Method for identifying material of surface to be cleaned

Abstract

The invention discloses a to-be-cleaned surface material identification method which is applied to a cleaning robot, the cleaning robot is provided with an ultrasonic sensor used for detecting a to-be-cleaned surface material, and the method comprises the steps that ultrasonic echo data of the cleaning robot is acquired; obtaining current spatial position relation data of the ultrasonic sensor relative to the surface to be cleaned, wherein the current spatial position relation data comprises inclination angle data and / or distance data; determining an echo judgment threshold value of the ultrasonic sensor based on the current spatial position relation data; and based on the echo judgment threshold value and the ultrasonic echo data, the to-be-cleaned surface material is recognized. According to the echo characteristics of the ultrasonic probe, an appropriate echo judgment threshold value is intelligently adjusted, and the problem of misrecognition caused by the fact that the main machine body inclines and ultrasonic echoes become smaller during obstacle crossing is solved.

Description

Technical Field

[0001] The present application relates to the field of material identification, and in particular to a method for identifying the material of a surface to be cleaned. Background Art

[0002] At present, most sweeping robots have the function of identifying the material of the surface to be cleaned, so as to clean surfaces of different materials, such as carpets on the ground. The material identification of the surface to be cleaned can realize functions such as automatically bypassing when mopping the floor or using different suction forces based on different materials. There are currently two main ways to identify the material of the surface to be cleaned: the first is to use the robot's front camera to perform image recognition on the surface material; the second is to install an ultrasonic probe at the bottom of the robot and calibrate a fixed ultrasonic echo threshold to determine the surface material.

[0003] However, both of the above two solutions may fail or misdetect when detecting the surface material of the ground. Solution 1 cannot identify the surface material through images at night or in dark indoor environments. Solution 2 will cause the ultrasonic echo value to change greatly when the robot is tilted or crossing a ditch, and the fixed threshold will cause misidentification. Summary of the invention

[0004] In order to solve the above problems, the present application proposes a method for identifying the material of a surface to be cleaned, which is applied to a cleaning robot. The cleaning robot is provided with an ultrasonic sensor for detecting the material of the surface to be cleaned. The method comprises:

[0005] Acquire the ultrasonic echo data of the cleaning robot; acquire the current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned, the current spatial position relationship data including inclination data and / or distance data; determine the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data; identify the material of the surface to be cleaned based on the echo judgment threshold and the ultrasonic echo data.

[0006] In one example, the current spatial position relationship data includes inclination data and distance data, and determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data specifically includes: judging whether the cleaning robot is in a climbing state based on the inclination data and the distance data; if the cleaning robot is in a climbing state, determining that the echo judgment threshold corresponding to the cleaning robot is a second preset recognition threshold; if the cleaning robot is not in a climbing state, determining the echo judgment threshold of the ultrasonic sensor based on the inclination data and the distance data.

[0007] In one example, determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data specifically includes: obtaining a comparison chart of ultrasonic echo integral values ​​for a first material surface and a second material surface under different spatial position relationships of the cleaning robot; wherein the ultrasonic echo integral value comparison chart is obtained through preliminary testing, the first material surface is a hard surface, and the second material surface is a soft surface; based on the ultrasonic echo integral value comparison chart, determining a first relationship between the integral value difference and the spatial position relationship, the integral difference being the difference between the ultrasonic echo integral value of the first material surface and the ultrasonic echo integral value of the second material surface; determining the echo judgment threshold of the cleaning robot based on the current spatial position relationship data and the first relationship.

[0008] In one example, the current spatial position relationship data includes inclination data, and determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data specifically includes: determining the judgment inclination threshold of the cleaning robot based on the ultrasonic echo integral value comparison chart; when the inclination data is greater than the judgment inclination threshold, stopping surface material identification; when the inclination data is less than or equal to the judgment inclination threshold, determining the echo judgment threshold of the ultrasonic sensor based on the inclination data.

