CN109448339A - A kind of intelligent cleaning equipment and intelligent terminal are directed to the alarming method for power in wet and slippery region - Google Patents
A kind of intelligent cleaning equipment and intelligent terminal are directed to the alarming method for power in wet and slippery region Download PDFInfo
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- CN109448339A CN109448339A CN201811564664.5A CN201811564664A CN109448339A CN 109448339 A CN109448339 A CN 109448339A CN 201811564664 A CN201811564664 A CN 201811564664A CN 109448339 A CN109448339 A CN 109448339A
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- 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
Abstract
The present invention relates to the alarming method for power that a kind of intelligent cleaning equipment is directed to wet and slippery region, include the following steps: that the equipment constructs map while walking；The equipment is during walking, the case where whether real-time judge driving wheel has skidded；If the driving wheel has skidded, the intelligent cleaning equipment corresponding position in the map carries out wet and slippery zone marker；The map datum for being marked with wet and slippery region is sent to intelligent terminal by the intelligent cleaning equipment, so that the intelligent terminal is based on the map datum, is warned to shown ground wet and slippery region marked in the figure.Pass through the warning, it may remind the user that and know which block band of position is more wet and slippery, make user when the region is walked it can be noted that safety, or it allows users in time handle the wet and slippery region, for example it will lead to the wet and slippery liquid in the region and clean out, to avoid the problem that user is easy to slip in wet and slippery region, and then improve the practicability of robot.
Description
Technical field
The present invention relates to field in intelligent robotics, and in particular to a kind of intelligent cleaning equipment and intelligent terminal are directed to wet and slippery area
The alarming method for power in domain.
Background technique
Intelligent cleaning equipment is referred to as Intelligent cleaning robot, sweeping robot or floor-mopping robot etc..It is described
Intelligent cleaning equipment is that a kind of intelligent domestic is swept the floor equipment, can rely on certain artificial intelligence, be gone automatically in certain occasions
It walks.The body of the equipment is equipped with various sensors, can detect travel distance, walking angle (i.e. direction of travel), body shape
State and barrier etc. such as encounter wall or other barriers, can voluntarily turn, and according to different settings, and walk different routes,
It walks with having planning, can also construct grating map according to the various data that detect in walking process, such as detecting obstacle
Corresponding grid cell is denoted as obstacle unit when object, detecting that grid cell corresponding when steep cliff is denoted as steep cliff list
Member, the grid cell that normal walking is passed through are denoted as unit of having passed by.This marking mode is just for the sake of building and reality
Environment is identical or approximate map, facilitates robot to navigate, improves walking and the cleaning efficiency of robot.
Summary of the invention
To solve the above problems, the present invention provides the alarming method for power that a kind of intelligent cleaning equipment is directed to wet and slippery region, it can
With using the map of the device build, reminding and warn which region of user is wet and slippery region, avoid user in wet and slippery region
It is easy the problem of slipping, to further improve the practicability of intelligent cleaning equipment.The specific technical solution of the present invention is as follows:
A kind of intelligent cleaning equipment is directed to the alarming method for power in wet and slippery region, includes the following steps: the intelligent cleaning equipment on one side
Walking constructs map on one side；The intelligent cleaning equipment during walking, what whether real-time judge driving wheel had skidded
Situation；If the driving wheel has skidded, the intelligent cleaning equipment corresponding position in the map carries out wet and slippery area
Field mark；The map datum for being marked with wet and slippery region is sent to intelligent terminal by the intelligent cleaning equipment, makes the intelligence eventually
End can be based on the map datum, warn to shown ground wet and slippery region marked in the figure.It, can by the warning
To remind user to know, which block band of position is more wet and slippery, makes user when the region is walked it can be noted that safety, or use
Family can in time be handled the wet and slippery region, for example be will lead to the wet and slippery liquid in the region and cleaned out, to avoid using
Family is easy the problem of slipping in wet and slippery region, and then improves the practicability of robot.
