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CN-116069026-B - Method and device for getting rid of poverty of robot, terminal equipment and readable storage medium

CN116069026BCN 116069026 BCN116069026 BCN 116069026BCN-116069026-B

Abstract

The application is suitable for the technical field of robots, and provides a method and a device for getting rid of poverty of a robot, terminal equipment and a readable storage medium. The method for getting rid of the trapping of the robot specifically comprises the steps of obtaining track positioning data of track points recorded in the moving process of the robot, obtaining pose positioning data of laser points collected in the moving process of the robot, downsampling the laser points if the robot is located in a closed area, and expanding the distance of the downsampled laser points to obtain target laser points, wherein the target laser points are connected to form a convex polygon area where the robot is located, determining a first target track point and a second target track point from the track points according to the track positioning data, wherein the first target track point is located in the convex polygon area, the second target track point is located outside the convex polygon area, and controlling the robot to go to the first target track point and move to the second target track point. The embodiment of the application can improve the reliability of the robot escaping method.

Inventors

  • ZHAO YONGSHENG
  • ZHANG SIMIN
  • JIAO JICHAO

Assignees

  • 深圳市优必选科技股份有限公司

Dates

Publication Date
20260512
Application Date
20221228

Claims (7)

  1. 1. A method of escaping a robot comprising: acquiring track positioning data of track points recorded in the moving process of the robot; acquiring laser radar data of a laser spot acquired by the robot at a preset sampling frequency and corresponding pose data in the moving process; converting the laser radar data and the pose data into polar coordinate data of a polar coordinate system taking the laser point at the first sampling moment as an origin; Sequencing the laser points according to the polar angles in the polar coordinate system; Screening out laser points with the polar diameter difference between any one of the two adjacent laser points being smaller than or equal to a first distance threshold value from the sorted polar coordinate data, and/or screening out laser points with the polar diameter difference between the two adjacent laser points being larger than a second distance threshold value and the polar angle difference being smaller than the first angle threshold value from the sorted polar coordinate data; If the robot is positioned in the closed area, calculating the polar angle difference between two adjacent laser points according to the polar coordinate data; downsampling the laser points according to the polar angle difference to obtain downsampled laser points, wherein the polar angle difference between two adjacent downsampled laser points is larger than a second angle threshold; Increasing the pole diameter of each downsampled laser point by a preset length value, and removing pits to obtain a target laser point, wherein the target laser points are connected to form a convex polygon area where the robot is located; Determining a first target track point and a second target track point from the track points according to the track positioning data, wherein the first target track point is positioned in the convex polygon area, and the second target track point is positioned outside the convex polygon area; And controlling the robot to go to the first target track point and move to the second target track point.
  2. 2. The method of claim 1, further comprising, prior to said downsampling the laser spot: Calculating the polar diameter difference between two adjacent laser points according to the polar coordinate data; And if the difference of the polar diameters between every two adjacent laser points is smaller than the width of the robot, confirming that the robot is positioned in the closed area.
  3. 3. The method of claim 1 to 2, wherein determining a first target trajectory point and a second target trajectory point from the trajectory points based on the trajectory positioning data, comprises: sequencing track points in the track positioning data according to the sequence from the near to the far of the sampling time; taking the first track point outside the convex polygon area as the second target track point; and taking the track point of the previous sampling time of the second target track point as the first target track point.
  4. 4. The method of escape from a robot according to any one of claims 1 to 2, comprising, in said controlling said robot to travel to said first target locus point and to move to said second target locus point: Recording the duration of movement of the robot from the first target track point to the second target track point; If the duration time is longer than the duration threshold, controlling the robot to return to the first target track point, adjusting the moving direction after the robot reaches the first target track point, and moving forward again according to the adjusted moving direction until the track point where the robot is currently located is located outside the convex polygon area, wherein the adjusted moving direction is different from the direction in which the first target track point points to the second target track point.
  5. 5. A device for escaping from the trapped state of a robot, comprising: the track positioning unit is used for acquiring track positioning data of track points recorded in the moving process of the robot; the pose positioning unit is used for acquiring laser radar data and corresponding pose data of laser points acquired by the robot at a preset sampling frequency in the moving process, converting the laser radar data and the pose data into polar coordinate data of a polar coordinate system taking the laser points at the first sampling moment as an origin, sorting the laser points according to polar angles of the polar coordinate system, screening out laser points with the polar diameter difference smaller than or equal to a first distance threshold between any one of the two adjacent laser points from the sorted polar coordinate data, and/or screening out laser points with the polar diameter difference larger than a second distance threshold between the two adjacent laser points from the sorted polar coordinate data, wherein the polar angle difference is smaller than the first angle threshold; The laser spot processing unit is used for calculating the polar angle difference between two adjacent laser spots according to the polar coordinate data if the robot is positioned in the closed area, and downsampling the laser spots according to the polar angle difference to obtain downsampled laser spots, wherein the polar angle difference between the two adjacent downsampled laser spots is larger than a second angle threshold value; the track point processing unit is used for determining a first target track point and a second target track point from the track points according to the track positioning data, wherein the first target track point is positioned in the convex polygon area, and the second target track point is positioned outside the convex polygon area; And the escape control unit is used for controlling the robot to go to the first target track point and move to the second target track point.
  6. 6. Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the method of getting rid of poverty of a robot according to any of claims 1 to 5.
  7. 7. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor realizes the steps of the method of getting rid of poverty of a robot according to any of claims 1 to 5.

