Optical module, smart mobile device and mode switching method

Abstract

This application relates to an optical module, a smart mobile device, and a mode switching method. The optical module includes an optical component and a shielding tube surrounding the optical component. The optical component includes a first optical signal transmitter for emitting a first optical signal, a second optical signal transmitter for emitting a second optical signal, a lens, and a light signal receiver. The first optical signal is reflected by the shielding tube and enters the light signal receiver, and the second optical signal is reflected by the shielding tube, passes through the lens, and enters the light signal receiver. The optical module according to this application includes an optical component and a shielding tube surrounding the optical component. The optical component has a first optical signal transmitter, a second optical signal transmitter, and a light signal receiver. The light signal receiver can switch between different lighting sources according to the environment to make positioning more accurate.

Description

[0001] Divisional application

[0002] This application is a divisional application of patent application No. 201710876071.1, filed on September 25, 2017, entitled "Optical Module and Smart Mobile Device Having the Same". Technical Field

[0003] This application relates to the field of robot positioning, specifically to an optical module, an intelligent mobile device, and a mode switching method. Background Technology

[0004] Mobile robots are often equipped with various sensors to locate themselves by sensing objects in their environment. Common localization methods include relative localization, such as dead reckoning, encoder methods, and localization using IMUs (Inertial Measurement Units), and absolute localization, such as beacon-based localization, environmental map model matching localization, and vision-based localization. Among these, vision systems are the closest way for robots to perceive their environment to humans. Benefiting from the development of pattern recognition and machine vision, vision-based robot localization has become a research hotspot in recent years.

[0005] However, a single positioning method often cannot accurately locate a robot. The cumulative errors or sudden malfunctions can affect the robot's positioning, causing it to malfunction. By fusing multiple positioning methods, mobile robots can select the appropriate method based on different environmental characteristics or actual needs, thus improving the accuracy of robot positioning.

[0006] In a home environment, the floor can be a smooth tile surface, a wood surface, or a carpet surface. Generally, robots carry some accessories, such as a water tank, to form a robot vacuum and mop combo. Sometimes, it is not desirable for the robot to travel on a carpet surface, or it is necessary to turn off the water tank when on a carpet. However, the robot cannot determine what kind of floor material it is currently on, so it cannot switch between different modes to determine whether it should travel on a carpet.

[0007] Therefore, it is necessary to propose an optical module, a smart mobile device, and a mode switching method to at least partially solve the above-mentioned problems existing in the prior art. Summary of the Invention

[0008] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed embodiments section. This summary section is not intended to limit the key features and essential technical features of the claimed technical solutions, nor is it intended to determine the scope of protection of the claimed technical solutions.

[0009] According to one aspect of this application, an optical module is provided, the optical module including an optical component and a shielding cylinder sleeved on the outside of the optical component;

[0010] Optical components include:

[0011] The first optical signal transmitter is used to transmit the first optical signal;

[0012] The second optical signal transmitter is used to transmit a second optical signal.

[0013] Lenses; and

[0014] The optical signal receiver is formed by reflecting a first optical signal through a shielding tube and entering the receiver, and reflecting a second optical signal through a shielding tube and passing through a lens before entering the receiver.

[0015] The first optical signal and the second optical signal are different; the first optical signal transmitter and the second optical signal transmitter are set to operate in a time-division manner.

[0016] The optical module according to this application includes an optical component and a shielding tube sleeved on the outside of the optical component. The optical component has a first optical signal transmitter, a second optical signal transmitter, and an optical signal receiver. The optical signal receiver can switch different lighting sources according to the environment to make the positioning more accurate.

[0017] Optionally, the first optical signal transmitter is a laser transmitter; the second optical signal transmitter is a light-emitting diode.

[0018] Optionally, the optical signal receiver is an image sensor.

[0019] Optionally, the first optical signal transmitter and the optical signal receiver are mounted on the same chip, and the lens is located between the second optical signal transmitter and the chip.

[0020] Optionally, the optical module also includes a circuit board, in which the first optical signal transmitter, the second optical signal transmitter, and the optical signal receiver are all electrically connected to the circuit board.

[0021] Optionally, the optical module also includes a support member mounted on a circuit board, a lens embedded in the support member, and a shielding sleeve fitted on the outside of the support member.

