CN115237142A - Robot escaping method and device, processor and robot - Google Patents
Robot escaping method and device, processor and robot Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The application provides a robot escaping method, a device, a processor and a robot. The method comprises the following steps: acquiring a historical moving track of the robot, wherein the historical moving track is a moving track of the robot before the current moment, and the robot enters a narrow area at the current moment; acquiring a driving-in position and a driving-in angle of the robot entering a narrow area from a preset narrow passage, wherein the driving-in position is the intersection point position of a connecting line of two barrier points of the preset narrow passage and a historical running track, the driving-in angle is an included angle between the entering direction of the robot and a vertical line, and the vertical line is perpendicular to the connecting line of the two barrier points; determining an exit position and an exit angle of the robot exiting from the narrow area from a preset narrow passage according to the entrance position and the entrance angle; and controlling the robot to move out of the narrow area based on the moving-out position and the moving-out angle. The scheme enables the robot to smoothly exit from a narrow area.
Description
Technical Field
The application relates to the field of robots, in particular to a robot escaping method, a device, a processor and a robot.
Background
With the acceleration of life rhythm, in order to save the family cleaning time, the floor sweeping robot has walked into thousands of households, and becomes a powerful assistant for family cleaning. The sweeping robot senses the environment by using a sensor carried by the sweeping robot, and plans out a proper sweeping strategy to realize sweeping and cleaning of the household floor.
In the real family environment, there are a large amount of complicated regions and corners, for example, various chairs and various stacked bracket furniture of family etc., the conventional floor sweeping robot can judge whether to enter the bottom of the chair through collision, or these bracket regions, especially when the horizontal plane interval of the chair legs or the bracket is close to the width or diameter of the floor sweeping robot, the floor sweeping robot can enter the bottom of the chair or the bracket but can not come out, the floor sweeping robot can be clamped in these regions at this moment, the strategy can not be found by oneself to get rid of difficulties, the result is that cleaning is terminated, then only alarm can be given, wait for people to help, the result is very poor in cleaning efficiency and user experience.
Therefore, the existing designed robots (including sweeping robots) cannot get out of the way in narrow areas.
Disclosure of Invention
The main purpose of the present application is to provide a method, an apparatus, a processor and a robot for getting rid of difficulties for a robot, so as to solve the problem that the robot cannot get rid of difficulties in a narrow area in the prior art.
In order to achieve the above object, according to one aspect of the present application, there is provided a robot escaping method including: acquiring a historical moving track of a robot, wherein the historical moving track is a moving track of the robot before the current moment, the robot enters a narrow area at the current moment, the narrow area is formed by surrounding a plurality of obstacle points, a narrow channel is formed between every two adjacent obstacle points, and the obstacle points are positioned on one obstacle or a plurality of obstacles; acquiring a driving-in position and a driving-in angle of the robot entering the narrow area from a preset narrow passage, wherein the driving-in position is an intersection point position of a connecting line of two barrier points of the preset narrow passage and the historical running track, the driving-in angle is an included angle between an entering direction of the robot and a perpendicular line, and the perpendicular line is perpendicular to the connecting line of the two barrier points; determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entry position and the entry angle, wherein the exit position is an intersection point position of a connecting line of a track of the robot exiting the narrow area and two obstacle points of the preset narrow passage, and the exit angle is an included angle between an exit direction of the robot and a vertical line; controlling the robot to exit the narrow area based on the exit position and the exit angle.
Optionally, determining an exit position and an exit angle at which the robot exits the narrow area from the preset narrow passage according to the entry position and the entry angle includes: determining an exit reference position and an exit reference angle, wherein a first distance is equal to a second distance, the first distance is a distance between the entry position and a first obstacle point, the second distance is a distance between the exit reference position and a second obstacle point, and the exit reference angle is equal to the entry angle; and determining that the optimal exit position is in the neighborhood of the exit reference position, and determining that the optimal exit angle is in the neighborhood of the exit reference angle.
