CN108469816B

CN108469816B - Robot and method and device for getting rid of poverty of robot

Info

Publication number: CN108469816B
Application number: CN201810166662.4A
Authority: CN
Inventors: 陈鹏旭
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2018-02-28
Filing date: 2018-02-28
Publication date: 2021-06-18
Anticipated expiration: 2038-02-28
Also published as: CN108469816A

Abstract

The invention discloses a trap-escaping processing method and device for a robot, the robot, electronic equipment and a computer readable storage medium. The method comprises the following steps: when the robot can not reach the target position point according to the current environment map, executing the following escaping processing steps: planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map; and traversing the planned paths reaching the target position point in sequence, wherein if the planned paths can reach the target position point, the escaping is successful, and if the planned paths can not reach the target position point, the escaping is failed. Through the technical scheme, when the robot cannot reach the target position at present, the robot is subjected to escaping treatment, the environment in which the robot is trapped is eliminated, the success rate of escaping the robot can be improved, the damage of hardware caused by the robot escaping the robot due to collision can be prevented, and the use experience of a user is enhanced.

Description

Robot and method and device for getting rid of poverty of robot

Technical Field

The invention relates to the technical field of robots, in particular to a method and a device for processing a robot to get rid of difficulties, a robot, electronic equipment and a computer readable storage medium.

Background

Nowadays, various robots are applied to various industries, and people's daily life, such as a floor sweeping robot, is also entered, so that great convenience is brought to people's life. In the working process of the robot, the target position point is usually reached according to the constructed map, but the situation that the robot cannot reach the target position point inevitably occurs, for example, due to the precision problem of the map, a certain passable area is marked as an obstacle area, and the robot cannot pass through to reach the target position point. This will cause the robot to be trapped and unable to escape; or the robot can get rid of the trouble only through multiple times of collision, the success rate of getting rid of the trouble is low, and hardware damage of the robot is easily caused.

Disclosure of Invention

In view of the above, the present invention has been made to provide a method, an apparatus, a robot, an electronic device, and a computer-readable storage medium for overcoming the above problems or at least partially solving the above problems.

According to an aspect of the present invention, there is provided a method for escaping from a stranded robot, wherein the method includes: when the robot can not reach the target position point according to the current environment map, executing the following escaping processing steps:

planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map;

and traversing the planned paths reaching the target position point in sequence, wherein if the planned paths can reach the target position point, the escaping is successful, and if the planned paths can not reach the target position point, the escaping is failed.

Optionally, the planning one or more paths to the target location point according to the historical path includes:

if one historical path passes through the current position and the target position point of the robot, the part between the current position and the target position point of the robot of the historical path is taken as one of the paths reaching the target position point.

if a historical path passes through the current position and the designated position point of the robot and the designated position point can be reached according to the environment map, the path between the designated position point and the target position point is planned according to the environment map, and the part between the current position and the designated position point of the robot in the historical path and the path between the designated position point and the target position point are integrated into a path reaching the target position point.

Optionally, the invisible obstacle is:

the obstacle detected by a first sensor preset on the robot cannot be detected, but the obstacle detected by a second sensor preset on the robot.

Alternatively,

the first type of sensor comprises: an infrared ranging sensor and/or a laser sensor;

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

Optionally, before performing the step of escaping from the stranded state, the method further comprises:

and judging whether the history from the current position of the robot to the target position point is accessible, if so, executing the step of escaping from the trouble, and otherwise, not executing the step of escaping from the trouble.

Optionally, the determining whether the history from the current position of the robot to the target position point is reachable includes:

determining that the current position of the robot to the target position point is historically reachable if there is a path through the current position of the robot and the target position point;

and if a path passing through the current position and the designated position point of the robot exists and the designated position point and the target position point are reachable according to the environment map, determining that the distance from the current position to the target position point of the robot is historically reachable.

Optionally, the robot being unable to reach the target location point according to the current environment map includes:

and judging whether a path from the current position of the robot to the target position point can be planned according to the current environment map, and if not, determining that the robot cannot reach the target position point according to the current environment map.

