrow passage, the second obstruction point being the obstruction point corresponding to the larger distance between the entry position and two obstruction points in the predetermined narrow passage, and the position where the second distance and the first distance are equal is selected as the reference departure position.

[0011] In some embodiments, determining an optimal departure position from a region near the reference departure position and determining an optimal departure angle from a region near the reference departure angle includes, if the robot successfully moves away from the narrow area using the reference departure position and the reference departure angle, determining the reference departure position as the optimal departure position and determining the reference departure angle as the optimal departure angle; and, if the robot fails to move away from the narrow area using the reference departure position and the reference departure angle, performing a predetermined step at least once, wherein the predetermined step refers to selecting a position from a region near the reference departure position as the departure position and selecting an angle from a region near the reference departure angle as the departure angle; and setting the departure position selected when the predetermined step is performed for the final time as the optimal departure position and setting the departure angle selected when the predetermined step is performed for the final time as the optimal departure angle.

[0012] In some embodiments, the step of determining 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 the entry angle, includes obtaining the robot's confinement duration, and if the confinement duration is greater than a predetermined duration, determining 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 the entry angle.

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

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

[0015] In another aspect of the present application, a trouble escape device for a robot is provided, which includes: a first acquisition unit for acquiring the history movement trajectory of a robot; a second acquisition unit for acquiring the entry position and entry angle of the robot entering a narrow area via a predetermined narrow passage based on the history movement trajectory of the robot; a determination unit for determining 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 a control unit for controlling the robot to leave the narrow area based on the departure position and departure angle.

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

[0017] In another aspect of the present application, a processor is provided such that the steps of the method according to any one of the embodiments described above are performed while such processor is operating.

[0018] In yet another aspect of the present application, a robot is provided which includes one or more processors, memory, and one or more programs stored in the memory, such that when the one or more programs are executed on the one or more processors, the one or more processors perform the steps of the method according to any one embodiment described above.

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

[0020] The technical means of this invention acquires the robot's historical movement trajectory, and based on the robot's historical movement trajectory, it acquires the entry position and entry angle at which the robot entered a narrow area via a predetermined narrow passage. Subsequently, based on the entry position and entry angle, it determines the departure position and departure angle for the robot to leave the narrow area via the predetermined narrow passage, and finally, it controls the robot to leave the narrow area based on 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 moved away from the narrow area. Furthermore, it can solve the problem of the robot being unable to escape from the narrow area and improve the user experience. [Brief explanation of the drawing]

[0021] The drawings in the specification, which constitute part of this application, are provided to provide a further understanding of the application, and the exemplary embodiments and descriptions thereof are for interpretive purposes and do not unduly limit the application. The drawings are briefly described below. [Figure 1] This is a flowchart of a robot troubleshooting method according to an embodiment of the present invention. [Figure 2] This is a schematic diagram showing a robot according to an embodiment of the present invention moving away from a narrow area. [Figure 3] This is a schematic diagram of a robotic trouble escape device according to an embodiment of the present invention. MODE FOR CARRYING OUT THE INVENTION

[0022] It should be particularly noted that the embodiments and features of the embodiments described in the present application can be combined with each other if no contradiction occurs. Hereinafter, the present application will be described in detail in connection with the embodiments with reference to the drawings.

[0023] In order that those skilled in the art can better understand the technical means of the present application, the technical means according to the embodiments of the present application will be clearly and completely described below with reference to the drawings related to the embodiments of the present application. Needless to say, the embodiments described below are merely a part rather than all of the embodiments of the present application. All other embodiments obtained by a person having ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0024] It should be particularly noted that the terms "first", "second", and the like in the specification, claims, and the above drawings of the present application are not intended to describe a specific order or sequential order, but are used to distinguish similar objects. It should be understood that the data used in this way can be interchanged under appropriate circumstances for the embodiments of the present application described herein. In addition, the terms "comprise", "include", "have", and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to the explicitly listed steps or units, and may include steps or units not explicitly listed, or other steps or units inherent to these processes, methods, products, or devices.

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

[0026] As described in the background technology, conventional robots cannot escape from confined spaces. In the embodiments of the present invention, a robot trouble escape method and apparatus, a processor, and a robot are provided to solve the problem of robots being unable to escape from confined spaces.