Optionally, determining that the optimal exit position is in the neighborhood of the exit reference position and determining that the optimal exit angle is in the neighborhood of the exit reference angle includes: under the condition that the robot successfully drives out of the narrow area by using the driving-out reference position and the driving-out reference angle, determining the optimal driving-out position as the driving-out reference position and determining the optimal driving-out angle as the driving-out reference angle; performing a predetermined step at least once to allow the robot to exit the narrow area in a case where the robot has not successfully exited the narrow area at the exit reference position and the exit reference angle, the predetermined step being to select a position in the neighborhood of the exit reference position as a current exit position and select an angle in the neighborhood of the exit reference angle as a current exit angle; and taking the exit position selected when the predetermined step is executed last time as the optimal exit position, and taking the exit angle selected when the predetermined step is executed last time as the optimal exit angle.
Optionally, a distance between the first obstacle point and the entry position is smaller than a distance between the second obstacle point and the entry position.
Optionally, determining an exit position and an exit angle at which the robot exits the narrow area from the preset narrow passage according to the entry position and the entry angle includes: acquiring trapped time; and under the condition that the trapped time is longer than the preset time, determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entrance position and the entrance angle.
Optionally, acquiring a driving-in angle of the robot entering the narrow area from a preset narrow passage includes: selecting a first point and a second point in the neighborhood of the driving-in position on the historical running track; acquiring a first slope of a connecting line of the first point and the second point; acquiring a second slope of a connecting line of two barrier points of the preset narrow passage; determining a third slope of the vertical line according to the second slope; and determining the entrance angle according to the first slope and the third slope.
Optionally, the first point and the second point are located on the same side of the entry position, or the first point and the second point are located on both sides of the entry position.
Optionally, the robot is a sweeping robot.
According to another aspect of the present application, there is provided a robot escaping device, including: the robot comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a historical running track of a robot, the historical running track is a running track of the robot before the current moment, the robot enters a narrow area at the current moment, the narrow area is defined by a plurality of barrier points, a narrow channel is formed between every two adjacent barrier points, and the plurality of barrier points are positioned on one barrier or a plurality of barriers; the second obtaining unit is used for obtaining a driving-in position and a driving-in angle of the robot entering the narrow area from a preset narrow passage, wherein the driving-in position is an intersection point position of a connecting line of two barrier points of the preset narrow passage and the historical running track, the driving-in angle is an included angle between an entering direction of the robot and a vertical line, and the vertical line is perpendicular to the connecting line of the two barrier points; the determining unit is used for determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entrance position and the entrance angle, the exit position is an intersection point position of a track of the robot exiting the narrow area and a connecting line of two obstacle points of the preset narrow passage, and the exit angle is an included angle between an exit direction of the robot and a vertical line; a control unit for controlling the robot to exit the narrow area based on the exit position and the exit angle.
According to another aspect of the application, a processor for running a program is provided, wherein the program when running performs any of the methods.
According to another aspect of the present application, there is provided a robot including: one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described herein.
By the technical scheme, the entrance position and the entrance angle of the robot entering the narrow area from the preset narrow passage are obtained by obtaining the historical running track of the robot, the exit position and the exit angle of the robot exiting the narrow area from the preset narrow passage are determined according to the entrance position and the entrance angle, and finally the robot is controlled to exit the narrow area based on the exit position and the exit angle. According to the scheme, the exit position and the exit angle are determined according to the entrance position and the entrance angle, so that the robot can smoothly exit from a narrow area. The problem that the robot cannot get rid of poverty in a narrow area is solved, and user experience is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a flow chart of a robot escaping method according to an embodiment of the application;
FIG. 2 shows a schematic view of exiting a stenosis according to an embodiment of the present application;
fig. 3 shows a schematic view of a robot escaping device according to an embodiment of the application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As introduced in the background art, in the prior art, a robot cannot get rid of a trouble in a narrow area, and to solve the problem that the robot cannot get rid of a trouble in a narrow area, embodiments of the present application provide a robot getting rid of a trouble method, apparatus, processor, and robot.
According to an embodiment of the application, a robot escaping method is provided.
Fig. 1 is a flowchart of a robot escaping method according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, acquiring a historical moving track of a robot, wherein the historical moving track is a moving track of the robot before the current moment, the robot enters a narrow area at the current moment, the narrow area is formed by enclosing a plurality of obstacle points, a narrow passage is formed between every two adjacent obstacle points, and the obstacle points are positioned on one obstacle or a plurality of obstacles;
step S102, acquiring a driving-in position and a driving-in angle of the robot entering the narrow area from a preset narrow passage, wherein the driving-in position is an intersection point position of a connecting line of two barrier points of the preset narrow passage and the historical running track, the driving-in angle is an included angle between an entering direction of the robot and a vertical line, and the vertical line is perpendicular to the connecting line of the two barrier points;
step S103, determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entry position and the entry angle, wherein the exit position is an intersection point position of a track of the robot exiting the narrow area and a connecting line of two obstacle points of the preset narrow passage, and the exit angle is an included angle between an exit direction of the robot and a vertical line;
and a step S104 of controlling the robot to exit the narrow area based on the exit position and the exit angle.
