Method and apparatus for determining cleaning mode, and computer device and storage medium

Abstract

The present application belongs to the technical field of robot data processing and control. Disclosed are a method and apparatus for determining a cleaning mode, and a computer device and a storage medium. The method comprises: determining whether the current ambient brightness is greater than a preset brightness threshold value; and if the current ambient brightness is greater than or equal to the preset brightness threshold value, using an image-based ground material identification mode to identify a ground material, and on the basis of a second correlation table, determining a cleaning mode corresponding to the identified ground material, otherwise, using a vibration-signal-based ground material identification mode to identify a ground material, and on the basis of a first correlation table, determining a cleaning mode corresponding to the identified ground material. The present application can increase the success rate of ground material identification, ensure a cleaning effect and also control costs.

Description

Cleaning mode determination method, device, computer equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on March 11, 2024, with application number 2024102690490, and invention name “Cleaning mode determination method, device, computer equipment and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of robot data processing and control technology, and in particular to a cleaning mode determination method, device, computer equipment and storage medium. Background Art

[0003] Some existing cleaning robots can use image recognition to identify floor materials. This image recognition method can identify specific floor materials, such as wood, tile, and carpet, and then select different cleaning strategies based on the type of floor material. The cleaning strategies include cleaning intensity, cleaning time, and cleaning frequency. However, the inventors have found that this method of using image recognition to identify floor materials sometimes fails to identify the floor material, resulting in the inability to select the appropriate cleaning strategy and thus the inability to guarantee cleaning results. Therefore, how to improve the success rate of floor material recognition and ensure cleaning results while controlling costs is a technical problem that urgently needs to be solved. Technical issues

[0004] The main purpose of this application is to provide a cleaning mode determination method, device, computer equipment and storage medium, aiming to improve the success rate of ground material identification, ensure cleaning effect and control costs. Technical Solutions

[0005] This application proposes a cleaning mode determination method, which is applied to a cleaning robot, comprising:

[0006] Determine whether the current ambient brightness is greater than a preset brightness threshold; if so, determine that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determine that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify a first level of ground material; the image-based ground material recognition mode is used to identify a second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under the hard ground and subdivided ground material under the soft ground;

[0007] When it is determined that the floor material recognition mode is the image-based floor material recognition mode, the floor material is identified using the image-based floor material recognition mode, and a cleaning mode corresponding to the identified floor material is determined according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level;

[0008] When the ground material recognition mode is determined to be a ground material recognition mode based on a vibration signal, the ground material recognition mode based on a vibration signal is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to a pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

[0009] The present application also proposes a cleaning mode determination device, which is applied to a cleaning robot, comprising:

[0010] A judgment module is used to judge whether the current environment brightness is greater than a preset brightness threshold. If it is greater than or equal to the brightness threshold, the ground material recognition mode is determined to be an image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify the first level of ground material; the image-based ground material recognition mode is used to identify the second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under hard ground and subdivided ground material under soft ground;

[0011] a first material recognition module configured to, when determining that the floor material recognition mode is the image-based floor material recognition mode, identify the floor material using the image-based floor material recognition mode, and determine a cleaning mode corresponding to the identified floor material according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level;

[0012] The second material identification module is used to identify the ground material using the ground material identification mode based on the vibration signal when the ground material identification mode is determined to be the ground material identification mode based on the vibration signal, and determine the cleaning mode corresponding to the identified ground material according to the pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

[0013] The present application further proposes a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a cleaning mode determination method is implemented, wherein the cleaning mode determination method includes:

[0014] Determine whether the current ambient brightness is greater than a preset brightness threshold; if so, determine that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determine that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify a first level of ground material; the image-based ground material recognition mode is used to identify a second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under the hard ground and subdivided ground material under the soft ground;

[0015] When it is determined that the floor material recognition mode is the image-based floor material recognition mode, the floor material is identified using the image-based floor material recognition mode, and a cleaning mode corresponding to the identified floor material is determined according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level;

[0016] When the ground material recognition mode is determined to be a ground material recognition mode based on a vibration signal, the ground material recognition mode based on a vibration signal is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to a pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

[0017] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a cleaning mode determination method is implemented. The cleaning mode determination method includes:

[0018] Determine whether the current ambient brightness is greater than a preset brightness threshold; if so, determine that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determine that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify a first level of ground material; the image-based ground material recognition mode is used to identify a second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under the hard ground and subdivided ground material under the soft ground;

[0019] When it is determined that the floor material recognition mode is the image-based floor material recognition mode, the floor material is identified using the image-based floor material recognition mode, and a cleaning mode corresponding to the identified floor material is determined according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level;

[0020] When the ground material recognition mode is determined to be a ground material recognition mode based on a vibration signal, the ground material recognition mode based on a vibration signal is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to a pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material. Beneficial effects

[0021] When the ambient brightness is greater than or equal to the preset brightness threshold, the captured ground image is clear. A clear ground image can improve the success rate of ground material recognition and the accuracy of ground material recognition, thereby enabling the selection of an appropriate cleaning mode for cleaning and ensuring a good cleaning effect. When the ambient brightness is less than the preset brightness threshold, the captured image is not clear enough. In this case, if the ground material is recognized based on the image, it is easy to fail to recognize the ground material or recognize the ground material inaccurately, thereby reducing the success rate and accuracy of ground material recognition. However, the embodiment of the present application uses a ground material recognition mode based on vibration signals to recognize the ground material when the ambient brightness is less than the preset brightness threshold, without considering whether the ground image is clear, thereby improving the success rate of ground material recognition and enabling the selection of an appropriate cleaning mode for cleaning and ensuring a good cleaning effect. Furthermore, by using the ground material recognition mode based on images to recognize the ground material when the ambient brightness is greater than or equal to the preset brightness threshold, and using the ground material recognition mode based on vibration signals to recognize the ground material when the ambient brightness is less than the preset brightness threshold, the cleaning robot can not only recognize the ground material in real time and select the corresponding cleaning mode for cleaning in well-lit conditions such as daytime, but also recognize the ground material in real time and select the corresponding cleaning mode for cleaning in dark environments such as nighttime, thereby increasing convenience and improving user experience. Furthermore, since the cost of identifying the ground material based on the vibration signal is low, the cost can be controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a schematic flow chart of a cleaning mode determination method according to an embodiment of the present application;

[0023] FIG2 is a schematic structural diagram of a cleaning mode determination device provided in one embodiment of the present application;

[0024] FIG3 is a schematic diagram of the structure of a computer device provided in an embodiment of the present application.

