WO2024037036A1 - 机器人脱困方法及装置、处理器和机器人 - Google Patents

机器人脱困方法及装置、处理器和机器人 Download PDF

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Publication number
WO2024037036A1
WO2024037036A1 PCT/CN2023/091235 CN2023091235W WO2024037036A1 WO 2024037036 A1 WO2024037036 A1 WO 2024037036A1 CN 2023091235 W CN2023091235 W CN 2023091235W WO 2024037036 A1 WO2024037036 A1 WO 2024037036A1
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WO
WIPO (PCT)
Prior art keywords
exit
robot
angle
entry
narrow
Prior art date
Application number
PCT/CN2023/091235
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English (en)
French (fr)
Inventor
李绍斌
陈高
刘淼泉
李泽峰
陈彦宇
马雅奇
Original Assignee
珠海格力电器股份有限公司
珠海联云科技有限公司
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Application filed by 珠海格力电器股份有限公司, 珠海联云科技有限公司 filed Critical 珠海格力电器股份有限公司
Publication of WO2024037036A1 publication Critical patent/WO2024037036A1/zh

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Classifications

    • 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
    • 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • the present application relates to the field of robots, specifically, to a method and device for robot escape, a processor and a robot.
  • sweeping robots have entered thousands of households and become a powerful assistant in household cleaning.
  • the sweeping robot uses its sensor device to sense its environment, plan an appropriate cleaning strategy, and achieve household floor cleaning.
  • the main purpose of this application is to provide a robot escape method and device, a processor and a robot, so as to solve the problem in the prior art that the robot cannot escape in a narrow area.
  • a method for escaping a robot which includes: obtaining the historical running trajectory of the robot; and obtaining, according to the historical running trajectory of the robot, that the robot enters the narrow area from a preset narrow channel The entry position and entry angle; according to the entry position and the entry angle, determine the exit position and exit angle of the robot from the preset narrow channel to exit the narrow area; based on the The exit position and the exit angle are used to control the robot to exit the narrow area.
  • the narrow area is surrounded by multiple obstacle points, and a narrow channel is formed between two adjacent obstacle points.
  • the entry position is the intersection position of the line connecting the two obstacle points of the preset narrow channel and the historical running trajectory, and the entry angle is the angle between the entry direction of the robot and the vertical line.
  • the vertical line is a line perpendicular to the two obstacle points.
  • the exit position is the trajectory of the robot exiting the narrow area and the preset narrow channel.
  • the intersection position of the line connecting the two obstacle points, and the exit angle is the angle between the exit direction of the robot and the vertical line.
  • determining the exit position and exit angle of the robot from the preset narrow channel to the narrow area based on the entry position and the entry angle includes: determining Exit reference position and exit reference angle; determine the optimal exit position in the neighborhood of the exit reference position, and determine the optimal exit angle in the neighborhood of the exit reference angle; combine the optimal exit The position is determined as the exit position of the robot exiting the narrow area from the preset narrow channel, and the optimal exit angle is determined as the exit angle of the robot exiting the narrow area from the preset narrow channel.
  • determining the exit reference position and the exit reference angle includes: determining that the exit reference angle is equal to the entry angle; determining the exit reference position based on distance information;
  • the distance information includes a first distance and a second distance.
  • the first distance is the distance between the entry position and the first obstacle point
  • the second distance is the distance between the exit reference position and the second obstacle point.
  • the first obstacle point is the obstacle point corresponding to the smaller distance between the entry position and the two obstacle points of the preset narrow passage
  • the second obstacle point is the entry position.
  • the obstacle point corresponding to the larger distance between the two obstacle points of the preset narrow passage; the exit reference position is selected as the position when the second distance is equal to the first distance.
  • determining the optimal exit position in the neighborhood of the exit reference position and determining the optimal exit angle in the neighborhood of the exit reference angle includes: when the robot is at When the exiting reference position and the exiting reference angle are successfully exited from the narrow area, the exiting reference position is determined to be the optimal exiting position, and the exiting reference angle is determined to be the exiting reference position. the optimal exit angle; when the robot fails to exit the narrow area at the exit reference position and the exit reference angle, perform a predetermined step at least once, where the predetermined step is Select a position within the neighborhood of the exit reference position as the current exit position, and select an angle within the neighborhood of the exit reference angle as the current exit angle; use the location selected when the predetermined step was last executed.
  • the exit position is used as the optimal exit position, and the exit angle selected when the predetermined step is last performed is used as the optimal exit angle.
  • determining the exit position and exit angle of the robot from the preset narrow channel to the narrow area based on the entry position and the entry angle includes: obtaining The length of time the robot is trapped; if the trapped time is greater than the predetermined time, the driving time for the robot to drive out of the narrow area from the preset narrow channel is determined based on the entry position and the entry angle. Exit position and exit angle.
  • obtaining the entry angle of the robot from the preset narrow channel into the narrow area based on the historical operating trajectory of the robot includes: selecting within the neighborhood of the entry position on the historical operating trajectory. The first point and the second point; obtain the first slope of the line connecting the first point and the second point; obtain the second slope of the line connecting the two obstacle points of the preset narrow channel; according to the The second slope determines the third slope of the vertical line; the entry angle is determined based on the first slope and the third slope.
  • the first point and the second point are located on the same side of the drive-in position, or the first point and the second point are located on both sides of the drive-in position.
  • a robot escape device including: a first acquisition unit for acquiring the historical operation trajectory of the robot; and a second acquisition unit for obtaining the robot's historical operation trajectory based on the robot's historical operation trajectory.
  • the narrow area is surrounded by a plurality of obstacle points, and a narrow passage is formed between two adjacent obstacle points;
  • the entry position is the end of the preset narrow passage.
  • the entry angle is the angle between the entry direction of the robot and a vertical line.
  • the vertical line is perpendicular to the two obstacles.
  • the exit position is the intersection position of the trajectory of the robot exiting the narrow area and the line connecting the two obstacle points of the preset narrow channel, and the exit angle is the The angle between the exit direction of the robot and the vertical line.
  • a processor is provided. When the processor is running, the steps of the method described in any of the above embodiments are executed.
  • a robot including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory, and the When the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the steps of the method described in any of the above embodiments.
  • the robot is a sweeping robot.
  • Figure 1 shows a flow chart of a robot escape method according to an embodiment of the present application
  • Figure 2 shows a schematic diagram of a robot driving out of a narrow area according to an embodiment of the present application
  • Figure 3 shows a schematic diagram of a robot escape device according to an embodiment of the present application.
  • embodiments of the present application provide a robot escape method and device, a processor and a robot. .
  • a method for robot escape is provided.
  • Figure 1 shows a flow chart of a robot escape method according to an embodiment of the present application. As shown in Figure 1, the method includes the following steps S101 to S104.
  • Step S101 Obtain the historical running trajectory of the robot.
  • the historical running trajectory is the running trajectory of the robot before the current moment.
  • the robot is located in a narrow area at the current moment.
  • the narrow area is surrounded by multiple obstacle points.
  • a narrow channel is formed between two adjacent obstacle points.
  • An obstacle point is located on one obstacle or on multiple obstacles.
  • Step S102 According to the historical running trajectory of the robot, the entry position and entry angle of the robot from the preset narrow channel into the narrow area are obtained.
  • the entry position is the intersection position between the two obstacle points of the preset narrow passage and the historical running trajectory.
  • the entry angle is the angle between the entry direction of the robot and the vertical line.