[0022] Optionally, the support member includes a first step, a second step, and a third step that are sequentially adjacent to each other. The height of the second step is greater than the height of the first step, and the height of the third step is greater than the height of the second step. The lens is embedded in the second step.

[0023] Optionally, the first step portion has a first optical signal transmitter opening corresponding to the first optical signal transmitter and an optical signal receiver opening corresponding to the optical signal receiver, and a light-blocking plate is provided between the first optical signal transmitter opening and the optical signal receiver opening.

[0024] Optionally, the second optical signal transmitter is disposed in the third step, and the third step is provided with a second optical signal transmitter opening corresponding to the second optical signal transmitter.

[0025] Optionally, the shielding tube has an opening at its first end away from the optical component, and a filter is provided at its second end near the optical component, through which the first optical signal and the second optical signal pass.

[0026] Alternatively, the filter can be constructed as an infrared lens.

[0027] Optionally, the filter includes a first filter portion and a second filter portion connected to the first filter portion, wherein the first filter portion and the second filter portion are set at a predetermined angle.

[0028] Optionally, the first filter is positioned opposite the first optical signal transmitter and the optical signal receiver, and the first filter is arranged in a direction inclined to the horizontal direction;

[0029] The second filter is positioned directly opposite the second optical signal transmitter and the lens, and is arranged in a horizontal direction.

[0030] This application also provides a smart mobile device, including the aforementioned optical module, wherein the optical module is disposed at the bottom of the smart mobile device.

[0031] According to the present application, the smart mobile device includes the aforementioned optical module. The optical module includes an optical component and a shielding tube sleeved on the outside of the optical component. The optical component has a first light signal transmitter, a second light signal transmitter, and a light signal receiver. The light signal receiver can switch different lighting sources according to the environment to make the positioning more accurate.

[0032] Optionally, the smart mobile device controls the first or second optical signal transmitter to transmit optical signals based on the characteristic values ​​collected by the optical signal receiver.

[0033] Alternatively, the smart mobile device can be a cleaning robot.

[0034] This application also provides a mode switching method.

[0035] Transmit light signals to the ground;

[0036] Receive light signals reflected from the ground and determine the ground material;

[0037] When the ground material is the preset material, switch modes;

[0038] The optical signal includes a first optical signal and a second optical signal, which are different from each other.

[0039] Optionally, the first optical signal is an infrared laser, and the second optical signal is infrared light.

[0040] Optionally, transmitting optical signals to the ground includes: time-division multiplexing of a first optical signal and a second optical signal.

[0041] Optionally, the mode switching method further includes switching between a first light signal and a second light signal based on the light signal reflected from the ground.

[0042] Optionally, receiving the light signal reflected from the ground and determining the ground material includes: determining the ground material based on the image feature values ​​of the reflected light signal.

[0043] Optionally, determining the ground material based on the image feature values ​​of the reflected light signal includes: taking a picture of the light signal reflected from the ground to obtain the feature values ​​of the light signal reflected from the ground.

[0044] Optionally, when the ground material is a preset material, the mode switching includes switching to mopping mode when the ground material is detected to be a smooth surface, and switching to sweeping mode when the ground material is detected to be a carpet.

[0045] Optionally, when switching to cleaning mode, increase the airflow of the smart mobile device.

[0046] Optionally, when switching to mopping mode, the water tank will be turned on to spray water.

[0047] This application also provides a smart mobile device, which uses the aforementioned mode switching method to switch modes. Attached Figure Description

[0048] The above and other aspects of this application will become more apparent and readily understood from the following description of illustrative embodiments of the application taken in conjunction with the accompanying drawings, in which:

[0049] Figure 1 A bottom view schematic diagram of a smart mobile device equipped with an optical module according to a preferred embodiment of this application;

[0050] Figure 2 for Figure 1 A cross-sectional schematic diagram of a smart mobile device is shown.

[0051] Figure 3 for Figure 2 An enlarged view of part A in the image;

[0052] Figure 4This is an enlarged view of the optical components of an optical module according to a preferred embodiment of this application;

[0053] Figure 5 for Figure 4 A top-down view; and

[0054] Figure 6 This is a three-dimensional schematic view of the optical module.