As shown in fig. 2, a connecting line of the obstacle point a and the obstacle point B is L1, a perpendicular line is L2, a historical moving trajectory is S, an intersection point of the historical moving trajectory and the connecting line L1 of the obstacle point a and the obstacle point B is O, an entrance angle is α, and an exit position is O'.
In particular, narrow areas such as chair bottoms, rack bottoms; a narrow passage such as the passage between two legs of a chair.
Specifically, the robot is a sweeping robot. The cleaning efficiency is improved.
According to the scheme, the entrance position and the entrance angle of the robot entering the narrow area from the preset narrow passage are obtained by obtaining the historical running track of the robot, the exit position and the exit angle of the robot exiting the narrow area from the preset narrow passage are determined according to the entrance position and the entrance angle, and finally the robot is controlled to exit the narrow area based on the exit position and the exit angle. According to the scheme, the exit position and the exit angle are determined according to the entrance position and the entrance angle, so that the robot can smoothly exit from a narrow area. The problem that the narrow region of robot can't get rid of poverty is solved, user experience is promoted.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In one embodiment of the present application, determining an exit position and an exit angle at which the robot exits the narrow area from the preset narrow passage according to the entry position and the entry angle includes: determining an exit reference position and an exit reference angle, wherein a first distance is equal to a second distance, the first distance is a distance between the entry position and a first obstacle point, the second distance is a distance between the exit reference position and a second obstacle point, and the exit reference angle is equal to the entry angle; and determining that the optimal driving-out position is in the neighborhood of the driving-out reference position, and determining that the optimal driving-out angle is in the neighborhood of the driving-out reference angle. The method comprises the steps of determining an exit reference position according to distance information, determining an exit reference angle to be equal to an entrance angle, determining an optimal exit position in the neighborhood of the exit reference position, determining an optimal exit angle in the neighborhood of the exit reference angle, and controlling the robot to exit a narrow area based on the optimal exit position and the optimal exit angle.
In an embodiment of the present application, determining that the optimal exit position is in the neighborhood of the exit reference position, and determining that the optimal exit angle is in the neighborhood of the exit reference angle includes: determining the optimal exit position as the exit reference position and the optimal exit angle as the exit reference angle when the robot successfully exits the narrow area at the exit reference position and the exit reference angle; performing a predetermined step of selecting a position in the neighborhood of the exit reference position as a current exit position and selecting an angle in the neighborhood of the exit reference angle as a current exit angle at least once so that the robot exits the narrow area, in a case where the robot does not successfully exit the narrow area using the exit reference position and the exit reference angle; and taking the exit position selected when the predetermined step is executed last time as the optimal exit position, and taking the exit angle selected when the predetermined step is executed last time as the optimal exit angle. That is, in a case where the robot has not successfully exited the narrow area at the exit reference position and the exit reference angle, the optimal exit position and the optimal exit angle are determined by continuously iterating.
In one embodiment of the present application, a distance between the first obstacle point and the entry position is smaller than a distance between the second obstacle point and the entry position. Such an arrangement is easier to get out of position.
In one embodiment of the present application, determining an exit position and an exit angle at which the robot exits the narrow area from the preset narrow passage according to the entry position and the entry angle includes: acquiring the trapped time; and determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entry position and the entry angle when the trapped time is longer than a preset time. That is, when it is determined that the robot is actually trapped in the narrow area according to the trapped time period, the step of determining the exit position and the exit angle at which the robot exits the narrow area from the preset narrow passage according to the entrance position and the entrance angle is performed.