[0025] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Best Mode for Carrying Out the Invention

[0026] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0027] It will be understood by those skilled in the art that, unless expressly stated otherwise, the singular forms "a", "an", "above", and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of features, integers, steps, operations, elements, modules, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any module and all combinations of one or more associated listed items.

[0028] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless specifically defined as such, will not be interpreted in an idealized or overly formal sense.

[0029] 1 , an embodiment of the present application provides a cleaning mode determination method, which is applied to a cleaning robot and includes steps S1-S3:

[0030] S1. Determine whether the current ambient brightness is greater than a preset brightness threshold. If it is greater than or equal to, determine that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determine that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein, the vibration signal-based ground material recognition mode is used to identify the first level of ground material; the image-based ground material recognition mode is used to identify the second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under the hard ground and subdivided ground material under the soft ground.

[0031] In step S1, the cleaning robot specifically calculates the current ambient brightness. This can be calculated based on brightness data collected by a brightness sensor or by analyzing a captured ambient image. If the current ambient brightness is calculated based on brightness data collected by the brightness sensor, the cleaning robot must be equipped with a brightness sensor, and the brightness sensor must be mounted in a position that can measure the ambient brightness. For example, it can be mounted on the top of the cleaning robot or on a side facing the robot's direction of travel. Multiple brightness sensors can be installed. To ensure that the cleaning robot selects the appropriate floor material recognition mode during cleaning, the brightness threshold must be determined through extensive experimentation and testing. The image-based floor material recognition mode refers to identifying floor material through image analysis. This image analysis method can utilize a neural network trained using a large number of floor images of different floor material types, such as images of tile, wood flooring, marble, carpet, etc. Other existing methods can also be used. Because images are visual and contain numerous features, image recognition can identify specific floor materials (i.e., second-level floor materials), such as tile, wood flooring, marble, or carpet. The ground material identification mode based on vibration signals refers to identifying the ground material by analyzing the vibration signals. It should be understood that when the cleaning robot is moving on the ground, the cleaning robot body is in continuous vibration, and different materials have different vibration mitigation and absorption effects, especially soft and hard surfaces have obvious differences in vibration mitigation and absorption effects. Therefore, the cleaning robot will generate different vibration signals when working on floors of different materials, so that the ground material can be identified by the vibration signal, and whether the ground material is a hard ground or a soft ground (i.e., the first-level ground material). Hard ground refers to marble, ceramic tile, wooden floor, etc. Soft floor refers to carpet, etc. It is possible to identify marble, ceramic tile, wooden floor, etc. based on vibration signals, but the accuracy is not high. Therefore, the present application uses vibration signals to identify ground materials only to distinguish between hard and soft ground materials. Specifically, a vibration signal generated by the cleaning robot when working on the ground to be identified is collected, and the vibration signal can be collected by using a vibration sensor provided in the cleaning robot; the energy of the vibration signal within a first frequency band and the energy within a second frequency band are calculated; wherein the minimum frequency value of the second frequency band is greater than the maximum frequency value of the first frequency band, the first frequency band belongs to a low frequency band, and the second frequency band belongs to a high frequency band, and the low frequency band and the high frequency band are pre-set; the energy within the first frequency band is divided by the energy within the second frequency band to obtain an energy ratio; the energy ratio is compared with a preset energy ratio threshold, and if the energy ratio is greater than or equal to the energy ratio threshold, the ground material is a soft ground, otherwise it is a hard ground.

[0032] S2. When it is determined that the ground material recognition mode is an image-based ground material recognition mode, the image-based ground material recognition mode is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to a pre-stored second association table; wherein the second association table stores the cleaning mode corresponding to the second level of ground material.

[0033] In step S2, when it is determined that the ground material recognition mode is an image-based ground material recognition mode, the ground material is identified using the image-based ground material recognition mode. Specifically, the ground image to be identified is captured by a camera, and then the ground image is identified using the image-based ground material recognition mode to obtain a material recognition result. In one embodiment, when the ground material is identified through a neural network, the ground material with the highest confidence level and higher than a set threshold is selected as the recognition result. If the highest confidence level is lower than the set threshold, the ground material that cannot be identified is output as the recognition result. As can be seen from the above, the second level of ground material is a subdivided ground material under hard ground and soft ground, such as ceramic tile, marble, wooden floor, carpet, etc., and the second association relationship table specifically stores the cleaning modes corresponding to ceramic tile, marble, wooden floor, carpet, etc., i.e., ceramic tile cleaning mode, marble cleaning mode, wooden floor cleaning mode, carpet cleaning mode. In one embodiment, the cleaning modes for each subdivided surface material under hard surfaces in the second association storage table are differentiated primarily by whether water is used, dry roller brush speed, wet roller brush speed, ground pressure, whether a path along the edge is supported, coverage width, and travel speed. The cleaning modes corresponding to subdivided surface materials under soft surfaces are differentiated primarily by suction mode. Existing cleaning methods simply differentiate cleaning modes based on cleaning intensity, cleaning time, and cleaning frequency. This application differentiates cleaning modes based on whether water is used, dry roller brush speed, wet roller brush speed, ground pressure, whether a path along the edge is supported, coverage width, and travel speed, achieving more efficient, safe, and effective cleaning results.

[0034] S3. When the ground material recognition mode is determined to be a ground material recognition mode based on a vibration signal, the ground material is identified using the ground material recognition mode based on a vibration signal, and the cleaning mode corresponding to the identified ground material is determined according to a pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

[0035] In the embodiment of the present application, it can be seen from the above that the first level of ground material includes hard ground and soft ground. Therefore, the first association table stores the cleaning modes corresponding to soft ground and hard ground, that is, hard ground cleaning mode and soft ground cleaning mode.