[0009] In one example, the current spatial position relationship data includes distance data, and determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data specifically includes: determining a first judgment distance threshold and a second judgment distance threshold of the cleaning robot based on the ultrasonic echo integral value comparison chart, the first judgment distance threshold being less than the second judgment distance threshold; when the distance data is less than or equal to the first judgment distance threshold, determining the echo judgment threshold of the ultrasonic sensor based on the distance data; when the distance data is greater than the first judgment distance threshold and less than the second judgment distance threshold, determining the echo judgment threshold of the ultrasonic sensor to be a first preset recognition threshold; when the distance data is greater than or equal to the second judgment distance threshold, stopping surface material recognition.

[0010] In one example, determining the first relationship between the integral value difference and the spatial position based on the ultrasonic echo integral value comparison map specifically includes: determining the position relationship fitting range based on the ultrasonic echo integral value comparison map; fitting the ultrasonic echo integral value of the first material surface within the position relationship fitting range to obtain a first material fitting function; fitting the ultrasonic echo integral value of the second material surface within the position relationship fitting range to obtain a second material fitting function; and determining the first relationship between the integral value difference and the spatial position within the position relationship fitting range based on the first material fitting function and the second material fitting function.

[0011] In one example, determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data and the first relationship formula specifically includes: determining a target integral difference according to the current spatial position relationship data and the first relationship formula; determining a basic echo integral value according to the ultrasonic echo integral value for the second material surface in the ultrasonic echo integral value comparison diagram; determining the echo judgment threshold of the cleaning robot according to the target integral difference and the basic echo integral value.

[0012] In one example, obtaining the current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned specifically includes: obtaining gyroscope data of the cleaning robot; and determining the inclination data of the ultrasonic sensor of the cleaning robot and the surface to be cleaned based on the gyroscope data.

[0013] In one example, obtaining the current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned specifically includes: determining first intermediate distance data between the downward-looking sensor of the cleaning robot and the surface to be cleaned through a downward-looking sensor; obtaining second intermediate distance data between the downward-looking sensor and the ultrasonic sensor; and determining the distance data of the ultrasonic sensor relative to the surface to be cleaned based on the first intermediate distance data and the second intermediate distance data.

[0014] In one example, obtaining the current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned specifically includes: obtaining ultrasonic echo data of the cleaning robot; and determining the distance data of the ultrasonic sensor of the cleaning robot relative to the surface to be cleaned based on the time interval between two echoes in the ultrasonic echo data.

[0015] The method proposed in this application can bring the following beneficial effects:

[0016] 1. Use the ultrasonic sensor installed on the cleaning robot to obtain the ultrasonic echo data of the cleaning robot, and then determine the appropriate echo judgment threshold based on the ultrasonic echo data, the spatial position relationship between the cleaning robot and the surface to be cleaned, and the spatial position relationship, so as to improve the accuracy of material recognition.

[0017] 2. Through the spatial position relationship, it is judged whether the cleaning robot is in a climbing state, so as to select different echo judgment threshold acquisition methods, thereby avoiding the situation where the cleaning robot is in a climbing state and the echo judgment threshold is incorrectly selected, resulting in large errors in the recognition results.

[0018] 3. Through the ultrasonic echo integral value comparison chart, the distance judgment threshold, the inclination judgment threshold, and the basic echo integral value are determined. Then, within the distance judgment threshold and the inclination judgment threshold, the echo judgment threshold is determined according to the basic echo integral value, thereby improving the accuracy and availability of the echo judgment threshold.

[0019] 4. The distance data of the ultrasonic sensor relative to the surface to be cleaned is determined by the ultrasonic echo data and the sound transmission speed formula, which improves accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 A schematic diagram of a process for identifying the material of a surface to be cleaned in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of an ultrasonic echo waveform obtained by an ultrasonic sensor in an embodiment of the present application;

[0023] Figure 3 This is a schematic diagram showing the comparison of ultrasonic echo integral values ​​when the first material is a conventional floor and the second material is a carpet under different inclination angle data in an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of comparing ultrasonic echo integral values ​​when the first material is a conventional floor and the second material is a foam floor mat under different inclination angle data in an embodiment of the present application;

[0025] Figure 5 This is a schematic diagram of comparing ultrasonic echo integral values ​​when the first material is a wooden floor and the second material is a long-haired carpet under different distance data in an embodiment of the present application;

