Ground material detection method and device, storage medium and electronic device

Abstract

This application provides a method, apparatus, storage medium, and electronic device for detecting ground materials. The method includes: acquiring a reflected signal corresponding to a detection signal emitted by a sensing sensor to the ground to be tested, wherein the detection signal is a detection signal used for detecting ground materials; when the signal intensity value of the reflected signal is less than a preset intensity threshold, acquiring a reference height value of the sensing sensor, wherein the reference height value is the height of the sensing sensor relative to the ground to be tested; when the reference height value is greater than or equal to a preset height value, determining a historical ground material as the ground material of the ground to be tested, wherein the historical ground material is a previously detected ground material. This technical solution solves the problem of low accuracy in ground material detection methods in related technologies due to the inability to accurately identify the ground material.

Description

[Technical Field]

[0001] This application relates to the field of smart homes, and more specifically, to a method and apparatus for detecting floor materials, a storage medium, and an electronic device. [Background Technology]

[0002] Cleaning equipment (such as robotic vacuum cleaners) can use ultrasonic sensors (i.e., ultrasonic material detection sensors) configured to detect the material of the floor to be tested, thereby enabling the selection of different cleaning strategies for different floor materials and improving the cleaning efficiency of the cleaning equipment.

[0003] Currently, when conducting ground material testing, ultrasonic sensors produce similar results for certain special scenarios as for certain ground materials, making it impossible to accurately identify the ground material and thus reducing the accuracy of ground material testing.

[0004] Therefore, it can be seen that the ground material detection methods in the relevant technologies have the problem of low accuracy in ground material detection due to the inability to accurately identify the ground material. [Summary of the Invention]

[0005] The purpose of this application is to provide a method and apparatus for detecting ground materials, a storage medium and an electronic device, so as to at least solve the problem of low accuracy in ground material detection methods in the related art due to the inability to accurately identify ground materials.

[0006] The purpose of this application is to achieve the following technical solution:

[0007] According to one aspect of the embodiments of this application, a method for detecting ground material is provided, comprising: acquiring a reflected signal corresponding to a detection signal emitted by a sensing sensor to a ground to be tested, wherein the detection signal is a detection signal used for detecting ground material; when the signal intensity value of the reflected signal is less than a preset intensity threshold, acquiring a reference height value of the sensing sensor, wherein the reference height value is the height of the sensing sensor relative to the ground to be tested; when the reference height value is greater than or equal to a preset height value, determining a historical ground material as the ground material of the ground to be tested, wherein the historical ground material is a previously detected ground material.

[0008] In an exemplary embodiment, obtaining the reference height value of the sensing sensor includes: obtaining a first distance value obtained by the sensing sensor performing ground detection on the ground to be measured, and obtaining the reference height value, wherein the first distance value is the distance between the sensing sensor and the ground to be measured.

[0009] In an exemplary embodiment, obtaining a first distance value obtained by the sensing sensor from ground detection of the ground to be measured includes: determining the time difference between the time when the sensing sensor transmits the detection signal to the ground to be measured and the time when it receives the reflected signal; and determining the first distance value based on the time difference and a preset transmission speed of the detection signal.

[0010] In one exemplary embodiment, the method further includes: when the cleaning device is detected to be activated, acquiring a second distance value obtained by the sensing sensor from ground detection of the ground where the cleaning device is currently located, wherein the second distance value is the distance between the sensing sensor and the ground where the cleaning device is currently located; and determining the second distance value as the preset height value.

[0011] In an exemplary embodiment, determining the historical ground material as the ground material of the ground to be tested includes: determining the ground material obtained from the last ground detection before the current moment as the ground material of the ground to be tested.

[0012] In one exemplary embodiment, the method further includes: determining the floor as the ground material of the ground to be tested when the signal strength value of the reflected signal is greater than or equal to the preset strength threshold.

[0013] In one exemplary embodiment, the method further includes: determining the carpet as the floor material of the ground to be tested when the reference height value is less than the preset height value.

[0014] According to another aspect of the embodiments of this application, another method for detecting ground material is also provided, comprising: acquiring a reflected signal corresponding to a detection signal emitted by a sensing sensor to a ground to be tested, wherein the detection signal is a detection signal used for detecting ground material; when the signal intensity value of the reflected signal is less than a preset intensity threshold, acquiring a scene detection result obtained by a scene detection component performing scene detection on the ground to be tested; when the scene detection result indicates that the ground scene of the ground to be tested is a preset scene, determining a historical ground material as the ground material of the ground to be tested, wherein the historical ground material is a ground material that has been detected.

[0015] In an exemplary embodiment, obtaining the scene detection result obtained by the scene detection component in performing scene detection on the ground to be tested includes at least one of the following: obtaining the cliff detection result obtained by the cliff sensor in performing cliff detection on the ground to be tested, wherein the preset scene includes a cliff; obtaining the device pose of the cleaning equipment detected by the pose detection component; and performing tilt angle detection based on the device pose to obtain a tilt angle detection result, wherein the preset scene includes a tilted ground, and the tilted ground is a ground with a tilt angle greater than or equal to a preset angle threshold.

[0016] In an exemplary embodiment, determining the historical ground material as the ground material of the ground to be tested includes: determining the ground material obtained from the last ground detection before the current moment as the ground material of the ground to be tested.

[0017] In one exemplary embodiment, the method further includes: determining the floor as the ground material of the ground to be tested when the signal strength value of the reflected signal is greater than or equal to the preset strength threshold.

[0018] In one exemplary embodiment, the method further includes: determining the carpet as the floor material of the ground under test when the scene detection result indicates that the ground scene of the ground under test is not a preset scene.

[0019] According to another aspect of the embodiments of this application, a ground material detection device is also provided, comprising: a first acquisition unit, configured to acquire a reflected signal corresponding to a detection signal emitted by a sensing sensor to a ground to be tested, wherein the detection signal is a detection signal used for ground material detection; a second acquisition unit, configured to acquire a reference height value of the sensing sensor when the signal intensity value of the reflected signal is less than a preset intensity threshold, wherein the reference height value is the height of the sensing sensor relative to the ground to be tested; and a first determination unit, configured to determine a historical ground material as the ground material of the ground to be tested when the reference height value is greater than or equal to a preset height value, wherein the historical ground material is a previously detected ground material.

