Cleaning robot ground material identification method

Abstract

The invention relates to a cleaning robot ground material identification method. The cleaning robot ground material identification method comprises the steps that historical ultrasonic data, collected by a host, of the surrounding ground are obtained, and the historical ultrasonic data comprise historical echo integral values and historical primary echo distances; performing ground material pre-estimation classification processing based on the historical echo integral value and the historical primary echo distance to obtain a ground material pre-estimation result; acquiring real-time ultrasonic data of the surrounding ground acquired by the host, wherein the real-time ultrasonic data comprises a real-time echo integral value, a real-time afterwave integral value and a real-time primary echo distance; and performing ground material detection analysis processing on the ground material pre-estimation result based on the real-time echo integral value, the real-time afterwave integral value and the real-time primary echo distance to obtain a ground material result. According to the scheme, the ground material identification speed can be increased, and the ground material identification error can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent devices, and in particular to a method for identifying floor materials of a cleaning robot. Background Art

[0002] Cleaning robots have become more and more versatile. They can not only sweep and vacuum, but also mop the floor. They also need to cope with many different floor scenarios. Carpets are a common floor material in homes. When cleaning robots sweep and mop the floor, they need to identify the carpet material and take actions such as avoiding cleaning, turning off the mopping function, or directly prohibiting them from using carpets.

[0003] At present, cleaning robots use an integrated ultrasonic probe to analyze and identify the ground to distinguish whether it is a carpet medium. However, the above detection method generally has a high degree of misidentification and carpet recognition delay. For example, patent document CN113303707A discloses a cleaning robot carpet recognition method, which specifically receives the actual echo signal reflected after the ultrasonic sensor vertically transmits the ultrasonic signal to the current ground, and determines whether the actual echo signal is different from the standard echo signal. If there is a difference, the current ground is identified as a carpet surface. However, this method only makes judgments based on the standard echo signal, and there is a high degree of misidentification. For example, the ultrasonic wave reflected by pebbles cannot be received by the probe, that is, the ultrasonic wave reflected by the pebbles is similar to that reflected by the carpet surface, resulting in a high degree of misidentification; and when performing recognition, the related technology usually needs to continuously sample more carpet graphics to give a recognition result, resulting in a high recognition delay. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a method for identifying floor materials of a cleaning robot.

[0005] In a first aspect, the present disclosure provides a method for identifying floor materials of a cleaning robot, comprising:

[0006] Obtain the historical ultrasonic data of the ground around the host, which includes the historical echo integral value and the historical single echo distance;

[0007] Based on the historical echo integral value and the historical single echo distance, the ground material estimation classification process is performed to obtain the ground material estimation result;

[0008] Acquire the real-time ultrasonic data of the ground around the host, including the real-time echo integral value, real-time residual wave integral value and real-time first echo distance;

[0009] The ground material estimation result is subjected to ground material detection and analysis based on the real-time echo integral value, the real-time residual wave integral value and the real-time first echo distance to obtain the ground material result.

[0010] In some embodiments, ground material estimation classification processing is performed based on historical echo integral values ​​and historical single echo distances to obtain ground material estimation results, including:

[0011] The historical echo distance is stored in the first window sliding filter channel;

[0012] If there are a preset number of historical echo distances exceeding a preset height value in the first window sliding filter channel, it is determined that the ground material estimation result is an estimation threshold type ground.

[0013] In some embodiments, ground material estimation classification processing is performed based on historical echo integral values ​​and historical single echo distances to obtain ground material estimation results, including:

[0014] The historical echo integral value is stored in the second window sliding filter channel;

[0015] If the historical echo integral value in the second window sliding filter channel is continuously lower than the preset characteristic value, it is determined that the ground material estimation result is an estimated carpet-type ground.

[0016] In some embodiments, the method further comprises:

[0017] Based on the description formula of discrete values, the discrete value of the historical single echo distance in the first window sliding filter channel and the discrete value of the historical echo integral value in the second window sliding filter channel are calculated respectively.

[0018] In some embodiments, ground material estimation classification processing is performed based on historical echo integral values ​​and historical single echo distances to obtain ground material estimation results, including:

[0019] If the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value, and the discrete value of the historical single echo distance in the first window sliding filter channel exceeds the preset characteristic value, the ground material estimation result is determined to be an estimated cobblestone ground.

[0020] In some embodiments, ground material estimation classification processing is performed based on historical echo integral values ​​and historical single echo distances to obtain ground material estimation results, including:

[0021] If the distances of all historical single echoes in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical echo integral value in the second window sliding filter channel does not exceed the preset characteristic value, then the ground material estimation result is determined to be an estimated hard floor type ground;

[0022] Alternatively, if all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical single echo distance in the first window sliding filter channel does not exceed the preset characteristic value, the ground material estimation result is determined to be an estimated hard floor type ground.

[0023] In some embodiments, the ground material estimation result is subjected to ground material detection and analysis based on the real-time echo integral value, the real-time residual wave integral value and the real-time primary echo distance to obtain a ground material result, including:

[0024] When the ground material estimation result is an estimated carpet-type ground, a preliminary material analysis result is obtained by determining whether the real-time echo integral value is less than a first preset threshold value;

[0025] The preliminary material analysis results are subjected to data filtering through the target window sliding filter channel to obtain the ground material results, which include carpet-type ground and non-carpet-type ground.

[0026] In some embodiments, the ground material estimation result is subjected to ground material detection and analysis based on the real-time echo integral value, the real-time residual wave integral value and the real-time primary echo distance to obtain a ground material result, including:

[0027] When the ground material estimation result is the estimated threshold ground, the preliminary material analysis result is obtained by judging whether the real-time echo integral value is greater than the first preset threshold, whether the real-time afterwave integral value is greater than the second preset threshold, and whether the real-time first echo distance is greater than the third preset threshold;

[0028] The preliminary material analysis results are processed by data filtering through the target window sliding filter channel to obtain the ground material results.