  • the vertical line is perpendicular to the preset narrow passage. A straight line connecting two obstacle points of a channel.
  • Step S103 Based on the entry position and entry angle, determine the exit position and exit angle for the robot to exit the narrow area from the preset narrow channel.
  • the exit position is the intersection position of the trajectory of the robot exiting the narrow area and the line connecting the two obstacle points of the preset narrow passage
  • the exit angle is the angle between the robot's exit direction and the vertical line.
  • Step S104 Control the robot to exit the narrow area based on the exit position and exit angle.
  • Figure 2 shows a schematic diagram of a robot driving out of a narrow area according to an embodiment of the present application.
  • the line connecting obstacle point A and obstacle point B is L1
  • the vertical line is L2
  • the historical running trajectory is S
  • the historical running trajectory is S.
  • the intersection point of the running trajectory and the line L1 connecting obstacle point A and obstacle point B is O
  • the entry angle is ⁇
  • the exit position is O'.
  • the narrow area is, for example, the area enclosed by the bottom of a chair or the area enclosed by the bottom of a bracket
  • the narrow passage is, for example, the passage between two legs of a chair.
  • the robot is a sweeping robot.
  • the historical running trajectory of the robot is obtained.
  • the entry position and entry angle of the robot from the preset narrow channel into the narrow area are obtained, and then the entry position and entry angle are obtained according to the entry position and entry angle.
  • Angle determine the exit position and exit angle of the robot from the preset narrow channel to exit the narrow area, and finally control the robot to exit the narrow area based on the exit position and exit angle.
  • This solution determines the exit position and exit angle based on the entry position and entry angle, allowing the robot to smoothly exit the narrow area, thereby solving the problem of the robot being unable to escape in the narrow area and improving the user experience.
  • step S103 determines the exit position and exit angle for the robot to exit the narrow area from the preset narrow channel based on the entry position and entry angle, including: determining the exit reference position and exit reference Angle; determine the optimal exit position in the neighborhood of the exit reference position, determine the optimal exit angle in the neighborhood of the exit reference angle; determine the optimal exit position as the robot exits the narrow area from the preset narrow channel
  • the optimal exit angle is determined as the exit angle for the robot to exit the narrow area from the preset narrow channel.
  • determining the exit reference position and the exit reference angle includes: determining the exit reference position based on distance information, and determining that the exit reference angle is equal to the entry angle.
  • the distance information includes a first distance and a second distance.
  • the first distance is the distance between the entry position and the first obstacle point
  • the second distance is the distance between the exit reference position and the second obstacle point
  • the first obstacle point is the obstacle point corresponding to the smaller distance between the entry position and the two obstacle points of the preset narrow passage
  • the second obstacle point is the two obstacles between the entry position and the preset narrow passage.
  • the larger distance among the distances between the points corresponds to the obstacle point; the exit reference position is selected as the position when the second distance is equal to the first distance.
  • determining the optimal exit position in the neighborhood of the exit reference position and determining the optimal exit angle in the neighborhood of the exit reference angle include: when the robot exits at the reference position and exit When the robot successfully exits the narrow area at the reference angle, the exit reference position is determined as the optimal exit position, and the exit reference angle is determined as the optimal exit angle; when the robot fails to exit at the reference position and exit reference angle, When exiting a narrow area, perform the predetermined steps at least once.
  • the predetermined steps include: selecting a position in the neighborhood of the exit reference position as the current exit position, and selecting an angle in the neighborhood of the exit reference angle as the current exit angle. Perform a predetermined step at least once to get the robot out of the narrow area.
  • the exit position selected when the predetermined step is executed for the last time is regarded as the optimal exit position
  • the exit angle selected when the predetermined step is executed for the last time is regarded as the optimal exit angle. That is, when the robot fails to exit the narrow area at the exit reference position and exit angle, the optimal exit position and optimal exit are finally determined by continuously iterating the predetermined steps until the robot successfully exits the narrow area. Out of angle.
  • the first distance is the distance between the entry position and the first obstacle point
  • the second distance is the distance between the exit reference position and the second obstacle point
  • the first obstacle point is the distance between the entry position and the second obstacle point.
  • the second obstacle point is the obstacle point corresponding to the smaller distance between the entry position and the two obstacle points of the preset narrow passage.
  • the obstacle point corresponding to the larger distance; the exit reference position is selected as the position when the second distance is equal to the first distance. This setting makes it easier to get out of trouble.
  • step S103 determines the exit position and exit angle of the robot from the preset narrow channel to exit the narrow area based on the entry position and entry angle, including: obtaining the duration of the robot being trapped; When the trapped time is longer than the predetermined time, the exit position and exit angle of the robot to exit the narrow area from the preset narrow channel are determined based on the entry position and entry angle. That is, step S103 is executed only when it is determined that the robot is indeed trapped in a narrow area based on the trapped time.
  • step S102 obtains the entry angle of the robot from the preset narrow channel into the narrow area based on the historical operating trajectory of the robot, including: selecting the first point in the neighborhood of the entry position on the historical operating trajectory. and the second point; obtain the first slope of the line connecting the first point and the second point; obtain the second slope of the line connecting the two obstacle points of the preset narrow passage; determine the third slope of the vertical line based on the second slope ; Determine the entry angle based on the first slope and the third slope.
  • the first point is O 1 and the second point is O 2.
  • the approximate slope method two points near O are selected. For example, the coordinates O 2 (O 2x , O 2y) one second before the intersection point O are generated.
  • the first point O 1 and the second point O 2 are located on the same side of the entry position, or the first point O 1 and the second point O 2 are located on both sides of the entry position.
  • the embodiment of the present application also provides a robot escape device. It should be noted that the robot escape device of the embodiment of the present application can be used to perform the method for robot escape provided by the embodiment of the present application.
  • the robot escape device provided by the embodiment of the present application is introduced below.
  • Figure 3 is a schematic diagram of a robot escape device according to an embodiment of the present application. As shown in FIG. 3 , the device includes: a first acquisition unit 10 , a second acquisition unit 20 , a determination unit 30 , and a control unit 40 .
  • the first acquisition unit 10 is used to acquire the historical running trajectory of the robot.
  • the historical running trajectory is the running trajectory of the robot before the current moment.
  • the robot is located in a narrow area at the current moment.
  • the narrow area is surrounded by multiple obstacle points.
  • a narrow channel is formed between two adjacent obstacle points.
  • An obstacle point is located on one obstacle or on multiple obstacles.
  • the second acquisition unit 20 is used to obtain the entry position and entry angle of the robot from the preset narrow channel into the narrow area based on the historical running trajectory of the robot.
  • the entry position is the intersection position between the two obstacle points of the preset narrow passage and the historical running trajectory.
  • the entry angle is the angle between the robot's entry direction and the vertical line.
  • the vertical line is perpendicular to the preset narrow passage. The straight line connecting the two obstacle points.
  • the determination unit 30 is used to determine the exit position and exit angle of the robot from the preset narrow channel to the narrow area based on the entry position and entry angle.
  • the exit position is the intersection position of the trajectory of the robot exiting the narrow area and the line connecting the two obstacle points of the preset narrow passage
  • the exit angle is the angle between the robot's exit direction and the vertical line.
  • the control unit 40 is used to control the robot to exit the narrow area based on the exit position and exit angle.
  • the narrow area is, for example, the area enclosed by the bottom of the chair or the area enclosed by the bottom of the bracket
  • the narrow channel is, for example, the channel between two legs of the chair.