[0027] In the embodiments of this invention, a trouble recovery method for robots is provided.

[0028] Figure 1 is a flowchart of a robot troubleshooting method according to an embodiment of the present invention. As shown in Figure 1, the method includes the following steps S101 to S104.

[0029] Step S101: Obtain the robot's historical movement trajectory. Specifically, the historical movement trajectory is the robot's movement trajectory before the current time, where the robot is located within a narrow area, which is surrounded by multiple obstacle points, with a narrow passage between two adjacent obstacle points, and the multiple obstacle points are located on one or more obstacles.

[0030] Step S102: Based on the robot's historical movement trajectory, the entry position and entry angle of the robot as it enters the narrow area via a predetermined narrow passage are obtained. Specifically, the entry position is the intersection of the line connecting the two obstacle points in the predetermined narrow passage and the historical movement trajectory, and the entry angle is the angle between the robot's entry direction and a perpendicular line, where the perpendicular line is a straight line perpendicular to the line connecting the two obstacle points in the predetermined narrow passage.

[0031] Step S103: Based on the entry position and entry angle, the departure position and departure angle are determined for the robot to leave the narrow area via a predetermined narrow passage. Specifically, the departure position is the intersection point of the robot's trajectory 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 robot's departure direction and the perpendicular.

[0032] Step S104: Control the robot to move away from the narrow area based on its departure position and departure angle.

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

[0034] Specifically, examples of narrow areas include the area enclosed by the bottom of a chair and the area enclosed by the bottom of a bracket, while examples of narrow passages include the passage between the two legs of a chair.

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

[0036] In the embodiment of the present invention, the robot's historical movement trajectory is acquired, and based on the acquired historical movement trajectory, the entry position and entry angle of the robot entering a narrow area via a predetermined narrow passage are acquired, and 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, and finally, the robot is controlled to leave the narrow area based on 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 moved away from the narrow area, and furthermore, the problem of the robot being unable to escape from the narrow area can be solved, and the user experience can be improved.

[0037] In particular, it should be explained that the steps shown in the flowchart can be executed by a computer system, such as a set of computer-executable instructions, and although the flowchart shows a logical sequence, in some cases the illustrated or described steps may be executed in a different order than shown here.

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

[0039] In one embodiment of the present invention, determining the reference departure position and reference departure angle includes determining the reference departure position based on distance information and determining a reference departure angle equal to the entry angle. Specifically, the distance information includes a first distance and a second distance, where the first distance is the distance between the entry position and the first obstacle point, the second distance is the distance between the reference departure position and the second obstacle point, the first obstacle point is the obstacle point corresponding to the smaller distance between the entry position and two obstacle points in a predetermined narrow passage, and the second obstacle point is the obstacle point corresponding to the larger distance between the entry position and two obstacle points in a predetermined narrow passage. The reference departure position is selected as the position when the second distance and the first distance are equal. In other words, first, the reference departure position and reference departure angle are determined based on the distance information and the entry angle, respectively. Then, the optimal departure position is determined from the vicinity of the reference departure position, and the optimal departure angle is determined from the vicinity of the reference departure angle. Finally, the robot is controlled to move away from the narrow area using the optimal departure position and optimal departure angle.

[0040] In one embodiment of the present invention, determining the optimal departure position from a region near the reference departure position and determining the optimal departure angle from a region near the reference departure angle includes, if the robot successfully moves away from the narrow area using the reference departure position and reference departure angle, determining the reference departure position as the optimal departure position and determining the reference departure angle as the optimal departure angle, and, if the robot fails to move away from the narrow area using the reference departure position and reference departure angle, performing a predetermined step at least once. The predetermined step includes selecting a position from a region near the reference departure position as the current departure position and selecting an angle from a region near the reference departure angle as the current departure angle. By performing the predetermined step at least once, the robot can be moved away from the narrow area. The departure position selected when the predetermined step is performed for the final time is set as the optimal departure position, and the departure angle selected when the predetermined step is performed for the final time is set as the optimal departure angle. In other words, if the robot fails to move away from the narrow area using the reference release position and angle, the system repeats predetermined steps until the robot successfully moves away from the narrow area, ultimately determining the optimal release position and angle.