[0026] Figure 6This is a schematic diagram of comparing ultrasonic echo integral values ​​when the first material is a wooden floor and the second material is a foam floor mat under different distance data in an embodiment of the present application;

[0027] Figure 7 This is a schematic diagram of fitting of ultrasonic echo integral graphs under different inclination angle data in an embodiment of the present application, where the first material is a conventional floor and the second material is a foam floor mat;

[0028] Figure 8 This is a schematic diagram of fitting of ultrasonic echo integral graphs under different distance data in an embodiment of the present application, where the first material is a wooden floor and the second material is a foam floor mat. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0030] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0031] Figure 1 A schematic diagram of a process flow of a method for identifying the material of a surface to be cleaned provided in one or more embodiments of this specification. The method can be applied to the business field of identifying different types of surface materials, such as marble material, wooden floor material, foam material, carpet material, etc. The process can be executed by a computing device set in a cleaning robot, and some input parameters or intermediate results in the process allow manual intervention and adjustment to help improve accuracy.

[0032] The analysis method involved in the embodiments of the present application can be implemented by a terminal device or a server, and the present application does not impose any special restrictions on this. For the convenience of understanding and description, the following embodiments are described in detail by taking a server as an example.

[0033] It should be noted that the server can be a single device or a system composed of multiple devices, that is, a distributed server, and this application does not make any specific limitations on this.

[0034] like Figure 1 As shown, an embodiment of the present application provides a method for identifying the material of a surface to be cleaned, which is applied to a cleaning robot provided with an ultrasonic sensor for detecting the material of the surface to be cleaned. Taking a carpet as an example, when identifying whether the surface to be cleaned is a carpet, the method includes:

[0035] S101: Acquire ultrasonic echo data of the cleaning robot;

[0036] First, the ultrasonic echo data of the cleaning robot is obtained through the ultrasonic sensor installed at the bottom of the robot.

[0037] S102: Acquire current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned, wherein the current spatial position relationship data includes inclination data and / or distance data.

[0038] Then, the current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned is obtained, where the current spatial position relationship data should at least include the inclination data between the ultrasonic sensor and the surface to be cleaned, and the distance data between the ultrasonic sensor and the surface to be cleaned. It should be noted that when the cleaning robot moves on a horizontal plane, the inclination data is 0.

[0039] In one embodiment, when acquiring the inclination data, since the ultrasonic sensor and the main body are placed in parallel, the inclination angle between the ultrasonic sensor and the horizontal ground is consistent with the inclination angle of the main body. At this time, the gyroscope data for detecting the inclination angle of the main body can be used to detect the inclination angle between the ultrasonic sensor and the horizontal ground. Therefore, the gyroscope data of the cleaning robot is first acquired; then, based on the gyroscope data, the inclination data between the ultrasonic sensor of the cleaning robot and the surface to be cleaned is determined.

[0040] In one embodiment, when acquiring distance data, the first intermediate distance data between the sensor of the cleaning robot and the surface to be cleaned can be determined by the downward-looking sensor, and then the second intermediate distance data between the downward-looking sensor and the ultrasonic sensor can be obtained, and then the distance data of the ultrasonic sensor relative to the surface to be cleaned can be determined based on the first intermediate distance data and the second intermediate distance data. The detection principle of the downward-looking sensor at the bottom of the robot is that the infrared light intensity received by the infrared receiving probe is different according to the different distances of the sensor from the ground, so the output voltage is different. According to this principle, the distance information of the bottom of the fuselage from the ground is detected. The vertical distance between the ultrasonic sensor and the downward-looking sensor is a fixed value, so the distance of the ultrasonic sensor from the ground can be obtained based on the distance information detected by the downward-looking sensor of the fuselage.

[0041] In one embodiment, Figure 2 As shown, when acquiring distance data, the distance between the ultrasonic sensor and the ground can be determined by using the time interval between two echoes in the ultrasonic echo signal, the speed of sound, and the sound propagation distance formula y=340*t / 2 (y is the distance from the probe to the ground, and t is the interval time between two echoes). Compared with using the distance data of the downward-looking sensor, the position deviation of the downward-looking sensor and the ultrasonic sensor can be eliminated, and the distance between the ultrasonic sensor and the ground can be detected more accurately.