In an embodiment of the application, obtaining a driving-in angle of the robot entering the narrow area from a preset narrow passage includes: selecting a first point and a second point in the neighborhood of the driving position on the historical running track; acquiring a first slope of a connecting line of the first point and the second point; acquiring a second slope of a connecting line of two barrier points of the preset narrow passage; determining a third slope of the perpendicular line according to the second slope; and determining the driving angle according to the first slope and the third slope. As shown in FIG. 2, the first point is O1, the second point is O2, and two points near O are selected according to the method of approximating the slope, such as generatingCoordinate O one second before intersection O 2 (O 2x ,O 2y ) Generating the coordinate O of one second after the phase point 1 (O 1x ,O 1y ) At this time, according to the calculation formula of the slope, the slope of the straight line O1O2 is
Similarly, the slope k of the AB straight line is calculated according to the coordinates of the two points A and B AB The slope of the perpendicular line AB is
The angle between the straight line O1O2 and the perpendicular of the straight line AB (i.e., L1) is
In one embodiment of the present application, the first point and the second point are located on the same side of the entry position, or the first point and the second point are located on both sides of the entry position.
The embodiment of the application further provides a robot escaping device, and it needs to be explained that the robot escaping device of the embodiment of the application can be used for executing the robot escaping method provided by the embodiment of the application. The robot escaping device provided by the embodiment of the application is introduced below.
Fig. 3 is a schematic view of a robot escaping device according to an embodiment of the present application. As shown in fig. 3, the apparatus includes:
a first obtaining unit 10, configured to obtain a historical moving trajectory of a robot, where the historical moving trajectory is a moving trajectory of the robot before a current time, where the robot has entered a narrow area at the current time, the narrow area is surrounded by a plurality of obstacle points, a narrow passage is formed between two adjacent obstacle points, and the plurality of obstacle points are located on one obstacle or on a plurality of obstacles;
a second obtaining unit 20, configured to obtain a driving-in position and a driving-in angle of the robot entering the narrow area from a preset narrow passage, where the driving-in position is an intersection position of a connection line of two obstacle points of the preset narrow passage and the historical moving track, the driving-in angle is an included angle between an entering direction of the robot and a perpendicular line, and the perpendicular line is perpendicular to a connection line of the two obstacle points;
a determination unit 30 configured to determine an exit position and an exit angle at which the robot exits the narrow area from the preset narrow passage, based on the entry position and the entry angle, the exit position being a position of an intersection of a trajectory of the robot exiting the narrow area and a line connecting two obstacle points of the preset narrow passage, and the exit angle being an angle between an exit direction of the robot and a vertical line;
and a control unit 40 for controlling the robot to exit the narrow area based on the exit position and the exit angle.
In particular, narrow areas such as chair bottoms, rack bottoms; a narrow passage such as the passage between two legs of a chair.
Specifically, the robot is a sweeping robot. The cleaning efficiency is improved.
In the scheme, the first acquisition unit acquires a historical running track of the robot, the second acquisition unit acquires an entrance position and an entrance angle of the robot entering the narrow area from a preset narrow passage, the determination unit determines an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entrance position and the entrance angle, and the control unit controls the robot to exit the narrow area based on the exit position and the exit angle. According to the scheme, the exit position and the exit angle are determined according to the entrance position and the entrance angle, so that the robot can smoothly exit from a narrow area. The problem that the narrow region of robot can't get rid of poverty is solved, user experience is promoted.
In one embodiment of the present application, the determining unit includes a first determining module and a second determining module, the first determining module is configured to determine an exit reference position and an exit reference angle, wherein a first distance is equal to a second distance, the first distance is a distance between the entry position and a first obstacle point, the second distance is a distance between the exit reference position and a second obstacle point, and the exit reference angle is equal to the entry angle; the second determination module is used for determining that the optimal exit position is in the neighborhood of the exit reference position and determining that the optimal exit angle is in the neighborhood of the exit reference angle. The method comprises the steps of determining an exit reference position according to distance information, determining an exit reference angle to be equal to an entrance angle, determining an optimal exit position in the neighborhood of the exit reference position, determining an optimal exit angle in the neighborhood of the exit reference angle, and controlling the robot to exit a narrow area based on the optimal exit position and the optimal exit angle.