[0041] In one embodiment of the present invention, the first distance is the distance between the entry position and the first obstruction point, the second distance is the distance between the departure reference position and the second obstruction point, the first obstruction point is the obstruction point corresponding to the shorter distance between the entry position and two obstruction points in a predetermined narrow passage, the second obstruction point is the obstruction point corresponding to the longer distance between the entry position and two obstruction points in a predetermined narrow passage, and the departure reference position is selected when the second distance and the first distance are equal. With this setting, it becomes even easier to escape from trouble.

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

[0043] TIFF0007927885000001.tif140160

[0044] In one embodiment of the present invention, 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] In the embodiments of this application, a robotic trouble recovery device is also provided. Of particular importance is the robotic trouble recovery device according to the embodiments of this application, which is intended to implement the robotic trouble recovery method provided in the embodiments of this application. The robotic trouble recovery device provided in the embodiments of this application will be described below.

[0046] Figure 3 is a schematic diagram of a robot trouble escape device according to an embodiment of the present invention. As shown in Figure 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 robot's historical movement trajectory. Specifically, the historical movement trajectory is the robot's movement trajectory before the current time, where the robot is located within a narrow area at the current time, and this narrow area is surrounded by multiple obstacle points, with a narrow passage between two adjacent obstacle points, and the multiple 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 of the robot as it enters a narrow area via a predetermined narrow passage, based on the robot's historical movement trajectory. Specifically, the entry position is the intersection of 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 robot's entry direction and a perpendicular line, the perpendicular line being a straight line perpendicular to the line connecting the 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 a predetermined narrow passage, based on the entry position and entry angle. Specifically, the departure position is the intersection point 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 robot's departure direction and the perpendicular.

[0050] The control unit 40 is configured to control the robot to move away from the narrow area based on its departure position and departure angle.

[0051] Specifically, examples of narrow areas include the area enclosed by the bottom of a chair and the area enclosed by the bottom of a bracket, while examples of narrow passages include the passage between the two legs of a chair.

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

[0053] In the embodiments of the present invention, a first acquisition unit is configured to acquire the robot's historical movement trajectory, a 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 robot's historical movement trajectory, a determination unit is configured to determine the departure position and departure angle for the robot to leave the narrow area via a predetermined narrow passage based on the entry position and entry angle, and a control unit is configured to control the robot to leave the narrow area based on the departure position and departure angle. According to the present technical means, by determining the departure position and departure angle based on the entry position and entry angle, the robot can be smoothly moved away from the narrow area. Furthermore, the problem of the robot being unable to escape from the narrow area can be solved, and the user experience can be improved.

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

[0055] In one embodiment of the present invention, the first determination module is configured to determine the reference departure position and the reference departure angle. Specifically, the first determination module determines the reference departure position based on distance information and determines a reference departure angle that is equal to the entry angle. Specifically, the distance information includes a first distance and a second distance, the first distance being the distance between the entry position and the first obstruction point, the second distance being the distance between the reference departure position and the second obstruction point, the first obstruction point being the obstruction point corresponding to the smaller distance between the entry position and two obstruction points in a predetermined narrow passage, and the second obstruction point being the obstruction point corresponding to the larger distance between the entry position and two obstruction points in a predetermined narrow passage. The reference departure position is selected when the second distance and the first distance are equal. In other words, first, the departure reference position and departure reference angle are determined based on distance information and entry angle. Then, the optimal departure position is determined from the vicinity of the departure reference position, and the optimal departure angle is determined from the vicinity of the departure reference angle. Finally, the robot is controlled to move away from the narrow area using the optimal departure position and optimal departure angle.

[0056] In one embodiment of the present invention, the second decision module includes a decision submodule, an execution submodule, and a processing submodule.

[0057] The determination submodule is configured to determine the optimal departure position and the optimal departure angle when the robot successfully moves away from the narrow area according to the departure reference position and departure reference angle.

[0058] The execution submodule is configured to allow the robot to move away from the narrow area by performing predetermined steps at least once if the robot fails to move away from the narrow area by the departure reference position and departure reference angle, and these predetermined steps include 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.