[0020] In an exemplary embodiment, the second acquisition unit includes: an acquisition module, configured to acquire a first distance value obtained by the sensing sensor performing ground detection on the ground to be measured, and to obtain the reference height value, wherein the first distance value is the distance between the sensing sensor and the ground to be measured.

[0021] In an exemplary embodiment, the acquisition module includes: a first determining submodule, configured to determine the time difference between the time when the sensing sensor transmits the detection signal to the ground to be measured and the time when it receives the reflected signal; and a second determining submodule, configured to determine the first distance value based on the time difference and a preset transmission speed of the detection signal.

[0022] In one exemplary embodiment, the apparatus further includes: a third acquisition unit, configured to acquire a second distance value obtained by the sensing sensor from ground detection of the ground where the cleaning device is currently located when the cleaning device is detected to be started, wherein the second distance value is the distance between the sensing sensor and the ground where the cleaning device is currently located; and a second determination unit, configured to determine the second distance value as the preset height value.

[0023] In an exemplary embodiment, the first determining unit includes a determining module, configured to determine the ground material obtained from the last ground material detection performed before the current time as the ground material of the ground to be tested.

[0024] In one exemplary embodiment, the apparatus further includes a third determining unit, configured to determine the floor as the floor material of the ground to be tested when the signal strength value of the reflected signal is greater than or equal to the preset strength threshold.

[0025] In one exemplary embodiment, the apparatus further includes a fourth determining unit, configured to determine the carpet as the floor material of the ground to be tested when the reference height value is less than the preset height value.

[0026] According to another aspect of the embodiments of this application, a ground material detection device is also provided, comprising: a first acquisition unit, configured to acquire a reflected signal corresponding to a detection signal emitted by a sensing sensor to a ground to be tested, wherein the detection signal is a detection signal used for ground material detection; a second acquisition unit, configured to acquire a scene detection result obtained by a scene detection component performing scene detection on the ground to be tested when the signal intensity value of the reflected signal is less than a preset intensity threshold; and a first determination unit, configured to determine a historical ground material as the ground material of the ground to be tested when the scene detection result indicates that the ground scene of the ground to be tested is a preset scene, wherein the historical ground material is a ground material that has been detected.

[0027] In one exemplary embodiment, the second acquisition unit includes at least one of the following: a first acquisition module, configured to acquire a cliff detection result obtained by a cliff sensor performing cliff detection on the ground to be measured, wherein the preset scenario includes a cliff; a second acquisition module, configured to acquire the device pose of a cleaning device detected by a pose detection component; and a detection module, configured to perform tilt angle detection based on the device pose to obtain a tilt angle detection result, wherein the preset scenario includes a tilted ground, and the tilted ground is a ground with a tilt angle greater than or equal to a preset angle threshold.

[0028] In an exemplary embodiment, the first determining unit includes a determining module, configured to determine the ground material obtained from the last ground detection performed before the current moment as the ground material of the ground to be tested.

[0029] In one exemplary embodiment, the apparatus further includes a second determining unit, configured to determine the floor as the floor material of the ground to be tested when the signal strength value of the reflected signal is greater than or equal to the preset strength threshold.

[0030] In one exemplary embodiment, the apparatus further includes a third determining unit, configured to determine the carpet as the floor material of the test floor when the scene detection result indicates that the floor scene of the test floor is not a preset scene.

[0031] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, and the computer program is configured to execute the above-described method for detecting ground material when it is run.

[0032] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-described method for detecting ground material through the computer program.

[0033] In this embodiment, a method is adopted to determine the ground material based on the reflected signal corresponding to the detection signal emitted by the sensing sensor and a preset height value. This involves acquiring the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested, where the detection signal is used for ground material detection. If the signal strength of the reflected signal is less than a preset strength threshold, a reference height value of the sensing sensor is acquired, where the reference height value is the height of the sensing sensor relative to the ground to be tested. If the reference height value is greater than or equal to the preset height value, the historical ground material is determined as the ground material of the ground to be tested, where the historical ground material is the previously detected ground material. Since the accuracy of the detected ground material is determined based on the magnitude of the reference height value and the preset height value when the signal strength of the reflected signal is less than the preset strength threshold, the impact of special ground scenes on ground material detection can be reduced, achieving the goal of accurately identifying the ground material. This improves the accuracy of ground material detection and solves the problem of low accuracy in related ground material detection methods due to the inability to accurately identify the ground material. [Attached Image Description]

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the hardware environment for an optional ground material detection method according to an embodiment of this application;

[0037] Figure 2 This is a schematic flowchart of an optional method for detecting ground material according to an embodiment of this application;

[0038] Figure 3 This is a flowchart illustrating another optional method for detecting ground material according to an embodiment of this application;

[0039] Figure 4 This is a flowchart illustrating another optional method for detecting ground material according to an embodiment of this application;

[0040] Figure 5 This is a flowchart illustrating another optional method for detecting ground material according to an embodiment of this application;

[0041] Figure 6 This is a structural block diagram of an optional ground material detection device according to an embodiment of this application;

[0042] Figure 7 This is a structural block diagram of another optional ground material detection device according to an embodiment of this application;

[0043] Figure 8 This is a structural block diagram of an optional electronic device according to an embodiment of this application.

Detailed Implementation Methods

[0044] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present application can be combined with each other.

[0045] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0046] According to one aspect of the embodiments of this application, a method for detecting ground material is provided. Optionally, in this embodiment, the above-described method for detecting ground material can be applied to, for example... Figure 1 The hardware environment shown consists of cleaning equipment 102, base station 104, and cloud platform 106. For example... Figure 1 As shown, the cleaning device 102 can be connected to the base station 104 and / or the cloud platform 106 (e.g., a voice cloud platform) via a network to enable interaction between the cleaning device 102 and the base station 104 and / or the cloud platform 106.