[0029] In some embodiments, the ground material estimation result is subjected to ground material detection and analysis based on the real-time echo integral value, the real-time residual wave integral value and the real-time primary echo distance to obtain a ground material result, including:

[0030] When the ground material estimation result is an estimated hard floor type ground, a preliminary material analysis result is obtained by judging whether the real-time echo integral value is greater than a first preset threshold value and whether the real-time single echo distance is greater than a third preset threshold value;

[0031] The preliminary material analysis results are processed by data filtering through the target window sliding filter channel to obtain the ground material results.

[0032] In some embodiments, the ground material estimation result is subjected to ground material detection and analysis based on the real-time echo integral value, the real-time residual wave integral value and the real-time primary echo distance to obtain a ground material result, including:

[0033] When the ground material estimation result is an estimated cobblestone ground, a preliminary material analysis result is obtained by judging whether the real-time echo integral value is greater than a first preset threshold, whether the real-time residual wave integral value is greater than a second preset threshold, and whether the real-time first echo distance is greater than a third preset threshold;

[0034] The preliminary material analysis results are processed by data filtering through the target window sliding filter channel to obtain the ground material results.

[0035] In a second aspect, the present disclosure provides a cleaning robot, comprising:

[0036] A host, configured to execute the cleaning robot floor material recognition method of the first aspect;

[0037] The ultrasonic probe is configured to transmit ultrasonic waves to the surrounding ground and collect corresponding ultrasonic data.

[0038] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0039] The cleaning robot floor material recognition method of the disclosed embodiment can obtain historical ultrasonic data of the ground collected by the host, the historical ultrasonic data includes historical echo integral values ​​and historical first echo distances, and then perform floor material estimation and classification processing based on the historical echo integral values ​​and historical first echo distances to obtain floor material estimation results, and then obtain real-time ultrasonic data of the ground collected by the host, the real-time ultrasonic data includes real-time echo integral values, real-time afterwave integral values ​​and real-time first echo distances, and finally perform floor material detection and analysis processing on the floor material estimation results based on the real-time echo integral values, real-time afterwave integral values ​​and real-time first echo distances to obtain floor material results. Thus, the floor material is first estimated through the historical ultrasonic data to obtain a preliminary floor material estimation result, and then the floor material estimation result is targetedly detected and analyzed through the real-time ultrasonic data to obtain the floor material result, that is, through the method of estimation and classification, not only the floor material recognition speed is improved, but also the floor material recognition error is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0041] Figure 1 A schematic diagram of a flow chart of a method for identifying floor material of a cleaning robot provided in an embodiment of the present disclosure;

[0042] Figure 2 A schematic diagram of a waveform of ultrasonic data provided by an embodiment of the present disclosure;

[0043] Figure 3 A schematic diagram of the structure of a cleaning robot provided by an embodiment of the present disclosure;

[0044] Figure 4 A schematic diagram of a process flow of a ground material estimation and classification processing method provided in an embodiment of the present disclosure;

[0045] Figure 5 A schematic diagram of a process flow of a ground material detection, analysis and processing method provided in an embodiment of the present disclosure;

[0046] Figure 6 A schematic diagram of a flow chart of another ground material detection, analysis and processing method provided in an embodiment of the present disclosure;

[0047] Figure 7 A flowchart of another method for detecting, analyzing and processing ground materials provided in an embodiment of the present disclosure;

[0048] Figure 8 A flowchart of another method for detecting, analyzing and processing ground materials provided in an embodiment of the present disclosure;

[0049] Fig. 9 A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0051] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0052] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0053] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0054] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0055] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0056] In order to solve the above problems, the present disclosure provides a method for identifying floor materials of a cleaning robot. Figures 1 to 8 The floor material recognition method of the cleaning robot provided by the embodiment of the present disclosure is described in detail.

[0057] Figure 1 A schematic flow chart of a method for identifying floor material of a cleaning robot provided in an embodiment of the present disclosure is shown.

[0058] In the disclosed embodiment, the cleaning robot floor material recognition method can be executed by an electronic device, wherein the electronic device can be a device including a cleaning robot, a workstation, various devices, and the like.

[0059] like Figure 1 As shown, the cleaning robot floor material recognition method may include the following steps.

[0060] S110, obtaining historical ultrasonic data of the surrounding ground collected by the host, where the historical ultrasonic data includes historical echo integral values ​​and historical single echo distances.

[0061] In the disclosed embodiment, the electronic device may obtain historical ultrasonic data of the surrounding ground collected by the host.

[0062] Optionally, the historical ultrasonic data may be ultrasonic data of the surrounding ground collected by the host in the past period of time. For example, the historical ultrasonic data may be ultrasonic data of the surrounding ground collected by the cleaning robot host when performing cleaning work 5S or 10S ago.

[0063] The historical ultrasonic data includes a historical echo integral value and a historical single echo distance. The historical single echo distance may be a single echo distance at a location where a single echo peak of the ultrasonic wave received in the historical data is located. The historical echo integral value may be an integral value of all echo values ​​of the ultrasonic wave within a time range of five echo peaks in the historical data.

[0064] Figure 2 A waveform diagram of ultrasonic data provided by an embodiment of the present disclosure is shown.

[0065] like Figure 2 As shown, the historical single echo distance can be the single echo distance 10 of the position where the single echo peak 5 of the returned ultrasonic wave is received in the historical data, and the historical echo integral value can be the integral value 11 of all echo values ​​of the ultrasonic wave within the time range of five echo peaks (first echo peak 5, second echo peak 6, third echo peak 7, fourth echo peak 8, fifth echo peak 9) in the historical data.