[0042] S103: Determine an echo judgment threshold of the ultrasonic sensor based on the spatial position relationship data.

[0043] After the spatial position relationship between the ultrasonic sensor and the surface to be cleaned is obtained, the echo judgment threshold of the ultrasonic sensor is determined based on the spatial position relationship. The echo judgment threshold is used to determine whether the surface to be cleaned is a carpet.

[0044] In one embodiment, when determining the echo judgment threshold based on the spatial position relationship data, it is first necessary to obtain a comparison chart of the ultrasonic echo integral values ​​of the cleaning robot for the first material surface and the second material surface under different spatial position relationships. If distance data is used as the spatial position relationship, then a comparison chart of the ultrasonic echo integral values ​​of the cleaning robot for the first material surface and the second material surface under different distance data is obtained. If inclination data is used as the spatial position relationship, then a comparison chart of the ultrasonic echo integral values ​​of the cleaning robot for the first material surface and the second material surface under different inclination data is obtained. Among them, the ultrasonic echo integral value comparison chart is obtained through pre-testing, and the first material surface is a hard surface, and the second material surface is a soft surface. Figure 3 The following is a comparison of ultrasonic echo integral values ​​when the first material is a conventional floor and the second material is a carpet under different inclination angles. Figure 4 The figure shows the comparison of ultrasonic echo integral values ​​when the first material is a conventional floor and the second material is a foam floor mat under different inclination angles. Figure 5 The figure shows the comparison of ultrasonic echo integral values ​​when the first material is wooden floor and the second material is long-haired carpet under different distance data. Figure 6 The figure shows the ultrasonic echo integral value comparison diagram under different distance data, when the first material is wooden floor and the second material is foam floor mat. Then, based on the ultrasonic echo integral value comparison diagram, the first relationship between the integral value difference and the spatial position can be determined. Here, the integral difference is the difference between the ultrasonic echo integral value of the first material surface and the ultrasonic echo integral value of the second material surface. Figure 3 and Figure 4 From the above, the area represented by the integral difference is the area below the dotted line and above the solid line. The first relational expression here refers to the formula for determining the echo judgment threshold, which is related to the material type and the data type of the spatial position relationship data. Finally, the echo judgment threshold of the cleaning robot can be determined based on the spatial position relationship data and the first relational expression.

[0045] Because the echo of ultrasonic waves on hard floors and carpets is quite different, the ADC detection function of the microcontroller can be used to collect the echo signal voltage and integrate the AD value of the echo signal over a period of time to obtain the integral value of the ground ultrasonic echo. In order to ensure the accuracy of carpet recognition, we can use a foam mat with more extreme echo data as the integral data of the carpet. Figure 3 It can be seen that there is a significant difference in the echo integral values ​​of ordinary hard floors and carpet floors within a certain angle, and the echo integral value of the hard floor gradually decreases as the inclination angle increases. Figure 5 It can be seen that there is an obvious difference in the echo integral values ​​of the probes on ordinary hard floors and carpet floors within a certain distance from the ground, and the echo integral value of the hard floor gradually decreases as the distance from the ground increases.

[0046] Furthermore, when determining the first relationship based on the ultrasonic echo integral value comparison chart, the position relationship fitting range must first be determined based on the ultrasonic echo integral value comparison chart. The position relationship fitting range here refers to the range within which the ultrasonic echo integral value can be fitted. Then, the ultrasonic echo integral value of the first material surface within the position relationship fitting range is fitted to obtain a first material fitting function; then, the ultrasonic echo integral value of the second material surface within the position relationship fitting range is fitted to obtain a second material fitting function; finally, based on the first material fitting function and the second material fitting function, the first relationship between the integral value difference and the spatial position is determined. Specifically, Figure 7 As shown, the difference in the echo integral values ​​of the floor and the foam mat can be roughly regarded as a right triangle when the inclination angle is less than 8°. The position relationship fitting range at this time is between 0° and 8°. The first material fitting function is the hypotenuse of the right triangle, and the second material fitting function is the right angle side parallel to the horizontal coordinate axis. At this time, based on the first material fitting function and the second material fitting function, the fitting function of the integral value difference can be determined, that is, the first relationship between the integral value difference and the spatial position. Similarly, if Figure 8 As shown, when the distance data is between 20-40, the difference in the echo integral values ​​of the wooden floor and the foam floor mat can be roughly regarded as a right triangle.