[0047] The aforementioned networks may include, but are not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network (WAN), metropolitan area network (MAN), local area network (LAN). The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth, infrared. The network used by the cleaning device 102 to communicate with the base station 104 and / or the cloud platform 106 may be the same as or different from the network used by the base station 104 to communicate with the cloud platform 106. The cleaning device 102 may include, but is not limited to: a sweeping robot, a floor scrubbing robot, a robot that integrates sweeping and scrubbing, a self-cleaning robot, etc.

[0048] The method for detecting the floor material in this embodiment can be executed by the cleaning device 102 and the cloud platform 106 individually, or it can be executed jointly by the cleaning device 102 and the cloud platform 106. Alternatively, the floor material detection method can be executed by the cleaning device 102 via a client installed on it.

[0049] Taking the method for detecting the floor material in this embodiment, performed by the cleaning equipment 102, as an example, Figure 2 This is a schematic flowchart of an optional method for detecting ground materials according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0050] Step S202: Obtain the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested, wherein the detection signal is a detection signal used for ground material detection.

[0051] The floor material detection method in this embodiment can be applied to scenarios where a floor material is detected on the target area while cleaning it with cleaning equipment. The target area can be an indoor area, such as a user's home, office, or factory workshop; the cleaning equipment can be a robotic vacuum cleaner, a floor scrubber, a robot that combines sweeping and scrubbing, or a self-cleaning robot. Furthermore, the floor material detection method in this embodiment is also applicable to other mobile objects requiring floor material detection.

[0052] In this embodiment, the cleaning equipment can detect the surface of the target area, thereby selecting different cleaning strategies for different surface materials. When detecting the surface material, a sensing sensor (e.g., an ultrasonic sensor) can be used to send a detection signal to the surface to obtain the detection result. This detection signal is used for surface material detection. The sensing sensor can transmit the detection signal to the surface and receive the reflected signal generated by the reflection of the detection signal through the surface. The surface material is then detected based on the signal strength value of the reflected signal.

[0053] For example, robotic vacuum cleaners are usually equipped with ultrasonic material detection sensors to detect the material of the floor, thereby making better cleaning strategies and improving cleaning efficiency.

[0054] The cleaning equipment can acquire the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be measured. The cleaning equipment can acquire the reflected signal in one or more ways. It can receive the reflected signal through the sensing sensor, or through other receiving devices on the cleaning equipment (e.g., synthetic aperture radar), or through other methods. This embodiment does not limit the method.

[0055] It should be noted that, in addition to sensing sensors, the cleaning equipment may also be equipped with a data processing unit, such as a processor, which performs the step of identifying the ground material. In this embodiment, the data processing unit is used as an example.

[0056] Step S204: When the signal strength value of the reflected signal is less than a preset strength threshold, obtain the reference height value of the sensing sensor, wherein the reference height value is the height of the sensing sensor relative to the ground to be measured.

[0057] In related technologies, when using sensing sensors to detect the ground under test, for some special scenarios (such as obstacle crossing, cliffs, etc.), the signal strength value of the reflected signal obtained by the sensing sensors alone cannot accurately distinguish which scenario the cleaning equipment is currently in, thus causing the host to be unable to make an accurate cleaning strategy accordingly.

[0058] To at least partially solve the above problems, in this embodiment, the ground material can be determined based on the signal strength value and reference height value of the reflected signal obtained by the sensing sensor. By combining the reference height value, some special scenarios can be excluded, thereby achieving the goal of accurately identifying the ground material and improving the technical effect of ground material detection.

[0059] Since different floor materials absorb reflected signals at varying intensities, the floor material of the test surface can be determined based on the signal strength value of the reflected signal. For some floor materials with weak absorption of sensing signals (e.g., flooring), the signal strength value of the reflected signal is relatively high. Furthermore, the detection results in specific scenarios differ significantly from those for such floor materials. Therefore, a preset intensity threshold can be established. The cleaning equipment can determine the signal strength value of the reflected signal and its relationship to the preset intensity threshold. If the signal strength value of the reflected signal is greater than or equal to the preset intensity threshold, the floor material of the test surface can be identified as the target floor material (e.g., flooring).

[0060] For some floor materials that strongly absorb detection signals (e.g., carpets), the signal strength of the reflected signal obtained by the cleaning equipment is relatively low. Furthermore, in certain scenarios where the reflective surface is at an angle to the emission direction of the detection signal, the signal strength of the reflected signal may also be low. Therefore, relying solely on the condition that the signal strength of the reflected signal is less than a preset intensity threshold is insufficient to determine whether the detected material is a floor material with strong absorption of the detection signal or a special scenario.

[0061] In this regard, the cleaning equipment can also obtain the reference height value of the sensing sensor, which is the height of the sensing sensor relative to the ground being measured. The reference height value can be obtained in one or more ways. It can be determined based on the transmission time of the detection signal and the reception time of the reflected signal; it can also be determined by combining the height of the sensing sensor relative to the ground being measured detected by other detection components (the height of other detection components relative to the ground being measured is determined by combining the height difference between the other detection components and the sensing sensor); or it can be obtained through other methods, which are not limited in this embodiment.

[0062] Step S206: If the reference height value is greater than or equal to the preset height value, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected.

[0063] In this embodiment, when a reference height value is determined to be greater than or equal to a preset height value, the cleaning device can obtain historical floor material and determine the historical floor material as the floor material of the floor to be tested. The preset height value can be the installation height of the sensing sensor, and the historical floor material can be a floor material already detected by the cleaning device. There can be one or more methods to obtain the historical floor material; it can be retrieved from a cloud platform database, from the cleaning device's local floor material detection records, or through other means. This embodiment does not limit the methods used.

[0064] Through steps S202 to S206, a reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be measured is obtained, wherein the detection signal is used for ground material detection; if the signal strength value of the reflected signal is less than a preset strength threshold, a reference height value of the sensing sensor is obtained, wherein the reference height value is the height of the sensing sensor relative to the ground to be measured; if the reference height value is greater than or equal to a preset height value, the historical ground material is determined as the ground material of the ground to be measured, wherein the historical ground material is the ground material that has been detected. This solves the problem of low accuracy in ground material detection methods in related technologies due to the inability to accurately identify the ground material, and improves the accuracy of ground material detection.