  • the robot is a sweeping robot.
  • the first acquisition unit acquires the historical operation trajectory of the robot
  • the second acquisition unit obtains the entry position and entry angle of the robot from the preset narrow channel into the narrow area based on the historical operation trajectory of the robot, and determines Based on the entry position and entry angle, the unit determines the exit position and exit angle for the robot to exit the narrow area from the preset narrow channel.
  • the control unit controls the robot to exit the narrow area based on the exit position and exit angle.
  • This solution determines the exit position and exit angle based on the entry position and entry angle, allowing the robot to smoothly exit the narrow area. This solves the problem of robots being unable to escape in narrow areas and improves user experience.
  • the determining unit includes a first determining module and a second determining module.
  • the first determination module is used to determine the exit reference position and exit reference angle.
  • the second determination module is used to determine the optimal exit position in the neighborhood of the exit reference position, determine the optimal exit angle in the neighborhood of the exit reference angle, and determine the optimal exit position as the robot starts from the preset
  • the optimal exit angle is determined as the exit angle of the robot exiting the narrow area from the preset narrow channel.
  • the first determination module is used to determine the exit reference position and the exit reference angle. Specifically, the first determination module is used to determine the exit reference position based on the distance information, and determines that the exit reference angle is equal to the entry angle.
  • the distance information includes a first distance and a second distance. The first distance is the distance between the entry position and the first obstacle point, and the second distance is the distance between the exit reference position and the second obstacle point, where The first obstacle point is the obstacle point corresponding to the smaller distance between the entry position and the two obstacle points of the preset narrow passage, and the second obstacle point is the two obstacles between the entry position and the preset narrow passage.
  • the exit reference position is selected as the position when the first distance and the second distance are equal. That is, first determine the exit reference position and exit reference angle based on the distance information and entry angle, then determine the optimal exit position in the neighborhood of the exit reference position, and determine the optimal exit location in the neighborhood of the exit reference angle. Exit angle. Finally, the robot is controlled to exit the narrow area based on the optimal exit position and optimal exit angle.
  • the second determination module includes a determination sub-module, an execution sub-module and a processing sub-module.
  • the determination sub-module is used to determine the exit reference position as the optimal exit position and determine the exit reference angle as the optimal exit angle when the robot successfully exits the narrow area at the exit reference position and exit reference angle. .
  • the execution submodule is used to execute predetermined steps at least once so that the robot exits the narrow area when the robot fails to exit the narrow area at the exit reference position and exit reference angle.
  • the predetermined steps include exiting the reference position. Select a position in the neighborhood as the current exit position, and select an angle in the neighborhood of the exit reference angle as the current exit angle.
  • the processing submodule is used to use the exit position selected when the predetermined step is last executed as the optimal exit position, and the exit angle selected when the predetermined step is last executed as the optimal exit angle. That is, when the robot fails to exit the narrow area at the exit reference position and exit angle, the optimal exit position and optimal exit are finally determined by continuously iterating the predetermined steps until the robot successfully exits the narrow area. Out of angle.
  • the first distance is the distance between the entry position and the first obstacle point
  • the second distance is the distance between the exit reference position and the second obstacle point
  • the first obstacle point is the distance between the entry position and the second obstacle point.
  • the obstacle point corresponding to the smaller distance between the entry position and the two obstacle points of the preset narrow passage.
  • the second obstacle point is the obstacle point corresponding to the smaller distance between the entry position and the two obstacle points of the preset narrow passage.
  • the larger distance corresponds to the obstacle point; the exit reference position is selected as the position when the second distance is equal to the first distance. This setting makes it easier to escape.
  • the determination unit includes a first acquisition module and a third determination module.
  • the first acquisition module is used to obtain Get the time the robot is trapped.
  • the third determination module is used to determine the exit position and exit angle of the robot from the preset narrow channel to exit the narrow area based on the entry position and entry angle when the trapped time is longer than the predetermined time. That is, when it is determined that the robot is indeed trapped in a narrow area based on the duration of being trapped, the determination unit determines the exit position and exit angle of the robot from the preset narrow channel to exit the narrow area based on the entry position and entry angle.
  • the second acquisition unit includes a selection module, a second acquisition module, a third acquisition module, a fourth determination module and a fifth determination module.
  • the selection module is used to select the first point and the second point in the neighborhood of the entry position on the historical running trajectory.
  • the second acquisition module is used to acquire the first slope of the line connecting the first point and the second point.
  • the third acquisition module is used to acquire the second slope of the line connecting the two obstacle points of the preset narrow passage.
  • the fourth determining module is configured to determine the third slope of the vertical line according to the second slope.
  • the fifth determination module is used to determine the entry angle according to the first slope and the third slope. As shown in Figure 2, the first point is O 1 and the second point is O 2.
  • two points near O are selected. For example, the coordinates O 2 (O 2x , O 2y) one second before the intersection point O are generated. ), generating the coordinates O 1 (O 1x ,O 1y ) one second after the phase point.
  • the slope of the straight line O 1 O 2 is In the same way, according to the coordinates of two points A and B, the slope k AB of the straight line AB is calculated. At this time, the slope of the vertical line AB is Then the angle between straight line O 1 O 2 and vertical line L2 of straight line AB (i.e. straight line L1) is
  • the first point O 1 and the second point O 2 are located on the same side of the entry position, or the first point O 1 and the second point O 2 are located on both sides of the entry position.
  • the robot is a sweeping robot.
  • the robot escape device includes a processor and a memory.
  • the first acquisition unit, the second acquisition unit, the determination unit, the control unit, etc. can all be stored in the memory as program units, and are implemented by the processor executing the program units stored in the memory. Corresponding functions.
  • the processor contains a core, which retrieves the corresponding program unit from the memory.
  • One or more kernels can be set, and the robot can smoothly drive out of a narrow area by adjusting the kernel parameters.
  • Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM).
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Embodiments of the present invention provide a computer-readable storage medium.
  • the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the robot escape method. .
  • An embodiment of the present invention provides a processor, the processor being used to run a program, wherein when the program is running, the robot escape method of any of the above embodiments is executed.
  • An embodiment of the present invention provides a processor.
  • the processor is running, the steps of the method in any of the above embodiments are executed.
  • Embodiments of the present invention provide a robot, including: one or more processors, memories, and one or more programs, wherein one or more programs are stored in the memory, and the one or more programs are When or multiple processors are executed, one or more processors are caused to execute the steps of the robot escape method in any of the above embodiments.
  • An embodiment of the present invention provides a device.
  • the device includes a processor, a memory, and a program stored in the memory and executable on the processor.
  • the processor executes the program, it implements the steps of the robot escape method of any of the above embodiments.
  • the devices in this article can be servers, PCs, PADs, mobile phones, etc.
  • the present application also provides a computer program product, which, when executed on a data processing device, is adapted to perform the steps of the robot escape method of any of the above embodiments.
  • embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines 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, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions
  • the device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device.
  • Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-volatile memory in computer-readable media, random access memory (RAM) and/or non-volatile form of permanent memory, such as read-only memory (ROM) or flash memory (flash RAM).
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information.
  • Information may be computer-readable instructions, data structures, modules of programs, 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), and read-only memory.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • read-only memory read-only memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • compact disc read-only memory CD-ROM
  • DVD digital versatile disc
  • Magnetic tape cassettes tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • This embodiment provides a specific method for determining the escape of a sweeping robot, which includes the following steps.