Further, the intelligent cleaning equipment is during walking, what whether real-time judge driving wheel had skidded
Situation specifically includes: when the intelligent cleaning equipment is when carrying out straight line walking, the intelligent cleaning equipment judges its body reality
The mobile distance in border and its driving wheel rotated at a distance between difference whether be greater than pre-determined distance value, if it is, determining
Otherwise the case where driving wheel has skidded determines the case where driving wheel does not have skidded；When the intelligent cleaning
For equipment when carrying out turning to walking, the intelligent cleaning equipment judges the angle and two driving wheel of its body actual rotation
Whether the difference that rotation distance difference is formed by angle is greater than preset angle angle value, if it is, determining that the driving wheel is beaten
Otherwise sliding situation determines the case where driving wheel does not have skidded.The method passes through the straight-going state to robot
It is all detected and analyzed with steering state, robot can be improved to the accuracy of wet and slippery region decision.In addition, by two
The comparative analysis of the different sensing datas of kind, it can be deduced that accurately analysis sentences wet and slippery region as a result, further increasing robot
Disconnected accuracy.
Further, the intelligent cleaning equipment corresponding position in the map carries out wet and slippery zone marker, specifically
Include: intelligent cleaning equipment data according to detected by environmental detection sensor, updates the grid list in grating map
The state of member；When the intelligent cleaning equipment detects that the driving wheel skids, by grid cell corresponding to current location
Labeled as wet and slippery unit.Wherein, multiple continuous wet and slippery units constitute the wet and slippery region.The method passes through grid list
First state updates and the mode of label, the label of wet and slippery unit is carried out to the region that robot skids, so that constructed by robot
Grating map be adapted with actual environment, be conducive to user and accurately determine wet and slippery region.
Further, when grid cell corresponding to current location is labeled as wet and slippery unit by the robot, further includes:
The grid cell adjacent with the wet and slippery unit is also labeled as wet and slippery unit.The method can be to avoid map error or use
Safety accident caused by the general idea of family, improves validity and accuracy that robot warns wet and slippery region.
Further, the intelligent cleaning equipment corresponding position in the map carries out the same of wet and slippery zone marker
When, also broadcast the phonetic warning information that current region is wet and slippery region.The mode of this real-time voice casting, can be improved warning
Timeliness.
Further, the map for being marked with wet and slippery region is sent to intelligent terminal by the intelligent cleaning equipment, and to institute
State wet and slippery region marked in the figure to be warned, specifically include: the intelligent cleaning equipment sends the data of the map
To the intelligent terminal, enables the intelligent terminal to show the map and highlight the wet and slippery area in the map
Domain.By highlighting, it can achieve warning effect that more can be good, user avoided not pay attention to the presence in wet and slippery region.
Further, the intelligent terminal highlights the wet and slippery region in the map, comprising: the intelligent terminal will
Position corresponding to wet and slippery region carries out red flashing display in the map.The method make user be easier to notice it is wet and slippery
The presence in region improves the validity of warning.
Further, position corresponding to region wet and slippery in the map is carried out red flashing display by the intelligent terminal
While, the intelligent terminal also passes through the prompt information in the wet and slippery region of voice broadcast.The method is combined by map denotation
The mode of voice broadcast can achieve better warning effect, it is ensured that user can timely receive information warning, avoid user
It does not notice information warning and causes the generation of contingency.
A kind of intelligent terminal is directed to the alarming method for power in wet and slippery region, includes the following steps: that intelligent terminal receives the intelligence
Map datum transmitted by cleaning equipment；The map datum is carried out graphical display by the intelligent terminal, and to graphical display
Map in the wet and slippery region that is marked warned.Wherein, the map datum includes that the intelligent cleaning equipment is being walked
During, when detecting that driving wheel skids, the number after position corresponding in constructed map to be carried out to wet and slippery zone marker
According to.
Further, the intelligent terminal warns the wet and slippery region marked in the map of graphical display, specifically
Include: the intelligent terminal by the red flashing display of the progress of position corresponding to region wet and slippery in the map, and passes through language
Sound broadcasts the prompt information in wet and slippery region.The method can achieve more preferable by way of map denotation combination voice broadcast
Warning effect, it is ensured that user can timely receive information warning, and user is avoided not notice information warning and cause to anticipate
The generation of outer accident.
Detailed description of the invention
Fig. 1 is flow diagram one of the intelligent cleaning equipment for the alarming method for power in wet and slippery region.
Fig. 2 is flow diagram two of the intelligent terminal for the alarming method for power in wet and slippery region.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that disclosed below, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.
