CN109448339B - Intelligent cleaning equipment and warning method of intelligent terminal for slippery area - Google Patents
Intelligent cleaning equipment and warning method of intelligent terminal for slippery area Download PDFInfo
- Publication number
- CN109448339B CN109448339B CN201811564664.5A CN201811564664A CN109448339B CN 109448339 B CN109448339 B CN 109448339B CN 201811564664 A CN201811564664 A CN 201811564664A CN 109448339 B CN109448339 B CN 109448339B
- Authority
- CN
- China
- Prior art keywords
- map
- slippery
- cleaning equipment
- area
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
Landscapes
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a warning method of intelligent cleaning equipment for a slippery area, which comprises the following steps: the device constructs a map while walking; the device judges whether the driving wheel slips in real time in the walking process; if the driving wheel slips, the intelligent cleaning equipment marks a wet slipping area at a corresponding position in the map; the intelligent cleaning equipment sends the map data marked with the slippery area to the intelligent terminal, so that the intelligent terminal can warn the slippery area marked in the displayed map based on the map data. Through the warning, can remind the user to know which position area is more slippery, make the user can notice safety when this region walking, perhaps make the user in time handle this slippery region, for example will lead to this regional slippery liquid clean up to avoid the user in the problem that slippery region slips easily, and then improved the practicality of robot.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an intelligent cleaning device and an intelligent terminal warning method for a slippery area.
Background
The intelligent cleaning device may also be referred to as an intelligent cleaning robot, a sweeping robot, a mopping robot, or the like. The intelligent cleaning equipment is intelligent household floor sweeping equipment, and can automatically walk in certain occasions by means of certain artificial intelligence. Various sensors are arranged on the machine body of the equipment, can detect the walking distance, the walking angle (namely the advancing direction), the machine body state, obstacles and the like, can turn automatically when touching a wall or other obstacles, can walk along different routes according to different settings, can walk in a planned way, and can also construct a grid map according to various data detected in the walking process, for example, a grid unit corresponding to the detected obstacle is marked as an obstacle unit, a grid unit corresponding to the detected cliff is marked as a cliff unit, and a grid unit passing through the normal walking is marked as a passed unit. The marking mode is only used for constructing a map which is the same as or similar to the actual environment, so that the robot can conveniently navigate, and the walking and cleaning efficiency of the robot is improved.
Disclosure of Invention
In order to solve the problems, the invention provides a warning method of intelligent cleaning equipment for a slippery area, which can remind and warn a user which area is the slippery area by using a map constructed by the equipment, so that the problem that the user easily slips in the slippery area is avoided, and the practicability of the intelligent cleaning equipment is further improved. The specific technical scheme of the invention is as follows:
a warning method of an intelligent cleaning device for a slippery area comprises the following steps: the intelligent cleaning equipment builds a map while walking; the intelligent cleaning equipment judges whether the driving wheel slips in real time in the walking process; if the driving wheel slips, the intelligent cleaning equipment marks a wet slipping area at a corresponding position in the map; the intelligent cleaning equipment sends the map data marked with the slippery area to the intelligent terminal, so that the intelligent terminal can warn the slippery area marked in the displayed map based on the map data. Through the warning, can remind the user to know which position area is more slippery, make the user can notice safety when this region walking, perhaps make the user in time handle this slippery region, for example will lead to this regional slippery liquid clean up to avoid the user in the problem that slippery region slips easily, and then improved the practicality of robot.