  • Step S1 Establish a two-dimensional rectangular coordinate system for the location of the room.
  • the cleaning area mapping and the size of the cleaning area can be accurately divided into sizes and determined. For example, a corner or any other fixed position in the house can be selected as the origin of the Cartesian coordinate system. , so that the position coordinates of obstacles in the cleaning area can be confirmed.
  • Step S2 The robot enters the sweeping area.
  • Step S21 Record the walking path before entering the narrow area (ie, historical running trajectory).
  • Step S22 Find the entry position and entry angle corresponding to the narrow area.
  • Step S221 Determine the entry position.
  • Step S222 Determine the entry angle of the robot.
  • two points near O are selected based on the approximate slope method. For example, the coordinate O 2 (O 2x ,O 2y ) one second before the intersection point O is generated, and the coordinate O 1 (O 1x ,O 1y ) one second after the intersection point is generated.
  • the straight line O 1 O is In the same way, according to the coordinates of obstacle points A and B, the slope k AB of the straight line AB is calculated. At this time, the slope of the vertical line AB is Then the angle between the straight line O 1 O 2 and the perpendicular to the straight line AB is
  • Step S3 Escape strategy after the robot enters a small area.
  • Step S31 Set escape mode.
  • the robot When the robot enters a certain area, the sweeping robot cannot leave the area within a period of time t. At this time, the robot sets the escape mode and tries to leave the area instead of directly calling the police.
  • Step S32 The robot starts to get out of trouble.
  • Step S321 exit position and exit angle.
  • Step S322 The robot officially attempts to get out of trouble.
  • Step S3221 as shown in Figure 2, use O' as the reference point, keep the robot at an angle ⁇ with the perpendicular line L2 of the straight line segment AB, and start to escape. If it can come out directly, the robot escapes directly successfully.
  • Step S3222 If the robot cannot come out directly, use O' as the reference point, keep the robot at an angle ⁇ with the perpendicular line L2 of the straight line segment AB, and start trying small displacements at both ends of O'.
  • the displacement logic is: Assume that when it comes out, the robot first collides with the side of obstacle point A, then the direction of the robot's displacement is towards obstacle point B, that is, it moves in the direction of obstacle point B, and the robot is kept aligned with the perpendicular line L2 to straight line segment AB.
  • the angle of ⁇ , the distance moved to the obstacle point B can be based on the width le of the robot (the diameter of the circular robot) and the length l of the line segment AB.
  • the size of each displacement is The larger the value of n, the greater the number of moves.
  • the logic based on stopping the movement is that as long as the robot does not collide with the obstacle point B in the direction of movement (that is, the obstacle point in the direction of movement) when trying to come out, if it collides with the obstacle point B, the algorithm will automatically increase the value of n, and again Repeat step S3222 until the robot can escape from the narrow area.
  • Step S4 The robot gets out of trouble, marks complex areas, and determines the cleaning strategy.
  • the robot escapes from the narrow area and marks this area as a complex area. The next time it comes to this area, it can make multiple collision attempts. When the area is still consistent with the marked map, the robot will no longer enter the cleaning area. When this location is consistent with the map when marked, normal cleaning will be performed here.