[0055] Explanation of reference numerals in the attached figures:

[0056] 1: Smart mobile device 2: Bottom opening

[0057] 3: Ground 9: Optical Module

[0058] 10: Circuit board; 20: Chip

[0059] 21: Laser emitter; 22: Optical signal receiver

[0060] 30: Light Emitting Diode 40: Lens

[0061] 50: Supporting component; 51: First step section

[0062] 511: Laser emitter opening; 512: Image sensor opening

[0063] 513: Light blocking panel; 52: Second step section

[0064] 521: Lens receiving slot; 53: Third step section

[0065] 531: Light-emitting diode opening; 60: Shielding cylinder

[0066] 61: First filter section; 62: Second filter section

[0067] 63: Shielding cylinder opening Detailed Implementation

[0068] The preferred embodiments of this application will now be described with reference to the accompanying drawings. It should be noted that the terms "upper," "lower," and similar expressions used herein are for illustrative purposes only and are not intended to be limiting.

[0069] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0070] Please see Figures 1 to 3The illustration exemplarily shows an optical module 9 according to this application, which is integrally configured on a smart mobile device 1, which can be a cleaning robot such as a sweeping robot or a mopping robot. The optical module 9 senses the ground 3 where the smart mobile device 1 is located through a bottom opening 2 at the bottom of the smart mobile device 1. The optical module 9 includes optical components and a shielding tube 60 sleeved outside the optical components. The optical components include a first light signal transmitter, a second light signal transmitter, a lens 40, and a light signal receiver, which will be described in detail below. The shielding tube 60 is used to shield ambient stray light, and the opening of the shielding tube 60 faces the ground 3.

[0071] Please refer to the following: Figure 3 and Figure 5 The first optical signal transmitter is used to transmit a first optical signal, and the second optical signal transmitter is used to transmit a second optical signal. The first optical signal may be different from the second optical signal. For example, in the illustrated embodiment, the first optical signal transmitter is a laser transmitter 21, and the second optical signal transmitter is a light-emitting diode 30.

[0072] Please refer to the following: Figure 6 The first light signal emitted by the laser emitter 21 is reflected by the shielding tube 60 and enters the light signal receiver. The second light signal emitted by the light-emitting diode 30 is reflected by the shielding tube 60 and enters the light signal receiver through the lens 40.

[0073] Specifically, the light signal receiver is an image sensor 22. The laser emitter 21 and the light-emitting diode 30 can emit infrared light to illuminate the ground 3. The image sensor 22 is used to continuously capture images of the ground 3. By analyzing the captured images, the smart mobile device 1 can determine the material of the ground 3 where the smart mobile device 1 is located, such as tile or carpet.

[0074] See also Figure 5 The laser emitter 21 and the image sensor 22 can be mounted on the same chip 20, with the lens 40 located between the light-emitting diode 30 and the chip 20. The chip 20 can work in conjunction with the light-emitting diode 30, for example, turning on one of the laser emitter 21 and the light-emitting diode 30 to illuminate the ground 3, that is, the laser emitter 21 and the light-emitting diode 30 do not work simultaneously (emit light signals) to illuminate the ground 3.

[0075] In addition, the optical module 9 also includes a circuit board 10 (e.g., a printed circuit board), to which the laser emitter 21, the light-emitting diode 30, and the image sensor 22 are electrically connected. The circuit board 10 can be electrically connected to the main controller (not shown) of the smart mobile device 1, and the optical module 9 can continuously capture images.

[0076] The working principle of optical module 9 will now be briefly described. When the smart mobile device 1 is working, only one of the laser emitter 21 and the light-emitting diode 30 is turned on. In other words, the laser emitter 21 and the light-emitting diode 30 are not allowed to be turned on simultaneously. The main controller can determine whether to select the laser emitter 21 or the light-emitting diode 30 to illuminate the ground 3 based on the image characteristics captured by the image sensor 22. In particular, when the smart mobile device 1 is initially started, the laser emitter 21 can be selected to work by default.

[0077] Typically, when the laser emitter 21 is operating, the image sensor 22 captures images with high feature values ​​on the tile surface and images with low feature values ​​on the carpet surface. When the light-emitting diode 30 is operating, the image sensor 22 captures images with high feature values ​​on the carpet surface and images with low feature values ​​on the tile surface.

[0078] In this way, the optical components can identify surfaces ranging from smooth white ceramic tiles to coarse-pile carpets. Since indoor flooring materials vary widely, the optical module 9 according to this application can identify a wider range of material surfaces, making the application range of the smart mobile device 1 broader and its positioning more accurate. Furthermore, it can provide a higher DOF (depth of field) range to adapt to uneven surfaces.