[0059] The processing submodule is configured to set the departure position selected when the predetermined steps are executed for the final time as the optimal departure position, and the departure angle selected when the predetermined steps are executed for the final time as the optimal departure angle. In other words, if the robot fails to leave the narrow area using the departure reference position and departure reference angle, the predetermined steps are repeated until the robot successfully leaves the narrow area, thereby determining the final optimal departure position and optimal departure angle.

[0060] In one embodiment of the present invention, the first distance is the distance between the entry position and the first obstruction point, the second distance is the distance between the departure reference position and the second obstruction point, the first obstruction point is the obstruction point corresponding to the shorter distance between the entry position and two obstruction points in a predetermined narrow passage, the second obstruction point is the obstruction point corresponding to the longer distance between the entry position and two obstruction points in a predetermined narrow passage, and the departure reference position is selected when the second distance and the first distance are equal. With this setting, it becomes even easier to escape from trouble.

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

[0062] TIFF0007927885000002.tif148160

[0063] In one embodiment of the present invention, 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 one specific embodiment of the present invention, the robot is a cleaning robot.

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

[0066] The processor contains a kernel, which calls the corresponding program unit from memory. One or more kernels can be provided, and by adjusting the kernel parameters, the robot can be smoothly moved away from the confined area.

[0067] Memory includes computer-readable media such as volatile memory, random access memory (RAM), and / or non-volatile memory, and examples include read-only memory (ROM) or flash memory (flash RAM), and memory includes at least one memory chip.

[0068] In embodiments of the present invention, a computer-readable storage medium containing a stored program is provided, and when the program is executed, the device on which the computer-readable storage medium is located is controlled to execute the robot troubleshooting method.

[0069] In embodiments of the present invention, a processor configured to execute a program is provided, and when the program is executed, a robotic troubleshooting method according to any one of the embodiments described above is executed.

[0070] In embodiments of the present invention, a processor is provided, and while such processor is operating, the steps of the method according to any one of the embodiments described above are performed.

[0071] In embodiments of the present invention, a robot is provided, which includes one or more processors, memory, and one or more programs stored in the memory, and 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 troubleshooting method according to any one embodiment described above.

[0072] In embodiments of the present invention, a device is provided which includes a processor, memory, and a program stored in the memory and executable by the processor, and when the program is executed by the processor, the steps of the robot trouble recovery method according to any one of the embodiments described above are performed.

[0073] The devices used herein may include servers, PCs, tablets, mobile phones, and the like.

[0074] The present invention further provides a computer program product which, when executed on a data processing device, is adapted to perform the steps of the robotic troubleshooting method according to any one of the embodiments described above.

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

[0076] This application will be described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of this application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and 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 dedicated computer, an embedded processor, or other programmable data processing device to generate a machine, and furthermore, instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more flows and / or blocks of the flowchart and / or block diagrams.

[0077] These computer program instructions may be stored in computer-readable memory that can instruct a computer or other programmable data processing device to operate in a particular manner, resulting in the creation of a product that includes an instruction unit that implements a function specified in one or more flows of a flowchart and / or one or more blocks of a block diagram using 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 operational steps are executed by the computer or other programmable device to generate processing to be performed by the computer, and further instructions executed by the computer or other programmable device provide steps to realize one or more flows in a flowchart and / or one or more blocks in a block diagram.

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

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

[0081] Computer-readable media include non-volatile and volatile media, movable and immovable media, and any method or technique may be used to store information. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, Phase Change RAM (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 Tape, Magnetic Tape Disk Storage or other magnetic storage devices, or any other non-transmission media that may be used to store information accessible by a computing device. According to the definition herein, computer-readable media does not include temporary storage computer-readable media (transitory media), such as modulated data signals and carriers.

[0082] Furthermore, it is important to clarify that the terms “include,” “contain,” or any other variation thereof are intended to include non-exclusive inclusion, thereby including not only those elements but also other elements not explicitly listed, or elements specific to such process, method, product, or device. Unless further restrictions are imposed, an element limited by the phrase “include one…” does not preclude other identical elements from being present in the process, method, product, or device containing the aforementioned element.

[0083] To better support this technical means, the following will be explained using specific examples.

