Breaking-out method for narrow area

The invention discloses a method for getting out of trouble in a narrow area, and relates to the technical field of intelligent household appliances. The method is applied to the robot, the robot is provided with a collision sensor, and when the collision sensor collides with an obstacle, a collision record containing the collision direction, position information and the deflection angle is generated. Judging whether the collision frequency of the robot in a preset time length exceeds a preset first frequency threshold value or not based on the collision record; if yes, it is determined that the robot is located in the narrow area; judging whether the robot meets a narrow area escape condition or not, and if yes, determining an escape path and a pose angle of the robot exiting the narrow area according to the position information, the collision direction and the deflection angle in the collision record; and controlling the robot to move according to the escape path and the pose angle so as to exit the narrow