[0036] When the ambient brightness is greater than or equal to the preset brightness threshold, the captured ground image is clear. A clear ground image can improve the success rate of ground material recognition and the accuracy of ground material recognition, thereby enabling the selection of an appropriate cleaning mode for cleaning and ensuring a good cleaning effect. When the ambient brightness is less than the preset brightness threshold, the captured image is not clear enough. In this case, if the ground material is recognized based on the image, it is easy to fail to recognize the ground material or recognize the ground material inaccurately, thereby reducing the success rate and accuracy of ground material recognition. However, the embodiment of the present application uses a ground material recognition mode based on vibration signals to recognize the ground material when the ambient brightness is less than the preset brightness threshold, without considering whether the ground image is clear, thereby improving the success rate of ground material recognition and enabling the selection of an appropriate cleaning mode for cleaning and ensuring a good cleaning effect. Furthermore, by using the ground material recognition mode based on images to recognize the ground material when the ambient brightness is greater than or equal to the preset brightness threshold, and using the ground material recognition mode based on vibration signals to recognize the ground material when the ambient brightness is less than the preset brightness threshold, the cleaning robot can not only recognize the ground material in real time and select the corresponding cleaning mode for cleaning in well-lit conditions such as daytime, but also recognize the ground material in real time and select the corresponding cleaning mode for cleaning in dark environments such as nighttime, thereby increasing convenience and improving user experience. Furthermore, since the cost of identifying the ground material based on the vibration signal is low, the cost can be controlled.

[0037] In one embodiment, after the step of determining the cleaning mode corresponding to the identified floor material, the method further includes:

[0038] The cleaning robot is controlled to perform cleaning according to the cleaning mode.

[0039] For example, if the floor material is identified as wooden flooring, the cleaning robot will clean according to the wooden floor cleaning mode; if the floor material is identified as marble, the cleaning robot will clean according to the marble cleaning mode. If the floor material is only identified as hard flooring (and cannot be identified as a more specific material), the cleaning robot will clean according to the hard floor cleaning mode; if the floor material is only identified as soft flooring (and cannot be identified as a more specific material), the cleaning robot will clean according to the soft floor cleaning mode.

[0040] In one embodiment, when determining whether the current ambient brightness is greater than a preset brightness threshold based on a brightness sensor, the preset brightness threshold is a first brightness threshold, and determining whether the current ambient brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is an image-based ground material recognition mode, otherwise determining that the ground material recognition mode is a vibration signal-based ground material recognition mode, includes the following steps:

[0041] Calculate the average brightness within a preset time period based on the brightness data collected by the brightness sensor;

[0042] The average brightness within the preset time period is used as the current ambient brightness;

[0043] Determining whether the current ambient brightness is greater than a preset first brightness threshold;

[0044] If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

[0045] In this embodiment of the present application, by calculating the average brightness over a preset time period, instantaneous brightness fluctuations and noise can be smoothed out. This can avoid misjudgments or inaccurate results caused by instantaneous brightness changes, thereby improving the stability and accuracy of the ground material recognition mode switching. In addition, the use of a brightness sensor can instantly obtain ambient brightness information, with a fast response speed.

[0046] In one embodiment, when determining whether the current environment brightness is greater than a preset brightness threshold based on the environment image, the preset brightness threshold is a second brightness threshold, and determining whether the current environment brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining the ground material recognition mode as the image-based ground material recognition mode, otherwise determining the ground material recognition mode as the vibration signal-based ground material recognition mode includes:

[0047] Collect current environment images;

[0048] Determining brightness information of each pixel in the current environment image;

[0049] Determining the brightness of the current environment image according to the brightness information of each pixel;

[0050] Using the brightness of the current environment image as the current environment brightness;

[0051] Determining whether the current ambient brightness is greater than a preset second brightness threshold;

[0052] If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

[0053] In an embodiment of the present application, the ambient brightness can also be obtained by analyzing the ambient image. By calculating the ambient image brightness through the ambient image, it is possible to more accurately analyze whether the current environment is suitable for ground material recognition using an image-based ground material recognition mode.

[0054] In one embodiment, the step of calculating the average brightness within a preset time period based on the brightness data collected by the brightness sensor includes:

[0055] Obtain all brightness data collected by the brightness sensor within a preset time period;

[0056] Analyzing and comparing all brightness data collected by the brightness sensor within the preset time period, eliminating abnormal brightness data, and obtaining brightness data after eliminating the abnormal brightness data;

[0057] The average brightness within the preset time period is calculated using the brightness data after eliminating abnormal brightness data.

[0058] In an embodiment of the present application, by obtaining all brightness data collected by the brightness sensor within a preset time period, analyzing and comparing these data, and eliminating abnormal brightness data, more reliable and accurate brightness data can be obtained, which can better reflect the actual brightness of the environment, thereby improving the accuracy of ground material recognition mode switching.

[0059] In one embodiment, after the step of identifying the ground material using the image-based ground material recognition mode, the method further includes:

[0060] If the result of identifying the ground material using the image-based ground material identification mode is that the ground material cannot be identified, the ground material identification mode based on the vibration signal is used to identify the ground material.

[0061] In an embodiment of the present application, in certain cases there may be a problem in which the ground material cannot be identified based on the image. For example, the ground material cannot be identified under strong light conditions. At this time, the ground material can be identified by switching to a ground material recognition mode based on a vibration signal. By switching to a ground material recognition mode based on a vibration signal to identify the ground material, the problem of not being able to identify the ground material can be further solved, and the success rate of ground material recognition can be further improved, thereby ensuring the cleaning effect.

[0062] In one embodiment, the cleaning mode corresponding to the subdivided ground material under the hard ground includes a cleaning method and a cleaning strategy. The cleaning method includes whether to go into water, the dry roller brush speed, the wet roller brush speed and the pressure on the ground; the cleaning strategy includes whether to support the edge path, the coverage width and the travel speed.

[0063] The cleaning robot of this application has two steps for cleaning hard floors. The first step is sweeping with a dry roller brush; the second step is washing with a wet roller brush. In both steps, a roller rotates rapidly, generating friction with the ground to clean the ground. Different ground surfaces will be affected by the lifting motor, applying different positive pressures to the ground, achieving a more effective cleaning effect on ground surfaces with different friction. For different hard floor materials, according to the material characteristics, in terms of cleaning methods, by differentiating whether to use water, dry roller brush speed, wet roller brush speed and pressure on the ground, and in terms of cleaning strategies, by differentiating whether to support edge paths, coverage width and travel speed, a more efficient, safe and effective cleaning effect can be achieved. It should be understood that water discharge means that when the cleaning robot is in the washing mode, a water pump will suck out clean water from the water tank and spray it evenly on the ground for washing and cleaning. The amount of water discharged is adjusted according to the different types of ground materials, for example: 80ml / min or 120ml / min of water discharge, which will affect the cleaning effect of the ground. Edge path: This refers to the robot's final round of cleaning after completing the cleaning process to prevent water stains from forming on the robot's outermost edge. Coverage width: For example, if the robot's cleaning width is 500mm, when it turns back to clean, it only turns 300mm. The difference of 200mm is the coverage width (think of a bow-shaped back-and-forth cleaning path). Travel speed: This refers to the robot's travel speed. To ensure cleaning efficiency, the robot's travel speed varies depending on the surface and cleaning method.