Optionally, the method further comprises:

and in the process of sequentially traversing the planned paths to the target position point, if the paths from the current position of the robot to the target position point can be planned according to the current environment map, ending the step of escaping from the difficulties, and advancing to the target position point according to the planned paths.

According to another aspect of the present invention, there is provided a escaping processing apparatus for a robot, wherein the apparatus is adapted to perform escaping processing steps when the robot cannot reach a target location point according to a current environment map, and the escaping processing apparatus comprises:

the path planning unit is suitable for planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map;

and the escaping unit is suitable for traversing the planned paths reaching the target position point in sequence, wherein escaping is successful if the planned paths can reach the target position point, and escaping is failed if the planned paths can not reach the target position point.

Alternatively,

the path planning unit is adapted to take a part of one historical path between the current position of the robot and the target position point as one of the paths to the target position point if the historical path passes through the current position of the robot and the target position point.

Alternatively,

and the path planning unit is suitable for planning a path between the specified position point and the target position point according to the environment map if a historical path passes through the current position and the specified position point of the robot and the designated position point can be reached according to the environment map, and integrating the part between the current position and the specified position point of the robot in the historical path and the path between the specified position point and the target position point into a path reaching the target position point.

Optionally, the invisible obstacle is:

Alternatively,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

Optionally, the apparatus further comprises:

and the judging unit is suitable for judging whether the history from the current position of the robot to the target position point is reachable before executing the escaping processing step, if so, executing the escaping processing step, and otherwise, not executing the escaping processing step.

Alternatively,

the judging unit is suitable for determining that the robot is historically reachable from the current position of the robot to the target position point if a path passing through the current position of the robot and the target position point exists; and if a path passing through the current position and the designated position point of the robot exists and the designated position point and the target position point are reachable according to the environment map, determining that the distance from the current position to the target position point of the robot is historically reachable.

Optionally, the apparatus further comprises:

and the determining unit is suitable for judging whether a path from the current position of the robot to the target position point can be planned according to the current environment map, and if not, determining that the robot cannot reach the target position point according to the current environment map.

Optionally, the apparatus further comprises:

and the ending unit is suitable for ending the escaping processing step if the path from the current position of the robot to the target position point can be planned according to the current environment map in the process of sequentially traversing the planned path to the target position point, and advancing to the target position point according to the planned path.

According to still another aspect of the present invention, there is provided an electronic apparatus, wherein the electronic apparatus includes:

a processor; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to the foregoing.

According to yet another aspect of the present invention, there is provided a computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the aforementioned method.

According to the technical scheme of the invention, when the robot cannot reach the target position point according to the current environment map, the following escaping processing steps are executed: planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map; and traversing the planned paths reaching the target position point in sequence, wherein if the planned paths can reach the target position point, the escaping is successful, and if the planned paths can not reach the target position point, the escaping is failed. Through the technical scheme, when the robot cannot reach the target position at present, the robot is subjected to escaping treatment, the environment in which the robot is trapped is eliminated, the success rate of escaping the robot can be improved, the damage of hardware caused by the robot escaping the robot due to collision can be prevented, and the use experience of a user is enhanced.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic flow chart illustrating a method for releasing a robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an escape handling apparatus of a robot according to an embodiment of the present invention;

FIG. 3 shows a schematic structural diagram of an electronic device according to one embodiment of the invention;

fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 is a flowchart illustrating a trap removal processing method for a robot according to an embodiment of the present invention. As shown in fig. 1, the method includes: when the robot can not reach the target position point according to the current environment map, executing the following escaping processing steps:

step S110, planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map.

Here, the target position point may be a target position point that the robot has reached in a previous work, and a historical path may be generated, and therefore, in this embodiment, when the robot cannot reach the target position point according to the current environment map, a path planning may be performed through the historical path.