In one embodiment of the present application, the second determination module includes a determination sub-module, an execution sub-module, and a processing sub-module,
the determination submodule is used for determining the optimal exit position as the exit reference position and determining the optimal exit angle as the exit reference angle when the robot successfully exits the narrow area by using the exit reference position and the exit reference angle;
the execution submodule is used for executing a predetermined step at least once to enable the robot to exit the narrow area under the condition that the robot does not successfully exit the narrow area by using the exit reference position and the exit reference angle, wherein the predetermined step is to select a position in the neighborhood of the exit reference position as a current exit position and select an angle in the neighborhood of the exit reference angle as a current exit angle;
the processing submodule is used for taking the running-out position selected when the preset step is executed last time as the optimal running-out position and taking the running-out angle selected when the preset step is executed last time as the optimal running-out angle. That is, in a case where the robot has not successfully exited the narrow area at the exit reference position and the exit reference angle, the optimal exit position and the optimal exit angle are determined by continuously iterating.
In one embodiment of the present application, a distance between the first obstacle point and the entry position is smaller than a distance between the second obstacle point and the entry position. Such an arrangement is easier to get out of position.
In an embodiment of the application, the determining unit includes a first obtaining module and a third determining module, and the first obtaining module is configured to obtain the trapped duration; and the third determining module is used for determining the exit position and the exit angle of the robot exiting the narrow area from the preset narrow passage according to the entrance position and the entrance angle under the condition that the trapped time is longer than the preset time. That is, when it is determined that the robot is actually trapped in the narrow area according to the trapped time period, the step of determining the exit position and the exit angle at which the robot exits the narrow area from the preset narrow passage according to the entrance position and the entrance angle is performed.
In an embodiment of the application, the second obtaining unit includes a selecting module, a second obtaining module, a third obtaining module, a fourth determining module, and a fifth determining module, and the selecting module is configured to select a first point and a second point in a neighborhood of the driving-in position on the historical moving track; the second obtaining module is used for obtaining a first slope of a connecting line of the first point and the second point; the third acquisition module is used for acquiring a second slope of a connecting line of two obstacle points of the preset narrow channel; the fourth determining module is used for determining a third slope of the vertical line according to the second slope; the fifth determining module is used for determining the driving-in angle according to the first slope and the third slope. As shown in FIG. 2, the first point is O1, the second point is O2, and two points near O are selected according to the method of approximating the slope, such as the coordinate O of the second before the intersection O is generated 2 (O 2x ,O 2y ) Generating coordinates O one second after the phase point 1 (O 1x ,O 1y ) At this time, according to the calculation formula of the slope, the slope of the straight line O1O2 is
Similarly, the slope k of the AB straight line is calculated according to the coordinates of the two points A and B AB The slope of the perpendicular line AB is
The angle between the straight line O1O2 and the perpendicular of the straight line AB (i.e., L1) is
In one embodiment of the present application, the first point and the second point are located on the same side of the entry position, or the first point and the second point are located on both sides of the entry position.
In a specific embodiment of the present application, the robot is a sweeping robot.
The robot escaping device comprises a processor and a memory, wherein the first acquiring unit, the second acquiring unit, the determining unit, the control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one kernel can be set, and the robot can smoothly exit a narrow area by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.
The embodiment of the invention provides a computer-readable storage medium, which comprises a stored program, wherein when the program runs, equipment where the computer-readable storage medium is located is controlled to execute the robot escaping method.
The embodiment of the invention provides a processor, which is used for running a program, wherein the robot escaping method is executed when the program runs.
An embodiment of the present invention provides a processor, where the processor is configured to execute a program, where the program executes any one of the above methods when running.