[0047] In one embodiment, when determining the echo judgment threshold, the target integral difference can be determined based on the spatial position relationship data and the first relationship, and then the basic echo integral value is determined based on the ultrasonic echo integral value for the second material surface in the ultrasonic echo integral value comparison diagram, and then the echo judgment threshold of the cleaning robot is determined based on the target integral difference and the basic echo integral value. Figure 7 For example, at this time Figure 7The corresponding first relational expression is D=140000-(140000-50000) / 8*X-50000=90000-11250*X(0≤X≤8), where D is the target integral difference and X is the inclination data. At this time, the inclination data can be substituted into the first relational expression to obtain the target integral difference D. Then, since the carpet recognition threshold is generally set to the middle value of the floor and carpet echo integral values, the basic echo integral value, i.e., the ordinate of the triangle vertex, can be determined based on the ultrasonic echo integral value of the second material surface, i.e., based on the side of the right triangle parallel to the horizontal coordinate axis. Figure 7 The value in the equation is 50000. Finally, based on the target integral difference and the basic echo integral value, the echo judgment threshold is determined: Y = (90000-11250*X) / 2+50000 (0≤X≤8), where Y is the echo judgment threshold.

[0048] If Figure 8 For example, the difference in echo integral values ​​of the floor and carpet can be regarded as a right triangle when the probe is 20-40 mm away from the ground. According to the slope formula, the difference in echo integral values ​​of the floor and carpet is D=180000-(180000-50000) / 20*(X-20)-50000=260000-6500*X(20mm≤X≤40mm) (X is the distance from the ultrasonic probe to the ground in mm); half of the echo judgment threshold is set to the middle value of the echo integral values ​​of the floor and carpet, so the echo judgment threshold Y=(260000-6500*X) / 2+50000(20≤X≤40); according to this formula, the most reasonable echo judgment threshold of the carpet can be set within a certain distance range according to the different distances between the ultrasonic probe and the ground.

[0049] In one embodiment, when the inclination data is used to determine the echo judgment threshold, the judgment inclination threshold of the cleaning robot is determined based on the ultrasonic echo integral value comparison chart; when the inclination data is greater than the judgment inclination threshold, the surface material recognition is stopped. Figure 5 It can be seen that if the inclination angle data is too large, the ultrasonic echo integral value of the first material surface will be closer and closer to the ultrasonic echo integral value of the second material surface. Therefore, when the inclination angle is large enough, it will be impossible to determine a reasonable carpet recognition threshold. Figure 7 For example, when the inclination angle is greater than 8°, it is necessary to stop the surface material recognition, and the inclination angle threshold is 8°.

[0050] In one embodiment, when only distance data is used as spatial position relationship data, it is necessary to determine the first judgment distance threshold and the second judgment distance threshold of the cleaning robot based on the ultrasonic echo integral value comparison chart, where the first judgment distance threshold is less than the second judgment distance threshold; when the distance data is greater than the first judgment distance threshold and less than the second judgment distance threshold, the ultrasonic sensor echo judgment threshold is determined to be the first preset recognition threshold; when the distance data is greater than the second judgment distance threshold, the surface material recognition is stopped. Specifically, Figure 8 Take this as an example. At this time, the first judgment distance threshold is 40mm, and the second judgment distance threshold is 50mm. When the height of the ultrasonic probe exceeds 40mm and is less than 50mm from the ground, the echo judgment threshold can be set to the minimum value of the above formula. When the distance exceeds 50mm, it is considered that the ultrasonic echo integral value can no longer normally distinguish whether the ground is a hard ground or a carpet. At this time, the ultrasonic probe can be turned off to stop carpet detection.