[0084] . This embodiment provides a specific troubleshooting method for a cleaning robot, which includes the following steps.

[0085] Step S1: Create a two-dimensional rectangular coordinate system for the room's location.

[0086] Based on the robot's cleaning map, the robot's detection radar, the construction plan of the cleaning area, or the size of the cleaning area, the size division and position determination can be accurately performed. For example, a wall corner or any other fixed position indoors can be selected as the origin of the Cartesian coordinate system, and the position coordinates of any obstacles within the cleaning area can be verified.

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

[0088] Step S21: Record the movement path (i.e., 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 an actual map), as shown in Figure 2, the movement trajectory before entering the narrow area is curve S.

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

[0091] Step S221: Determine the entry position.

[0092] TIFF0007927885000003.tif35160

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

[0094] TIFF0007927885000004.tif102161

[0095] Step S3: Create a method for troubleshooting after the robot enters a confined space.

[0096] Step S31: Set trouble escape mode.

[0097] A robot enters a certain area, but within time interval t, the cleaning robot is unable to leave this area. In this situation, instead of issuing a direct alarm, the robot attempts to leave the area by setting a trouble escape mode.

[0098] Step S32: The robot performs a trouble recovery operation.

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

[0100] As shown in Figure 2, when the robot enters the narrow area, the entry intersection is O. Since the robot faces different directions to enter and exit the narrow area, the intersection found by performing a coordinate symmetric transformation based on the coordinates of O is O', and the logical relationship is as follows: The relationship that the coordinates of O' satisfy is O'A = OB (it is easy to find the coordinates of O' from the coordinates of two points A and B and the coordinate of O). The departure angle is maintained to coincide with the entry angle, and is similarly α.

[0101] Step S322: The robot attempts to resolve the problem in earnest.

[0102] Step S3221: As shown in Figure 2, using O' as the reference point, the trouble escape is performed while maintaining the angle between the robot and the perpendicular L2 to the line AB to α, and if the robot can move away in this state, the trouble escape is successful.

[0103] TIFF0007927885000005.tif82161

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

[0105] The steps described above allow the robot to exit the narrow area, marking it as a complex area. The next time the robot enters this area, it can attempt to collide with it multiple times. If the area still matches the map at the time of marking, the robot will not enter or clean this area. If the area still matches the map at the time of marking, the robot will clean this area normally.

[0106] As is clear from the above explanation, the above-described embodiment of the present application can achieve the following technical effects.

[0107] 1) In the robot trouble escape method according to the present invention, the robot's historical movement trajectory is acquired, and based on the acquired robot's historical movement trajectory, the entry position and entry angle at which the robot entered a narrow area via a predetermined narrow passage are acquired, and 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, and finally, the robot is controlled to leave the narrow area based on 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 moved away from the narrow area, and furthermore, the problem of the robot being unable to escape from the narrow area can be solved, and the user experience can be improved.

[0108] 2) In the trouble escape device for robots according to the present invention, the first acquisition unit is configured to acquire the robot's historical movement trajectory, the second acquisition unit is configured to acquire the entry position and entry angle when the robot enters a narrow area via a predetermined narrow passage based on the robot's historical movement trajectory, the determination unit is configured to determine the departure position and departure angle for the robot to leave the narrow area via a 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 based on 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 moved away from the narrow area, and furthermore, the problem of the robot being unable to escape from the narrow area can be solved, and the user experience can be improved.

[0109] The foregoing is merely a preferred embodiment of the present application and does not limit it, and experts in the art can make various modifications and changes to it. Any amendments, equivalent substitutions, improvements, etc., made without departing from the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. Steps to obtain the robot's historical movement trajectory, The steps include obtaining the entry position and entry angle of the robot as it entered a narrow area via a predetermined narrow passage, based on the robot's historical movement trajectory, The steps include determining, 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, The steps include controlling the robot to move away from the narrow area based on the aforementioned separation position and separation angle, The aforementioned narrow region is surrounded by multiple obstacle points, and the space between two adjacent obstacle points is a narrow passage. The entry position is the intersection of the line connecting the two obstacle points in the predetermined narrow passage and the historical movement trajectory, the entry angle is the angle between the robot's entry direction and the perpendicular, and the perpendicular is perpendicular to the line connecting the two obstacle points. A robot trouble escape method characterized in that the departure position is the intersection point of the trajectory of the robot moving away from the narrow area and the line connecting the two obstacle points in the predetermined narrow passage, and the departure angle is the angle between the direction of departure of the robot and the perpendicular line.