[0065] In one exemplary embodiment, obtaining the reference height value of the sensing sensor includes:

[0066] S11, obtain the first distance value obtained by the sensing sensor from the ground detection of the ground to be measured, and obtain the reference height value, wherein the first distance value is the distance between the sensing sensor and the ground to be measured.

[0067] In this embodiment, the cleaning device can obtain a first distance value from the ground detection performed by the sensing sensor on the ground to be measured, and obtain a reference height value. The first distance value is the distance between the sensing sensor and the ground to be measured. There can be one or more ways to obtain the first distance value from the ground detection performed by the sensing sensor on the ground to be measured. For example, the first distance value can be determined based on the receiving time of the reflected signal. Another example is that the detection signal can be retransmitted and the first distance value can be determined based on the detected reflected signal. Other methods are also possible, and this embodiment does not limit them.

[0068] In this embodiment, the height of the sensing sensor relative to the ground is determined by ground detection using a sensing sensor. The reference height value can be determined without the need for an additional sensor, which can improve the convenience of ground material detection.

[0069] In one exemplary embodiment, acquiring a first distance value obtained by a sensing sensor performing ground detection on the ground to be measured includes:

[0070] S21, determine the time difference between the time when the sensing sensor transmits the detection signal to the ground to be measured and the time when it receives the reflected signal;

[0071] S22, determine the first distance value based on the time difference and the preset transmission speed of the detection signal.

[0072] In this embodiment, the first distance value can be determined by the time difference between the transmission and reception of the detection signal by the sensing sensor, and the preset transmission speed of the detection signal. The cleaning equipment can determine the transmission time when the sensing sensor transmits the detection signal to the ground to be measured and the reception time when it receives the reflected signal returned from the ground to be measured, and determine the time difference between the transmission and reception times; based on the time difference between the transmission and reception times and the preset transmission speed of the detection signal, the first distance value can be determined.

[0073] For example, if the preset velocity v of the detection signal can be 340 m / s, and the time difference t between the sensor transmitting the detection signal to the ground and receiving the reflected signal returned by the ground can be 0.001 s, then the first distance value s can be determined by formula (1):

[0074] s=v*0.5t (1)

[0075] According to the above formula (1), the first distance value s can be calculated to be 0.17m.

[0076] In this embodiment, the height of the sensing sensor relative to the ground is determined by the time difference between the transmission time of the detection signal and the reception time of the reflected signal, as well as the preset transmission speed of the detection signal, which can improve the convenience of height detection.

[0077] In one exemplary embodiment, the above method further includes:

[0078] S31, when the cleaning equipment is detected to be started, a second distance value is obtained by the sensing sensor to detect the ground where the cleaning equipment is currently located, wherein the second distance value is the distance between the sensing sensor and the ground where the cleaning equipment is currently located;

[0079] S32, set the second distance value as the preset height value.

[0080] In this embodiment, the preset height value can be obtained when the cleaning equipment is started. Upon detecting that the cleaning equipment has started, a second distance value can be obtained from the ground detection performed by the sensing sensor on the ground where the cleaning equipment is currently located. The second distance value is the distance between the sensing sensor and the ground where the cleaning equipment is currently located. The method for obtaining the second distance value is similar to the method for obtaining the first distance value in the aforementioned embodiment, and will not be described in detail here.

[0081] After obtaining the second distance value, the cleaning device can determine the second distance value as a preset height value, that is, set the preset height value as the second distance value (by default, the sensing sensor performs vertical detection). Optionally, the cleaning device can obtain multiple distance values ​​obtained by the sensing sensor from multiple ground detections of the ground where the cleaning device is currently located, and determine the average of the multiple distance values ​​as the second distance value.

[0082] In this embodiment, when the cleaning equipment is started, the distance value detected by the sensing sensor relative to the current ground is determined as the preset height value, which can improve the accuracy of the preset height value setting.

[0083] In one exemplary embodiment, determining the historical ground material as the ground material of the ground to be measured includes:

[0084] S41, determine the ground material obtained from the last ground material detection before the current moment as the ground material of the ground to be tested.

[0085] In this embodiment, the cleaning device can obtain the ground material obtained from the last ground inspection before the current moment, and determine the ground material obtained from the last ground inspection before the current moment as the ground material of the ground to be tested, that is, retain the previous inspection result. The way the cleaning device obtains the ground material obtained from the last ground inspection before the current moment is similar to the way it obtains historical ground materials in the previous embodiment, and will not be described in detail here.

[0086] This embodiment improves the convenience and rationality of ground-based testing by retaining the results of the previous ground-based testing.

[0087] In one exemplary embodiment, the above method further includes:

[0088] S51, if the signal strength value of the reflected signal is greater than or equal to the preset strength threshold, the floor is determined as the ground material of the ground to be tested.

[0089] In this embodiment, the ground material of the ground to be tested can be at least one of the following: carpet and floor. When the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, the cleaning device can directly determine the floor as the ground material of the ground to be tested.

[0090] In this embodiment, when the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, the floor is identified as the ground material of the ground to be tested, which can improve the convenience of ground material detection.

[0091] In one exemplary embodiment, the above method further includes:

[0092] S61, if the reference height value is less than the preset height value, the carpet is determined as the floor material of the ground to be tested.

[0093] In this embodiment, the ground material to be tested can be at least one of the following: carpet and flooring. If the signal strength of the reflected signal is less than a preset intensity threshold, the cleaning device can directly identify the carpet as the ground material. To improve the accuracy of ground material detection and avoid misjudgment due to the results of detection by the sensing sensor being the same or similar to the carpet detection results in some special scenarios (e.g., near a cliff or on a slope), if the signal strength of the reflected signal is less than the preset intensity threshold and the reference height is less than the preset height value, it can be assumed that the cleaning device is not in some special ground scenario, and the carpet can be identified as the ground material.

[0094] In this embodiment, when the reference height value is less than the preset height value, the carpet is identified as the floor material of the ground to be tested, which can improve the convenience of floor material testing.

[0095] The method for detecting floor materials in this application embodiment will be explained below with reference to optional examples. In this optional example, the sensing sensor is an ultrasonic sensor, such as an ultrasonic material detection sensor, the cleaning device is a robot vacuum cleaner, the reference height value is the output distance value, the preset height value is the installation height of the ultrasonic material detection sensor, and the preset intensity threshold is the floor echo threshold.