Further, intelligence cleaning device is at the in-process of walking, and whether the condition of skidding appears in real time judgement drive wheel specifically includes: when the intelligent cleaning equipment is in straight line walking, the intelligent cleaning equipment judges whether the difference value between the actual moving distance of the machine body and the rotating distance of the driving wheels of the intelligent cleaning equipment is larger than a preset distance value, if so, the situation that the driving wheels slip is determined, otherwise, the situation that the driving wheels do not slip is determined; when the intelligent cleaning equipment is used for steering walking, the intelligent cleaning equipment judges whether the difference value of the angle formed by the actual rotating angle of the machine body and the rotating distance difference of the two driving wheels of the intelligent cleaning equipment is larger than a preset angle value, if so, the situation that the driving wheels slip is determined, and if not, the situation that the driving wheels do not slip is determined. According to the method, the accuracy of judging the slippery area by the robot can be improved by detecting and analyzing the straight-going state and the steering state of the robot. In addition, through the comparative analysis of two different sensing data, an accurate analysis result can be obtained, and the accuracy of judging the slippery area by the robot is further improved.
Further, the intelligent cleaning device marks a wet and slippery area at a corresponding position in the map, specifically including: the intelligent cleaning equipment updates the state of the grid unit in the grid map according to the data detected by the environment detection sensor; when the intelligent cleaning equipment detects that the driving wheel slips, the grid unit corresponding to the current position is marked as a wet slipping unit. Wherein a plurality of consecutive wet-skid units constitute the wet-skid region. According to the method, the slippery unit is marked on the slippery area of the robot in a grid unit state updating and marking mode, so that a grid map constructed by the robot is matched with the actual environment, and a user can accurately determine the slippery area.
Further, when the robot marks the grid cell corresponding to the current position as a wet-skid cell, the method further includes: grid cells adjacent to the wet skid cells are also labeled wet skid cells. The method can avoid safety accidents caused by map errors or user carelessness, and improves the effectiveness and accuracy of the robot in warning the slippery area.
Furthermore, the intelligent cleaning equipment is used for marking the slippery area at the corresponding position in the map and simultaneously broadcasting the voice warning information that the current area is the slippery area. The real-time voice broadcasting mode can improve the timeliness of warning.
Further, intelligence cleaning equipment sends the map that has the wet and slippery area of mark to intelligent terminal to the wet and slippery area of mark in the map warns, specifically includes: the intelligent cleaning device sends the data of the map to the intelligent terminal, so that the intelligent terminal can display the map and highlight the slippery area in the map. Through the highlight, better warning effect can be achieved, and the situation that a user does not pay attention to the existence of the slippery area is avoided.
Further, the intelligent terminal highlights a slippery area in the map, including: and the intelligent terminal carries out red flicker display on the position corresponding to the slippery area in the map. The method enables the user to notice the existence of the slippery area more easily, and improves the effectiveness of the warning.
Furthermore, while the intelligent terminal conducts red flicker display on the position corresponding to the slippery area in the map, the intelligent terminal also broadcasts prompt information of the slippery area through voice. According to the method, a better warning effect can be achieved by combining map display with voice broadcast, the user can be ensured to receive warning information in time, and accidents caused by the fact that the user does not notice the warning information are avoided.
An intelligent terminal warning method for a slippery area comprises the following steps: the intelligent terminal receives map data sent by the intelligent cleaning equipment; and the intelligent terminal carries out graphic display on the map data and warns the slippery area marked in the map with the graphic display. The map data comprises data obtained after marking a wet-skid area on a corresponding position in a constructed map when the intelligent cleaning equipment detects that a driving wheel skids in the walking process.
Further, the intelligent terminal warns the slippery area marked in the map displayed by the graph, and the method specifically comprises the following steps: and the intelligent terminal carries out red flashing display on the position corresponding to the slippery area in the map and broadcasts prompt information of the slippery area through voice. According to the method, a better warning effect can be achieved by combining map display with voice broadcast, the user can be ensured to receive warning information in time, and accidents caused by the fact that the user does not notice the warning information are avoided.
Drawings
Fig. 1 is a first flowchart of a warning method for a slippery area by an intelligent cleaning device.