Intelligent cleaning equipment described in following each embodiment is a kind of Intelligent cleaning robot, includes at least following knot
Structure: the machine human organism for capableing of autonomous with left driving wheel and right driving wheel, body are equipped with human-computer interaction interface, machine
Body is equipped with obstacle detection unit.Internal body is provided with inertial sensor, and the inertial sensor includes accelerometer and gyro
Instrument etc. is designed with the odometer (usually code-disc) of the travel distance for detecting driving wheel on two driving wheels.The machine
People further includes the voice module for being able to carry out voice broadcast.For ease of description, intelligent cleaning equipment can hereafter be sketched as machine
Device people.
Intelligent terminal described in following each embodiment can be smartwatch, smart phone or tablet computer etc. and intelligently set
Standby, it is bound with robot by user in advance for these smart machines, so that can carry out phase intercommunication between the two
Letter.
A kind of robot is directed to the alarming method for power in wet and slippery region, carries out when detecting wet and slippery region for robot to user
Early warning is reminded, and the wet and slippery region refers to the more sliding region in ground, people or object walking be easy to slip on the ground or
Person is skidded, it should be noted that this wet and slippery word is used herein, is not to limit ground to be bound to moisten, ground excessively light
It is sliding and lead to be easy the case where skidding, it also belongs to described wet and slippery.As shown in Figure 1, the alarming method for power specifically includes following step
Rapid: the intelligent cleaning equipment constructs map while walking, and constructed map is grating map, and the grating map is
A kind of lattice-shaped map being made of many grid cells continuously arranged, the grid cell are that a kind of side length is 20 centimetres
Virtual squares grid, still, specific side length numerical value may be arranged as other different numerical value.Mistake of the robot in walking
Cheng Zhong, meeting data according to detected by the environmental detection sensor of itself, updates the state of corresponding grid cell, for example,
Robot starts to walk forward using current location as starting point, and when robot has walked forward 20 centimetres, meeting is before the starting point
Corresponding grid cell is state of having passed by from unknown status indication, i.e., the grid cell is unit of having passed by.When robot is 21
Centimetre when detect barrier, then robot the grid cell in front of the unit of having passed by updated before this be labeled as obstacle list
Member.And so on, ambient condition detected in walking process can be updated in corresponding grid cell by robot, thus structure
Build a grating map compatible with actual environment.It should be noted that the grid cell is a kind of virtual cell
Son can not have to show specific grid in map denotation, can carry out map denotation in such a way that color covers, than
Such as, the region passed by is shown in green, the position for detecting barrier is shown as yellow.In addition to this, robot can also
During walking, the case where whether real-time judge driving wheel has skidded.The driving wheel skidding refers to that driving wheel is turning
It is dynamic, but the body of robot is there is no accordingly moving, and is mainly slidingtype friction between driving wheel and the ground contacted.
When robot detects that the driving wheel has skidded, by grid cell corresponding with the position in the map labeled as wet
Sliding unit.Multiple continuous wet and slippery units constitute wet and slippery region.Finally, the intelligent cleaning equipment is being marked with wet and slippery region
Map datum is sent to intelligent terminal, so that the intelligent terminal is based on the map datum, to ground constructed by robot
Figure carries out graphical display, and is that the position in region warns to label in shown map, the mode of the warning
It can be and carry out eye-catching display alarm in shown map, be also possible to carry out voice by way of voice broadcast to mention
It wakes up.By the warning, it may remind the user that and know which block band of position is more wet and slippery, enable user when the region is walked
It takes care, or allows users in time handle the wet and slippery region, for example to will lead to the wet and slippery liquid in the region clear
Reason is clean, to avoid the problem that user is easy to slip in wet and slippery region, and then improves the practicability of robot.
As one of embodiment, during walking, whether real-time judge driving wheel occurs for the robot
The case where skidding, specifically includes: when the robot is when carrying out straight line walking, can be sensed by the light stream being arranged in body
The actual moving distance of the devices real-time detection body such as device, laser sensor or camera, can also be by set in driving wheel
Code-disc real-time detection described in the circle number that is rotated of driving wheel, and driving wheel rotation is calculated by data processor (CPU)
Distance.What it is due to robot progress is straight line walking, so, the moving distance of machine human organism should be and single driving wheel institute
The distance of rotation is the same.So the robot is during walking, if CPU is calculated, its body is practical to be moved
Distance and its driving wheel rotated at a distance between difference be greater than pre-determined distance value, it is determined that the driving wheel had skidded
Otherwise situation determines the case where driving wheel does not have skidded.Wherein, the pre-determined distance value can be produced according to specific
Product design requirement is accordingly arranged, if it is desired to which robot is described pre- when more serious region of skidding just is warned
If distance value can be set larger, for example be set as 20 centimetres or more, the driving wheel of robot has dallied 20 centimetres, still
Body does not move, then can determine that robot skids.If it is desired to which robot is just carried out simply by the presence of the case where some skidding
When warning, the pre-determined distance value can be set smaller, for example be set as 5 centimetres, and the driving wheel of robot has dallied 5 lis
Rice, but body does not move, and can also determine that robot skids.