In practical applications, the invisible obstacle may be considered as a movable obstacle, and the invisible obstacle marked in the environment map may be removed in the current state, that is, the position of the invisible obstacle marked in the environment map may not have an obstacle currently, and the robot is allowed to pass through. For example, if there are invisible obstacle 1, invisible obstacle 2, and invisible obstacle 3 between the current position of the robot and the target position point, and the invisible obstacle 1 and the invisible obstacle 2 are accessible, and the invisible obstacle 2 and the invisible obstacle 3 are accessible, the planned path is: current position- > invisible obstacle 1- > invisible obstacle 2- > invisible obstacle 3- > target location point.

And step S120, traversing the planned paths to the target position point in sequence, wherein if the planned paths can reach the target position point, the escaping is successful, and if the planned paths can not reach the target position point, the escaping is failed.

In practical applications, the robot may encounter various trapped scenes, for example, due to map accuracy problems, some passable areas are marked as obstacle areas, and the robot cannot pass through to reach a target location point; for another example, when the robot reaches an open area through a narrow passage, the periphery of the open area is not marked with obstacles, the robot is trapped in the area and needs to return through the narrow passage, and the robot cannot accurately enter the passage due to the small difference between the size of the narrow passage and the size of the robot, the robot may be trapped, or the passage is also marked with obstacles in the environment map and cannot reach a target position point on the other side of the passage.

When the robot cannot reach the target position at present, for example, the scenario in the above example, the robot needs to perform the trouble-free process. By adopting the embodiment shown in fig. 1, the path is planned according to the historical path and the invisible obstacle, so that the robot can get rid of the trapped situation through the planned path, the success rate of getting rid of the trapping of the robot can be improved, the hardware damage caused by collision and trapping removal of the robot can be prevented, and the use experience of a user is enhanced.

In an embodiment of the present invention, the planning one or more routes to the target location point according to the historical routes in step S110 includes: if one historical path passes through the current position and the target position point of the robot, the part between the current position and the target position point of the robot of the historical path is taken as one of the paths reaching the target position point.

In this embodiment, in order to enable the robot to reach the target position point from the current position, whether the current position and the target position point passing through the robot exist in the historical path or not can be searched, and if the current position and the target position point exist, the historical path can be directly used as one of the planned paths, so that the time consumption of path planning is reduced, and the escaping efficiency is further improved.

In an embodiment of the present invention, the planning one or more routes to the target location point according to the historical routes in step S110 includes: if a historical path passes through the current position and the designated position point of the robot and the designated position point can be reached according to the environment map, the path between the designated position point and the target position point is planned according to the environment map, and the part between the current position and the designated position point of the robot in the historical path and the path between the designated position point and the target position point are integrated into a path reaching the target position point.

In the above embodiment, the historical path passing through the current position and the target position point is directly found from the historical path. In this embodiment, whether the historical path passes through the current position and the designated position point is reachable is searched, and then the planned path between the current position of the robot and the target position point may be that the robot reaches the designated position point from the current position and then reaches the target position point from the designated position point, so that the robot reaches the target position point from the current position. For example, if the current position of the robot is a, the target position point is B, and it is known from the environment map that the specified position point C and the target position B are reachable, it is found whether there is a path passing through the current position a and the specified position point C from the historical path, and if there is a path passing through the current position a and the specified position point C, it is recorded as path position a- > position C, then the two paths are integrated according to the environment map planning position C- > position C, and the planned path is position a- > position C, so that the robot can reach the target position point from the current position.

In an embodiment of the present invention, the planning one or more routes to the target location point according to the historical routes in step S110 includes: if a historical path passes through the target position point and the designated position point can be reached between the designated position point and the current position of the robot according to the environment map, a path between the designated position point and the current position of the robot is planned according to the environment map, and the part between the target position point and the designated position point in the historical path and the path between the designated position point and the current position of the robot are integrated into a path reaching the target position point.