[0066] Specifically, when the cleaning robot is performing cleaning work, the electronic device can obtain historical ultrasonic data of the surrounding ground collected by the host, such as obtaining ultrasonic data of the surrounding ground collected 5S ago. The historical ultrasonic data may include historical echo integral values ​​and historical single echo distances.

[0067] S120 , performing ground material estimation classification processing based on historical echo integral values ​​and historical single echo distances to obtain a ground material estimation result.

[0068] In the disclosed embodiment, the electronic device may perform ground material estimation classification processing based on historical echo integral values ​​and historical single echo distances to obtain a ground material estimation result.

[0069] Optionally, the ground material estimation and classification process may be a process of performing preliminary estimation and classification on the current ground material.

[0070] Optionally, the ground material estimation result may be an estimation result obtained after preliminary estimation and classification of the material of the current ground.

[0071] Specifically, after acquiring historical ultrasonic data, the electronic device can perform ground material estimation and classification based on historical echo integral values ​​and historical single echo distances, that is, first perform preliminary estimation and classification on the current ground material to obtain a ground material estimation result.

[0072] S130, obtaining real-time ultrasonic data of the surrounding ground collected by the host, the real-time ultrasonic data including a real-time echo integral value, a real-time afterwave integral value and a real-time first echo distance.

[0073] In the disclosed embodiment, the electronic device can obtain real-time ultrasonic data of the surrounding ground collected by the host.

[0074] Optionally, the real-time ultrasonic data may be ultrasonic data of the surrounding ground collected in real time by the host when the host is performing cleaning work.

[0075] The real-time ultrasonic data may include a real-time echo integral value, a real-time after-wave integral value, and a real-time first echo distance. The real-time first echo distance may be a first echo distance at the location where the first echo peak of the ultrasonic wave received and returned in the real-time data is located. The real-time echo integral value may be an integral value obtained by integrating all echo values ​​of the ultrasonic wave within the time range of five echo peaks in the real-time data. The real-time after-wave integral value may be an integral value obtained by integrating all echo values ​​of the ultrasonic wave within the time range of the remaining four echo peaks except the first echo peak in the real-time data.

[0076] Optionally, the above-mentioned historical first echo distance and real-time first echo distance can be replaced by the position of the secondary echo peak (or tertiary echo peak, fourth echo peak, fifth echo peak) of the received returned ultrasonic wave; the real-time echo integral value and the historical echo integral value can be replaced by the first echo peak (or secondary echo peak, tertiary echo peak, fourth echo peak, fifth echo peak) intensity integral value or the intensity integral value of a certain section of peak; the real-time afterwave integral value can be replaced by the integration of all echo values ​​of the ultrasonic wave within the time range of the remaining four echo peaks except the secondary echo peak (or tertiary echo peak, fourth echo peak, fifth echo peak), etc., which is not limited here.

[0077] Continue to refer to Figure 2 The real-time first echo distance can be the first echo distance 10 of the position where the first echo peak 5 of the returned ultrasonic wave is received in the real-time data, the real-time echo integral value can be the integral value 11 of all echo values ​​of the ultrasonic wave integrated within the time range of five echo peaks in the real-time data, and the real-time after-wave integral value can be the after-wave integral value 12 of all echo values ​​of the ultrasonic wave integrated within the time range of the remaining four echo peaks (secondary echo peak 6, tertiary echo peak 7, fourth echo peak 8, fifth echo peak 9) except the first echo peak value in the real-time data.

[0078] Specifically, when the cleaning robot is performing cleaning work, the electronic device can obtain real-time ultrasonic data of the surrounding ground collected by the host in real time. The real-time ultrasonic data may include a real-time echo integral value, a real-time afterwave integral value and a real-time first echo distance.

[0079] S140, performing ground material detection and analysis processing on the ground material estimation result based on the real-time echo integral value, the real-time afterwave integral value and the real-time first echo distance to obtain a ground material result.

[0080] In the disclosed embodiment, the electronic device may perform ground material detection and analysis processing on the ground material estimation result based on the real-time echo integral value, the real-time afterwave integral value and the real-time first echo distance to obtain the ground material result.

[0081] Optionally, the ground material detection and analysis processing may further perform targeted ground material detection and analysis processing on the preliminary estimated results.

[0082] Optionally, the ground material result may be a result obtained after ground material detection and analysis.

[0083] Specifically, after obtaining the ground material estimation result, the electronic device can perform ground material detection and analysis processing on the ground material estimation result according to the real-time echo integral value, the real-time afterwave integral value and the real-time first echo distance to obtain the ground material result.

[0084] Therefore, in the embodiment of the present disclosure, historical ultrasonic data of the ground around the host can be obtained, and the historical ultrasonic data includes historical echo integral values ​​and historical first echo distances. Then, ground material estimation and classification processing are performed based on the historical echo integral values ​​and historical first echo distances to obtain a ground material estimation result. Then, real-time ultrasonic data of the ground around the host can be obtained, and the real-time ultrasonic data includes real-time echo integral values, real-time afterwave integral values ​​and real-time first echo distances. Finally, ground material detection and analysis processing are performed on the ground material estimation result based on the real-time echo integral value, real-time afterwave integral value and real-time first echo distance to obtain a ground material result. Therefore, the ground material is first estimated through the historical ultrasonic data to obtain a preliminary ground material estimation result, and then the ground material estimation result is subjected to targeted material detection and analysis through the real-time ultrasonic data to obtain the ground material result. That is, through the method of estimation and classification, not only the ground material recognition speed is improved, but also the ground material recognition error is reduced.