It, can be practical by the gyroscope real-time detection body being arranged in body when the robot is when carrying out turning to walking
The angle of rotation, the circle number that can be also rotated by two driving wheels of code-disc real-time detection set in driving wheel, and pass through
Data processor (CPU) calculates the distance difference of two driving wheels rotation.What it is due to robot progress is to turn to walking, just
It, should by the angle value that the width between the distance difference and two driving wheels of two driving wheels is calculated in normal situation
It is the same with the angle value that gyroscope detects.So in the steering procedure of robot, when CPU calculates two drivings
The rotation distance difference of wheel is formed by the difference between angle value detected by rotational angle and gyroscope greater than predetermined angle
When value, then the case where driving wheel has skidded can be determined, otherwise determine the case where driving wheel does not have skidded.
Wherein, the preset angle angle value can be accordingly arranged according to specific product design demand, if it is desired to which robot is being beaten
When sliding more serious region is just warned, the preset angle angle value can be set larger, for example, be set as 15 ° with
On, when the driving wheel skid of robot, it is 45 ° that CPU, which calculates two driving wheels and is formed by rotational angle, but gyroscope
20 ° of rotational angle is only detected, two values differ 25 °, then can determine that robot skids.If it is desired to which robot is only
When the case where there is some skidding is just warned, the preset angle angle value can be set smaller, for example be set as 5 °,
It is 16 ° that CPU, which calculates two driving wheels and is formed by rotational angle, but gyroscope has only detected 10 ° of rotational angle, two
Numerical value differs 6 °, can also determine that robot skids；At this point, two values differ 1 °, then if gyroscope detects 15 °
It can determine that robot does not skid.
The method is all detected and analyzed by straight-going state to robot and steering state, and machine can be improved
Accuracy of the people to wet and slippery region decision.In addition, passing through the comparative analysis to two kinds of different sensing datas, it can be deduced that accurately
Analysis is as a result, further increase robot to the accuracy of wet and slippery region decision.
As one of embodiment, the robot corresponding position in the map carries out wet and slippery region mark
Note, specifically includes: robot data according to detected by environmental detection sensor update the grid list in grating map
The state of member.The environmental detection sensor includes obstacle detecting sensor, light stream sensor, the code-disc of driving wheel, laser thunder
Up to the senser elements such as sensor and/or camera, by between the real-time detection and each sensing data of these sensors
Mutually fusion, robot can accurately determine locating ambient condition.When the robot detects that the driving wheel skids
When, grid cell corresponding to current location is labeled as wet and slippery unit, may be constructed by multiple continuous wet and slippery units
The wet and slippery region.The method carries out the region that robot skids in such a way that grid cell state is updated and marked
The label of wet and slippery unit is conducive to user and directly passes through so that grating map constructed by robot is adapted with actual environment
Map accurately determines wet and slippery region.
As one of embodiment, grid cell corresponding to current location is labeled as wet and slippery list by the robot
When first, further includes: the grid cell adjacent with the wet and slippery unit is also labeled as wet and slippery unit.Due to some wet and slippery grid list
Position corresponding to member there is a situation where wet and slippery, then its neighbouring adjacent area is generally also present certain wet skidding performance, also, machine
Grating map constructed by people is not completely precisely corresponding with actual environment, so, in order to further increase the peace of user
Quan Xing, the adjacent cells unit that will determine as wet and slippery unit are also labeled as wet and slippery unit, can be to avoid map error or user
Safety accident caused by general idea improves validity and accuracy that robot warns wet and slippery region.