[0096] Most robotic vacuum cleaners in related technologies are equipped with ultrasonic material detection sensors to detect the surface material and make better cleaning strategies to improve cleaning efficiency. However, when the robotic vacuum cleaner is running on carpets, on slopes, or near cliffs, the echo intensity value of the ultrasonic sensor alone cannot accurately distinguish the actual environment, leading to misjudgments.

[0097] To address at least some of the aforementioned technical problems, this optional example provides a method for preventing misjudgment of floor materials used in robotic vacuum cleaners, such as... Figure 3 As shown, the procedure for detecting the ground material in this optional example may include the following steps:

[0098] Step 1: Determine if the ultrasonic echo value is greater than or equal to the floor echo threshold. If yes, proceed to Step 2; otherwise, proceed to Step 3.

[0099] Step 2, the output result is the floor.

[0100] Step 3: Determine if the output distance value is greater than or equal to the installation height. If yes, proceed to step 4; otherwise, proceed to step 5.

[0101] Step 4: Maintain the previous test result.

[0102] Step 5, the output result is a carpet.

[0103] This optional example demonstrates how the ground material can be determined by judging whether the echo value and the output distance value of the ultrasonic wave meet preset conditions. This can improve the accuracy of ground material detection and reduce misjudgments caused by relying solely on the echo intensity value of the ultrasonic sensor to determine the ground material when operating on carpets, slopes, or near cliffs.

[0104] According to another aspect of the embodiments of this application, another method for detecting floor materials is provided. Similar to the foregoing embodiments, in this embodiment, the above-described method for detecting floor materials can be applied to, for example... Figure 1 The hardware environment shown consists of cleaning equipment 102, base station 104, and cloud platform 106. As already described, it will not be repeated here.

[0105] The method for detecting the floor material in this embodiment can be executed by the cleaning device 102 and the cloud platform 106 individually, or it can be executed jointly by the cleaning device 102 and the cloud platform 106. Alternatively, the floor material detection method can be executed by the cleaning device 102 via a client installed on it.

[0106] Taking the method for detecting the floor material in this embodiment, performed by the cleaning equipment 102, as an example, Figure 4 This is a flowchart illustrating another optional method for detecting ground materials according to an embodiment of this application, as shown below. Figure 4 As shown, the process of this method may include the following steps:

[0107] Step S402: Obtain the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested, wherein the detection signal is a detection signal used for ground material detection.

[0108] In this embodiment, the cleaning device can acquire the reflected signal obtained by the sensing sensor during ground detection of the ground to be measured. The method by which the cleaning device acquires the reflected signal obtained by the sensing sensor during ground detection of the ground to be measured is similar to that in the previous embodiments, and will not be described again here.

[0109] Step S404: When the signal strength value of the reflected signal is less than the preset strength threshold, obtain the scene detection result obtained by the scene detection component from the scene detection of the ground under test.

[0110] The cleaning equipment can determine the signal strength value of the reflected signal. If the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, the same or similar processing method as in the aforementioned embodiments can be used. If the signal strength value of the reflected signal is less than the preset strength threshold, the cleaning equipment can obtain the scene detection results obtained by the scene detection component from scene detection of the ground under test.

[0111] The cleaning equipment may be equipped with the aforementioned scene detection components. These components are used to detect the scene on the ground to be tested. The detected scene may include one or more scenes, such as cliffs, slopes, and other ground scenes. Correspondingly, the scene detection component may be used to detect cliffs, to detect the position of the cleaning equipment, or to detect other scenes. In this embodiment, the scene to be detected and the scene detection component used are not limited.

[0112] Step S406: When the scene detection result indicates that the ground scene of the ground to be tested is a preset scene, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected.

[0113] The cleaning equipment can acquire some preset special scenarios (similar to those in the previous embodiments), i.e., preset scenarios. The cleaning equipment can acquire preset scenarios in one or more ways, such as querying preset scenarios from the database of the cloud platform, acquiring preset scenarios from the scene configuration information of the cleaning equipment locally, or acquiring preset scenarios through other means. This embodiment does not limit this.

[0114] When the scene detection result indicates that the ground scene to be tested is a preset scene, the cleaning device can determine the historical ground material as the ground material to be tested. The aforementioned historical material refers to the ground material already detected by the cleaning device. The method by which the cleaning device obtains the historical ground material is similar to that in the aforementioned embodiments and will not be repeated here.

[0115] Through the above steps S402 to S406, a reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested is acquired, wherein the detection signal is a detection signal used for ground material detection; when the signal intensity value of the reflected signal is less than a preset intensity threshold, the scene detection result obtained by the scene detection component for scene detection of the ground to be tested is acquired; when the scene detection result indicates that the ground scene of the ground to be tested is a preset scene, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected. This solves the problem of low accuracy of ground material detection caused by the inability to accurately identify the ground material in the related technology, and improves the accuracy of ground material detection.

[0116] In one exemplary embodiment, obtaining the scene detection result obtained by the scene detection component from performing scene detection on the ground under test includes at least one of the following:

[0117] S71, Obtain the cliff detection results obtained by the cliff sensor from the cliff detection of the ground under test, wherein the preset scene includes cliff;

[0118] S72, acquire the device pose of the cleaning equipment detected by the pose detection component; perform tilt angle detection based on the device pose to obtain the tilt angle detection result, wherein the preset scene includes a tilted ground, and the tilted ground is a ground with a tilt angle greater than or equal to a preset angle threshold.

[0119] In this embodiment, the scene detection component may include at least one of the following: a cliff sensor, a pose detection component (e.g., a gyroscope), and the preset scene may include a cliff and a sloping ground. Correspondingly, the scene detection results obtained by the cleaning device may include, but are not limited to, at least one of the following: a cliff and a sloping slope.

[0120] The cleaning equipment can obtain the cliff detection results obtained by the cliff sensor from the cliff detection of the ground to be measured. The cliff sensor can detect the height threshold of the cleaning equipment from the ground to be measured. If the height threshold detected by the cliff sensor is greater than the cliff height detection threshold, it can be considered that the cliff sensor has detected a cliff. The cleaning equipment can determine the detected cliff as the detection result of scene detection.