An embodiment of the present invention provides a robot, including: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the above-described methods.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
step S101, acquiring a historical running track of a robot, wherein the historical running track is a running track of the robot before the current moment, the robot already enters a narrow area at the current moment, the narrow area is formed by enclosing a plurality of obstacle points, a narrow passage is formed between two adjacent obstacle points, and the obstacle points are positioned on one obstacle or a plurality of obstacles;
step S102, acquiring a driving-in position and a driving-in angle of the robot entering the narrow area from a preset narrow passage, wherein the driving-in position is an intersection point position of a connecting line of two barrier points of the preset narrow passage and the historical running track, the driving-in angle is an included angle between an entering direction of the robot and a vertical line, and the vertical line is perpendicular to the connecting line of the two barrier points;
step S103, determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entry position and the entry angle, wherein the exit position is an intersection point position of a track of the robot exiting the narrow area and a connecting line of two obstacle points of the preset narrow passage, and the exit angle is an included angle between an exit direction of the robot and a vertical line;
and a step S104 of controlling the robot to exit the narrow area based on the exit position and the exit angle.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:
step S101, acquiring a historical moving track of a robot, wherein the historical moving track is a moving track of the robot before the current moment, the robot enters a narrow area at the current moment, the narrow area is formed by enclosing a plurality of obstacle points, a narrow passage is formed between every two adjacent obstacle points, and the obstacle points are positioned on one obstacle or a plurality of obstacles;
step S102, acquiring a driving-in position and a driving-in angle of the robot entering the narrow area from a preset narrow passage, wherein the driving-in position is an intersection point position of a connecting line of two barrier points of the preset narrow passage and the historical running track, the driving-in angle is an included angle between an entering direction of the robot and a vertical line, and the vertical line is perpendicular to the connecting line of the two barrier points;
step S103, determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entry position and the entry angle, wherein the exit position is an intersection point position of a track of the robot exiting the narrow area and a connecting line of two obstacle points of the preset narrow passage, and the exit angle is an included angle between an exit direction of the robot and a vertical line;
and a step S104 of controlling the robot to exit the narrow area based on the exit position and the exit angle.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.
To better support this solution, the following specific examples are used for illustration.
Examples
The embodiment relates to a concrete method for determining the escape of a floor sweeping robot, which comprises the following steps:
step S1: establishing a two-dimensional rectangular coordinate system for the position of a family;
according to the sweeping map of the sweeper, the detection radar of the sweeper, the construction of the sweeping area and the size of the sweeping area, accurate size division and position determination can be achieved, and if the wall corner or any other indoor fixed position can be selected as the origin of a rectangular coordinate system, the position coordinates of the obstacles in the sweeping area can be confirmed.
Step S2: the sweeper enters a sweeping area;
step S21: recording a walking path (namely a historical running track) before entering a narrow area;
in the actual sweeping process of the sweeper (the sweeping track can be displayed or recorded on an actual map), as shown in fig. 2, the walking track before the sweeper enters a narrow area is a curve S;
step S22: searching an area driving-in position and a driving-in angle of a narrow area (equal to the narrow area);
step S221: determining a driving position;
as shown in fig. 2, when the sweeper enters a narrow area, a narrow passage is formed between the two arcs AB, and the curve S is an entering path. The straight line AB and the curve S have a focus of O, and the coordinate point of O at the moment is determined to be (O) according to the rectangular coordinate system in the family in the step S1 x ,O y )；
Step S222: determining the driving angle of the sweeper;
as shown in fig. 2, according to the driving position O determined in step S221, two points near O are selected according to the method of approximating the slope, such as the coordinate O of the second before the intersection point O is generated 2 (O 2x ,O 2y ) Generating the coordinate O of one second after the phase point 1 (O 1x ,O 1y ) At this time, according to the calculation formula of the slope, the slope of the straight line O1O2 is
Similarly, the slope k of the AB straight line is calculated according to the coordinates of the two points A and B AB The slope of the perpendicular line AB is
The included angle between the straight line O1O2 and the perpendicular line of the straight line AB is
And step S3: the cleaning robot gets into a narrow area and then gets out of the way;
step S31: setting a escaping mode;
the sweeper enters a certain area, the sweeper robot cannot leave the area within a period of time t, and at the moment, the sweeper sets a trap removal mode to try to leave the area instead of directly alarming.
Step S32: the sweeper begins to get rid of the trouble;
step S321: an exit position and an exit angle;
as shown in fig. 2, when the sweeper enters a narrow area, the intersection point where the sweeper enters is O, and the entering and exiting narrow area are in different directions, coordinate symmetry transformation is performed according to the coordinates of O, and the logic relationship of the intersection point O 'is found, wherein the O' coordinate satisfies the relationship of O 'a = OB (the coordinates of O' are easily obtained from the coordinates of two points AB and the coordinates of O). The exit angle and the entry angle remain the same, also α.