Fig. 2 is a schematic flow chart of a warning method for a slippery area by an intelligent terminal.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
The intelligent cleaning device described in the following embodiments is an intelligent cleaning robot, which at least includes the following structure: the robot body capable of walking independently is provided with a left driving wheel and a right driving wheel, a human-computer interaction interface is arranged on the robot body, and an obstacle detection unit is arranged on the robot body. An inertial sensor is arranged in the machine body and comprises an accelerometer, a gyroscope and the like, and odometers (generally coded discs) for detecting the walking distance of the driving wheels are arranged on the two driving wheels. The robot also comprises a voice module capable of voice broadcasting. For convenience of description, the intelligent cleaning apparatus will be briefly described as a robot hereinafter.
The smart terminal according to the following embodiments may be a smart device such as a smart watch, a smart phone, or a tablet computer, and the smart device is bound with the robot in advance by a user, so that the smart device and the robot can communicate with each other.
A warning method for a slippery area by a robot is used for warning and reminding a user when the robot detects the slippery area, wherein the slippery area refers to an area with a relatively slippery ground surface, people or objects can easily slip or slip when walking on the ground surface, and it needs to be noted that the term of slippery is used in the text, and the term of slippery does not limit the situation that the ground surface can be wet certainly and the ground surface is too smooth to cause easy slipping, and also belongs to the wet slippery. As shown in fig. 1, the warning method specifically includes the following steps: the intelligent cleaning equipment walks and builds a map, the built map is a grid map, the grid map is a grid-shaped map formed by a plurality of continuously arranged grid units, the grid units are virtual square grids with the side length of 20 centimeters, but the specific side length value can also be set to other different values. During walking, the robot updates the state of the corresponding grid cell according to the data detected by the environment detection sensor, for example, the robot starts to walk forward with the current position as a starting point, and when the robot walks forward by 20 centimeters, the corresponding grid cell before the starting point is marked as a walking-past state from an unknown state, that is, the grid cell is a walking-past cell. When the robot detects an obstacle at 21 cm, the robot marks the grid cell in front of the previously updated walk cell as an obstacle cell. By analogy, the robot updates the environment state detected in the walking process to the corresponding grid unit, so that a grid map matched with the actual environment is constructed. The grid cell is a virtual cell grid, and the map display may be performed by color-covering, for example, displaying a passing area as green, and displaying a position where an obstacle is detected as yellow, without displaying a specific grid when displaying the map. In addition, the robot can judge whether the driving wheels slip in real time in the walking process. The slipping of the driving wheel means that the driving wheel rotates, but the body of the robot does not move correspondingly, and sliding friction is mainly generated between the driving wheel and the contacted ground. When the robot detects that the driving wheel slips, the grid unit corresponding to the position in the map is marked as a wet slipping unit. A plurality of consecutive wet skid units constitute a wet skid region. And finally, the intelligent cleaning equipment sends the map data marked with the slippery area to the intelligent terminal, so that the intelligent terminal can perform graphic display on the map constructed by the robot based on the map data and warn the position marked with the slippery area in the displayed map, and the warning mode can be striking display reminding in the displayed map or voice reminding through a voice broadcasting mode. Through the warning, can remind the user to know which position area is more slippery, make the user can notice safety when this region walking, perhaps make the user in time handle this slippery region, for example will lead to this regional slippery liquid clean up to avoid the user in the problem that slippery region slips easily, and then improved the practicality of robot.
As one embodiment, the method for judging whether the driving wheel slips in real time in the walking process of the robot specifically includes: when the robot walks in a straight line, the actual moving distance of the robot body can be detected in real time through devices such as an optical flow sensor, a laser sensor or a camera arranged in the robot body, the number of turns of the driving wheel can be detected in real time through a code disc arranged in the driving wheel, and the rotating distance of the driving wheel can be calculated through a data processor (CPU). Since the robot performs a straight-line walking, the moving distance of the robot body should be the same as the distance rotated by the single driving wheel. Therefore, in the process of walking of the robot, if the difference value between the actual moving distance of the robot body and the rotating distance of the driving wheels calculated by the CPU is larger than the preset distance value, the situation that the driving wheels slip is determined, and if not, the situation that the driving wheels do not slip is determined. The preset distance value can be set correspondingly according to specific product design requirements, and if the robot is expected to warn in an area with a relatively serious slip, the preset distance value can be set to be larger, for example, the preset distance value is set to be more than 20 centimeters, the driving wheel of the robot idles for 20 centimeters, but the machine body does not move, and the robot can be determined to slip. If it is desired to warn that the robot slips a little, the preset distance value may be set smaller, for example, 5 cm, and the driving wheel of the robot idles for 5 cm, but the body does not move, so that it may be determined that the robot slips.