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

3. Determining the aforementioned reference position and reference angle of separation is: The aforementioned reference angle for separation is determined to be equal to the aforementioned entry angle, This includes determining the reference position of separation based on distance information, The method according to claim 2, characterized in that the distance information includes a first distance and a second distance, the first distance is the distance between the entry position and the first obstruction point, the second distance is the distance between the departure reference position and the second obstruction point, the first obstruction point is an obstruction point corresponding to the smaller distance among the distances between the entry position and two obstruction points in a predetermined narrow passage, the second obstruction point is an obstruction point corresponding to the larger distance among the distances between the entry position and two obstruction points in the predetermined narrow passage, and the departure reference position is selected as the position when the second distance and the first distance are equal.

4. Determining the optimal separation position from the vicinity of the aforementioned separation reference position, and determining the optimal separation angle from the vicinity of the aforementioned separation reference angle, If the robot successfully moves away from the narrow area according to the reference position and reference angle of departure, the reference position of departure is determined as the optimal departure position, and the reference angle of departure is determined as the optimal departure angle. The method according to claim 2, characterized in that, if the robot fails to move away from the narrow area based on the reference separation position and the reference separation angle, a predetermined step is performed at least once, wherein the predetermined step refers to selecting a position from the vicinity of the reference separation position as the current separation position and selecting an angle from the vicinity of the reference separation angle as the current separation angle; and the separation position selected when the predetermined step is performed for the final time is set as the optimal separation position and the separation angle selected when the predetermined step is performed for the final time is set as the optimal separation angle.

5. The step of determining 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 the entry angle, is: To obtain the duration of the robot's confinement, The method according to claim 1, characterized in that, if the confinement duration is longer than a predetermined duration, the method further includes determining a departure position and departure angle for the robot to leave the narrow area via the predetermined narrow passage, based on the entry position and the entry angle.

6. The step of obtaining the entry angle at which the robot entered the narrow area via a predetermined narrow passage, based on the robot's historical movement trajectory, Selecting a first point and a second point from the vicinity of the entry position in the aforementioned historical movement trajectory, Obtaining the first inclination of the connection between the first point and the second point, To obtain the second inclination of the connection between the two obstruction points in the aforementioned predetermined narrow passage, The third inclination of the perpendicular is determined based on the second inclination, The method according to claim 1, characterized by comprising determining the entry angle based on the first inclination and the third inclination.

7. The method according to 6, 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.

8. A first acquisition unit for acquiring the robot's historical movement trajectory, A second acquisition unit for acquiring the entry position and entry angle of the robot as it enters a narrow area via a predetermined narrow passage, based on the robot's historical movement trajectory, A determination unit for determining the departure position and departure angle for the robot to move away from the narrow area via the predetermined narrow passage, based on the entry position and the entry angle, Includes a control unit for controlling the robot to move away from the narrow area based on the aforementioned separation position and separation angle, The aforementioned narrow region is surrounded by multiple obstacle points, and the space between two adjacent obstacle points is a narrow passage. The entry position is the intersection of the line connecting the two obstacle points in the predetermined narrow passage and the historical movement trajectory, the entry angle is the angle between the robot's entry direction and the perpendicular, and the perpendicular is perpendicular to the line connecting the two obstacle points. A trouble escape device for a robot, characterized in that the departure position is the intersection point of the trajectory of the robot moving away from the narrow area and the line connecting the two obstacle points in the predetermined narrow passage, and the departure angle is the angle between the direction of departure of the robot and the perpendicular line.

9. A processor characterized in that, when the processor is operating, a step of the method according to any one of claims 1 to 7 is performed.

10. It includes one or more processors, memory, and one or more programs stored in the memory, A robot characterized in that, when the one or more programs are executed on the one or more processors, the one or more processors perform the steps of the method according to any one of claims 1 to 7.

11. The robot according to claim 10, characterized in that the robot is a cleaning robot.

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