[0064] In one embodiment, the subdivided ground material under the hard ground includes wooden floor, marble and ceramic tile;

[0065] The cleaning mode corresponding to the wooden floor is water discharge, slow dry roller brush speed, fast wet roller brush speed, and weak ground pressure; the cleaning strategy corresponding to the wooden floor is supporting edge paths, a first preset coverage width, and a fast travel speed;

[0066] The cleaning mode corresponding to the marble is no water entry, fast dry roller brush speed, slow wet roller brush speed, and strong ground pressure; the cleaning strategy corresponding to the marble is no support for edge paths, a second preset width for coverage, and a slow travel speed;

[0067] The cleaning method corresponding to the ceramic tile is water discharge, fast dry roller brush speed, fast wet roller brush speed and strong ground pressure; the cleaning strategy corresponding to the ceramic tile is support for edge paths, the coverage width is the second preset width and the travel speed is slow; wherein, the speed of the dry roller brush in the first preset range is slow, the speed of the dry roller brush in the second preset range is fast, the speed of the wet roller brush in the third preset range is slow, the speed of the wet roller brush in the fourth preset range is fast, the pressure on the ground in the first pressure range is weak pressure, the pressure on the ground in the second pressure range is strong pressure, the travel speed in the fifth preset range is slow, and the travel speed in the sixth preset range is fast.

[0068] In the embodiments of the present application, corresponding cleaning methods and cleaning strategies for wooden floors, marble, and ceramic tiles are provided. Based on the material characteristics of wooden floors, the cleaning method for wooden floors is set to "draining", the dry roller speed is slow, the wet roller speed is fast, and the ground pressure is weak. Furthermore, the cleaning strategy for wooden floors is set to "supporting edge paths", the coverage width is a first preset width, and the travel speed is fast. This allows for efficient, safe, and effective cleaning of wooden floors. Based on the material characteristics of marble, the cleaning method for marble is set to "no draining", the dry roller speed is fast, the wet roller speed is slow, and the ground pressure is strong. Furthermore, the cleaning strategy for marble is set to "not supporting edge paths", the coverage width is a second preset width, and the travel speed is slow. Based on the material characteristics of ceramic tiles, the cleaning method for ceramic tiles is set to "draining", the dry roller speed is fast, the wet roller speed is fast, and the ground pressure is strong. Furthermore, the cleaning strategy for ceramic tiles is set to "supporting edge paths", the coverage width is the second preset width, and the travel speed is slow. This allows for efficient, safe, and effective cleaning of ceramic tiles. It should be noted that the water discharge volume (if water discharge is required), dry roller brush speed, wet roller brush speed, ground pressure, coverage width, and travel speed corresponding to the above materials are all pre-set. The first coverage width is, for example, 30 cm, and the second coverage width is, for example, 20 cm.

[0069] In one embodiment, the first associated storage table stores cleaning modes corresponding to soft and hard surfaces. The cleaning mode corresponding to hard surfaces includes a cleaning method and a cleaning strategy. The cleaning method includes no water entry, slow dry and wet brush speeds, and weak ground pressure. The cleaning strategy includes supporting edge paths, a coverage width of the first preset width, and a slow travel speed. This allows for safe cleaning of the floor and achieves a good cleaning effect. The cleaning mode corresponding to soft surfaces includes a cleaning method and a cleaning strategy. The cleaning method includes the suction power of the suction component, and the cleaning strategy includes the coverage width and travel speed.

[0070] As shown in FIG2 , an embodiment of the present application further provides a cleaning mode determination device, which is applied to a cleaning robot and includes:

[0071] The judgment module 1 is used to judge whether the current environment brightness is greater than a preset brightness threshold. If it is greater than or equal to the brightness threshold, the ground material recognition mode is determined to be an image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify the first level of ground material; the image-based ground material recognition mode is used to identify the second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under hard ground and subdivided ground material under soft ground;

[0072] a first material recognition module 2 for, when determining that the floor material recognition mode is the image-based floor material recognition mode, identifying the floor material using the image-based floor material recognition mode, and determining a cleaning mode corresponding to the identified floor material according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level;

[0073] The second material identification module 3 is used to identify the ground material using the ground material identification mode based on the vibration signal when the ground material identification mode is determined to be the ground material identification mode based on the vibration signal, and determine the cleaning mode corresponding to the identified ground material according to the pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

[0074] In one embodiment, when determining whether the current ambient brightness is greater than a preset brightness threshold based on the brightness sensor, the preset brightness threshold is a first brightness threshold, and the first material recognition module 2 includes:

[0075] An average brightness calculation unit, configured to calculate the average brightness within a preset time period based on the brightness data collected by the brightness sensor;

[0076] A first equivalent unit, configured to use the average brightness within the preset time period as the current ambient brightness;

[0077] A first judgment unit, configured to judge whether the current ambient brightness is greater than a preset first brightness threshold;

[0078] The first determining unit is configured to determine that the ground material recognition mode is an image-based ground material recognition mode if is greater than or equal to , and otherwise determine that the ground material recognition mode is a vibration signal-based ground material recognition mode.

[0079] In one embodiment, when determining whether the current ambient brightness is greater than a preset brightness threshold based on the ambient image, the preset brightness threshold is a second brightness threshold, and the first material recognition module 2 includes:

[0080] An acquisition unit, used for acquiring an image of the current environment;

[0081] a brightness information determining unit, configured to determine brightness information of each pixel in the current environment image;

[0082] An environment image brightness determination unit, configured to determine the brightness of the current environment image based on the brightness information of each pixel;

[0083] A second equivalent unit, configured to use the brightness of the current environment image as the current environment brightness;

[0084] A second judgment unit is used to judge whether the current environment brightness is greater than a preset second brightness threshold;

[0085] The second determining unit is configured to determine that the ground material recognition mode is an image-based ground material recognition mode if is greater than or equal to , and otherwise determine that the ground material recognition mode is a vibration signal-based ground material recognition mode.