[0079] In the illustrated embodiment, the optical module 9 further includes a support member 50, which is mounted on the circuit board 10. A lens 40 is embedded in the support member 50, and a shielding cylinder 60 is sleeved on the outside of the support member 50. Further, in the illustrated embodiment, the support member 50 may include a first step portion 51, a second step portion 52, and a third step portion 53 that are sequentially adjacent. The support member 50 has an internal space for accommodating components such as the laser emitter 21, the light-emitting diode 30, and the image sensor 22.

[0080] like Figure 4 As shown, the height of the second step 52 is greater than the height of the first step 51, and the height of the third step 53 is greater than the height of the second step 52. The lens 40 is embedded in the second step 52. The second step 52 has a lens receiving groove 521 corresponding to the lens 40. The lens 40 is embedded in the lens receiving groove 521. A light-transmitting hole (not shown) begins at the bottom of the lens receiving groove 521, and the light-transmitting hole is aligned with part of the image sensor 22.

[0081] Furthermore, the first step portion 51 has a laser emitter opening 511 (first light signal emitter) corresponding to the laser emitter 21 and an image sensor opening 512 (light signal receiver opening) corresponding to the image sensor 22. The laser emitter opening 511 is used to allow the light signal emitted by the laser emitter 21 to illuminate the ground 3. The image sensor opening 512 allows the light signal reflected by the ground 3 to directly enter the image sensor 22. In addition, in order to improve the sensing effect and avoid interference, a light-blocking plate 513 is provided between the laser emitter opening 511 and the image sensor opening 512, and the light-blocking plate 513 protrudes between the laser emitter opening 511 and the image sensor opening 512.

[0082] Since the LED 30 is relatively large, it can be placed in the third step 53. The third step 53 is provided with an LED opening 531 (second light emitter opening) corresponding to the LED 30. The LED opening 531 is used to allow the light signal emitted by the LED to illuminate the ground 3. The LED 30 is partially exposed through the LED opening 531, so that half of the LED 30 is exposed and half of the LED 30 is blocked. The shape of the lens 40 is similar to the shape of the exposed half of the LED 30, so as to effectively receive the second light signal emitted by the LED 30.

[0083] Please see Figure 6 The shielding cylinder 60 has an opening 63 at the end furthest from the optical component, and a filter is provided at the end of the shielding cylinder 60 closest to the optical component. The shielding cylinder 60 is shaped like a gradually transitioning horn. The first optical signal and the second optical signal pass through the filter.

[0084] Alternatively, in the case where both the laser emitter 21 and the light-emitting diode 30 emit infrared light, the filter is constructed as an infrared lens. For example, the infrared lens 40 can be made of a material that only allows infrared light to pass through, thereby facilitating the shielding of other light beams and enabling the image sensor 22 to capture clearer images.

[0085] In the illustrated embodiment, the filter includes a first filter portion 61 and a second filter portion 62 connected to the first filter portion 61. The first filter portion 61 and the second filter portion 62 are arranged at a predetermined angle. The first filter portion 61 faces the laser emitter 21 and the image sensor 22, and the first filter portion 61 is arranged in a direction inclined to the horizontal direction; the second filter portion 62 faces the light-emitting diode 30 and the lens 40, and the second filter portion 62 is arranged in a horizontal direction.

[0086] It is easy to understand that the distance between the laser emitter 21 and the image sensor 22 is small, and the tilted first filter 61 can cause a certain amount of refraction when the laser emitted by the laser emitter 21 passes through the first filter 61. The distance between the light-emitting diode 30 and the image sensor 22 is large, and the horizontally positioned second filter 62 can minimize the refraction of the light emitted by the light-emitting diode 30 when it passes through the second filter 62.

[0087] According to another aspect of this application, a smart mobile device 1 is provided, which includes the aforementioned optical module 9, the optical module 9 being disposed at the bottom of the smart mobile device 1.

[0088] Please see Figure 3 The following example illustrates the installation of the optical module 9 on a robotic vacuum cleaner. The bottom edge of the shielding cylinder 60 can be roughly flush with the bottom surface of the robotic vacuum cleaner. The distance H between the bottom edge of the shielding cylinder 60 and the ground 3 is 1 to 1.5 cm. This distance can be adjusted adaptively according to the object distance.