  • the robot escape method of this application obtains the historical running trajectory of the robot. Based on the historical running trajectory of the robot, the entry position and entry angle of the robot from the preset narrow channel into the narrow area are obtained, and then the entry position and entry angle are obtained based on the entry position and the entry angle. The entry angle determines the exit position and exit angle of the robot from the preset narrow channel to exit the narrow area. Finally, based on the exit position and exit angle, the robot is controlled to exit the narrow area.
  • This solution determines the exit position and exit angle based on the entry position and entry angle, allowing the robot to smoothly exit the narrow area, thereby solving the problem of the robot being unable to escape in the narrow area and improving the user experience.
  • the first acquisition unit obtains the historical operation trajectory of the robot
  • the second acquisition unit obtains the entry position and entry angle of the robot from the preset narrow channel into the narrow area based on the historical operation trajectory of the robot.
  • the determination unit determines the exit position and exit angle of the robot from the preset narrow channel to exit the narrow area based on the entry position and entry angle
  • the control unit controls the robot to exit the narrow area based on the exit position and exit angle.

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

一种机器人脱困方法及装置、处理器和机器人。该方法包括：获取机器人的历史运行轨迹；根据机器人的历史运行轨迹，得到机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度；根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度；基于驶出位置和驶出角度，控制机器人驶出狭窄区域。本方案使得机器人顺利驶出狭窄区域。

Description

机器人脱困方法及装置、处理器和机器人
相关申请
本申请要求2022年8月17日申请的，申请号为202210988109.5，名称为“机器人脱困方法、装置、处理器和机器人”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及机器人领域，具体地，涉及一种机器人脱困方法及装置、处理器和机器人。
背景技术
随着生活节奏的加快，为节省家庭打扫时间，扫地机器人走进了千家万户，成为家庭清洁的得力助手。扫地机器人利用其搭载的传感器件感知所处的环境，规划出合适的清扫策略，实现家庭地面的打扫清洁。
现实的家庭环境中，有大量的复杂区域和拐角处，比如各式的桌椅和摆放的支架家具等，常规扫地机器人都会通过碰撞，判断能否进入椅子底部或者支架区域，特别是当椅子腿之间或者支架的水平面之间的间距与扫地机器人的宽度或直径接近时，会出现扫地机器人进入椅子或支架底部但是无法出来的情形，扫地机器人卡在这些区域，无法自行寻找策略进行脱困，导致清扫终止，然后只能报警，等待人为帮助，导致清扫的效率及用户体验很差。
因此，现有的机器人(包括扫地机器人)存在在狭窄区域无法脱困的问题。
发明内容
本申请的主要目的在于提供一种机器人脱困方法及装置、处理器和机器人，以解决现有技术中机器人在狭窄区域无法脱困的问题。
为了实现上述目的，根据本申请的一个方面，提供了一种机器人脱困方法，包括：获取机器人的历史运行轨迹；根据机器人的历史运行轨迹，得到所述机器人从预设狭窄通道进入所述狭窄区域的驶入位置和驶入角度；根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度；基于所述驶出位置和所述驶出角度，控制所述机器人驶出所述狭窄区域。
在一些实施例中，所述狭窄区域由多个障碍点围设而成，相邻的两个所述多个障碍点之间形成狭窄通道。所述驶入位置为所述预设狭窄通道的所述两个障碍点的连线与所述历史运行轨迹的交点位置，所述驶入角度为所述机器人的进入方向与垂线的夹角，所述垂线为垂直于所述两个障碍点的连线。所述驶出位置为所述机器人驶出所述狭窄区域的轨迹与所述预设狭窄通道 的所述两个障碍点的连线的交点位置，所述驶出角度为所述机器人的驶出方向与所述垂线的夹角。
在一些实施例中，所述根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度，包括：确定驶出基准位置和驶出基准角度；在所述驶出基准位置的邻域内确定最优驶出位置，且在所述驶出基准角度的邻域内确定最优驶出角度；将最优驶出位置确定为所述机器人从预设狭窄通道驶出狭窄区域的所述驶出位置，将最优驶出角度确定为所述机器人从预设狭窄通道驶出狭窄区域的所述驶出角度。
在一些实施例中，所述确定所述驶出基准位置和所述驶出基准角度，包括：确定所述驶出基准角度等于所述驶入角度；根据距离信息确定所述驶出基准位置；其中距离信息包括第一距离和第二距离，所述第一距离为驶入位置与第一障碍点之间的距离，所述第二距离为驶出基准位置与第二障碍点之间的距离；所述第一障碍点为所述驶入位置和预设狭窄通道的两个障碍点之间的距离中的较小的距离对应的障碍点，所述第二障碍点为所述驶入位置和所述预设狭窄通道的两个障碍点之间的距离中的较大的距离对应的障碍点；所述驶出基准位置选定为第二距离与第一距离相等时的位置。
在一些实施例中，所述在所述驶出基准位置的邻域内确定最优驶出位置，且在所述驶出基准角度的邻域内确定最优驶出角度，包括：在所述机器人以所述驶出基准位置和所述驶出基准角度成功驶出所述狭窄区域的情况下，确定所述驶出基准位置为所述最优驶出位置，且确定所述驶出基准角度为所述最优驶出角度；在所述机器人以所述驶出基准位置和所述驶出基准角度未成功驶出所述狭窄区域的情况下，执行预定步骤至少一次，所述预定步骤为在所述驶出基准位置的邻域内选择一个位置作为当前次驶出位置，且在所述驶出基准角度的邻域内选择一个角度作为当前次驶出角度；将最后一次执行所述预定步骤时选择的驶出位置作为所述最优驶出位置，将最后一次执行所述预定步骤时选择的驶出角度作为所述最优驶出角度。
在一些实施例中，所述根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度，包括：获取机器人被困时长；在所述被困时长大于预定时长的情况下，根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度。
在一些实施例中，根据机器人的历史运行轨迹，得到所述机器人从预设狭窄通道进入所述狭窄区域的驶入角度，包括：在所述历史运行轨迹上所述驶入位置的邻域内选取第一点和第二点；获取所述第一点和所述第二点的连线的第一斜率；获取所述预设狭窄通道的两个障碍点的连线的第二斜率；根据所述第二斜率确定所述垂线的第三斜率；根据所述第一斜率和所述第三斜率确定所述驶入角度。
在一些实施例中，所述第一点和所述第二点位于所述驶入位置的同一侧，或者，所述第一点和所述第二点位于所述驶入位置的两侧。
根据本申请的另一方面，提供了一种机器人脱困装置，包括：第一获取单元，用于获取机器人的历史运行轨迹；第二获取单元，用于根据机器人的历史运行轨迹，得到所述机器人从预设狭窄通道进入所述狭窄区域的驶入位置和驶入角度；确定单元，用于根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度；控制单元，用于基于所述驶出位置和所述驶出角度，控制所述机器人驶出所述狭窄区域。