[0121] The cleaning equipment can acquire its own posture detected by a posture detection component; based on this posture, it can perform tilt angle detection to obtain the tilt angle detection result. The posture detection component can be a posture detection sensor, such as a gyroscope. The cleaning equipment can determine its tilt angle based on the posture detection component. If the tilt angle detected by the posture detection component is greater than or equal to a preset angle threshold, the cleaning equipment can be considered to be located on a tilted surface, and the angle of the tilted surface is greater than or equal to the preset angle threshold. The cleaning equipment can then use the detected tilted surface as the scene detection result.

[0122] This embodiment uses a cliff sensor to detect cliff scenes and / or an attitude detection component to detect inclined ground scenes. It can combine existing detection components to perform special scene detection, thereby improving the convenience of scene detection.

[0123] In one exemplary embodiment, determining the historical ground material as the ground material of the ground to be measured includes:

[0124] S81: Determine the ground material obtained from the last ground detection before the current moment as the ground material to be tested.

[0125] Similar to the previous embodiments, the ground material obtained from the last ground detection before the current moment is determined as the ground material of the ground to be tested. This has been explained before and will not be repeated here.

[0126] This embodiment improves the convenience and rationality of ground-based testing by retaining the results of the previous ground-based testing.

[0127] In one exemplary embodiment, the above method further includes:

[0128] S91, if the signal strength value of the reflected signal is greater than or equal to the preset strength threshold, the floor is determined as the ground material of the ground to be tested.

[0129] Similar to the previous embodiments, if the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, the floor is determined to be the floor material of the test surface. This has already been explained and will not be repeated here.

[0130] In this embodiment, when the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, the floor is identified as the ground material of the ground to be tested, which can improve the convenience of ground material detection and the accuracy of ground material judgment.

[0131] In one exemplary embodiment, the above method further includes:

[0132] S101, if the scene detection result indicates that the ground scene of the ground to be tested is not a preset scene, the carpet is determined as the ground material of the ground to be tested.

[0133] Similar to the previous embodiments, when the scene detection result indicates that the ground scene of the test ground is not a preset scene, the carpet is determined as the ground material of the test ground. This has already been explained and will not be repeated here.

[0134] In this embodiment, when the reference height value is less than the preset height value, the carpet is identified as the floor material of the ground to be tested, which can improve the convenience of floor material testing.

[0135] The method for detecting floor materials in this application embodiment will be explained below with reference to optional examples. In this optional example, the sensing sensor is an ultrasonic material detection sensor, and the cleaning device is a robotic vacuum cleaner.

[0136] Most robotic vacuum cleaners in related technologies are equipped with ultrasonic material detection sensors to detect the surface material and make better cleaning strategies to improve cleaning efficiency. However, when the robotic vacuum cleaner is running on carpets, on slopes, or near cliffs, the echo intensity value of the ultrasonic sensor alone cannot accurately distinguish the actual environment, leading to misjudgments.

[0137] To address at least some of the aforementioned technical problems, this optional example provides a multi-sensor fusion method for determining floor material in a robotic vacuum cleaner, such as... Figure 5 As shown, the procedure for detecting the ground material in this optional example may include the following steps:

[0138] Step 1: Determine if the ultrasonic echo value is greater than or equal to the floor judgment threshold. If yes, proceed to Step 2; otherwise, proceed to Step 3.

[0139] Step 2, output the detection result as the floor.

[0140] Step 3: Determine if a cliff has been detected. If yes, proceed to Step 4; otherwise, proceed to Step 5.

[0141] Step 4: Maintain the previous test result.

[0142] Step 5: Determine if tilt is detected. If yes, proceed to step 6; otherwise, proceed to step 7.

[0143] Step 6: Maintain the previous test result.

[0144] Step 7, output the detection result as carpet.

[0145] This optional example demonstrates how determining the ground material by analyzing the echo value of the ultrasonic waves, whether the location is near a cliff, or whether it is on a slope can improve the accuracy of ground material detection and reduce misjudgments caused by relying solely on the echo intensity value of the ultrasonic sensor when operating on carpets, slopes, or near cliffs.

[0146] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0148] According to another aspect of the embodiments of this application, a ground material detection apparatus for implementing the above-described ground material detection method is also provided. Figure 6 This is a structural block diagram of an optional ground material detection device according to an embodiment of this application, such as... Figure 6 As shown, the device may include:

[0149] The first acquisition unit 602 is used to acquire the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested, wherein the detection signal is a detection signal used for ground material detection.

[0150] The second acquisition unit 604 is connected to the first acquisition unit 602 and is used to acquire the reference height value of the sensing sensor when the signal strength value of the reflected signal is less than a preset strength threshold. The reference height value is the height of the sensing sensor relative to the ground to be measured.

[0151] The first determining unit 606 is connected to the second acquiring unit 604 and is used to determine the historical ground material as the ground material of the ground to be tested when the reference height value is greater than or equal to the preset height value. The historical ground material is the ground material that has been detected.

[0152] It should be noted that the first acquisition unit 602 in this embodiment can be used to execute the above step S202, the second acquisition unit 604 in this embodiment can be used to execute the above step S204, and the first determination unit 606 in this embodiment can be used to execute the above step S206.

[0153] Through the above modules, a reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be measured is obtained, wherein the detection signal is used for ground material detection; when the signal strength value of the reflected signal is less than a preset strength threshold, a reference height value of the sensing sensor is obtained, wherein the reference height value is the height of the sensing sensor relative to the ground to be measured; when the reference height value is greater than or equal to a preset height value, the historical ground material is determined as the ground material of the ground to be measured, wherein the historical ground material is the ground material that has been detected. This solves the problem of low accuracy in ground material detection methods in related technologies due to the inability to accurately identify the ground material, and improves the accuracy of ground material detection.

[0154] In one exemplary embodiment, the second acquisition unit includes:

[0155] The acquisition module is used to acquire the first distance value obtained by the sensing sensor from the ground detection of the ground to be measured, and to obtain the reference height value, wherein the first distance value is the distance between the sensing sensor and the ground to be measured.