[0085] Moreover, compared with the traditional calibration threshold, which requires 300-400ms to identify the result, the ground material recognition speed can be improved (such as 160ms) in the disclosed embodiment, while taking into account the low misrecognition rate in complex situations such as threshold cobblestones, and only requires an ultrasonic probe for identification and judgment, which can effectively decouple and reduce sensor costs. For ground judgments in complex situations such as cobblestones, combining the historical data of the sensor can more effectively judge the current ground conditions and reduce misjudgments. This is clearly manifested in that when the sweeper enters cobblestone or threshold-type ground, the misjudgment rate will decrease with time, or even no false triggering will occur. At the same time, the calibration threshold can be exempted during production, supporting a wider range of recognition of long and short hair on carpets, reducing the calibration process and reducing production costs.

[0086] Figure 3 A schematic structural diagram of a cleaning robot provided in an embodiment of the present disclosure is shown.

[0087] like Figure 3 As shown, the cleaning robot may include a main unit and an ultrasonic probe. The ultrasonic probe 1 is installed at the chassis position in front of the main unit 2 of the cleaning robot. When the cleaning robot performs cleaning work, the ultrasonic probe 1 continuously emits ultrasonic waves 4 to detect the ground medium 3. When the ultrasonic waves 4 are emitted to the ground medium 3, due to the different characteristics of different ground media 3 that absorb the ultrasonic waves 4 to different degrees, the ultrasonic probe 1 receives different intensities of the returned ultrasonic waves 4, thereby judging the material of the ground medium.

[0088] Optionally, S120 may specifically include: storing the historical single echo distance in the first window sliding filter channel; if there are a preset number of historical single echo distances in the first window sliding filter channel that exceed a preset height value, determining that the ground material estimation result is an estimated threshold type ground.

[0089] In the disclosed embodiment, the electronic device may store the historical echo distance in the first window sliding filter channel.

[0090] Optionally, the first window sliding filter channel may be a data set for storing a plurality of historical primary echo distance data.

[0091] Specifically, after obtaining a plurality of historical primary echo distances, the electronic device may store the plurality of historical primary echo distances in a first window sliding filter channel.

[0092] Furthermore, if there are a preset number of historical echo distances exceeding a preset height value in the first window sliding filter channel, the electronic device determines that the ground material estimation result is an estimation threshold type ground.

[0093] Optionally, the preset number may be a preset number value. For example, when the total number of data is 50, the preset number may be 10, 20, etc. The preset number may be determined according to actual environment conditions and is not limited here.

[0094] Optionally, the preset height value may be a pre-set height value, wherein the preset height value may be determined according to the threshold height in an actual environment, which is not limited here.

[0095] Optionally, estimating the threshold-type ground may be estimating that the current ground material type is the threshold-type ground.

[0096] Specifically, after storing multiple historical first-time echo distances in the first window sliding filter channel, the electronic device can determine whether there is a preset number of historical first-time echo distances in the first window sliding filter channel that exceed the preset height value. If there is a preset number of historical first-time echo distances in the first window sliding filter channel that exceed the preset height value, for example, 20 of the 50 historical first-time echo distances in the first window sliding filter channel exceed the preset height value, the electronic device can determine that the current ground material estimation result is an estimated threshold type ground.

[0097] Therefore, estimating and classifying the ground material through the historical echo distance is beneficial to improving the subsequent ground material recognition speed and reducing the ground material recognition error in the case of ground that is easily misidentified.

[0098] Optionally, S120 may specifically include: storing the historical echo integral value in a second window sliding filter channel; if the historical echo integral value in the second window sliding filter channel is continuously lower than a preset characteristic value, determining that the ground material estimation result is an estimated carpet-type ground.

[0099] In the embodiment of the present disclosure, the electronic device may store the historical echo integral value into the second window sliding filter channel.

[0100] Optionally, the second window sliding filter channel may be a data set for storing a plurality of historical echo integral value data.

[0101] Specifically, after obtaining a plurality of historical echo integral values, the electronic device may store the plurality of historical echo integral values ​​in the second window sliding filter channel.

[0102] Furthermore, if the historical echo integral value in the second window sliding filter channel is continuously lower than the preset characteristic value, the electronic device may determine that the ground material estimation result is an estimated carpet-type ground.

[0103] Optionally, the preset characteristic value may be a characteristic value preset according to actual environmental conditions, which is not limited here.

[0104] Optionally, estimating the carpet-type floor may be estimating that the current floor material type is a carpet-type floor.

[0105] Specifically, after storing multiple historical echo integral values ​​in the second window sliding filter channel, the electronic device can determine whether the multiple historical echo integral values ​​in the second window sliding filter channel are continuously lower than the preset characteristic value. If the multiple historical echo integral values ​​in the second window sliding filter channel are continuously lower than the preset characteristic value, the electronic device can determine that the current ground material estimation result is an estimated carpet-type ground.

[0106] Therefore, estimating and classifying the ground material through historical echo integral values ​​is beneficial to improving the subsequent ground material recognition speed and reducing the ground material recognition error in the case of ground that is easily misidentified.

[0107] Optionally, the cleaning robot floor material recognition method may further include: based on a description formula of discrete values, respectively calculating the discrete value of the historical single echo distance in the first window sliding filter channel and the discrete value of the historical echo integral value in the second window sliding filter channel.

[0108] In the disclosed embodiment, the electronic device may calculate the discrete value of the historical single echo distance in the first window sliding filter channel and the discrete value of the historical echo integral value in the second window sliding filter channel respectively based on the description formula of the discrete value.

[0109] Optionally, the discrete value may be used to characterize the degree of discreteness of the data. The description formula for calculating the discrete value is as follows:

[0110]

[0111] Among them, I is the discrete value, also the weighted variance; x i is the value of the i-th data in the window sliding filter channel (data set); w i is the i-th data x i The corresponding weight, usually weight w i =1. According to the actual environment, when some data is invalid or unreliable, different weights are set for different data. For example, the data received by other sensors represent the tilt of the host body, the host stops, etc., which is not limited here. u is the weighted mean of the window sliding filter channel (data set):

[0112] Optionally, S120 may specifically include: if the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value, and the discrete value of the historical single echo distance in the first window sliding filter channel exceeds the preset characteristic value, then the ground material estimation result is determined to be an estimated cobblestone ground.