When the robot turns to and walks, the actual rotating angle of the robot body can be detected in real time through a gyroscope arranged in the robot body, the rotating number of turns of the two driving wheels can be detected in real time through code discs arranged in the driving wheels, and the rotating distance difference of the two driving wheels is calculated through a data processor (CPU). Since the robot performs turning walking, an angle value calculated by a distance difference between two driving wheels and a width between the two driving wheels should be the same as an angle value detected by the gyroscope under a normal condition. Therefore, when the difference value between the rotation angle formed by the rotation distance difference of the two driving wheels calculated by the CPU and the angle value detected by the gyroscope is larger than the preset angle value in the steering process of the robot, the situation that the driving wheels slip can be determined, otherwise, the situation that the driving wheels do not slip is determined. The preset angle value can be set correspondingly according to specific product design requirements, if the robot is expected to warn in a region with serious slippage, the preset angle value can be set larger, for example, the preset angle value is set to be more than 15 degrees, when the driving wheels of the robot slip and idle, the CPU calculates the rotation angle formed by the two driving wheels to be 45 degrees, but the gyroscope only detects the rotation angle of 20 degrees, and the difference between the two values is 25 degrees, so that the robot can be determined to slip. If the robot is expected to warn as long as a little skidding occurs, the preset angle value can be set to be smaller, for example, set to be 5 degrees, the CPU calculates the rotation angle formed by the two driving wheels to be 16 degrees, but the gyroscope only detects the rotation angle of 10 degrees, and the difference between the two values is 6 degrees, so that the robot skidding can also be determined; at this time, if the gyroscope detects 15 ° and the two values differ by 1 °, it can be determined that the robot does not slip.
According to the method, the accuracy of judging the slippery area by the robot can be improved by detecting and analyzing the straight-going state and the steering state of the robot. In addition, through the comparative analysis of two different sensing data, an accurate analysis result can be obtained, and the accuracy of judging the slippery area by the robot is further improved.
As an embodiment, the marking of the slippery area by the robot at the corresponding position in the map specifically includes: and the robot updates the state of the grid cells in the grid map according to the data detected by the environment detection sensor. The environment detection sensor comprises sensing devices such as an obstacle detection sensor, an optical flow sensor, a coded disc of a driving wheel, a laser radar sensor and/or a camera, and the robot can accurately determine the environment state through real-time detection of the sensors and mutual fusion of sensing data. When the robot detects that the driving wheel slips, the grid unit corresponding to the current position is marked as a wet slipping unit, and the wet slipping area can be formed by a plurality of continuous wet slipping units. According to the method, the slippery unit is marked on the slippery area of the robot in a grid unit state updating and marking mode, so that a grid map constructed by the robot is matched with the actual environment, and a user can accurately determine the slippery area directly through the map.
As an embodiment, when the robot marks the grid cell corresponding to the current position as a wet-skid cell, the method further includes: grid cells adjacent to the wet skid cells are also labeled wet skid cells. Because the position corresponding to a certain slippery grid unit is slippery, the adjacent area nearby the certain slippery grid unit generally has certain slippery performance, and the grid map constructed by the robot does not completely correspond to the actual environment accurately, in order to further improve the safety of the user, the adjacent grid unit determined as the slippery unit is also marked as the slippery unit, so that safety accidents caused by map errors or user carelessness can be avoided, and the effectiveness and the accuracy of the robot in warning the slippery area are improved.