[0089] When the robotic vacuum cleaner moves on the ground, the laser emitter 21 in the optical control module 9 takes priority. When the laser emitter is turned on, the image sensor 22 captures an image and sends it to the main controller. The main controller analyzes the image and determines whether the image feature value is high or low. If the analyzed image feature value is higher than the preset feature value range stored in the main controller, it proves that the robotic vacuum cleaner is currently on the tile surface, and the laser continues to be used for positioning. As the robotic vacuum cleaner continues to move on the ground and continuously tracks the image, once the analyzed image feature value is lower than the preset feature value range stored in the main controller, it proves that the robotic vacuum cleaner has moved from the tile surface to the carpet surface. At this point, the LED 30 is switched on, the laser emitter 21 is turned off, and the image sensor 22 continuously captures images. The main controller analyzes the image feature values. If the analyzed image feature values ​​are higher than the preset feature value range stored in the main controller's memory, it proves that the robot vacuum is still moving on the carpet surface. As the robot vacuum continues to move on the ground, it continuously tracks the images. Once the analyzed image feature values ​​are lower than the preset feature value range stored in the main controller, it proves that the robot vacuum has moved from the carpet surface to the tile surface. Thus, the laser emitter 21 or the LED 30 can be controlled to emit light signals based on the image feature values.

[0090] For integrated sweeping and mopping cleaning robots, a sweeping mode and a mopping mode can be set. Based on the aforementioned optical module configuration, the integrated sweeping and mopping cleaning robot can intelligently switch between the sweeping and mopping modes according to the information fed back by the optical module. For example, when the main controller switches to LED 30 working and turns off laser emitter 21, it means that the cleaning robot has moved on a carpet surface. At this time, the cleaning robot is switched to sweeping mode and the mopping mode is turned off, thus avoiding water spraying from the water tank. When the main controller switches to laser emitter 21 working and turns off LED 30, it means that the cleaning robot has moved on a smoother surface such as tile. At this time, the cleaning robot is switched to mopping mode and the sweeping mode is turned off, thus controlling the water tank to continue spraying water.

[0091] Understandably, the cleaning mode is only for the robot to sweep, using roller brushes and side brushes to clean up debris and other debris on the floor. The mopping mode is for wiping the swept floor again with a damp cloth to make the floor even cleaner. However, when the robot moves onto a carpet, the mopping mode must be turned off. Also, the carpet surface is rough, and debris is not easily sucked into the robot's interior, so the airflow needs to be increased. The cleaning mode can also be further set to a general cleaning mode and a powerful cleaning mode to meet the robot's need for strong airflow when moving onto carpets. By judging different floor environments, the robot switches between different cleaning modes to effectively provide cleaning results, making it more intelligent.

[0092] The optical module and smart mobile device according to this application can switch between different light signal transmitters to work and capture images on surfaces of different materials. After image feature recognition, it automatically switches between two lighting modes to adapt to different ground surface materials. This allows it to work in conjunction with other positioning methods to reduce cumulative errors and make positioning more accurate.

[0093] The intelligent mobile device according to this application includes an optical module, which comprises an optical component and a shielding tube sleeved on the outside of the optical component. The optical component has a first light signal transmitter, a second light signal transmitter, and a light signal receiver. The light signal receiver can switch between different lighting sources according to the environment to make positioning more accurate. For cleaning robots that combine sweeping and mopping, it is often necessary to know what kind of surface the cleaning robot is traveling on in order to switch between different modes, such as sweeping mode or mopping mode. The optical module in this embodiment can determine the surface material to match the appropriate cleaning mode for different surface environments, ensuring that the cleaning robot does not spray water on carpets, thus making it more intelligent.

[0094] It should be noted that by setting up a first light signal transmitter, this application can combine a second light signal transmitter with the robot vacuum to move on smooth surfaces, avoiding the limitation of only being able to move on carpets when only a second light signal transmitter is set up. This, combined with the robot vacuum's mode switching, expands its cleaning area and application scenarios, making it more adaptable to the complex and varied conditions of home floors.

[0095] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “component” as used herein may refer to a single part or a combination of multiple parts. Terms such as “installation” or “installation” as used herein may refer to a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0096] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application.