Description

Method and device for getting rid of poverty of robot, terminal equipment and readable storage medium Technical Field The application belongs to the technical field of robots, and particularly relates to a method and a device for getting rid of poverty of a robot, terminal equipment and a readable storage medium. Background The robot getting rid of poverty control is an important research direction for assisting the robot to successfully finish tasks, and data scanned by a laser radar or other sensors in the related art are often navigated away from a poverty-catching area. However, when the robot performs a task, the robot sometimes drills under the bed or drills a floating curtain, and then the suspended bed sheet or curtain shields the laser radar or other sensors, so that the robot is difficult to navigate away from a trapped area, and therefore the reliability is low. Disclosure of Invention The embodiment of the application provides a method, a device, terminal equipment and a readable storage medium for escaping from the robot, which can solve the problem of insufficient reliability of escaping modes of the robot in the related technology. The first aspect of the embodiment of the application provides a method for getting rid of the fatigue of a robot, which comprises the steps of obtaining track positioning data of track points recorded in the moving process of the robot, obtaining pose positioning data of laser points collected in the moving process of the robot, downsampling the laser points if the robot is located in a closed area, and expanding the distance of the downsampled laser points to obtain target laser points, wherein the target laser points are connected to form a convex polygon area where the robot is located, determining a first target track point and a second target track point from the track points according to the track positioning data, wherein the first target track point is located in the convex polygon area, the second target track point is located outside the convex polygon area, and controlling the robot to go to the first target track point and move to the second target track point. The escape device of the robot comprises a track positioning unit, a pose positioning unit, a laser point processing unit and an escape control unit, wherein the track positioning unit is used for acquiring track positioning data of track points recorded in the moving process of the robot, the pose positioning unit is used for acquiring pose positioning data of laser points acquired in the moving process of the robot, the laser point processing unit is used for downsampling the laser points and expanding the distance of the downsampled laser points to obtain target laser points, the target laser points are connected to form a convex polygon area where the robot is located, the track point processing unit is used for determining a first target track point and a second target track point from the track points according to the track positioning data, the first target track point is located in the convex polygon area, the second target track point is located outside the convex polygon area, and the escape control unit is used for controlling the robot to go to the first target track point and move to the second target track point. A third aspect of the embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the steps of the method for getting rid of the trouble of the robot when executing the computer program. A fourth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described method for getting rid of poverty of a robot. A fifth aspect of the embodiments of the present application provides a computer program product for causing a terminal device to perform the method of getting rid of the encumbrance of a robot as described in the first aspect above, when the computer program product is run on the terminal device. In the embodiment of the application, the track positioning data of the track points and the pose positioning data of the laser points recorded in the moving process of the robot are obtained, if the robot is positioned in the closed area, the laser points are downsampled, and the distance expansion is carried out on the downsampled laser points to obtain the target laser points, wherein the target laser points are connected to form the convex polygon area where the robot is positioned, and the convex polygon area can comprise the closed area, so that the first target track point in the convex polygon area and the second target track point outside the convex polygon area are determined from the track points according to the track positioning data, the robot is controlled to move to the fir