Step S322: formal attempt of getting rid of trouble of sweeper
Step S3221, as shown in fig. 2, with O' as a reference point, keeping the sweeper at an angle α to the AB perpendicular line, and starting to get rid of the trouble, if the sweeper can directly get out, the sweeper directly succeeds in getting rid of the trouble;
step S3222: and the robot can not directly come out, the robot is kept at an angle alpha with the perpendicular line AB by taking the O 'as a reference point, and small displacement attempts are started at two ends of the O', and the displacement logic is as follows: if the sweeper collides with the side of the point A first, the displacement direction of the sweeper is the direction of O' B and the sweeper moves towards the direction of the point B, the angle of the sweeper with the perpendicular line of the point A is kept, and the distance of the sweeper moving towards the point B can be kept according to the width le (the diameter of the circular sweeper) of the sweeper and the length l of the point A, for example, the displacement of each time is equal to
The larger the value of n is, the more the moving times are, the logic of the basis for stopping moving is that as long as the sweeper tries out, the point B which does not collide with the moving direction (namely the obstacle point in the moving direction) is detected, and if the point B does not collide with the moving direction, the logic is thatWhen the point B is hit, the algorithm automatically increases the value of n, and S3222 is repeated again until the sweeper can get out of the narrow area.
And S4, removing difficulties of the sweeper, marking a complex area, and determining a sweeping strategy.
Through the steps, the sweeping robot gets rid of trouble from a narrow area, the marked area is a complex area, the robot can collide for many times when arriving at the area next time, and when the marked area is still consistent with a map, the sweeping machine does not enter into sweeping. When the map is consistent with the marked map, the map is cleaned normally.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) The robot escaping method comprises the steps of obtaining an entrance position and an entrance angle of a robot entering a narrow area from a preset narrow passage by obtaining a historical running track of the robot, then determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entrance position and the entrance angle, and finally controlling the robot to exit the narrow area based on the exit position and the exit angle. According to the scheme, the exit position and the exit angle are determined according to the entrance position and the entrance angle, so that the robot can smoothly exit from a narrow area. The problem that the narrow region of robot can't get rid of poverty is solved, user experience is promoted.
2) According to the robot escaping device, the first obtaining unit obtains a historical running track of the robot, the second obtaining unit obtains an entering position and an entering angle of the robot entering a narrow area from a preset narrow passage, the determining unit determines an exiting position and an exiting angle of the robot exiting the narrow area from the preset narrow passage according to the entering position and the entering angle, and the control unit controls the robot to exit the narrow area based on the exiting position and the exiting angle. According to the scheme, the exit position and the exit angle are determined according to the entrance position and the entrance angle, so that the robot can smoothly exit from a narrow area. The problem that the narrow region of robot can't get rid of poverty is solved, user experience is promoted.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A robot escaping method, comprising:
acquiring a historical moving track of a robot, wherein the historical moving track is a moving track of the robot before the current moment, the robot enters a narrow area at the current moment, the narrow area is formed by surrounding a plurality of obstacle points, a narrow channel is formed between every two adjacent obstacle points, and the obstacle points are positioned on one obstacle or a plurality of obstacles;
acquiring a driving-in position and a driving-in angle of the robot entering the narrow area from a preset narrow passage, wherein the driving-in position is an intersection point position of a connecting line of two barrier points of the preset narrow passage and the historical running track, the driving-in angle is an included angle between an entering direction of the robot and a perpendicular line, and the perpendicular line is perpendicular to the connecting line of the two barrier points;
determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entry position and the entry angle, wherein the exit position is an intersection point position of a track of the robot exiting the narrow area and a connecting line of two obstacle points of the preset narrow passage, and the exit angle is an included angle between an exit direction of the robot and a vertical line;
controlling the robot to exit the narrow area based on the exit position and the exit angle.
2. The method of claim 1, wherein determining an exit position and an exit angle at which the robot exits the narrow area from the preset narrow passage according to the entry position and the entry angle comprises:
determining an exit reference position and an exit reference angle, wherein a first distance is equal to a second distance, the first distance is a distance between the entry position and a first obstacle point, the second distance is a distance between the exit reference position and a second obstacle point, and the exit reference angle is equal to the entry angle;
and determining that the optimal driving-out position is in the neighborhood of the driving-out reference position, and determining that the optimal driving-out angle is in the neighborhood of the driving-out reference angle.