[0086] In one embodiment, the average brightness calculation unit includes:

[0087] An acquisition subunit, configured to acquire all brightness data collected by the brightness sensor within a preset time period;

[0088] an analysis and comparison subunit, configured to analyze and compare all brightness data collected by the brightness sensor within the preset time period, eliminate abnormal brightness data, and obtain brightness data after eliminating the abnormal brightness data;

[0089] The abnormal data elimination subunit is used to calculate the average brightness within the preset time period using the brightness data after eliminating the abnormal brightness data.

[0090] In one embodiment, after identifying the ground material using the image-based ground material recognition mode, the method further includes:

[0091] If the result of identifying the ground material using the image-based ground material identification mode is that the ground material cannot be identified, the ground material identification mode based on the vibration signal is used to identify the ground material.

[0092] In one embodiment, the cleaning mode corresponding to the subdivided ground material under the hard ground includes a cleaning method and a cleaning strategy. The cleaning method includes whether to go into water, the dry roller brush speed, the wet roller brush speed and the pressure on the ground; the cleaning strategy includes whether to support the edge path, the coverage width and the travel speed.

[0093] In one embodiment, the subdivided ground material under the hard ground includes wooden floor, marble and ceramic tile;

[0094] The cleaning mode corresponding to the wooden floor is water discharge, slow dry roller brush speed, fast wet roller brush speed, and weak ground pressure; the cleaning strategy corresponding to the wooden floor is supporting edge paths, a first preset coverage width, and a fast travel speed;

[0095] The cleaning mode corresponding to the marble is no water entry, fast dry roller brush speed, slow wet roller brush speed, and strong ground pressure; the cleaning strategy corresponding to the marble is no support for edge paths, a second preset width for coverage, and a slow travel speed;

[0096] The cleaning method corresponding to the ceramic tile is water discharge, fast dry roller brush speed, fast wet roller brush speed and strong ground pressure; the cleaning strategy corresponding to the ceramic tile is support for edge paths, the coverage width is the second preset width and the travel speed is slow; wherein, the speed of the dry roller brush in the first preset range is slow, the speed of the dry roller brush in the second preset range is fast, the speed of the wet roller brush in the third preset range is slow, the speed of the wet roller brush in the fourth preset range is fast, the pressure on the ground in the first pressure range is weak pressure, the pressure on the ground in the second pressure range is strong pressure, the travel speed in the fifth preset range is slow, and the travel speed in the sixth preset range is fast.

[0097] 3 , an embodiment of the present application further provides a computer device, the internal structure of which may be as shown in FIG3 . The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor designed for the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating device, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data on a method for determining a cleaning mode, etc. The network interface of the computer device is used to communicate with an external terminal via a network connection. Furthermore, the above-mentioned computer device may also be provided with an input device and a display screen, etc. When the above computer program is executed by the processor to implement the cleaning mode determination method, the method includes the following steps: determining whether the current ambient brightness is greater than a preset brightness threshold; if it is greater than or equal to, determining that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determining that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify the first level of ground material; the image-based ground material recognition mode is used to identify the second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under the hard ground and subdivided ground material under the soft ground Ground material; when it is determined that the ground material recognition mode is an image-based ground material recognition mode, the ground material is recognized using the image-based ground material recognition mode, and the cleaning mode corresponding to the recognized ground material is determined according to the pre-stored second association table; wherein the second association table stores the cleaning mode corresponding to the second level of ground material; when it is determined that the ground material recognition mode is a vibration signal-based ground material recognition mode, the ground material is recognized using the vibration signal-based ground material recognition mode, and the cleaning mode corresponding to the recognized ground material is determined according to the pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material. Those skilled in the art will understand that the structure shown in FIG3 is merely a block diagram of a portion of the structure related to the present application solution, and does not constitute a limitation on the computer device to which the present application solution is applied.

[0098] In one embodiment, when determining whether the current ambient brightness is greater than a preset brightness threshold based on a brightness sensor, the preset brightness threshold is a first brightness threshold, and determining whether the current ambient brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is an image-based ground material recognition mode, otherwise determining that the ground material recognition mode is a vibration signal-based ground material recognition mode, includes the following steps:

[0099] Calculate the average brightness within a preset time period based on the brightness data collected by the brightness sensor;

[0100] The average brightness within the preset time period is used as the current ambient brightness;

[0101] Determining whether the current ambient brightness is greater than a preset first brightness threshold;

[0102] If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

[0103] In one embodiment, when determining whether the current environment brightness is greater than a preset brightness threshold based on the environment image, the preset brightness threshold is a second brightness threshold, and determining whether the current environment brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining the ground material recognition mode as the image-based ground material recognition mode, otherwise determining the ground material recognition mode as the vibration signal-based ground material recognition mode includes:

[0104] Collect current environment images;

[0105] Determining brightness information of each pixel in the current environment image;

[0106] Determining the brightness of the current environment image according to the brightness information of each pixel;

[0107] Using the brightness of the current environment image as the current environment brightness;

[0108] Determining whether the current ambient brightness is greater than a preset second brightness threshold;

[0109] If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

[0110] In one embodiment, the step of calculating the average brightness within a preset time period based on the brightness data collected by the brightness sensor includes:

[0111] Obtain all brightness data collected by the brightness sensor within a preset time period;

[0112] Analyzing and comparing all brightness data collected by the brightness sensor within the preset time period, eliminating abnormal brightness data, and obtaining brightness data after eliminating the abnormal brightness data;

[0113] The average brightness within the preset time period is calculated using the brightness data after eliminating abnormal brightness data.

[0114] In one embodiment, after the step of identifying the ground material using the image-based ground material recognition mode, the method further includes:

[0115] If the result of identifying the ground material using the image-based ground material identification mode is that the ground material cannot be identified, the ground material identification mode based on the vibration signal is used to identify the ground material.

