Robot small-space escape method and device, computer equipment and storage medium

Abstract

The embodiment of the invention belongs to the technical field of robot navigation, and relates to a robot small-space escape method. The method comprises the steps of executing a fixing step in an escape state of controlling a robot to escape, and locking and fixing one side of the sweeping robot by a fixed wheel of the robot; driving a driving wheel opposite to the fixed wheel to rotate so as to drive the robot to rotate by taking the fixed wheel as a circle center; detecting collision, and if the collision occurs in a preset rotation angle range, driving the sweeping robot to retreat and rotate so as to be separated from a collided obstacle; and executing the fixing step repeatedly until the collision occurs outside the preset rotation angle range, and achieving the escape. One wheel of the robot is fixed to serve as the fixed wheel, the driving wheel opposite to the fixed wheel is driven to rotate, the sweeping robot is driven to rotate around the fixed wheel, the sweeping robot tries to come out of a trapped area in a rotating mode, and efficient separation from the narrow trapped area can be achieved through the scheme.

Description

technical field [0001] The present application relates to the technical field of robot navigation, in particular to a method, device, computer equipment and storage medium for a robot to escape from difficulties in a small space. Background technique [0002] The sweeping robot can clean an area autonomously, which greatly reduces the manpower required for cleaning. During actual operation, the operating environment of the area to be cleaned is complex, including some narrow areas, such as corners where cabinets are placed, irregular areas composed of load-bearing columns and walls, etc. may form a narrow cleaning space. When the sweeping robot walks in the above environment, it is easy to get trapped and cannot continue the subsequent cleaning work. When the sweeping robot runs into a small space, it needs a suitable navigation method to help the sweeping robot get out of trouble by itself. Contents of the invention [0003] The purpose of the embodiment of the present a...

AI Technical Summary

Problems solved by technology

During actual operation, the operating environment of the area to be cleaned is complex, including some narrow areas, such as corners where cabinets are placed, irregular areas composed of load-bearing columns and walls, etc. may form a narrow cleaning space. When the sweeping robot walks in the above environment, it is easy to get trapped and cannot continue the subsequent cleaning work. When the sweeping robot runs into a small space, it needs to have a suitable navigation method to help the sweeping robot get out of trouble by itself

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