In this embodiment, an indirect method is also used to plan a path, and whether a historical path passes through the target location point and the designated location point is found, and the designated location point and the current location of the robot are reachable at the same time, so that the planned path between the current location of the robot and the target location point may be that the robot reaches the designated location point from the current location, and then reaches the target location point from the designated location point, so that the robot reaches the target location point from the current location.

In one embodiment of the present invention, the invisible obstacles shown in fig. 1 are: the obstacle detected by a first sensor preset on the robot cannot be detected, but the obstacle detected by a second sensor preset on the robot.

In practical applications, the obstacles are not visible to the sensor, i.e. the types of obstacles detectable by different sensors are limited, for example, the detection signal of the infrared sensor is a straight line, usually a certain distance from the ground, for a pen that is inadvertently left by the user, the pen is short on the ground, the detection light of the infrared sensor cannot hit the pen, and the infrared sensor is not visible. But for the collision sensor the above-mentioned pen or the like obstacle is visible. Therefore, when the environment map is constructed, the robot marks the obstacles according to the difference of the obstacles detected by the sensors, for example, in the embodiment, the preset first type sensor cannot detect the obstacles, but the preset second type sensor detects the obstacles, and marks the invisible obstacles, so that when the escaping path planning is performed, the path planning can be performed according to the invisible obstacles marked in the environment map.

In this embodiment, where the first type of sensor does not detect and the second type of sensor can detect an obstacle that is marked as an invisible obstacle, such an invisible obstacle may be mobile, e.g., the pen in the above example, if the user picks up the pen, the obstacle will disappear, allowing the robot to pass, so that the location in the environment map, although marked as an invisible obstacle, is actually passing. Therefore, in order to reasonably plan the path in the escaping process and improve the escaping success rate, the path planning is performed according to the unavailable obstacle in the embodiment.

Specifically, the first type of sensor includes: infrared ranging sensors and/or laser sensors. The second type of sensor includes: impact sensors and/or ultrasonic sensors.

In an embodiment of the present invention, before the method shown in fig. 1 performs the step of escaping from the stranded state, the method shown in fig. 1 further includes: and judging whether the history from the current position of the robot to the target position point is accessible, if so, executing the step of escaping from the trouble, and otherwise, not executing the step of escaping from the trouble.

In practical applications, the target position itself is inaccessible, that is, no matter how the path is planned, the target position point cannot be reached from the current position, and in order to ensure the effectiveness of the escaping processing and prevent the consumption and waste of system resources in the escaping processing, judgment is performed before the escaping processing step. In this embodiment, before the step of performing the escaping processing, it is first determined whether the history from the current position of the robot to the target position point is reachable.

Further, the above determining whether the history from the current position of the robot to the target position point is reachable includes: determining that the current position of the robot to the target position point is historically reachable if there is a path through the current position of the robot and the target position point; and if a path passing through the current position and the designated position point of the robot exists and the designated position point and the target position point are reachable according to the environment map, determining that the current position of the robot to the target position point are historically reachable.

In this embodiment, when performing the determination, the direct determination may be performed through the history path, or the indirect determination may be performed through the history path. If a path passing through the current position and the target position point of the robot exists in the historical path, which indicates that the robot passes through the path from the current position to the target position point, the current robot also can reach the target position point from the current position, and then the trapped-free processing step can be carried out. If a path passing through the current position and the designated position point of the robot exists and the designated position point and the target position point are reachable, the robot can indirectly reach the target position point from the current position through the designated position point, that is, the robot is possible to go from the current position to the target position point, and then the trapped-problem-removing processing step can be carried out.

For example, the robot is currently located on one side of a narrow passage, the target position point is a wider position point on the other side of the narrow passage, and when judging, if the historical path of the robot shows that the robot has passed from the target position point to the current position or has passed from the current position to the target position point, the situation is indicated that the robot is determined to be historically reachable from the current position of the robot to the target position point; or, if the history path of the robot shows that the robot has ever passed from the specified position point near the target position point to the current position, or the robot reaches the specified position point near the target position point from the current position, and the specified position point and the target position point are reachable, the history reachable state is determined from the current position of the robot to the target position point.