As one embodiment, the robot marks the slippery area at the corresponding position in the map and simultaneously broadcasts the voice warning information that the current area is the slippery area. Sometimes, a user may not notice information displayed by the intelligent terminal, so that in order to guarantee timeliness and effectiveness of warning, when the robot detects a slippery area, the robot immediately performs voice broadcast to warn that the current position of the robot is slippery, if the user hears the broadcast, the slippery area can be immediately determined, the slippery area is processed, or the user takes care of the user when walking in the area, and slipping is avoided. The real-time voice broadcasting mode can improve the timeliness of warning.
As one of the implementation manners, the robot sends the map marked with the slippery area to the intelligent terminal, and warns the slippery area marked in the map, which specifically includes: and the robot sends the data of the map to the intelligent terminal, so that the intelligent terminal can display the map in a graphic form and highlight a wet and slippery area in the map after receiving the data. The highlighting can be made by a striking color mark, regular size change or flashing display, as long as the effect of highlighting the slippery region to make it significantly different from other regions is achieved. Through the highlight, better warning effect can be achieved, and the situation that a user does not pay attention to the existence of the slippery area is avoided.
As one embodiment, the intelligent terminal highlights a slippery area in the map, and includes: the intelligent terminal will the position that the slippery region corresponds in the map carries out red scintillation and shows, through adopting striking red, and the display effect of scintillation in addition makes the user notice the existence in slippery region more easily, improves the validity of warning. It is needless to say that the characters "slippery area" may be marked on the displayed slippery area to facilitate understanding by the user, and the description may be given in the instruction manual or the operation instruction.
As one of the implementation manners, while the intelligent terminal performs red flashing display on the position corresponding to the slippery area in the map, the intelligent terminal also performs voice broadcast through a loudspeaker of the intelligent terminal to inform a user that the map has the slippery area and please pay attention to prompt information such as safety. According to the method, a better warning effect can be achieved by combining map display with voice broadcast, the user can be ensured to receive warning information in time, and accidents caused by the fact that the user does not notice the warning information are avoided.
An intelligent terminal warning method for a slippery area, as shown in fig. 2, specifically includes the following steps: the intelligent terminal receives the map data sent by the robot; and the intelligent terminal carries out graphic display on the map data and warns the slippery area marked in the map with the graphic display. The warning mode can adopt a striking color mark, regular size change or flashing display mode and the like, as long as the effect of highlighting the slippery area and making the slippery area obviously different from other areas can be achieved. The map data comprises data obtained after marking a wet-skid area on a corresponding position in a constructed map when the robot detects that a driving wheel skids in the walking process. In addition, the method also comprises the data of marking the corresponding grid cell as an obstacle cell when the robot detects the obstacle; when the robot detects a cliff, the corresponding grid cell is marked as data of the cliff cell, and so on. The method can remind the user of knowing which position area is wet and smooth through the intelligent terminal, so that the user can pay attention to safety when walking in the area, or the user can timely process the wet and smooth area, for example, liquid which causes the wet and smooth area is cleaned up, the problem that the user easily slips in the wet and smooth area is avoided, and the practicability of the robot is improved.
As one embodiment, the method for warning the slippery area marked in the map displayed by the graphic by the intelligent terminal specifically includes: the intelligent terminal will the position that the slippery region corresponds in the map carries out red scintillation and shows, through adopting striking red, and the display effect of scintillation in addition makes the user notice the existence in slippery region more easily, improves the validity of warning. Simultaneously, intelligent terminal still carries out voice broadcast through its self loudspeaker, tells that there is the slippery area in the user map, please notice prompt information such as safety. According to the method, a better warning effect can be achieved by combining map display with voice broadcast, the user can be ensured to receive warning information in time, and accidents caused by the fact that the user does not notice the warning information are avoided.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (various media that can store program codes such as ROM, RAM, CPU, MCU, magnetic or optical disk). Which when executed performs steps comprising the method embodiments described above.
Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, the same or similar parts in the embodiments are referred to each other, and technical solutions in the embodiments may be combined with each other. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art may still modify the technical solutions described in the foregoing embodiments, or may equally replace some or all of the technical features of the foregoing embodiments; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (2)
1. A warning method of an intelligent cleaning device for a slippery area is characterized by comprising the following steps:
the intelligent cleaning equipment builds a map while walking;
the intelligent cleaning equipment judges whether the driving wheel slips in real time in the walking process;
if the driving wheel slips, the intelligent cleaning equipment marks a wet slipping area at a corresponding position in the map;
the intelligent cleaning equipment sends the map data marked with the slippery area to the intelligent terminal, so that the intelligent terminal can warn the slippery area marked in the displayed map based on the map data;
wherein, the intelligent cleaning equipment carries out the wet and slippery area mark in the position that corresponds in the map, specifically includes: the intelligent cleaning equipment updates the state of the grid unit in the grid map according to the data detected by the environment detection sensor; when the intelligent cleaning equipment detects that the driving wheel slips, marking the grid unit corresponding to the current position as a wet slipping unit; a plurality of consecutive wet-skid units constitute the wet-skid region;
when the grid unit that intelligent cleaning device corresponds current position marks as the unit of slipping, still include: marking grid cells adjacent to the wet skid cells as wet skid cells;
the intelligent cleaning equipment marks the slippery area at the corresponding position in the map and simultaneously broadcasts the voice warning information that the current area is the slippery area;
intelligent cleaning device is at the in-process of walking, and the condition of whether skidding appears in the real-time judgement drive wheel specifically includes: when the intelligent cleaning equipment is in straight line walking, the intelligent cleaning equipment judges whether the difference value between the actual moving distance of the machine body and the rotating distance of the driving wheels of the intelligent cleaning equipment is larger than a preset distance value, if so, the situation that the driving wheels slip is determined, otherwise, the situation that the driving wheels do not slip is determined; when the intelligent cleaning equipment is used for steering walking, the intelligent cleaning equipment judges whether the difference value of the angle formed by the actual rotating angle of the machine body and the rotating distance difference of the two driving wheels of the intelligent cleaning equipment is larger than a preset angle value or not, if so, the situation that the driving wheels slip is determined, and if not, the situation that the driving wheels do not slip is determined;
intelligence cleaning device sends the map that has the wet and slippery area of mark to intelligent terminal to it warns to be right in the wet and slippery area of mark in the map, specifically includes: the intelligent cleaning equipment sends the data of the map to the intelligent terminal, so that the intelligent terminal can display the map and highlight a slippery area in the map;
the intelligent terminal highlights the slippery area in the map, and the method comprises the following steps: the intelligent terminal conducts red flashing display on the position corresponding to the slippery area in the map;
and the intelligent terminal carries out red flashing display on the position corresponding to the slippery area in the map, and simultaneously broadcasts prompt information of the slippery area through voice.
2. An intelligent terminal warning method for a slippery area is characterized by comprising the following steps:
the intelligent terminal receives map data which is sent by the intelligent cleaning equipment and determined by the warning method of the intelligent cleaning equipment for the slippery area according to the claim 1;
the intelligent terminal graphically displays the map data and warns a slippery area marked in the graphically displayed map;
the map data comprises data obtained after marking a wet-skid area on a corresponding position in a constructed map when the intelligent cleaning equipment detects that a driving wheel skids in the walking process;