[0113] In an embodiment of the present disclosure, if the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value, and the discrete value of the historical single echo distance in the first window sliding filter channel exceeds the preset characteristic value, the electronic device can determine that the ground material estimation result is an estimated cobblestone ground.

[0114] Optionally, estimating the cobblestone type of ground may be estimating that the current ground material type is a cobblestone type of ground.

[0115] Specifically, the electronic device can determine whether the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value, and whether the discrete value of the historical echo distance in the first window sliding filter channel exceeds the preset characteristic value. If the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value, and the discrete value of the historical echo distance in the first window sliding filter channel exceeds the preset characteristic value, the electronic device can determine that the ground material estimation result is an estimated cobblestone ground.

[0116] Therefore, the ground material is estimated and classified by the discrete values ​​of the historical echo integral value and the discrete values ​​of the historical single echo distance, which is beneficial to improve the subsequent ground material recognition speed and reduce the ground material recognition error in the case of ground that is easily misidentified.

[0117] Optionally, S120 may specifically include: if all historical single echo distances in the first window sliding filter channel do not exceed a preset height value, and the discrete value of the historical echo integral value in the second window sliding filter channel does not exceed a preset characteristic value, determining that the ground material estimation result is an estimated hard floor type ground;

[0118] Alternatively, if all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical single echo distance in the first window sliding filter channel does not exceed the preset characteristic value, the ground material estimation result is determined to be an estimated hard floor type ground.

[0119] In some embodiments of the present disclosure, if all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical echo integral value in the second window sliding filter channel does not exceed the preset characteristic value, the electronic device can determine that the ground material estimation result is an estimated hard floor type ground.

[0120] Optionally, estimating the hard floor type of ground may be estimating that the current ground material type is a hard floor type of ground.

[0121] Specifically, the electronic device can determine whether all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and determine whether the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value. If all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical echo integral value in the second window sliding filter channel does not exceed the preset characteristic value, the electronic device can determine that the ground material estimation result is an estimated hard floor type ground.

[0122] In other embodiments of the present disclosure, if all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete values ​​of the historical single echo distances in the first window sliding filter channel do not exceed the preset characteristic value, the electronic device can determine that the ground material estimation result is an estimated hard floor type ground.

[0123] Specifically, the electronic device can determine whether all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and determine whether the discrete value of the historical single echo distances in the first window sliding filter channel exceeds the preset characteristic value. If all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical single echo distances in the first window sliding filter channel does not exceed the preset characteristic value, the electronic device can determine that the ground material estimation result is an estimated hard floor type ground.

[0124] Therefore, the ground material is estimated and classified by the discrete values ​​of the historical single echo distance and the discrete values ​​of the historical single echo distance, which is beneficial to improve the subsequent ground material recognition speed and reduce the ground material recognition error in the case of easily misidentified ground.

[0125] Figure 4 A schematic flow chart of a ground material estimation and classification processing method provided in an embodiment of the present disclosure is shown.

[0126] like Figure 4 As shown, the electronic device can store a historical echo distance in a first window sliding filter channel, and store a historical echo integral value in a second window sliding filter channel.

[0127] In some examples, the electronic device can determine whether there are a preset number of historical echo distances exceeding a preset height value in the first window sliding filter channel. If there are a preset number of historical echo distances exceeding a preset height value in the first window sliding filter channel, the electronic device can determine that the current ground material estimation result is an estimated threshold type ground. Otherwise, continue with other judgments.

[0128] In other examples, the electronic device can determine whether multiple historical echo integral values ​​in the second window sliding filter channel are continuously lower than the preset characteristic value. If the multiple historical echo integral values ​​in the second window sliding filter channel are continuously lower than the preset characteristic value, the electronic device can determine that the current ground material estimation result is an estimated carpet-type ground. Otherwise, continue with other judgments.

[0129] In some other examples, the electronic device can determine whether the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value, and whether the discrete value of the historical single echo distance in the first window sliding filter channel exceeds the preset characteristic value. If the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value, and the discrete value of the historical single echo distance in the first window sliding filter channel exceeds the preset characteristic value, the electronic device can determine that the ground material estimation result is an estimated cobblestone ground. Otherwise, continue with other judgments.

[0130] In some further examples, the electronic device may determine whether all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and determine whether the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value. If all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical echo integral value in the second window sliding filter channel does not exceed the preset characteristic value, the electronic device may determine that the ground material estimation result is an estimated hard floor type ground; or, the electronic device may determine whether all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and determine whether the discrete value of the historical single echo distances in the first window sliding filter channel exceeds the preset characteristic value. If all historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical single echo distances in the first window sliding filter channel does not exceed the preset characteristic value, the electronic device may determine that the ground material estimation result is an estimated hard floor type ground.

[0131] Optionally, S140 may specifically include: when the ground material estimation result is an estimated carpet-type ground, obtaining a preliminary material analysis result by judging whether the real-time echo integral value is less than a first preset threshold value; performing data filtering processing on the preliminary material analysis result through a target window sliding filter channel to obtain a ground material result, and the ground material result includes a carpet-type ground and a non-carpet-type ground.

[0132] In the embodiment of the present disclosure, when the ground material estimation result is an estimated carpet-type ground, the electronic device can obtain a preliminary material analysis result by determining whether the real-time echo integral value is less than a first preset threshold.

[0133] Optionally, the first preset threshold may be a threshold preset according to actual environmental conditions, which is not limited here.