As one of embodiment, the robot corresponding position in the map carries out wet and slippery zone marker
While, also broadcast the phonetic warning information that current region is wet and slippery region.Sometimes, user may not notice intelligent terminal
Shown information, so, in order to guarantee the timeliness and validity of warning, robot is when detecting wet and slippery region, immediately
Voice broadcast is carried out, the position that warning robot is currently located is more wet and slippery, if user hears the casting, so that it may immediately really
Fixed wet and slippery region, and processing is carried out to wet and slippery region or is doubly cautious when the region is walked, avoid the case where slipping hair
It is raw.The mode of this real-time voice casting, can be improved the timeliness of warning.
As one of embodiment, the map for being marked with wet and slippery region is sent to intelligent terminal by the robot,
And wet and slippery region marked in the figure describedly is warned, specifically include: the robot sends the data of the map
To the intelligent terminal, enables the intelligent terminal after receiving the data, shows the map in a graphical form,
And highlight wet and slippery region in the map.Highlighted mode can be marked using conspicuous color, is regular
The modes such as size variation or flashing display keep it visibly different with other regions as long as can reach the prominent wet and slippery region
Effect.By highlighting, it can achieve warning effect that more can be good, user avoided not pay attention to the presence in wet and slippery region.
As one of embodiment, the intelligent terminal highlights the wet and slippery region in the map, comprising: institute
It states intelligent terminal and position corresponding to region wet and slippery in the map is subjected to red flashing display, by using eye-catching red
Color makes user be easier to notice the presence in wet and slippery region, improves the validity of warning along with the display effect of flashing.When
So, the printed words in " wet and slippery region " can also be marked on shown wet and slippery region, it is easier to allow user to understand, in addition, can also
To be illustrated in operation instructions or be illustrated in operation indicating.
As one of embodiment, the intelligent terminal carries out position corresponding to region wet and slippery in the map
While red flashing display, the loudspeaker that the intelligent terminal also passes through its own carry out voice broadcast, inform in user's map
There is wet and slippery region, it is noted that the prompt informations such as safety.The method is by way of map denotation combination voice broadcast, Ke Yida
To better warning effect, it is ensured that user can timely receive information warning, avoid user do not notice information warning and
Cause the generation of contingency.
A kind of intelligent terminal is directed to the alarming method for power in wet and slippery region, as shown in Fig. 2, the method specifically includes following step
Rapid: intelligent terminal receives map datum transmitted by the robot；The map datum is carried out figure by the intelligent terminal
It has been shown that, and the wet and slippery region marked in the map of graphical display is warned.The mode of the warning can use eye-catching
The modes such as color mark, regular size variation or flashing display make itself and its as long as can reach the prominent wet and slippery region
The visibly different effect in its region.Wherein, the map datum includes the robot during walking, is detected
When driving wheel skids, the data after position corresponding in constructed map to be carried out to wet and slippery zone marker.In addition, further including machine
When device people detects barrier, corresponding grid cell is labeled as the data of obstacle unit；When robot detects steep cliff, right
Grid cell is answered to be labeled as the data, etc. of steep cliff unit.The method carries out the warning by intelligent terminal, can remind
User knows which block band of position is more wet and slippery, makes user when the region is walked it can be noted that safety, or allow users to
The wet and slippery region is handled in time, for example will lead to the wet and slippery liquid in the region and clean out, to avoid user wet
Skating area domain is easy the problem of slipping, and then improves the practicability of robot.
As one of embodiment, the intelligent terminal to the wet and slippery region marked in the map of graphical display into
Row warning, specifically includes: position corresponding to region wet and slippery in the map is carried out red flashing display by the intelligent terminal,
Make user be easier to notice the presence in wet and slippery region along with the display effect of flashing by using eye-catching red, improves
The validity of warning.Meanwhile the intelligent terminal also passes through the loudspeaker progress voice broadcast of its own, informing has in user's map
Wet and slippery region, it is noted that the prompt informations such as safety.The method can achieve by way of map denotation combination voice broadcast
Better warning effect, it is ensured that user can timely receive information warning, and user is avoided not notice information warning and make
At the generation of contingency.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.These programs can store in computer-readable storage medium (such as ROM,
The various media that can store program code such as RAM, CPU, MCU, magnetic or disk) in.The program when being executed, executes packet
The step of including above-mentioned each method embodiment.
Finally, it should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis
What is illustrated is all differences from other embodiments, and same or similar part may refer to each other between each embodiment, respectively
Technical solution between embodiment can be combined with each other.The above various embodiments is only used to illustrate the technical scheme of the present invention,
Rather than its limitations, although present invention has been described in detail with reference to the aforementioned embodiments, the ordinary skill people of this field
Member is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of technologies
Feature is equivalently replaced；And these are modified or replaceed, the present invention that it does not separate the essence of the corresponding technical solution is each to be implemented
The range of example technical solution.