[0116] In one embodiment, the cleaning mode corresponding to the subdivided ground material under the hard ground includes a cleaning method and a cleaning strategy. The cleaning method includes whether to go into water, the dry roller brush speed, the wet roller brush speed and the pressure on the ground; the cleaning strategy includes whether to support the edge path, the coverage width and the travel speed.

[0117] In one embodiment, the subdivided ground material under the hard ground includes wooden floor, marble and ceramic tile;

[0118] The cleaning mode corresponding to the wooden floor is water discharge, slow dry roller brush speed, fast wet roller brush speed, and weak ground pressure; the cleaning strategy corresponding to the wooden floor is supporting edge paths, a first preset coverage width, and a fast travel speed;

[0119] The cleaning mode corresponding to the marble is no water entry, fast dry roller brush speed, slow wet roller brush speed, and strong ground pressure; the cleaning strategy corresponding to the marble is no support for edge paths, a second preset width for coverage, and a slow travel speed;

[0120] The cleaning method corresponding to the ceramic tile is water discharge, fast dry roller brush speed, fast wet roller brush speed and strong ground pressure; the cleaning strategy corresponding to the ceramic tile is support for edge paths, the coverage width is the second preset width and the travel speed is slow; wherein, the speed of the dry roller brush in the first preset range is slow, the speed of the dry roller brush in the second preset range is fast, the speed of the wet roller brush in the third preset range is slow, the speed of the wet roller brush in the fourth preset range is fast, the pressure on the ground in the first pressure range is weak pressure, the pressure on the ground in the second pressure range is strong pressure, the travel speed in the fifth preset range is slow, and the travel speed in the sixth preset range is fast.

[0121] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements a cleaning mode determination method when the computer program is executed by a processor, comprising the following steps: determining whether the current ambient brightness is greater than a preset brightness threshold; if so, determining that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determining that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify a first level of ground material; the image-based ground material recognition mode is used to identify a second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes hard ground under the ground Subdivide the ground material and the subdivided ground material under the soft ground; when it is determined that the ground material recognition mode is an image-based ground material recognition mode, the image-based ground material recognition mode is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to the pre-stored second association relationship table; wherein the second association relationship table stores the cleaning mode corresponding to the second level of ground material; when it is determined that the ground material recognition mode is a vibration signal-based ground material recognition mode, the vibration signal-based ground material recognition mode is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to the pre-stored first association relationship table; wherein the first association relationship table stores the cleaning mode corresponding to the first level of ground material. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0122] In one embodiment, when determining whether the current ambient brightness is greater than a preset brightness threshold based on a brightness sensor, the preset brightness threshold is a first brightness threshold, and determining whether the current ambient brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is an image-based ground material recognition mode, otherwise determining that the ground material recognition mode is a vibration signal-based ground material recognition mode, includes the following steps:

[0123] Calculate the average brightness within a preset time period based on the brightness data collected by the brightness sensor;

[0124] The average brightness within the preset time period is used as the current ambient brightness;

[0125] Determining whether the current ambient brightness is greater than a preset first brightness threshold;

[0126] If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

[0127] In one embodiment, when determining whether the current environment brightness is greater than a preset brightness threshold based on the environment image, the preset brightness threshold is a second brightness threshold, and determining whether the current environment brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining the ground material recognition mode as the image-based ground material recognition mode, otherwise determining the ground material recognition mode as the vibration signal-based ground material recognition mode includes:

[0128] Collect current environment images;

[0129] Determining brightness information of each pixel in the current environment image;

[0130] Determining the brightness of the current environment image according to the brightness information of each pixel;

[0131] Using the brightness of the current environment image as the current environment brightness;

[0132] Determining whether the current ambient brightness is greater than a preset second brightness threshold;

[0133] If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

[0134] In one embodiment, the step of calculating the average brightness within a preset time period based on the brightness data collected by the brightness sensor includes:

[0135] Obtain all brightness data collected by the brightness sensor within a preset time period;

[0136] Analyzing and comparing all brightness data collected by the brightness sensor within the preset time period, eliminating abnormal brightness data, and obtaining brightness data after eliminating the abnormal brightness data;

[0137] The average brightness within the preset time period is calculated using the brightness data after eliminating abnormal brightness data.

[0138] In one embodiment, after the step of identifying the ground material using the image-based ground material recognition mode, the method further includes:

[0139] If the result of identifying the ground material using the image-based ground material identification mode is that the ground material cannot be identified, the ground material identification mode based on the vibration signal is used to identify the ground material.

[0140] In one embodiment, the cleaning mode corresponding to the subdivided ground material under the hard ground includes a cleaning method and a cleaning strategy. The cleaning method includes whether to go into water, the dry roller brush speed, the wet roller brush speed and the pressure on the ground; the cleaning strategy includes whether to support the edge path, the coverage width and the travel speed.

[0141] In one embodiment, the subdivided ground material under the hard ground includes wooden floor, marble and ceramic tile;

[0142] The cleaning mode corresponding to the wooden floor is water discharge, slow dry roller brush speed, fast wet roller brush speed, and weak ground pressure; the cleaning strategy corresponding to the wooden floor is supporting edge paths, a first preset coverage width, and a fast travel speed;

[0143] The cleaning mode corresponding to the marble is no water entry, fast dry roller brush speed, slow wet roller brush speed, and strong ground pressure; the cleaning strategy corresponding to the marble is no support for edge paths, a second preset width for coverage, and a slow travel speed;

[0144] The cleaning method corresponding to the ceramic tile is water discharge, fast dry roller brush speed, fast wet roller brush speed and strong ground pressure; the cleaning strategy corresponding to the ceramic tile is support for edge paths, the coverage width is the second preset width and the travel speed is slow; wherein, the speed of the dry roller brush in the first preset range is slow, the speed of the dry roller brush in the second preset range is fast, the speed of the wet roller brush in the third preset range is slow, the speed of the wet roller brush in the fourth preset range is fast, the pressure on the ground in the first pressure range is weak pressure, the pressure on the ground in the second pressure range is strong pressure, the travel speed in the fifth preset range is slow, and the travel speed in the sixth preset range is fast.

[0145] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct RAM bus dynamic RAM (DRDRAM), and RAM bus dynamic RAM (RDRAM).

[0146] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, apparatus, article, or method comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, apparatus, article, or method. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, apparatus, article, or method comprising the element.