[0051] In one embodiment, when the inclination data and the distance data are used simultaneously to determine the echo judgment threshold, it is necessary to consider whether the cleaning robot is in a climbing state. For example, when it is detected that the fuselage is tilted but the distance data has not changed, it can be determined that the machine is in a climbing state. If the cleaning robot is in a climbing state, it is not necessary to adjust the carpet recognition threshold according to the inclination of the fuselage. It can be understood that the echo judgment threshold is determined based on the distance data, but because the distance data in the climbing state is a fixed value, when it is determined to be a climbing state, the echo judgment threshold is a fixed value. At this time, the echo judgment threshold corresponding to the cleaning robot is the second preset recognition threshold. If the cleaning robot is not in a climbing state, the echo judgment threshold of the ultrasonic sensor is determined based on the inclination data and the distance data.

[0052] When the probe is tilted from the ground and the distance from the ground changes, the ultrasonic sensor echo judgment threshold can be determined based on the tilt data or the distance data alone. The influence of the two factors on the hard ground echo signal can also be superimposed to obtain the carpet recognition threshold Y = (260000-6500*X1-11250*X2) / 2+50000 (20≤X1≤40, 0≤X2≤8); where X1 is the distance data and X2 is the inclination data. When the Y value is less than 50000, it is considered that the ultrasonic echo is greatly affected under the current conditions and it is impossible to clearly distinguish between the foam mat and the floor, and the data is unavailable.

[0053] S104: Identifying the material of the surface to be cleaned based on the echo judgment threshold and the ultrasonic echo data.

[0054] Whether the material of the surface to be cleaned is a carpet can be identified by the echo judgment threshold and the ultrasonic echo data. Specifically, when the echo judgment threshold is a single value, if the ultrasonic echo data exceeds the echo judgment threshold, it means that the material of the surface to be cleaned is a carpet material, otherwise, it is not a carpet material, and it can be compared with the echo judgment thresholds of other materials. Similarly, when the echo judgment threshold is a certain value range, if the ultrasonic echo data is within the value range, it means that the material of the surface to be cleaned is a carpet material, otherwise, the material of the surface to be cleaned is not a carpet material.

[0055] Those skilled in the art can understand that if there is a cleaning robot that uses an ultrasonic sensor to identify the material of the surface to be cleaned (for example, identifying the carpet on the ground), its echo judgment threshold can be adaptively changed with the inclination angle of the cleaning robot body or the distance of the body from the ground. For example, while ensuring that the inclination angle of the cleaning robot body remains unchanged, the inclination angle of the carpet at the bottom of the ultrasonic wave is manually adjusted, and while ensuring that the angle of the carpet remains unchanged, the inclination angle of the body is adjusted. It is found that the recognition results of the cleaning robot in these two cases are inconsistent. It can be considered that the cleaning robot has applied the cleaning surface material identification method disclosed in this application, and it can be considered infringement.

[0056] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0057] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0058] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0059] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0060] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0061] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0062] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0063] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0064] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0065] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0066] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for identifying the material of a surface to be cleaned, applied to a cleaning robot, wherein the cleaning robot is provided with an ultrasonic sensor for detecting the material of the surface to be cleaned, the method comprising: Acquiring ultrasonic echo data of the cleaning robot; Characterized in that the method further comprises: Acquiring current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned, wherein the current spatial position relationship data includes inclination data and / or distance data; Based on the current spatial position relationship data, determining an echo judgment threshold of the ultrasonic sensor; The material of the surface to be cleaned is identified based on the echo judgment threshold and the ultrasonic echo data.

2. The method according to claim 1, characterized in that The current spatial position relationship data includes inclination data and distance data, and determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data specifically includes: Based on the inclination data and the distance data, determining whether the cleaning robot is in a climbing state; If the cleaning robot is in a climbing state, determining that the echo judgment threshold corresponding to the cleaning robot is a second preset recognition threshold; If the cleaning robot is not in a climbing state, the echo judgment threshold of the ultrasonic sensor is determined based on the inclination data and the distance data.