在一些实施例中，所述狭窄区域由多个障碍点围设而成，相邻的两个所述多个障碍点之间形成狭窄通道；所述驶入位置为所述预设狭窄通道的所述两个障碍点的连线与所述历史运行轨迹的交点位置，所述驶入角度为所述机器人的进入方向与垂线的夹角，所述垂线为垂直于所述两个障碍点的连线；所述驶出位置为所述机器人驶出所述狭窄区域的轨迹与所述预设狭窄通道的所述两个障碍点的连线的交点位置，所述驶出角度为所述机器人的驶出方向与所述垂线的夹角。
根据本申请的另一方面，提供了一种处理器，所述处理器运行时，执行上述任意一实施例所述方法的步骤。
根据本申请的另一方面，提供了一种机器人，包括：一个或多个处理器，存储器，以及一个或多个程序，其中，所述一个或多个程序被存储在所述存储器中，所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器执行上述任意实施例所述方法的步骤。
在一些实施例中，所述机器人为扫地机器人。
应用本申请的技术方案，通过获取机器人的历史运行轨迹，根据机器人的历史运行轨迹，得到机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度，然后根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度，最后基于驶出位置和驶出角度，控制机器人驶出狭窄区域。本方案根据驶入位置和驶入角度确定驶出位置和驶出角度，使得机器人顺利驶出狭窄区域。解决了机器人狭窄区域无法脱困的问题，提升用户体验。
附图说明
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1示出了根据本申请的实施例的机器人脱困方法流程图；
图2示出了根据本申请的实施例的机器人驶出狭窄区域示意图；
图3示出了根据本申请的实施例的机器人脱困装置示意图。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
应该理解的是，当元件(诸如层、膜、区域、或衬底)描述为在另一元件“上”时，该元件可直接在该另一元件上，或者也可存在中间元件。而且，在说明书以及权利要求书中，当描述有元件“连接”至另一元件时，该元件可“直接连接”至该另一元件，或者通过第三元件“连接”至该另一元件。
正如背景技术中所介绍的，现有技术中的机器人在狭窄区域无法脱困，为解决机器人在狭窄区域无法脱困的问题，本申请的实施例提供了一种机器人脱困方法及装置、处理器和机器人。
根据本申请的实施例，提供了一种机器人脱困方法。
图1示出了根据本申请的实施例的机器人脱困方法的流程图，如图1所示，该方法包括以下步骤S101至步骤S104。
步骤S101，获取机器人的历史运行轨迹。具体地，历史运行轨迹为机器人在当前时刻之前的运行轨迹，机器人在当前时刻位于狭窄区域，狭窄区域由多个障碍点围设而成，相邻的两个障碍点之间形成狭窄通道，多个障碍点位于一个障碍物上或者多个障碍物上。
步骤S102，根据机器人的历史运行轨迹，得到机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度。具体地，驶入位置为预设狭窄通道的两个障碍点的连线与历史运行轨迹的交点位置，驶入角度为机器人的进入方向与垂线的夹角，垂线为垂直于预设狭窄通道的两个障碍点的连线的直线。
步骤S103，根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度。具体地，驶出位置为机器人驶出狭窄区域的轨迹与预设狭窄通道的两个障碍点的连线的交点位置，驶出角度为机器人的驶出方向与垂线的夹角。
步骤S104，基于驶出位置和驶出角度，控制机器人驶出狭窄区域。
图2示出了根据本申请的实施例的机器人驶出狭窄区域示意图，如图2所示，障碍点A和障碍点B的连线为L1，垂线为L2，历史运行轨迹为S，历史运行轨迹与障碍点A和障碍点B的连线L1的交点为O，驶入角度为α，驶出位置为O’。
具体地，狭窄区域为例如椅子底部围成的区域、支架底部围成的区域，狭窄通道为例如椅子的两条腿之间的通道。
具体地，机器人为扫地机器人。
在本申请的实施例中，获取机器人的历史运行轨迹，根据获取机器人的历史运行轨迹，得到机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度，然后根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度，最后基于驶出位置和驶出角度，控制机器人驶出狭窄区域。本方案根据驶入位置和驶入角度确定驶出位置和驶出角度，使得机器人顺利驶出狭窄区域，从而解决机器人在狭窄区域无法脱困的问题，提升用户体验。
需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
本申请的一实施例中，步骤S103根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度，包括：确定驶出基准位置和驶出基准角度；在驶出基准位置的邻域内确定最优驶出位置，在驶出基准角度的邻域内确定最优驶出角度；将最优驶出位置确定为机器人从预设狭窄通道驶出狭窄区域的驶出位置，将最优驶出角度确定为机器人从预设狭窄通道驶出狭窄区域的驶出角度。
在本申请的一实施中，确定驶出基准位置和驶出基准角度包括：根据距离信息确定驶出基准位置，确定驶出基准角度等于驶入角度。具体的，距离信息包括第一距离和第二距离，第一距离为驶入位置与第一障碍点之间的距离，第二距离为驶出基准位置与第二障碍点之间的距离，其中第一障碍点为驶入位置和预设狭窄通道的两个障碍点之间的距离中的较小的距离对应的障碍点，第二障碍点为驶入位置和预设狭窄通道的两个障碍点之间的距离中的较大的距离对应的障碍点；驶出基准位置选定为第二距离与第一距离相等时的位置。即首先根据距离信息和驶入角度分别确定驶出基准位置和驶出基准角度，然后在驶出基准位置的邻域内确定出最优驶出位置，在驶出基准角度的邻域内确定出最优驶出角度，最后，基于最优驶出位置和最优驶出角度控 制机器人驶出狭窄区域。
本申请的一实施例中，在驶出基准位置的邻域内确定最优驶出位置，在驶出基准角度的邻域内确定最优驶出角度，包括：在机器人以驶出基准位置和驶出基准角度成功驶出狭窄区域的情况下，确定驶出基准位置为最优驶出位置，且确定驶出基准角度为最优驶出角度；在机器人以驶出基准位置和驶出基准角度未成功驶出狭窄区域的情况下，执行预定步骤至少一次。预定步骤包括：在驶出基准位置的邻域内选择一个位置作为当前次驶出位置，在驶出基准角度的邻域内选择一个角度作为当前次驶出角度。执行预定步骤至少一次，以使得机器人驶出狭窄区域。最后一次执行预定步骤时选择的驶出位置作为最优驶出位置，最后一次执行预定步骤时选择的驶出角度作为最优驶出角度。即在机器人以驶出基准位置和驶出基准角度未成功驶出狭窄区域的情况下，通过不断地迭代预定步骤，直到机器人成功驶出狭窄区域，最终确定出最优驶出位置和最优驶出角度。
本申请的一实施例中，第一距离为驶入位置与第一障碍点之间的距离，第二距离为驶出基准位置与第二障碍点之间的距离，其中第一障碍点为驶入位置和预设狭窄通道的两个障碍点之间的距离中的较小的距离对应的障碍点，第二障碍点为驶入位置和预设狭窄通道的两个障碍点之间的距离中的较大的距离对应的障碍点；驶出基准位置选定为第二距离与第一距离相等时的位置。如此设置更容易脱困。
本申请的一种实施例中，步骤S103根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度，包括：获取机器人被困时长；在被困时长大于预定时长的情况下，根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度。即根据被困时长确定机器人的确是被困在狭窄区域的情况下，才执行步骤S103。
本申请的一种实施例中，步骤S102根据机器人的历史运行轨迹，得到机器人从预设狭窄通道进入狭窄区域的驶入角度，包括：在历史运行轨迹上驶入位置的邻域内选取第一点和第二点；获取第一点和第二点的连线的第一斜率；获取预设狭窄通道的两个障碍点的连线的第二斜率；根据第二斜率确定垂线的第三斜率；根据第一斜率和第三斜率确定驶入角度。如图2所示，第一点为O1，第二点为O2，根据近似斜率的方法，选取O附近两点，如产生相交点O前一秒的坐标O2(O2x,O2y)，产生相点后一秒的坐标O1(O1x,O1y)，此时根据斜率的计算公式，直线O1O2的斜率为同理，根据A、B两点的坐标，计算出AB直线的斜率kAB，此时直线AB垂线的斜率为则直线O1O2与直线AB(即直线L1)的垂线L2的夹角为
本申请的一实施例中，第一点O1和第二点O2位于驶入位置的同一侧，或者，第一点O1和第二点O2位于驶入位置的两侧。
本申请实施例还提供了一种机器人脱困装置，需要说明的是，本申请实施例的机器人脱困装置可以用于执行本申请实施例所提供的用于机器人脱困方法。以下对本申请实施例提供的机器人脱困装置进行介绍。
图3是根据本申请实施例的机器人脱困装置的示意图。如图3所示，该装置包括：第一获取单元10，第二获取单元20，确定单元30，和控制单元40。