Claims (10)
1. the alarming method for power that a kind of intelligent cleaning equipment is directed to wet and slippery region, which comprises the steps of:
The intelligent cleaning equipment constructs map while walking；
The intelligent cleaning equipment is during walking, the case where whether real-time judge driving wheel has skidded；
If the driving wheel has skidded, the intelligent cleaning equipment corresponding position in the map carries out wet and slippery region
Label；
The map datum for being marked with wet and slippery region is sent to intelligent terminal by the intelligent cleaning equipment, enables the intelligent terminal
It is enough based on the map datum, shown ground wet and slippery region marked in the figure is warned.
2. the method according to claim 1, wherein the intelligent cleaning equipment is during walking, in real time
The case where whether driving wheel has skidded judged, is specifically included:
When the intelligent cleaning equipment is when carrying out straight line walking, the intelligent cleaning equipment judge its body it is practical move away from
From with its driving wheel rotated at a distance between difference whether be greater than pre-determined distance value, if it is, determining the driving wheel
Otherwise the case where having skidded determines the case where driving wheel does not have skidded；
When the intelligent cleaning equipment is when carrying out turning to walking, the intelligent cleaning equipment judges the angle of its body actual rotation
Whether the difference that the rotation distance difference of degree and two driving wheel is formed by angle is greater than preset angle angle value, if it is, really
The case where fixed driving wheel has skidded, otherwise determines the case where driving wheel does not have skidded.
3. the method according to claim 1, wherein the intelligent cleaning equipment corresponding position in the map
It sets and carries out wet and slippery zone marker, specifically include:
Intelligent cleaning equipment data according to detected by environmental detection sensor update the grid cell in grating map
State；
When the intelligent cleaning equipment detects that the driving wheel skids, grid cell corresponding to current location is labeled as
Wet and slippery unit；
Wherein, multiple continuous wet and slippery units constitute the wet and slippery region.
4. according to the method described in claim 3, it is characterized in that, the robot is by grid cell corresponding to current location
When labeled as wet and slippery unit, further includes:
The grid cell adjacent with the wet and slippery unit is also labeled as wet and slippery unit.
5. the method according to claim 3 or 4, which is characterized in that the intelligent cleaning equipment is corresponding in the map
Position carry out wet and slippery zone marker while, also casting current region be wet and slippery region phonetic warning information.
6. the method according to claim 1, wherein the intelligent cleaning equipment is the ground for being marked with wet and slippery region
Figure is sent to intelligent terminal, and warns to wet and slippery region marked in the figure describedly, specifically includes:
The data of the map are sent to the intelligent terminal by the intelligent cleaning equipment, and the intelligent terminal is shown
Show the map and highlights the wet and slippery region in the map.
7. according to the method described in claim 6, it is characterized in that, the intelligent terminal highlight it is wet and slippery in the map
Region, comprising:
Position corresponding to region wet and slippery in the map is carried out red flashing display by the intelligent terminal.
8. the method according to the description of claim 7 is characterized in that the intelligent terminal is right by region institute wet and slippery in the map
While the position answered carries out red flashing display, the intelligent terminal also passes through the prompt information in the wet and slippery region of voice broadcast.
9. the alarming method for power that a kind of intelligent terminal is directed to wet and slippery region, which comprises the steps of:
Intelligent terminal receives map datum transmitted by the intelligent cleaning equipment；
The map datum is carried out graphical display by the intelligent terminal, and to the wet and slippery area marked in the map of graphical display
Domain is warned；
Wherein, the map datum includes the intelligent cleaning equipment during walking, will when detecting that driving wheel skids
Corresponding position carries out the data after wet and slippery zone marker in constructed map.
10. according to the method described in claim 9, it is characterized by: the intelligent terminal in the map of graphical display to being marked
The wet and slippery region of note is warned, and is specifically included:
Position corresponding to region wet and slippery in the map is carried out red flashing display by the intelligent terminal, and passes through voice
Broadcast the prompt information in wet and slippery region.
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| 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 |
| CN108638053A (en) * | 2018-04-03 | 2018-10-12 | 珠海市微半导体有限公司 | A kind of detection method and its antidote of robot skidding |
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