3. The method according to claim 1, characterized in that The determining, based on the current spatial position relationship data, the echo judgment threshold of the ultrasonic sensor specifically includes: Obtaining a comparison diagram of ultrasonic echo integral values ​​of the cleaning robot for a first material surface and a second material surface under different spatial position relationships; wherein the ultrasonic echo integral value comparison diagram is obtained by pre-testing, the first material surface is a hard surface, and the second material surface is a soft surface; Based on the ultrasonic echo integral value comparison diagram, determining a first relational expression of the relationship between the integral value difference and the spatial position, wherein the integral difference is the difference between the ultrasonic echo integral value of the first material surface and the ultrasonic echo integral value of the second material surface; An echo judgment threshold of the cleaning robot is determined based on the current spatial position relationship data and the first relationship expression.

4. The method according to claim 3, characterized in that The current spatial position relationship data includes inclination data, and determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data specifically includes: Based on the ultrasonic echo integral value comparison diagram, determining a determination inclination angle threshold of the cleaning robot; When the inclination angle data is greater than the inclination angle determination threshold, stopping the surface material identification; When the inclination data is less than or equal to the inclination determination threshold, an echo determination threshold of the ultrasonic sensor is determined based on the inclination data.

5. The method according to claim 3, characterized in that: The current spatial position relationship data includes distance data, and determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data specifically includes: Based on the ultrasonic echo integral value comparison diagram, determining a first determination distance threshold and a second determination distance threshold of the cleaning robot, wherein the first determination distance threshold is smaller than the second determination distance threshold; When the distance data is less than or equal to the first determination distance threshold, determining an echo determination threshold of the ultrasonic sensor based on the distance data; When the distance data is greater than the first determination distance threshold and less than the second determination distance threshold, determining the echo determination threshold of the ultrasonic sensor to be a first preset recognition threshold; When the distance data is greater than or equal to the second determination distance threshold, the surface material recognition is stopped.

6. The method according to claim 3, characterized in that The determining of the first relational expression of the relationship between the integral value difference and the spatial position based on the ultrasonic echo integral value comparison diagram specifically includes: Determining a position relationship fitting range based on the ultrasonic echo integral value comparison diagram; Fitting the ultrasonic echo integral value of the first material surface within the position relationship fitting range to obtain a first material fitting function; Fitting the ultrasonic echo integral value of the second material surface within the position relationship fitting range to obtain a second material fitting function; A first relational expression between an integral value difference and a spatial position within the position relationship fitting range is determined according to the first material fitting function and the second material fitting function.

7. The method according to claim 3, characterized in that The determining the echo judgment threshold of the ultrasonic sensor based on the current spatial position relationship data and the first relationship formula specifically includes: Determine a target integral difference value according to the current spatial position relationship data and the first relationship formula; Determining a basic echo integral value according to the ultrasonic echo integral value for the second material surface in the ultrasonic echo integral value comparison diagram; An echo judgment threshold of the cleaning robot is determined according to the target integral difference and the basic echo integral value.

8. The method according to claim 1, characterized in that: The obtaining of the current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned specifically includes: Acquiring gyroscope data of the cleaning robot; Based on the gyroscope data, the inclination data of the cleaning robot ultrasonic sensor and the surface to be cleaned is determined.

9. The method according to claim 1, characterized in that: The obtaining of the current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned specifically includes: Determining first intermediate distance data between the downward-looking sensor of the cleaning robot and the surface to be cleaned by the downward-looking sensor; Acquiring second intermediate distance data between the downward-looking sensor and the ultrasonic sensor; Based on the first intermediate distance data and the second intermediate distance data, distance data of the ultrasonic sensor relative to the surface to be cleaned is determined.

10. The method according to claim 1, characterized in that The obtaining of the current spatial position relationship data of the ultrasonic sensor relative to the surface to be cleaned specifically includes: Acquiring ultrasonic echo data of the cleaning robot; Based on the time interval between two echoes in the ultrasonic echo data, the distance data of the ultrasonic sensor of the cleaning robot relative to the surface to be cleaned is determined.

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