[0156] In one exemplary embodiment, the acquisition module includes:

[0157] The first determining submodule is used to determine the time difference between the time when the sensing sensor transmits the detection signal to the ground to be measured and the time when it receives the reflected signal;

[0158] The second determining submodule is used to determine the first distance value based on the time difference and the preset transmission speed of the detection signal.

[0159] In one exemplary embodiment, the above-described apparatus further includes:

[0160] The third acquisition unit is used to acquire a second distance value obtained by the sensing sensor from the ground detection of the ground where the cleaning equipment is currently located when the cleaning equipment is detected to be started. The second distance value is the distance between the sensing sensor and the ground where the cleaning equipment is currently located.

[0161] The second determining unit is used to determine the second distance value as a preset height value.

[0162] In one exemplary embodiment, the first determining unit includes:

[0163] The determination module is used to determine the ground material obtained from the last ground detection before the current moment as the ground material of the ground to be tested.

[0164] In one exemplary embodiment, the above-described apparatus further includes:

[0165] The third determining unit is used to determine the floor as the ground material of the ground to be tested when the signal strength value of the reflected signal is greater than or equal to a preset strength threshold.

[0166] In one exemplary embodiment, the above-described apparatus further includes:

[0167] The fourth determining unit is used to determine the carpet as the floor material of the ground to be tested when the reference height value is less than the preset height value.

[0168] According to another aspect of the embodiments of this application, another ground material detection apparatus for implementing the above-described ground material detection method is also provided. Figure 7 This is a structural block diagram of another optional ground material detection device according to an embodiment of this application, such as... Figure 7 As shown, the device may include:

[0169] The first acquisition unit 702 is used to acquire the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be measured, wherein the detection signal is a detection signal used for ground material detection.

[0170] The second acquisition unit 704 is connected to the first acquisition unit 702 and is used to acquire the scene detection result obtained by the scene detection component from the scene detection of the ground under test when the signal strength value of the reflected signal is less than a preset strength threshold.

[0171] The first determining unit 706, connected to the second acquiring unit 704, is used to determine the historical ground material as the ground material of the ground to be tested when the scene detection result indicates that the ground scene of the ground to be tested is a preset scene. The historical ground material is the ground material that has been detected.

[0172] It should be noted that the first acquisition unit 702 in this embodiment can be used to execute the above step S402, the second acquisition unit 704 in this embodiment can be used to execute the above step S404, and the first determination unit 706 in this embodiment can be used to execute the above step S406.

[0173] Through the above modules, a reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested is obtained, wherein the detection signal is used for ground material detection; when the signal intensity value of the reflected signal is less than a preset intensity threshold, the scene detection result obtained by the scene detection component for scene detection of the ground to be tested is obtained; when the scene detection result indicates that the ground scene of the ground to be tested is a preset scene, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected. This solves the problem of low accuracy of ground material detection in related technologies due to the inability to accurately identify the ground material, and improves the accuracy of ground material detection.

[0174] In one exemplary embodiment, the second acquisition unit includes at least one of the following:

[0175] The first acquisition module is used to acquire the cliff detection results obtained by the cliff sensor from the cliff detection of the ground to be measured, wherein the preset scene includes a cliff;

[0176] The second acquisition module is used to acquire the device pose of the cleaning equipment detected by the pose detection component; and to perform tilt angle detection based on the device pose to obtain the tilt angle detection result. The preset scenario includes a tilted ground, which is a ground with a tilt angle greater than or equal to a preset angle threshold.

[0177] In one exemplary embodiment, the first determining unit includes:

[0178] The determination module is used to determine the ground material obtained from the last ground detection before the current moment as the ground material of the ground to be tested.

[0179] In one exemplary embodiment, the above-described apparatus further includes:

[0180] The second determining unit is used to determine the floor as the ground material of the ground to be tested when the signal strength value of the reflected signal is greater than or equal to a preset strength threshold.

[0181] In one exemplary embodiment, the above-described apparatus further includes:

[0182] The third determining unit is used to determine the carpet as the ground material of the ground to be tested when the scene detection result indicates that the ground scene of the ground to be tested is not a preset scene.

[0183] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute program code for any of the above-described methods for detecting ground materials in the embodiments of this application.

[0184] Optionally, in this embodiment, the storage medium may be located on at least one of the network devices in the network shown in the above embodiment.

[0185] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

[0186] S1, acquire the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be measured, wherein the detection signal is a detection signal used for ground material detection;

[0187] S2, when the signal strength value of the reflected signal is less than the preset strength threshold, obtain the reference height value of the sensing sensor, where the reference height value is the height of the sensing sensor relative to the ground to be measured;

[0188] S3, if the reference height value is greater than or equal to the preset height value, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected.

[0189] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0190] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0191] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described method for detecting ground materials is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0192] Figure 8 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 8 As shown, it includes a processor 802, a communication interface 804, a memory 806, and a communication bus 808. The processor 802, the communication interface 804, and the memory 806 communicate with each other through the communication bus 808. The memory 806 is used to store computer programs.

[0193] As an optional implementation, when the processor 802 executes a computer program stored in the memory 806, it can perform the following steps:

[0194] S1, acquire the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be measured, wherein the detection signal is a detection signal used for ground material detection;

[0195] S2, when the signal strength value of the reflected signal is less than the preset strength threshold, obtain the reference height value of the sensing sensor, where the reference height value is the height of the sensing sensor relative to the ground to be measured;

[0196] S3, if the reference height value is greater than or equal to the preset height value, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected.

[0197] As another alternative implementation, when the processor 802 executes a computer program stored in the memory 806, it can perform the following steps:

[0198] S1, acquire the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be measured, wherein the detection signal is a detection signal used for ground material detection;

[0199] S2, when the signal strength value of the reflected signal is less than the preset strength threshold, obtain the scene detection result obtained by the scene detection component to perform scene detection on the ground under test;

[0200] S3, when the scene detection result indicates that the ground scene of the ground to be tested is a preset scene, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected.

[0201] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 8 The symbol is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned electronic device and other devices.