[0134] Optionally, the preliminary material analysis result may be a result obtained by preliminary analyzing the ground material.

[0135] Specifically, when the electronic device performs ground material estimation and classification processing and determines that the ground material estimation result is an estimated carpet-type ground, the electronic device can obtain a preliminary material analysis result by judging whether the real-time echo integral value is less than a first preset threshold. For example, if the real-time echo integral value is less than the first preset threshold, the electronic device can obtain a preliminary material analysis result of a carpet-type ground.

[0136] Furthermore, the electronic device can perform data filtering processing on the preliminary material analysis results through the target window sliding filter channel to obtain the ground material results.

[0137] Optionally, the ground material result may be a final accurate material result, wherein the ground material result may include a carpet-type ground and a non-carpet-type ground.

[0138] Specifically, the electronic device can store multiple real-time echo integral values ​​into the target window sliding filter channel, and perform data filtering processing on the preliminary material analysis results through the target window sliding filter channel, that is, determine whether multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as carpet-type floors, thereby obtaining the ground material results.

[0139] Figure 5 A schematic flow chart of a ground material detection, analysis and processing method provided in an embodiment of the present disclosure is shown.

[0140] like Figure 5 As shown, when the ground material estimation result is an estimated carpet-type ground, the electronic device can determine whether the real-time echo integral value is less than the first preset threshold value. If the real-time echo integral value is less than the first preset threshold value, the preliminary material analysis result can be obtained as a carpet-type ground. Then, multiple real-time echo integral values ​​are stored in the target window sliding filter channel, and it is determined whether multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as a carpet-type ground. If multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as a carpet-type ground, the electronic device can determine that the ground material result is a carpet-type ground.

[0141] Therefore, when it is estimated to be a carpet-type floor, it is only necessary to determine whether the real-time echo integral value is less than the first preset threshold, and a stable and effective data judgment result can be formed after sliding the filter channel jitter data through the target window. The first preset threshold has very little dependence compared to the traditional method and can be calibrated free, which reduces the dependence on the threshold during identification and reduces the error in ground material identification.

[0142] Optionally, S140 may specifically include: when the ground material estimation result is an estimated threshold type ground, obtaining a preliminary material analysis result by judging whether the real-time echo integral value is greater than a first preset threshold, whether the real-time afterwave integral value is greater than a second preset threshold, and whether the real-time first echo distance is greater than a third preset threshold; performing data filtering processing on the preliminary material analysis result through the target window sliding filter channel to obtain a ground material result.

[0143] In the disclosed embodiment, when the ground material estimation result is the estimated threshold ground, the electronic device can obtain the preliminary material analysis result by judging whether the real-time echo integral value is greater than the first preset threshold, whether the real-time residual wave integral value is greater than the second preset threshold, and whether the real-time first echo distance is greater than the third preset threshold. The preliminary material analysis result is subjected to data filtering processing through the target window sliding filter channel to obtain the ground material result.

[0144] Optionally, the second preset threshold is similar to the first preset threshold and is a threshold preset according to actual environmental conditions and is not limited here.

[0145] Optionally, the third preset threshold is similar to the first preset threshold and is a threshold preset according to actual environmental conditions and is not limited here.

[0146] Figure 6 A flow chart of another method for detecting, analyzing and processing ground materials provided in an embodiment of the present disclosure is shown.

[0147] like Figure 6 As shown, if the ground material estimation result is an estimated threshold ground, the electronic device can determine whether the real-time echo integral value is greater than the first preset threshold value. If the real-time echo integral value is greater than the first preset threshold value, the preliminary material analysis result can be obtained as a non-carpet ground. Otherwise, it is determined whether the real-time afterwave integral value is greater than the second preset threshold value. If the real-time afterwave integral value is greater than the second preset threshold value, the preliminary material analysis result can be obtained as a non-carpet ground. Otherwise, it is determined whether the real-time single echo distance is greater than the third preset threshold value. If the real-time single echo distance is greater than the third preset threshold value, the preliminary material analysis result can be obtained as a non-carpet ground. Otherwise, the preliminary material analysis result can be obtained as a carpet ground.

[0148] Further, if the preliminary material analysis result is a non-carpet type of ground, the electronic device may store multiple real-time echo integral values ​​into the target window sliding filter channel, and determine whether the multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as non-carpet type of ground. If the multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as non-carpet type of ground, the electronic device may determine that the ground material result is a non-carpet type of ground. If the preliminary material analysis result is a carpet type of ground, the electronic device may store multiple real-time data into the target window sliding filter channel, and determine whether the multiple real-time data in the target window sliding filter channel are continuously detected as carpet type of ground. If the multiple real-time data in the target window sliding filter channel are continuously detected as carpet type of ground, the electronic device may determine that the ground material result is a carpet type of ground.

[0149] Therefore, when the ground material estimation result is an estimated threshold-type ground, the real-time afterwave integral value parameter is added to represent the waveform intensity of the waveform after multiple reflections. Increasing this parameter has a certain effect on effectively eliminating the waveform interference in the complex environment of multiple reflections at the threshold, thereby reducing the ground material recognition error.

[0150] Optionally, S140 may specifically include: when the ground material estimation result is an estimated hard floor type ground, obtaining a preliminary material analysis result by judging whether the real-time echo integral value is greater than a first preset threshold and whether the real-time single echo distance is greater than a third preset threshold; performing data filtering processing on the preliminary material analysis result through the target window sliding filter channel to obtain a ground material result.

[0151] In the disclosed embodiment, when the ground material estimation result is a hard floor type ground, the electronic device can obtain a preliminary material analysis result by determining whether the real-time echo integral value is greater than a first preset threshold value and whether the real-time single echo distance is greater than a third preset threshold value, and perform data filtering processing on the preliminary material analysis result through a target window sliding filter channel to obtain a ground material result.