In an embodiment of the present invention, the robot in the above embodiment may not reach the target location point according to the current environment map, including: and judging whether a path from the current position of the robot to the target position point can be planned according to the current environment map, and if not, determining that the robot cannot reach the target position point according to the current environment map.

In the working process of the robot, a path is generally planned according to a current environment map, and then the robot travels according to the planned route, that is, when the robot reaches a target position point, the robot firstly plans a path from a current position to the target position point according to the current environment map, and travels according to the planned path to reach the target position point. If the path from the current position of the robot to the target position point cannot be planned according to the current environment map, the robot is trapped, and a trapping removal step is required. Therefore, in this embodiment, the robot cannot reach the target position point according to the current environment map, that is, the robot cannot plan the path from the current position of the robot to the target position point according to the current environment map.

In one embodiment of the present invention, the method shown in fig. 1 further comprises: and in the process of sequentially traversing the planned paths to the target position point, if the paths from the current position of the robot to the target position point can be planned according to the current environment map, ending the step of escaping from the trouble, and advancing to the target position point according to the planned paths.

In the embodiment, when the robot traverses the path, the path from the current position of the robot to the target position point is planned in real time according to the current environment map, and if the planning is successful, the robot can reach the target position point from the current position, and the robot cannot be trapped, the trapped-free processing step is not required to be executed.

For example, when the robot is at position point a, if the robot cannot reach target position point B according to the current environment map, the trouble-free processing step is executed, and the planned routes to reach target position point B include route 1, route 2, and route 3. When the path 1 is traversed, a path from the current position of the robot to the target position point can be planned in real time according to the current environment map, but the path still cannot reach the target position point B; when traversing the path 2, a path from the current position of the robot to the target position point can be planned in real time according to the current environment map, when the robot travels to the position point C in the process of traversing the path 2, the path from the position point C to the target position point B can be planned according to the current environment map, the escaping processing step is finished, and the planned path from the position point C to the target position point B travels to the target position point B. Because the escape processing step has ended, path 3 need not be attempted.

Fig. 2 is a schematic structural diagram of an escape handling apparatus of a robot according to an embodiment of the present invention. As shown in fig. 2, the device 200 for processing getting rid of poverty of robot is adapted to execute the steps of getting rid of poverty when the robot cannot reach the target location point according to the current environment map, including:

a path planning unit 210 adapted to plan one or more paths to the target location point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map.

And the escaping unit 220 is adapted to sequentially traverse the planned paths to the target position point, wherein escaping is successful if the planned paths can reach the target position point, and escaping is failed if the planned paths can not reach the target position point.

When the robot cannot reach the target position at present, for example, the scenario in the above example, the robot needs to perform the trouble-free process. By adopting the embodiment shown in fig. 2, the path is planned according to the historical path and the invisible obstacle, so that the robot can get rid of the trapped situation through the planned path, the success rate of getting rid of the trapping of the robot can be improved, the hardware damage caused by collision and trapping removal of the robot can be prevented, and the use experience of a user is enhanced.

In an embodiment of the invention, the path planning unit 210 is adapted to take the part of a historical path between the current position of the robot and the target position point as one of the paths to the target position point, if the historical path passes the current position of the robot and the target position point.

In an embodiment of the present invention, the path planning unit 210 is adapted to plan a path between the specified position point and the target position point according to the environment map if a historical path passes through the current position and the specified position point of the robot and the specified position point is reachable according to the environment map, and integrate a part between the current position and the specified position point of the robot in the historical path and the path between the specified position point and the target position point into a path to the target position point.

In an embodiment of the present invention, the path planning unit 210 is adapted to plan a path between the specified position point and the current position of the robot according to the environment map if a historical path passes through the target position point and the specified position point is reachable from the environment map, and integrate a part between the target position point and the specified position point in the historical path and a path between the specified position point and the current position of the robot into a path to the target position point.