3. The method of claim 2, wherein determining that an optimal exit position is within a neighborhood of the exit reference position and that an optimal exit angle is within a neighborhood of the exit reference angle comprises:
under the condition that the robot successfully drives out of the narrow area by using the driving-out reference position and the driving-out reference angle, determining the optimal driving-out position as the driving-out reference position and determining the optimal driving-out angle as the driving-out reference angle;
performing a predetermined step at least once to allow the robot to exit the narrow area in a case where the robot has not successfully exited the narrow area at the exit reference position and the exit reference angle, the predetermined step being to select a position in the neighborhood of the exit reference position as a current exit position and select an angle in the neighborhood of the exit reference angle as a current exit angle;
and taking the exit position selected when the predetermined step is executed last time as the optimal exit position, and taking the exit angle selected when the predetermined step is executed last time as the optimal exit angle.
4. A method according to claim 2 or 3, characterized in that the distance between the first obstacle point and the entry position is smaller than the distance between the second obstacle point and the entry position.
5. The method according to any one of claims 1 to 3, wherein determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage based on the entry position and the entry angle comprises:
acquiring the trapped time;
and under the condition that the trapped time is longer than the preset time, determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entrance position and the entrance angle.
6. The method according to any one of claims 1 to 3, wherein obtaining the entry angle of the robot into the stenosis region from a preset stenosis channel comprises:
selecting a first point and a second point in the neighborhood of the driving-in position on the historical running track;
acquiring a first slope of a connecting line of the first point and the second point;
acquiring a second slope of a connecting line of two barrier points of the preset narrow passage;
determining a third slope of the vertical line according to the second slope;
and determining the entrance angle according to the first slope and the third slope.
7. The method of claim 6, wherein the first point and the second point are located on a same side of the drive-in location or the first point and the second point are located on opposite sides of the drive-in location.
8. A method according to any one of claims 1 to 3, wherein the robot is a sweeping robot.
9. A robot escaping device, comprising:
the robot comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a historical running track of a robot, the historical running track is a running track of the robot before the current moment, the robot enters a narrow area at the current moment, the narrow area is defined by a plurality of barrier points, a narrow channel is formed between every two adjacent barrier points, and the plurality of barrier points are positioned on one barrier or a plurality of barriers;
the second obtaining unit is used for obtaining a driving-in position and a driving-in angle of the robot entering the narrow area from a preset narrow passage, wherein the driving-in position is an intersection point position of a connecting line of two barrier points of the preset narrow passage and the historical running track, the driving-in angle is an included angle between an entering direction of the robot and a vertical line, and the vertical line is perpendicular to the connecting line of the two barrier points;
the determining unit is used for determining an exit position and an exit angle of the robot exiting the narrow area from the preset narrow passage according to the entrance position and the entrance angle, the exit position is an intersection point position of a track of the robot exiting the narrow area and a connecting line of two obstacle points of the preset narrow passage, and the exit angle is an included angle between an exit direction of the robot and a vertical line;
a control unit for controlling the robot to exit the narrow area based on the exit position and the exit angle.
10. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 8.
11. A robot, comprising: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210988109.5A CN115237142A (en) | 2022-08-17 | 2022-08-17 | Robot escaping method and device, processor and robot |
| PCT/CN2023/091235 WO2024037036A1 (en) | 2022-08-17 | 2023-04-27 | Trap escape method and apparatus for robot, and processor and robot |
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| CN202210988109.5A CN115237142A (en) | 2022-08-17 | 2022-08-17 | Robot escaping method and device, processor and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024037036A1 (en) * | 2022-08-17 | 2024-02-22 | 珠海格力电器股份有限公司 | Trap escape method and apparatus for robot, and processor and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5172544B2 (en) * | 2008-08-29 | 2013-03-27 | 株式会社東芝 | Electric vacuum cleaner |
| CN111714028A (en) * | 2019-03-18 | 2020-09-29 | 北京奇虎科技有限公司 | Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium |
| CN114355887B (en) * | 2021-12-03 | 2023-08-08 | 云鲸智能(深圳)有限公司 | Narrow-lane passage method and device for robot, robot and storage medium |
| CN114510042B (en) * | 2022-01-22 | 2022-09-16 | 深圳市神州云海智能科技有限公司 | Method and system for solving abnormal pause motion of robot narrow channel |
| CN115237142A (en) * | 2022-08-17 | 2022-10-25 | 珠海格力电器股份有限公司 | Robot escaping method and device, processor and robot |
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2022
- 2022-08-17 CN CN202210988109.5A patent/CN115237142A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024037036A1 (en) * | 2022-08-17 | 2024-02-22 | 珠海格力电器股份有限公司 | Trap escape method and apparatus for robot, and processor and robot |
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