[0152] Figure 7 A flow chart of another method for detecting, analyzing and processing ground materials provided in an embodiment of the present disclosure is shown.

[0153] like Figure 7 As shown, if the ground material estimation result is an estimated hard floor type ground, the electronic device can determine whether the real-time echo integral value is greater than the first preset threshold value. If the real-time echo integral value is greater than the first preset threshold value, the preliminary material analysis result can be obtained as a non-carpet type ground. Otherwise, it is determined whether the real-time single echo distance is greater than the third preset threshold value. If the real-time single echo distance is greater than the third preset threshold value, the preliminary material analysis result can be obtained as a non-carpet type ground. Otherwise, the preliminary material analysis result can be obtained as a carpet type ground.

[0154] Further, if the preliminary material analysis result is a non-carpet type of ground, the electronic device may store multiple real-time echo integral values ​​into the target window sliding filter channel, and determine whether the multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as non-carpet type of ground. If the multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as non-carpet type of ground, the electronic device may determine that the ground material result is a non-carpet type of ground. If the preliminary material analysis result is a carpet type of ground, the electronic device may store multiple real-time data into the target window sliding filter channel, and determine whether the multiple real-time data in the target window sliding filter channel are continuously detected as carpet type of ground. If the multiple real-time data in the target window sliding filter channel are continuously detected as carpet type of ground, the electronic device may determine that the ground material result is a carpet type of ground.

[0155] Therefore, when the ground material estimation result is an estimated hard floor type ground, the current ground material can be quickly judged through the real-time echo integral value and the real-time single echo distance, and a stable and effective data judgment result can be formed after the target window sliding filter channel jitter data, thereby reducing the ground material recognition error.

[0156] Optionally, S140 may specifically include: when the ground material estimation result is an estimated cobblestone ground, obtaining a preliminary material analysis result by judging whether the real-time echo integral value is greater than a first preset threshold, whether the real-time afterwave integral value is greater than a second preset threshold, and whether the real-time first echo distance is greater than a third preset threshold; performing data filtering processing on the preliminary material analysis result through the target window sliding filter channel to obtain a ground material result.

[0157] In the disclosed embodiment, when the ground material estimation result is an estimated cobblestone ground, the electronic device can obtain a preliminary material analysis result by judging whether the real-time echo integral value is greater than a first preset threshold, whether the real-time afterwave integral value is greater than a second preset threshold, and whether the real-time first echo distance is greater than a third preset threshold, and perform data filtering processing on the preliminary material analysis result through a target window sliding filter channel to obtain a ground material result.

[0158] Figure 8 A flow chart of another method for detecting, analyzing and processing ground materials provided in an embodiment of the present disclosure is shown.

[0159] like Figure 8As shown, if the ground material estimation result is an estimated cobblestone ground, the electronic device can determine whether the real-time echo integral value is greater than the first preset threshold value. If the real-time echo integral value is greater than the first preset threshold value, the preliminary material analysis result can be obtained as a non-carpet ground. Otherwise, it is determined whether the real-time afterwave integral value is greater than the second preset threshold value. If the real-time afterwave integral value is greater than the second preset threshold value, the preliminary material analysis result can be obtained as a non-carpet ground. Otherwise, it is determined whether the real-time single echo distance is greater than the third preset threshold value. If the real-time single echo distance is greater than the third preset threshold value, the preliminary material analysis result can be obtained as a non-carpet ground. Otherwise, the preliminary material analysis result can be obtained as a carpet ground.

[0160] Further, if the preliminary material analysis result is a non-carpet type of ground, the electronic device may store multiple real-time echo integral values ​​into the target window sliding filter channel, and determine whether the multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as non-carpet type of ground. If the multiple real-time echo integral values ​​in the target window sliding filter channel are continuously detected as non-carpet type of ground, the electronic device may determine that the ground material result is a non-carpet type of ground. If the preliminary material analysis result is a carpet type of ground, the electronic device may store multiple real-time data into the target window sliding filter channel, and determine whether the multiple real-time data in the target window sliding filter channel are continuously detected as carpet type of ground. If the multiple real-time data in the target window sliding filter channel are continuously detected as carpet type of ground, the electronic device may determine that the ground material result is a carpet type of ground.

[0161] Therefore, when the ground material estimation result is an estimated cobblestone ground, a stricter judgment is made based on the real-time echo integral value, the real-time afterwave integral value and the real-time first echo distance to reduce the ground material recognition error.

[0162] Fig. 9 A schematic structural diagram of a cleaning robot provided in an embodiment of the present disclosure is shown.

[0163] In some embodiments of the present disclosure, Fig. 9 The cleaning robot shown may include a cleaning robot, a workstation, various devices, and the like.

[0164] The cleaning robot may include a host configured to execute the cleaning robot ground material recognition method; an ultrasonic probe configured to emit ultrasonic waves to the surrounding ground and collect corresponding ultrasonic data.

[0165] like Fig. 9 As shown, the cleaning robot may further include a processor 901 and a memory 902 storing computer program instructions.

[0166] Specifically, the processor 901 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0167] The memory 902 may include a large capacity memory for information or instructions. By way of example and not limitation, the memory 902 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 902 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 902 may be inside or outside the integrated gateway device. In a particular embodiment, the memory 902 is a non-volatile solid-state memory. In a particular embodiment, the memory 902 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), an electrically rewritable ROM (EAROM) or a flash memory, or a combination of two or more of these.

[0168] The processor 901 reads and executes the computer program instructions stored in the memory 902 to perform the steps of the cleaning robot floor material recognition method provided in the embodiment of the present disclosure.