In an embodiment of the present invention, the invisible obstacles in the above embodiments are: the obstacle detected by a first sensor preset on the robot cannot be detected, but the obstacle detected by a second sensor preset on the robot.

Specifically, the first type of sensor includes: an infrared ranging sensor and/or a laser sensor; the second type of sensor includes: impact sensors and/or ultrasonic sensors.

In one embodiment of the present invention, the apparatus shown in fig. 2 further comprises: and the judging unit is suitable for judging whether the history from the current position of the robot to the target position point is reachable before executing the escaping processing step, if so, executing the escaping processing step, and otherwise, not executing the escaping processing step.

Further, the above-mentioned judging unit is adapted to determine that the history is reachable from the current position of the robot to the target position point if there is a path passing through the current position of the robot and the target position point; and if a path passing through the current position and the designated position point of the robot exists and the designated position point and the target position point are reachable according to the environment map, determining that the current position of the robot to the target position point are historically reachable.

In one embodiment of the present invention, the apparatus shown in fig. 2 further comprises:

and the ending unit is suitable for ending the escaping processing step if the path from the current position of the robot to the target position point can be planned according to the current environment map in the process of sequentially traversing the planned paths to the target position point, and advancing to the target position point according to the planned path.

The present invention also provides an electronic device, wherein the electronic device includes:

a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method of troubleshooting a robot according to the method shown in figure 1 and embodiments thereof.

Fig. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. As shown in fig. 3, the electronic device 300 includes:

a processor 310; and a memory 320 arranged to store computer executable instructions (program code), in the memory 320 there being a storage space 330 storing the program code, in the storage space 330 a program code 340 for performing the steps of the method according to the invention is stored, which program code, when executed, causes the processor 310 to perform the method of escaping from the stranded robot according to the method shown in fig. 1 and its embodiments.

In one embodiment of the invention, the electronic device shown in FIG. 3 is a robot.

Preferably, the electronic device shown in fig. 3 is a sweeping robot.

Fig. 4 shows a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention. As shown in fig. 4, the computer readable storage medium 400 stores one or more programs (program code) 410, and the one or more programs (program code) 410, when executed by the processor, are for performing the method steps according to the present invention, i.e. the out-of-trap handling method of the robot shown in fig. 1 and its various embodiments.

It should be noted that the embodiments of the electronic device shown in fig. 3 and the computer-readable storage medium shown in fig. 4 are the same as the embodiments of the method shown in fig. 1, and the detailed description is given above and is not repeated here.

In summary, according to the technical solution of the present invention, when the robot cannot reach the target location point according to the current environment map, the following steps of getting rid of difficulty are performed: planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map; and traversing the planned paths reaching the target position point in sequence, wherein if the planned paths can reach the target position point, the escaping is successful, and if the planned paths can not reach the target position point, the escaping is failed. Through the technical scheme, when the robot cannot reach the target position at present, the robot is subjected to escaping treatment, the environment in which the robot is trapped is eliminated, the success rate of escaping the robot can be improved, the damage of hardware caused by the robot escaping the robot due to collision can be prevented, and the use experience of a user is enhanced.

It should be noted that:

the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that microprocessors or Digital Signal Processors (DSPs) may be used in practice to implement some or all of the functions of some or all of the components of the delinquent processing devices, robots, electronics, and computer readable storage media of robots according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

For example, fig. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device 300 conventionally comprises a processor 310 and a memory 320 arranged to store computer-executable instructions (program code). The memory 320 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Memory 320 has storage space 330 for storing program code 340 for performing the method steps shown in fig. 1 and in any of the embodiments. For example, the storage space 330 for the program code may comprise respective program codes 340 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is generally a computer-readable storage medium 400 such as described in fig. 4. The computer-readable storage medium 400 may have memory segments, memory spaces, etc. arranged similarly to the memory 320 in the electronic device of fig. 3. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores a program code 410 for performing the steps of the method according to the invention, i.e. a program code readable by a processor such as 310, which program code, when executed by an electronic device, causes the electronic device to perform the individual steps of the method described above.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The invention discloses A1 and a trap removal processing method of a robot, wherein the method comprises the following steps: when the robot can not reach the target position point according to the current environment map, executing the following escaping processing steps:

A2, the method as in A1, wherein the planning one or more paths to a target location point according to historical paths comprises:

A3, the method as in A1, wherein the planning one or more paths to a target location point according to historical paths comprises:

A4, the method of a1, wherein the invisible obstruction is:

A5 the method of A4, wherein,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

A6, the method as recited in a1, wherein before the step of performing the escaping processing, the method further comprises:

A7, the method as in a6, wherein the determining whether the history is reachable from the current position of the robot to the target position point comprises:

A8, the method as in a1, wherein the robot being unable to reach the target location point according to the current environment map comprises:

A9, the method of any one of A1-A8, wherein the method further comprises:

The invention also discloses B10, a device for processing the robot getting rid of the difficulty, wherein the device is suitable for executing the processing step of getting rid of the difficulty when the robot can not reach the target position point according to the current environment map, and the processing step comprises the following steps:

B11, the device of B10, wherein,

B12, the device of B10, wherein,

B13, the device of B10, wherein the invisible obstacle is:

B14, the device of B13, wherein,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

B15, the apparatus of B10, wherein the apparatus further comprises:

B16, the device of B15, wherein,

B17, the apparatus of B10, wherein the apparatus further comprises:

A device according to any one of B18 and B10-B17, wherein the device further comprises:

The invention also discloses C19 and an electronic device, wherein the electronic device comprises:

a processor; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to any one of a1-a 9.

The invention also discloses D20, a computer readable storage medium, wherein the computer readable storage medium stores one or more programs that when executed by a processor implement the method of any one of a1-a 9.

Claims

1. A method for treating trapped object of robot, wherein the method comprises:

determining that the robot cannot reach a target position point according to the current environment map based on the obstacles marked according to the robot historical trapped scene in the environment map;

when the robot can not reach the target position point according to the current environment map, executing the following escaping processing steps:

planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map; wherein the historical path is generated when the target position point is reached in the previous work of the robot;

2. The method of claim 1, wherein planning one or more paths to a target location point based on historical paths comprises:

3. The method of claim 1, wherein planning one or more paths to a target location point based on historical paths comprises:

4. The method of claim 1, wherein the invisible obstruction is:

5. The method of claim 4, wherein,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

6. The method of claim 1, wherein the method further comprises, before performing the de-trapping process step:

7. The method of claim 6, wherein said determining whether the history is reachable from the current position of the robot to the target position point comprises:

8. The method of claim 1, wherein the robot being unable to reach the target location point according to the current environment map comprises:

9. The method of any one of claims 1-8, wherein the method further comprises:

10. A device for processing escaping from stranded of robot, wherein the device is suitable for executing the escaping processing step when the robot can not reach the target position point according to the current environment map, comprising:

the path planning unit is suitable for planning one or more paths reaching the target position point according to the historical paths; and/or planning one or more paths to the target position point through the invisible obstacles according to the invisible obstacles marked in the environment map; wherein the historical path is generated when the target position point is reached in the previous work of the robot;

11. The apparatus of claim 10, wherein,

12. The apparatus of claim 10, wherein,

13. The apparatus of claim 10, wherein the invisible obstruction is:

14. The apparatus of claim 13, wherein,

the second type of sensor comprises: impact sensors and/or ultrasonic sensors.

15. The apparatus of claim 10, wherein the apparatus further comprises:

16. The apparatus of claim 15, wherein,

17. The apparatus of claim 10, wherein the apparatus further comprises:

18. The apparatus of any one of claims 10-17, wherein the apparatus further comprises:

19. An electronic device, wherein the electronic device comprises:

a processor; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the processor to perform a method according to any one of claims 1 to 9.

20. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-9.