第一获取单元10，用于获取机器人的历史运行轨迹。具体地，历史运行轨迹为机器人在当前时刻之前的运行轨迹，机器人在当前时刻位于狭窄区域，狭窄区域由多个障碍点围设而成，相邻的两个障碍点之间形成狭窄通道，多个障碍点位于一个障碍物上或者多个障碍物上。
第二获取单元20，用于根据机器人的历史运行轨迹，得到获取机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度。具体地驶入位置为预设狭窄通道的两个障碍点的连线与历史运行轨迹的交点位置，驶入角度为机器人的进入方向与垂线的夹角，垂线为垂直于预设狭窄通道的两个障碍点的连线的直线。
确定单元30，用于根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度。具体地，驶出位置为机器人驶出狭窄区域的轨迹与预设狭窄通道的两个障碍点的连线的交点位置，驶出角度为机器人的驶出方向与垂线的夹角。
控制单元40，用于基于驶出位置和驶出角度，控制机器人驶出狭窄区域。
具体地，狭窄区域例如椅子底部围成的区域、支架底部围成的区域，狭窄通道为例如椅子的两条腿之间的通道。
具体地，机器人为扫地机器人。
在本申请的实施例中，第一获取单元获取机器人的历史运行轨迹，第二获取单元根据机器人的历史运行轨迹，得到机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度，确定单元根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度，控制单元基于驶出位置和驶出角度，控制机器人驶出狭窄区域。本方案根据驶入位置和驶入角度确定驶出位置和驶出角度，使得机器人顺利驶出狭窄区域。从而解决机器人在狭窄区域无法脱困的问题，提升用户体验。
本申请的一种实施例中，确定单元包括第一确定模块和第二确定模块。第一确定模块用于确定驶出基准位置和驶出基准角度。第二确定模块用于在驶出基准位置的邻域内确定最优驶出位置，且在驶出基准角度的邻域内确定最优驶出角度，并将最优驶出位置确定为机器人从预设狭窄通道驶出狭窄区域的驶出位置，将最优驶出角度确定为机器人从预设狭窄通道驶出狭窄区域的驶出角度。
在本申请的一实施中，第一确定模块用于确定驶出基准位置和驶出基准角度，具体为第一确定模块用于根据距离信息确定驶出基准位置，确定驶出基准角度等于驶入角度。具体的，距离信息包括第一距离和第二距离，第一距离为驶入位置与第一障碍点之间的距离，第二距离为驶出基准位置与第二障碍点之间的距离，其中第一障碍点为驶入位置和预设狭窄通道的两个障碍点之间的距离中的较小的距离对应的障碍点，第二障碍点为驶入位置和预设狭窄通道的两个障碍点之间的距离中的较大的距离对应的障碍点；驶出基准位置选定为第一距离与第二距离相等时的位置。即首先根据距离信息和驶入角度分别确定驶出基准位置和驶出基准角度，然后在驶出基准位置的邻域内确定出最优驶出位置，在驶出基准角度的邻域内确定出最优驶出角度，最后，基于最优驶出位置和最优驶出角度控制机器人驶出狭窄区域。
本申请的一实施例中，第二确定模块包括确定子模块、执行子模块和处理子模块。
确定子模块用于在机器人以驶出基准位置和驶出基准角度成功驶出狭窄区域的情况下，确定驶出基准位置为最优驶出位置，且确定驶出基准角度为最优驶出角度。
执行子模块用于在机器人以驶出基准位置和驶出基准角度未成功驶出狭窄区域的情况下，执行预定步骤至少一次，以使得机器人驶出狭窄区域，预定步骤包括在驶出基准位置的邻域内选择一个位置作为当前次驶出位置，在驶出基准角度的邻域内选择一个角度作为当前次驶出角度。
处理子模块用于将最后一次执行预定步骤时选择的驶出位置作为最优驶出位置，将最后一次执行预定步骤时选择的驶出角度作为最优驶出角度。即在机器人以驶出基准位置和驶出基准角度未成功驶出狭窄区域的情况下，通过不断地迭代预定步骤，直到机器人成功驶出狭窄区域，最终确定出最优驶出位置和最优驶出角度。
本申请的一实施例中，第一距离为驶入位置与第一障碍点之间的距离，第二距离为驶出基准位置与第二障碍点之间的距离，其中第一障碍点为驶入位置和预设狭窄通道的两个障碍点之间的距离中的较小的距离对应的障碍点，第二障碍点为驶入位置和预设狭窄通道的两个障碍点之间的距离中的较大的距离对应的障碍点；驶出基准位置选定为第二距离与第一距离相等时的位置，如此设置更容易脱困。
本申请的一实施例中，确定单元包括第一获取模块和第三确定模块，第一获取模块用于获 取机器人被困时长。第三确定模块用于在被困时长大于预定时长的情况下，根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度。即根据被困时长确定机器人的确是被困在狭窄区域的情况下，确定单元才根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度。
本申请的一种实施例中，第二获取单元包括选取模块、第二获取模块、第三获取模块、第四确定模块和第五确定模块。选取模块用于在历史运行轨迹上驶入位置的邻域内选取第一点和第二点。第二获取模块用于获取第一点和第二点的连线的第一斜率。第三获取模块用于获取预设狭窄通道的两个障碍点的连线的第二斜率。第四确定模块用于根据第二斜率确定垂线的第三斜率。第五确定模块用于根据第一斜率和第三斜率确定驶入角度。如图2所示，第一点为O1，第二点为O2，根据近似斜率的方法，选取O附近两点，如产生相交点O前一秒的坐标O2(O2x,O2y)，产生相点后一秒的坐标O1(O1x,O1y)，此时根据斜率的计算公式，直线O1O2的斜率为同理，根据A、B两点的坐标，计算出AB直线的斜率kAB，此时直线AB垂线的斜率为则直线O1O2与直线AB(即直线L1)的垂线L2的夹角为
本申请的一实施例中，第一点O1和第二点O2位于驶入位置的同一侧，或者，第一点O1和第二点O2位于驶入位置的两侧。
本申请的一种具体的实施例中，机器人为扫地机器人。
所述机器人脱困装置包括处理器和存储器，第一获取单元、第二获取单元、确定单元和控制单元等均可作为程序单元存储在存储器中，由处理器执行存储在存储器中的程序单元来实现相应的功能。
处理器中包含内核，由内核去存储器中调取相应的程序单元。内核可以设置一个或以上，通过调整内核参数来使得机器人顺利驶出狭窄区域。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)，存储器包括至少一个存储芯片。
本发明实施例提供了一种计算机可读存储介质，所述计算机可读存储介质包括存储的程序，其中，在所述程序运行时控制所述计算机可读存储介质所在设备执行所述机器人脱困方法。
本发明实施例提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行上述任一实施例的所述机器人脱困方法。
本发明实施例提供了一种处理器，所述处理器运行时，执行上述任意实施例的方法的步骤。
本发明实施例提供了一种机器人，包括：一个或多个处理器，存储器，以及一个或多个程序，其中，一个或多个程序被存储在存储器中，所述一个或多个程序被一个或多个处理器执行时，使得一个或多个处理器执行上述任一实施例的机器人脱困方法的步骤。
本发明实施例提供了一种设备，设备包括处理器、存储器及存储在存储器上并可在处理器上运行的程序，处理器执行程序时实施上述任一实施例的机器人脱困方法的步骤。
本文中的设备可以是服务器、PC、PAD、手机等。
本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行上述任一实施例的机器人脱困方法的步骤。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失 性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。
为更好地支持本方案，采用以下具体实施例进行说明。
本实施例提供了一种具体的确定扫地机器人脱困方法，包括如下步骤。
步骤S1：对房间的位置建立二维直角坐标系。
根据机器人的清扫地图，及机器人的探测雷达，清扫区域建图及清扫区域的大小，都可以做到精准的大小划分及位置确定，如可以选择墙角或者其它任何屋内的固定位置作为直角坐标系原点，从而对清扫区域内的障碍物的位置坐标，都能完成确认。
步骤S2：机器人进入扫地区域。
步骤S21：记录进入狭窄区域前的行走路径(即历史运行轨迹)。
机器人在实际的清扫过程中(其清扫的轨迹在实际的地图上都能显示，亦可以记录)如图2所示，其进入狭小区域前的行走轨迹为曲线S。
步骤S22：寻找对应狭窄区域的驶入位置及驶入角度。
步骤S221：确定驶入位置。
如图2所示，当机器人进入狭小区域时，假设障碍点A和障碍点B之间形成狭窄通道，曲线S为进入的路径。直线AB与曲线S的交点为O，根据步骤S1中房间内的直角坐标系，确定此时O的坐标点为(Ox,Oy)；
步骤S222：确定机器人的驶入角度。
如图2所示，根据步骤S221确定的驶入位置O，根据近似斜率的方法，选取O附近两点， 如产生相交点O前一秒的坐标O2(O2x,O2y)，产生相点后一秒的坐标O1(O1x,O1y)，此时根据斜率的计算公式，直线O1O2的斜率为同理，根据障碍点A、B两点的坐标，计算出AB直线的斜率kAB，此时直线AB垂线的斜率为则直线O1O2与直线AB的垂线的夹角为