[0169] In one example, the cleaning robot may further include a transceiver 903 and a bus 904. Fig. 9 As shown, the processor 901, the memory 902 and the transceiver 903 are connected via a bus 904 and communicate with each other.

[0170] The bus 904 includes hardware, software or both. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a Memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 904 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0171] The embodiment of the present disclosure further provides a computer-readable storage medium, which may store a computer program. When the computer program is executed by a processor, the processor implements the cleaning robot floor material recognition method provided by the embodiment of the present disclosure.

[0172] The above-mentioned storage medium may, for example, include a memory 902 of computer program instructions, and the above-mentioned instructions may be executed by the processor 901 of the cleaning robot to complete the cleaning robot floor material recognition method provided by the embodiment of the present disclosure. Optionally, the storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (CompactDisc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0173] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0174] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for identifying floor material of a cleaning robot, characterized in that: include: Acquire historical ultrasonic data of the ground surrounding the host, wherein the historical ultrasonic data includes historical echo integral values ​​and historical single echo distances; Perform ground material estimation classification processing based on the historical echo integral value and the historical single echo distance to obtain a ground material estimation result; Acquire real-time ultrasonic data of the surrounding ground collected by the host, wherein the real-time ultrasonic data includes a real-time echo integral value, a real-time residual wave integral value and a real-time primary echo distance; The ground material estimation result is subjected to ground material detection and analysis based on the real-time echo integral value, the real-time afterwave integral value and the real-time primary echo distance to obtain a ground material result.

2. The method according to claim 1, characterized in that The ground material estimation classification processing is performed based on the historical echo integral value and the historical single echo distance to obtain a ground material estimation result, including: Storing the historical single echo distance in the first window sliding filter channel; If there are a preset number of historical single echo distances exceeding a preset height value in the first window sliding filter channel, it is determined that the ground material estimation result is an estimated threshold type ground.

3. The method according to claim 1, characterized in that The ground material estimation classification processing is performed based on the historical echo integral value and the historical single echo distance to obtain a ground material estimation result, including: Storing the historical echo integral value in a second window sliding filter channel; If the historical echo integral value in the second window sliding filter channel is continuously lower than a preset characteristic value, it is determined that the ground material estimation result is an estimated carpet-type ground.

4. The method according to claim 1, characterized in that The method further comprises: Based on the description formula of discrete values, the discrete value of the historical single echo distance in the first window sliding filter channel and the discrete value of the historical echo integral value in the second window sliding filter channel are calculated respectively.

5. The method according to any one of claims 2 to 4, characterized in that: The ground material estimation classification processing is performed based on the historical echo integral value and the historical single echo distance to obtain a ground material estimation result, including: If the discrete value of the historical echo integral value in the second window sliding filter channel exceeds the preset characteristic value, and the discrete value of the historical single echo distance in the first window sliding filter channel exceeds the preset characteristic value, the ground material estimation result is determined to be an estimated cobblestone ground.

6. The method according to any one of claims 2 to 4, characterized in that: The ground material estimation classification processing is performed based on the historical echo integral value and the historical single echo distance to obtain a ground material estimation result, including: If all the historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete value of the historical echo integral value in the second window sliding filter channel does not exceed the preset characteristic value, it is determined that the ground material estimation result is an estimated hard floor type ground; Alternatively, if all the historical single echo distances in the first window sliding filter channel do not exceed the preset height value, and the discrete values ​​of the historical single echo distances in the first window sliding filter channel do not exceed the preset characteristic value, then the ground material estimation result is determined to be an estimated hard floor type ground.

7. The method according to claim 3, characterized in that The performing ground material detection and analysis processing on the ground material estimation result based on the real-time echo integral value, the real-time afterwave integral value and the real-time primary echo distance to obtain a ground material result includes: When the ground material estimation result is an estimated carpet-type ground, a preliminary material analysis result is obtained by judging whether the real-time echo integral value is less than a first preset threshold value; The preliminary material analysis result is subjected to data filtering processing through a target window sliding filter channel to obtain the ground material result, which includes carpet-type ground and non-carpet-type ground.

8. The method according to claim 2, characterized in that: The performing ground material detection and analysis processing on the ground material estimation result based on the real-time echo integral value, the real-time afterwave integral value and the real-time primary echo distance to obtain a ground material result includes: When the ground material estimation result is an estimation threshold ground, a preliminary material analysis result is obtained by judging whether the real-time echo integral value is greater than a first preset threshold, whether the real-time afterwave integral value is greater than a second preset threshold, and whether the real-time first echo distance is greater than a third preset threshold; The preliminary material analysis result is subjected to data filtering processing through a target window sliding filter channel to obtain the ground material result.

9. The method according to claim 6, characterized in that The performing ground material detection and analysis processing on the ground material estimation result based on the real-time echo integral value, the real-time afterwave integral value and the real-time primary echo distance to obtain a ground material result includes: When the ground material estimation result is an estimated hard floor type ground, a preliminary material analysis result is obtained by judging whether the real-time echo integral value is greater than a first preset threshold value and whether the real-time single echo distance is greater than a third preset threshold value; The preliminary material analysis result is subjected to data filtering processing through a target window sliding filter channel to obtain the ground material result.

10. The method according to claim 5, characterized in that The performing ground material detection and analysis processing on the ground material estimation result based on the real-time echo integral value, the real-time afterwave integral value and the real-time primary echo distance to obtain a ground material result includes: In the case where the ground material estimation result is an estimated cobblestone ground, a preliminary material analysis result is obtained by judging whether the real-time echo integral value is greater than a first preset threshold, whether the real-time afterwave integral value is greater than a second preset threshold, and whether the real-time primary echo distance is greater than a third preset threshold; The preliminary material analysis result is subjected to data filtering processing through a target window sliding filter channel to obtain the ground material result.

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