the intelligent terminal warns the wet and slippery area marked in the map displayed by the graph, and specifically comprises the following steps: and the intelligent terminal carries out red flashing display on the position corresponding to the slippery area in the map and broadcasts prompt information of the slippery area through voice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811564664.5A CN109448339B (en) | 2018-12-20 | 2018-12-20 | Intelligent cleaning equipment and warning method of intelligent terminal for slippery area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811564664.5A CN109448339B (en) | 2018-12-20 | 2018-12-20 | Intelligent cleaning equipment and warning method of intelligent terminal for slippery area |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109448339A CN109448339A (en) | 2019-03-08 |
| CN109448339B true CN109448339B (en) | 2021-06-08 |
Family
ID=65558889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811564664.5A Active CN109448339B (en) | 2018-12-20 | 2018-12-20 | Intelligent cleaning equipment and warning method of intelligent terminal for slippery area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109448339B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5208940A (en) * | 1990-11-01 | 1993-05-11 | London Charles A | Floor dryer and warning device |
| CN107180509A (en) * | 2017-07-24 | 2017-09-19 | 北京石油化工学院 | Old man's home safety robot and its control system and control method |
| CN107348910A (en) * | 2017-09-12 | 2017-11-17 | 珠海市微半导体有限公司 | The detection method and build drawing method and chip that robot skids |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103324166B (en) * | 2013-05-29 | 2015-07-01 | 北京博研智通科技有限公司 | System and method for quickly finding road surface slippery situation and recording earliest slippery point |
| CN105631363A (en) * | 2014-11-05 | 2016-06-01 | 小米科技有限责任公司 | Security prompting method and apparatus |
| CN105702024A (en) * | 2014-11-24 | 2016-06-22 | 北京卓越信通电子股份有限公司 | Method and system for surveying road condition through terminal |
| CN206058839U (en) * | 2016-08-30 | 2017-03-29 | 上海市杨浦区控江二村小学 | A kind of multi-functional " Caution! Wet Floor " warning sign |
| CN108638053B (en) * | 2018-04-03 | 2020-11-17 | 珠海市一微半导体有限公司 | Robot slip detection method and correction method thereof |
-
2018
- 2018-12-20 CN CN201811564664.5A patent/CN109448339B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5208940A (en) * | 1990-11-01 | 1993-05-11 | London Charles A | Floor dryer and warning device |
| CN107180509A (en) * | 2017-07-24 | 2017-09-19 | 北京石油化工学院 | Old man's home safety robot and its control system and control method |
| CN107348910A (en) * | 2017-09-12 | 2017-11-17 | 珠海市微半导体有限公司 | The detection method and build drawing method and chip that robot skids |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109448339A (en) | 2019-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109528092B (en) | Method for warning slippery area by intelligent household cleaning robot | |
| CN108638053B (en) | Robot slip detection method and correction method thereof | |
| EP3682784B1 (en) | Method for detecting skidding of robot, mapping method and chip | |
| US20200225657A1 (en) | Advanced user interaction features for remote park assist | |
| CN107943025B (en) | Processing method for robot escaping from poverty | |
| US9854737B2 (en) | Robotic lawn mowing boundary determination | |
| US10889294B2 (en) | Assessing U-turn feasibility | |
| AU2015370367B2 (en) | Robotic mowing of separated lawn areas | |
| JP5560979B2 (en) | Autonomous mobile | |
| EP3348749A1 (en) | Method and device for remotely controlling robotic pool cleaner | |
| CN104890670A (en) | Driving assistance system and driving assistance method | |
| CN104536445A (en) | Mobile navigation method and system | |
| CN106537169A (en) | Color block tag-based localization and mapping method and device thereof | |
| US20190009778A1 (en) | U-turn assistance based on difficulty in maneuvering | |
| JP6636260B2 (en) | Travel route teaching system and travel route teaching method for autonomous mobile object | |
| CN110986967B (en) | Automatic repositioning method, medium, terminal and device for robot | |
| JP2009031992A (en) | Autonomous moving device | |
| EP3738495B1 (en) | Robotic vacuum cleaner and control method therefor | |
| JP2017182175A (en) | Autonomous travel device and start position determination program | |
| CN109514581B (en) | Safety reminding method based on intelligent mobile robot | |
| JP7462416B2 (en) | Autonomous Mobile Work Device | |
| JP2023127590A (en) | Autonomous travel work device | |
| JP6025814B2 (en) | Operating device and autonomous mobile system | |
| CN109448339B (en) | Intelligent cleaning equipment and warning method of intelligent terminal for slippery area | |
| JP7519579B2 (en) | Vacuum cleaner system and method for posting dangerous positions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |