1 results about "Time to collision" patented technology

The application relates to a kind of embodied robot safety action execution method and embodied robot system.The method comprises: receiving task instruction, executing the task indicated by the task instruction;In the process of executing the task, if collision event is detected by the collision switch of the embodied robot, record the event information of collision event, multiple event information is arranged in time sequence to form event information sequence, the event information includes collision position and corresponding collision time;According to the first sub-sequence in the first sliding time window in the event information sequence, the collision density information corresponding to the grid map of the embodied robot is generated, the collision density information includes the collision density corresponding to each grid in the grid map;In the case where the collision density information represents that the first safety action execution condition is met, safety action is executed.Using the method can improve safety.