[0147] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cleaning mode determination method, wherein: Applied to cleaning robots, including: Determine whether the current ambient brightness is greater than a preset brightness threshold; if so, determine that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determine that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify a first level of ground material; the image-based ground material recognition mode is used to identify a second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under the hard ground and subdivided ground material under the soft ground; When it is determined that the floor material recognition mode is the image-based floor material recognition mode, the floor material is identified using the image-based floor material recognition mode, and a cleaning mode corresponding to the identified floor material is determined according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level; When the ground material recognition mode is determined to be a ground material recognition mode based on a vibration signal, the ground material recognition mode based on a vibration signal is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to a pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

2. The cleaning mode determination method according to claim 1, wherein: When determining whether the current ambient brightness is greater than a preset brightness threshold based on the brightness sensor, the preset brightness threshold is a first brightness threshold, and determining whether the current ambient brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is an image-based ground material recognition mode, otherwise determining that the ground material recognition mode is a vibration signal-based ground material recognition mode, includes the following steps: Calculate the average brightness within a preset time period based on the brightness data collected by the brightness sensor; The average brightness within the preset time period is used as the current ambient brightness; Determining whether the current ambient brightness is greater than a preset first brightness threshold; If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

3. The cleaning mode determination method according to claim 1, wherein: When determining whether the current environment brightness is greater than a preset brightness threshold based on the environment image, the preset brightness threshold is a second brightness threshold, and determining whether the current environment brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is the image-based ground material recognition mode, otherwise determining that the ground material recognition mode is the vibration signal-based ground material recognition mode, includes the following steps: Collect current environment images; Determining brightness information of each pixel in the current environment image; Determining the brightness of the current environment image according to the brightness information of each pixel; Using the brightness of the current environment image as the current environment brightness; Determining whether the current ambient brightness is greater than a preset second brightness threshold; If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode. The cleaning mode determination method according to claim 2 , wherein: The step of calculating the average brightness within a preset time period based on the brightness data collected by the brightness sensor includes: Obtain all brightness data collected by the brightness sensor within a preset time period; Analyzing and comparing all brightness data collected by the brightness sensor within the preset time period, eliminating abnormal brightness data, and obtaining brightness data after eliminating the abnormal brightness data; The average brightness within the preset time period is calculated using the brightness data after eliminating abnormal brightness data. The cleaning mode determination method according to claim 1 , wherein: After the step of identifying the ground material using the image-based ground material recognition mode, the method further includes: If the result of identifying the ground material using the image-based ground material identification mode is that the ground material cannot be identified, the ground material identification mode based on the vibration signal is used to identify the ground material. The cleaning mode determination method according to claim 1 , wherein: The cleaning mode corresponding to the subdivided ground material under the hard ground includes a cleaning method and a cleaning strategy, wherein the cleaning method includes whether to use water, dry roller brush speed, wet roller brush speed and ground pressure; Cleaning strategies include whether to support edge paths, coverage width, and travel speed. The cleaning mode determination method according to claim 6 , wherein: The subdivided ground materials under the hard ground include wooden floors, marble and tiles; The cleaning mode corresponding to the wooden floor is water discharge, slow dry roller brush speed, fast wet roller brush speed, and weak ground pressure; the cleaning strategy corresponding to the wooden floor is supporting edge paths, a first preset coverage width, and a fast travel speed; The cleaning mode corresponding to the marble is no water entry, fast dry roller brush speed, slow wet roller brush speed, and strong ground pressure; the cleaning strategy corresponding to the marble is no support for edge paths, a second preset width for coverage, and a slow travel speed; The cleaning method corresponding to the ceramic tile is water discharge, fast dry roller brush speed, fast wet roller brush speed and strong ground pressure; the cleaning strategy corresponding to the ceramic tile is support for edge paths, the coverage width is the second preset width and the travel speed is slow; wherein, the speed of the dry roller brush in the first preset range is slow, the speed of the dry roller brush in the second preset range is fast, the speed of the wet roller brush in the third preset range is slow, the speed of the wet roller brush in the fourth preset range is fast, the pressure on the ground in the first pressure range is weak pressure, the pressure on the ground in the second pressure range is strong pressure, the travel speed in the fifth preset range is slow, and the travel speed in the sixth preset range is fast.

8. A cleaning mode determination device, wherein: Applied to cleaning robots, including: A judgment module is used to judge whether the current environment brightness is greater than a preset brightness threshold. If it is greater than or equal to the brightness threshold, the ground material recognition mode is determined to be an image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify the first level of ground material; the image-based ground material recognition mode is used to identify the second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under hard ground and subdivided ground material under soft ground; a first material recognition module configured to, when determining that the floor material recognition mode is the image-based floor material recognition mode, identify the floor material using the image-based floor material recognition mode, and determine a cleaning mode corresponding to the identified floor material according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level; The second material identification module is used to identify the ground material using the ground material identification mode based on the vibration signal when the ground material identification mode is determined to be the ground material identification mode based on the vibration signal, and determine the cleaning mode corresponding to the identified ground material according to the pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, a cleaning mode determination method is implemented, wherein the cleaning mode determination method includes: Determine whether the current ambient brightness is greater than a preset brightness threshold; if so, determine that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determine that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify a first level of ground material; the image-based ground material recognition mode is used to identify a second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under the hard ground and subdivided ground material under the soft ground; When it is determined that the floor material recognition mode is the image-based floor material recognition mode, the floor material is identified using the image-based floor material recognition mode, and a cleaning mode corresponding to the identified floor material is determined according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level; When the ground material recognition mode is determined to be a ground material recognition mode based on a vibration signal, the ground material recognition mode based on a vibration signal is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to a pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

10. The computer device according to claim 9, wherein: When determining whether the current ambient brightness is greater than a preset brightness threshold based on the brightness sensor, the preset brightness threshold is a first brightness threshold, and determining whether the current ambient brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is an image-based ground material recognition mode, otherwise determining that the ground material recognition mode is a vibration signal-based ground material recognition mode, includes the following steps: Calculate the average brightness within a preset time period based on the brightness data collected by the brightness sensor; The average brightness within the preset time period is used as the current ambient brightness; Determining whether the current ambient brightness is greater than a preset first brightness threshold; If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

11. The computer device according to claim 9, wherein: When determining whether the current environment brightness is greater than a preset brightness threshold based on the environment image, the preset brightness threshold is a second brightness threshold, and determining whether the current environment brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is the image-based ground material recognition mode, otherwise determining that the ground material recognition mode is the vibration signal-based ground material recognition mode, includes the following steps: Collect current environment images; Determining brightness information of each pixel in the current environment image; Determining the brightness of the current environment image according to the brightness information of each pixel; Using the brightness of the current environment image as the current environment brightness; Determining whether the current ambient brightness is greater than a preset second brightness threshold; If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

12. The computer device according to claim 10, wherein: The step of calculating the average brightness within a preset time period based on the brightness data collected by the brightness sensor includes: Obtain all brightness data collected by the brightness sensor within a preset time period; Analyzing and comparing all brightness data collected by the brightness sensor within the preset time period, eliminating abnormal brightness data, and obtaining brightness data after eliminating the abnormal brightness data; The average brightness within the preset time period is calculated using the brightness data after eliminating abnormal brightness data.

13. The computer device according to claim 9, wherein: After the step of identifying the ground material using the image-based ground material recognition mode, the method further includes: If the result of identifying the ground material using the image-based ground material identification mode is that the ground material cannot be identified, the ground material identification mode based on the vibration signal is used to identify the ground material.

14. The computer device according to claim 9, wherein: The cleaning mode corresponding to the subdivided ground material under the hard ground includes a cleaning method and a cleaning strategy, wherein the cleaning method includes whether to use water, dry roller brush speed, wet roller brush speed and ground pressure; Cleaning strategies include whether to support edge paths, coverage width, and travel speed.

15. The computer device of claim 14, wherein: The subdivided ground materials under the hard ground include wooden floors, marble and tiles; The cleaning mode corresponding to the wooden floor is water discharge, slow dry roller brush speed, fast wet roller brush speed, and weak ground pressure; the cleaning strategy corresponding to the wooden floor is supporting edge paths, a first preset coverage width, and a fast travel speed; The cleaning mode corresponding to the marble is no water entry, fast dry roller brush speed, slow wet roller brush speed, and strong ground pressure; the cleaning strategy corresponding to the marble is no support for edge paths, a second preset width for coverage, and a slow travel speed; The cleaning method corresponding to the ceramic tile is water discharge, fast dry roller brush speed, fast wet roller brush speed and strong ground pressure; the cleaning strategy corresponding to the ceramic tile is support for edge paths, the coverage width is the second preset width and the travel speed is slow; wherein, the speed of the dry roller brush in the first preset range is slow, the speed of the dry roller brush in the second preset range is fast, the speed of the wet roller brush in the third preset range is slow, the speed of the wet roller brush in the fourth preset range is fast, the pressure on the ground in the first pressure range is weak pressure, the pressure on the ground in the second pressure range is strong pressure, the travel speed in the fifth preset range is slow, and the travel speed in the sixth preset range is fast.

16. A computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, a cleaning mode determination method is implemented, and the cleaning mode determination method includes: Determine whether the current ambient brightness is greater than a preset brightness threshold; if so, determine that the ground material recognition mode is an image-based ground material recognition mode; otherwise, determine that the ground material recognition mode is a vibration signal-based ground material recognition mode; wherein the vibration signal-based ground material recognition mode is used to identify a first level of ground material; the image-based ground material recognition mode is used to identify a second level of ground material; the first level of ground material includes hard ground and soft ground; the second level of ground material includes subdivided ground material under the hard ground and subdivided ground material under the soft ground; When it is determined that the floor material recognition mode is the image-based floor material recognition mode, the floor material is identified using the image-based floor material recognition mode, and a cleaning mode corresponding to the identified floor material is determined according to a pre-stored second association relationship table; wherein the second association relationship table stores cleaning modes corresponding to floor materials of the second level; When the ground material recognition mode is determined to be a ground material recognition mode based on a vibration signal, the ground material recognition mode based on a vibration signal is used to identify the ground material, and the cleaning mode corresponding to the identified ground material is determined according to a pre-stored first association table; wherein the first association table stores the cleaning mode corresponding to the first level of ground material.

17. The computer-readable storage medium of claim 16, wherein: When determining whether the current ambient brightness is greater than a preset brightness threshold based on the brightness sensor, the preset brightness threshold is a first brightness threshold, and determining whether the current ambient brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is an image-based ground material recognition mode, otherwise determining that the ground material recognition mode is a vibration signal-based ground material recognition mode, includes the following steps: Calculate the average brightness within a preset time period based on the brightness data collected by the brightness sensor; The average brightness within the preset time period is used as the current ambient brightness; Determining whether the current ambient brightness is greater than a preset first brightness threshold; If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

18. The computer-readable storage medium of claim 16, wherein: When determining whether the current environment brightness is greater than a preset brightness threshold based on the environment image, the preset brightness threshold is a second brightness threshold, and determining whether the current environment brightness is greater than the preset brightness threshold, if it is greater than or equal to the preset brightness threshold, determining that the ground material recognition mode is the image-based ground material recognition mode, otherwise determining that the ground material recognition mode is the vibration signal-based ground material recognition mode, includes the following steps: Collect current environment images; Determining brightness information of each pixel in the current environment image; Determining the brightness of the current environment image according to the brightness information of each pixel; Using the brightness of the current environment image as the current environment brightness; Determining whether the current ambient brightness is greater than a preset second brightness threshold; If it is greater than or equal to, the ground material recognition mode is determined to be the image-based ground material recognition mode; otherwise, the ground material recognition mode is determined to be the vibration signal-based ground material recognition mode.

19. The computer-readable storage medium of claim 17, wherein: The step of calculating the average brightness within a preset time period based on the brightness data collected by the brightness sensor includes: Obtain all brightness data collected by the brightness sensor within a preset time period; Analyzing and comparing all brightness data collected by the brightness sensor within the preset time period, eliminating abnormal brightness data, and obtaining brightness data after eliminating the abnormal brightness data; The average brightness within the preset time period is calculated using the brightness data after eliminating abnormal brightness data.

20. The computer-readable storage medium of claim 16, wherein: After the step of identifying the ground material using the image-based ground material recognition mode, the method further includes: If the result of identifying the ground material using the image-based ground material identification mode is that the ground material cannot be identified, the ground material identification mode based on the vibration signal is used to identify the ground material.

Images