步骤S3：机器人进入狭小区域后脱困策略。
步骤S31：设定脱困模式。
机器人进入某区域，在一段时间t内，扫机机器人无法从此区域离开，此时，机器人此时设定脱困模式，尝试离开此区域，而不是直接报警。
步骤S32：机器人开始脱困。
步骤S321：驶出位置和驶出角度。
如图2所示，机器人进入狭窄区域时，其进入的相交点为O，由于进出狭小区域是朝着不同的方向，根据O的坐标，进行坐标对称的变换，寻找出来的相交点O’，其逻辑关系为，O’坐标满足的关系为O’A＝OB(由A、B两点的坐标以及O的坐标，容易求出O’的坐标)。驶出角度和驶入角度保持一致，同样为α。
步骤S322：机器人正式尝试脱困。
步骤S3221，如图2所示，以O’为基准点，保持机器人以与直线段AB的垂线L2为α的角度，开始脱困，若直接可以出来，则机器人脱困直接成功。
步骤S3222：若机器人不能直接出来，以O’为参考点，保持机器人以与直线段AB的垂线L2为α的角度，开始在O’的两端进行小位移的尝试，其位移逻辑为：假设出来的时候，机器人先碰撞到障碍点A点一侧，则机器人位移的方向为朝向障碍点B的方向，即向障碍点B点方向移动，保持机器人以与直线段AB的垂线L2为α的角度，往障碍点B点移动的距离，可以依据机器人的宽度le(圆形机器人为直径)与线段AB的长度l，如，每次位移的大小为n的取值越大，移动的次数越多。停止移动依据的逻辑为，只要机器人在尝试出来时，未碰撞到移动方向的障碍点B(即移动方向的障碍点)，若碰撞到障碍点B点，则算法自动增大n的值，再次重复步骤S3222，直至机器人能够从此狭窄区域脱困。
步骤S4，机器人脱困，标注复杂区域，确定清扫策略。
通过上述步骤，机器人从狭窄区域脱困，标注此处为复杂区域，下一次来到此区域，可以多次碰撞尝试，当此处仍然与标记时候地图一致，则机器人不再进入清扫。当此处与标记时候地图一致，则对此处进行正常清扫。
从以上的描述中，可以看出，本申请上述的实施例实现了如下技术效果：
1)、本申请的机器人脱困方法，获取机器人的历史运行轨迹，根据获取机器人的历史运行轨迹，得到机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度，然后根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度，最后基于驶出位置和驶出角度，控制机器人驶出狭窄区域。本方案根据驶入位置和驶入角度确定驶出位置和驶出角度，使得机器人顺利驶出狭窄区域，从而解决机器人在狭窄区域无法脱困的问题，提升用户体验。
2)、本申请的机器人脱困装置，第一获取单元获取机器人的历史运行轨迹，第二获取单元根据机器人的历史运行轨迹，得到机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度，确定单元根据驶入位置和驶入角度，确定机器人从预设狭窄通道驶出狭窄区域的驶出位置和驶出角度，控制单元基于驶出位置和驶出角度，控制机器人驶出狭窄区域。本方案根据驶入位置和驶入角度确定驶出位置和驶出角度，使得机器人顺利驶出狭窄区域，从而解决机器人在狭窄区域无法脱困的问题，提升用户体验。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (13)

  1. 一种机器人脱困方法，其特征在于，包括：
    获取机器人的历史运行轨迹；
    根据机器人的历史运行轨迹，得到所述机器人从预设狭窄通道进入狭窄区域的驶入位置和驶入角度；
    根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度；
    基于所述驶出位置和所述驶出角度，控制所述机器人驶出所述狭窄区域。
  2. 根据权利要求1所述的方法，其特征在于：
    所述狭窄区域由多个障碍点围设而成，相邻的两个所述多个障碍点之间形成狭窄通道；
    所述驶入位置为所述预设狭窄通道的所述两个障碍点的连线与所述历史运行轨迹的交点位置，所述驶入角度为所述机器人的进入方向与垂线的夹角，所述垂线为垂直于所述两个障碍点的连线；
    所述驶出位置为所述机器人驶出所述狭窄区域的轨迹与所述预设狭窄通道的所述两个障碍点的连线的交点位置，所述驶出角度为所述机器人的驶出方向与所述垂线的夹角。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度，包括：
    确定驶出基准位置和驶出基准角度；
    在所述驶出基准位置的邻域内确定最优驶出位置，在所述驶出基准角度的邻域内确定最优驶出角度；
    将最优驶出位置确定为所述机器人从预设狭窄通道驶出狭窄区域的所述驶出位置，将最优驶出角度确定为所述机器人从预设狭窄通道驶出狭窄区域的所述驶出角度。
  4. 根据权利要求3所述的方法，其特征在于，所述确定所述驶出基准位置和所述驶出基准角度，包括：
    确定所述驶出基准角度等于所述驶入角度；
    根据距离信息确定所述驶出基准位置；其中距离信息包括第一距离和第二距离，所述第一距离为驶入位置与第一障碍点之间的距离，所述第二距离为驶出基准位置与第二障碍点之间的距离；所述第一障碍点为所述驶入位置和预设狭窄通道的两个障碍点之间的距离中的较小的距离对应的障碍点，所述第二障碍点为所述驶入位置和所述预设狭窄通道的两个障碍点之间的距离中的较大的距离对应的障碍点；所述驶出基准位置选定为第二距离与第一距离相等时的位置。
  5. 根据权利要求3所述的方法，其特征在于，所述在所述驶出基准位置的邻域内确定最优 驶出位置，在所述驶出基准角度的邻域内确定最优驶出角度，包括：
    在所述机器人以所述驶出基准位置和所述驶出基准角度成功驶出所述狭窄区域的情况下，确定所述驶出基准位置为所述最优驶出位置，且确定所述驶出基准角度为所述最优驶出角度；
    在所述机器人以所述驶出基准位置和所述驶出基准角度未成功驶出所述狭窄区域的情况下，执行预定步骤至少一次，所述预定步骤为在所述驶出基准位置的邻域内选择一个位置作为当前次驶出位置，且在所述驶出基准角度的邻域内选择一个角度作为当前次驶出角度；
    将最后一次执行所述预定步骤时选择的驶出位置作为所述最优驶出位置，将最后一次执行所述预定步骤时选择的驶出角度作为所述最优驶出角度。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度，包括：
    获取机器人被困时长；
    在所述被困时长大于预定时长的情况下，根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度。
  7. 根据权利要求1至5中任一项所述的方法，其特征在于，根据机器人的历史运行轨迹，得到所述机器人从预设狭窄通道进入所述狭窄区域的驶入角度，包括：
    在所述历史运行轨迹上所述驶入位置的邻域内选取第一点和第二点；
    获取所述第一点和所述第二点的连线的第一斜率；
    获取所述预设狭窄通道的两个障碍点的连线的第二斜率；
    根据所述第二斜率确定所述垂线的第三斜率；
    根据所述第一斜率和所述第三斜率确定所述驶入角度。
  8. 根据权利要求7所述的方法，其特征在于，所述第一点和所述第二点位于所述驶入位置的同一侧，或者，所述第一点和所述第二点位于所述驶入位置的两侧。
  9. 一种机器人脱困装置，其特征在于，包括：
    第一获取单元，用于获取机器人的历史运行轨迹；
    第二获取单元，用于根据机器人的历史运行轨迹，得到所述机器人从预设狭窄通道进入所述狭窄区域的驶入位置和驶入角度；
    确定单元，用于根据所述驶入位置和所述驶入角度，确定所述机器人从所述预设狭窄通道驶出所述狭窄区域的驶出位置和驶出角度；
    控制单元，用于基于所述驶出位置和所述驶出角度，控制所述机器人驶出所述狭窄区域。
  10. 根据权利要求9所述的机器人脱困装置，其特征在于：
    所述狭窄区域由多个障碍点围设而成，相邻的两个所述多个障碍点之间形成狭窄通道；
    所述驶入位置为所述预设狭窄通道的所述两个障碍点的连线与所述历史运行轨迹的交点位置，所述驶入角度为所述机器人的进入方向与垂线的夹角，所述垂线为垂直于所述两个障碍点的连线；
    所述驶出位置为所述机器人驶出所述狭窄区域的轨迹与所述预设狭窄通道的所述两个障碍点的连线的交点位置，所述驶出角度为所述机器人的驶出方向与所述垂线的夹角。
  11. 一种处理器，其特征在于，所述处理器运行时，执行权利要求1至8中任意所述的方法的步骤。
  12. 一种机器人，其特征在于，包括：一个或多个处理器，存储器，以及一个或多个程序，其中，所述一个或多个程序被存储在所述存储器中，所述一个或多个程序被所述一个或多个处理器执行时，使得所述一个或多个处理器执行执行权利要求1至8中任意一项所述方法的步骤。
  13. 根据权利要求12所述的机器人，其特征在于，所述机器人为扫地机器人。
PCT/CN2023/091235 2022-08-17 2023-04-27 机器人脱困方法及装置、处理器和机器人 WO2024037036A1 (zh)

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