Claims

1. An optical module characterized by comprising: The optical module includes an optical component and a shielding tube sleeved on the outside of the optical component, and the shielding tube has an opening at the first end away from the optical component. The optical components include: A first optical signal transmitter, wherein the first optical signal transmitter is used to transmit a first optical signal; The second optical signal transmitter is used to transmit a second optical signal; Lenses; and An optical signal receiver, wherein the first optical signal is reflected through the shielding tube and enters the optical signal receiver, and the second optical signal is reflected through the shielding tube, passes through the lens, and then enters the optical signal receiver; The first optical signal and the second optical signal are different; the first optical signal transmitter and the second optical signal transmitter are set to operate in a time-division multiplexing manner. The optical module further includes a circuit board, and the first optical signal transmitter, the second optical signal transmitter, and the optical signal receiver are all electrically connected to the circuit board. The optical module also includes a support member, which is mounted on the circuit board, the lens is embedded in the support member, and the shielding cylinder is sleeved on the outside of the support member; The support member includes a first step portion, a second step portion, and a third step portion that are sequentially adjacent to each other, and the lens is embedded in the second step portion; A filter is provided at the second end of the shielding cylinder near the optical component, and the first optical signal and the second optical signal pass through the filter; The filter includes a first filter portion and a second filter portion connected to the first filter portion, wherein the first filter portion and the second filter portion are arranged at a predetermined angle.

2. The optical module according to claim 1, wherein The first optical signal transmitter is a laser transmitter; the second optical signal transmitter is a light-emitting diode.

3. The optical module according to claim 1, wherein The optical signal receiver is an image sensor.

4. The optical module according to claim 1, characterized in that, The first optical signal transmitter and the optical signal receiver are mounted on the same chip, and the lens is located between the second optical signal transmitter and the chip.

5. The optical module according to claim 1, wherein The height of the second step is greater than the height of the first step, and the height of the third step is greater than the height of the second step.

6. The optical module according to claim 5, wherein The first step portion has a first optical signal transmitter opening corresponding to the first optical signal transmitter and an optical signal receiver opening corresponding to the optical signal receiver, and a light-blocking plate is provided between the first optical signal transmitter opening and the optical signal receiver opening.

7. The optical module according to claim 6, wherein The second optical signal transmitter is disposed in the third step portion, and the third step portion is provided with a second optical signal transmitter opening corresponding to the second optical signal transmitter.

8. The optical module according to claim 1, wherein The filter is constructed as an infrared lens.

9. The optical module according to claim 1, characterized in that, The first filter is directly opposite the first optical signal transmitter and the optical signal receiver, and the first filter is arranged in a direction inclined to the horizontal direction; The second filter is positioned opposite the second optical signal transmitter and the lens, and the second filter is arranged along the horizontal direction.

10. A smart mobile device, characterized by The optical module includes any one of claims 1 to 9, wherein the optical module is disposed at the bottom of the smart mobile device.

11. The intelligent mobile device according to claim 10, characterized in that, The smart mobile device controls the first or second optical signal transmitter to transmit optical signals based on the feature values ​​collected by the optical signal receiver.

12. The intelligent mobile device of claim 10, wherein, The smart mobile device is a cleaning robot.

13. A mode switching method, characterized in that, Transmit light signals to the ground; Receive light signals reflected from the ground and determine the ground material; When the ground material is the preset material, switch modes; The optical signal includes a first optical signal and a second optical signal, and the first optical signal and the second optical signal are different; When the ground material is a preset material, the mode switching includes switching to mopping mode when the ground material is detected to be a smooth surface, and switching to sweeping mode when the ground material is detected to be a carpet. When switching to the cleaning mode, the airflow of the smart mobile device is increased; When switching to the mopping mode, the water tank will be turned on to spray water. The transmission of optical signals to the ground includes: time-division transmission of a first optical signal and a second optical signal; The mode switching method further includes switching between a first light signal and a second light signal based on the light signal reflected from the ground.

14. The mode switching method of claim 13, wherein, The first optical signal is an infrared laser, and the second optical signal is infrared light.

15. The mode switching method of claim 13, wherein, The step of receiving the light signal reflected from the ground and determining the ground material includes: determining the ground material based on the image feature values ​​of the reflected light signal.

16. The mode switching method of claim 15, wherein, The step of determining the ground material based on the image feature value of the reflected light signal includes: taking a picture of the light signal reflected from the ground to obtain the feature value of the light signal reflected from the ground.

17. A smart mobile device, characterized in that, The mode of a smart mobile device is switched using the mode switching method as described in any one of claims 13 to 16.

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