[0202] The aforementioned memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0203] As an example, the memory 806 described above may include, but is not limited to, the first acquisition unit 602, the second acquisition unit 604, and the first determination unit 606 from the control device of the aforementioned device. Furthermore, it may include, but is not limited to, other module units from the control device of the aforementioned device, which will not be elaborated upon in this example.

[0204] As another example, the memory 806 described above may include, but is not limited to, the first acquisition unit 702, the second acquisition unit 704, and the first determination unit 706 from the control device of the aforementioned device. Furthermore, it may include, but is not limited to, other module units from the control device of the aforementioned device, which will not be elaborated upon in this example.

[0205] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0206] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0207] Those skilled in the art will understand that Figure 8 The structure shown is for illustrative purposes only. The device used to implement the above-described method for detecting ground materials can be a terminal device, such as a smartphone (e.g., an Android phone, an iOS phone), a tablet computer, a PDA, a mobile internet device (MID), a PAD, or other terminal devices. Figure 8 This does not limit the structure of the aforementioned electronic device. For example, the electronic device may also include components that are more... Figure 8 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 8 The different configurations shown.

[0208] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0209] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0210] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0211] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0212] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0213] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0214] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0215] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method of detecting a ground material, characterized by, include: Acquire the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested, wherein the detection signal is a detection signal used for ground material detection; When the signal strength value of the reflected signal is less than a preset strength threshold, the reference height value of the sensing sensor is obtained, wherein the reference height value is the height of the sensing sensor relative to the ground to be measured; If the reference height value is greater than or equal to the preset height value, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected. The step of determining the historical ground material as the ground material of the ground to be tested includes: The ground material obtained from the last ground inspection before the current moment is determined as the ground material of the ground to be tested.

2. The method according to claim 1, characterized in that, The step of obtaining the reference height value of the sensing sensor includes: The first distance value obtained by the sensing sensor through ground detection of the ground to be measured is obtained, and the reference height value is obtained, wherein the first distance value is the distance between the sensing sensor and the ground to be measured.

3. The method according to claim 2, characterized in that, The step of acquiring the first distance value obtained by the sensing sensor through ground detection of the ground to be measured includes: Determine the time difference between the time when the sensing sensor transmits the detection signal to the ground under test and the time when it receives the reflected signal; The first distance value is determined based on the time difference and the preset transmission speed of the detection signal.

4. The method according to claim 1, characterized in that, The method further includes: When the cleaning equipment is detected to be activated, a second distance value is obtained by the sensing sensor through ground detection of the ground where the cleaning equipment is currently located, wherein the second distance value is the distance between the sensing sensor and the ground where the cleaning equipment is currently located; The second distance value is determined as the preset height value.

5. The method according to claim 1, characterized in that, The method further includes: If the signal strength value of the reflected signal is greater than or equal to the preset strength threshold, the floor is determined to be the floor material of the ground to be tested.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: If the reference height value is less than the preset height value, the carpet is determined to be the floor material of the ground to be tested.

7. A method for testing floor materials, characterized in that, include: Acquire the reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested, wherein the detection signal is a detection signal used for ground material detection; When the signal strength value of the reflected signal is less than a preset strength threshold, the scene detection result obtained by the scene detection component performing scene detection on the ground to be tested is acquired. When the scene detection result indicates that the ground scene of the ground to be tested is a preset scene, the historical ground material is determined as the ground material of the ground to be tested, wherein the historical ground material is the ground material that has been detected; wherein the preset scene is a scene in which the current actual scene cannot be accurately distinguished by the echo intensity value of the ultrasonic sensor alone, resulting in misjudgment. The step of determining the historical ground material as the ground material of the ground to be tested includes: The ground material obtained from the last ground inspection before the current moment is determined as the ground material of the ground to be tested.

8. The method according to claim 7, characterized in that, The scene detection result obtained by the scene detection component from the ground to be tested includes at least one of the following: Acquire cliff detection results obtained by a cliff sensor performing cliff detection on the ground to be measured, wherein the preset scene includes a cliff; The device pose of the cleaning equipment detected by the pose detection component is obtained; the tilt angle is detected based on the device pose to obtain the tilt angle detection result, wherein the preset scene includes a tilted ground, and the tilted ground is a ground with a tilt angle greater than or equal to a preset angle threshold.

9. The method according to claim 7, characterized in that, The method further includes: If the signal strength value of the reflected signal is greater than or equal to the preset strength threshold, the floor is determined to be the floor material of the ground to be tested.

10. The method according to any one of claims 7 to 9, characterized in that, The method further includes: If the scene detection result indicates that the ground scene of the test ground is not a preset scene, the carpet is determined as the ground material of the test ground.

11. A device for detecting ground material, characterized in that, include: The first acquisition unit is used to acquire a reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested, wherein the detection signal is a detection signal used for ground material detection. The second acquisition unit is used to acquire a reference height value of the sensing sensor when the signal strength value of the reflected signal is less than a preset strength threshold, wherein the reference height value is the height of the sensing sensor relative to the ground to be measured. The first determining unit is configured to determine the historical ground material as the ground material of the ground to be tested when the reference height value is greater than or equal to a preset height value, wherein the historical ground material is a previously detected ground material; determining the historical ground material as the ground material of the ground to be tested includes: The ground material obtained from the last ground inspection before the current moment is determined as the ground material of the ground to be tested.

12. A device for detecting ground material, characterized in that, include: The first acquisition unit is used to acquire a reflected signal corresponding to the detection signal emitted by the sensing sensor to the ground to be tested, wherein the detection signal is a detection signal used for ground material detection. The second acquisition unit is used to acquire the scene detection result obtained by the scene detection component performing scene detection on the ground to be tested when the signal strength value of the reflected signal is less than a preset strength threshold. The first determining unit is configured to determine the historical ground material as the ground material of the ground to be tested when the scene detection result indicates that the ground scene of the ground to be tested is a preset scene, wherein the historical ground material is the ground material that has been detected; wherein the preset scene is a scene in which the current actual scene cannot be accurately distinguished by the echo intensity value of the ultrasonic sensor alone, resulting in misjudgment. The step of determining the historical ground material as the ground material of the ground to be tested includes: The ground material obtained from the last ground inspection before the current moment is determined as the ground material of the ground to be tested.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 10.

14. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 10 through the computer program.

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