US 12,137,867 B2
Method for correcting determination threshold of floor medium and method of detecting thereof
Qinwei Lai, Guangdong (CN); and Liying Huang, Guangdong (CN)
Assigned to AMICRO SEMICONDUCTOR CO., LTD., Guangdong (CN)
Appl. No. 17/630,152
Filed by AMICRO SEMICONDUCTOR CO., LTD., Guangdong (CN)
PCT Filed Nov. 11, 2019, PCT No. PCT/CN2019/117265
§ 371(c)(1), (2) Date Jan. 25, 2022,
PCT Pub. No. WO2021/031395, PCT Pub. Date Feb. 25, 2021.
Claims priority of application No. 201910770711.X (CN), filed on Aug. 20, 2019.
Prior Publication US 2022/0280005 A1, Sep. 8, 2022
Int. Cl. A47L 9/28 (2006.01); B25J 9/00 (2006.01)
CPC A47L 9/2826 (2013.01) [A47L 9/2836 (2013.01); B25J 9/0003 (2013.01); A47L 2201/06 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method for correcting a determination threshold of a floor medium, wherein the method is used for controlling a mobile robot equipped with a sound emitter and a sound receiver to correct a parameter for detecting the floor medium during a just started movement;
the method comprises:
S1, controlling the sound emitter to transmit a sound signal of a first preset frequency, at the same time, controlling the sound receiver to receive the sound signal, and then, determining a first detection result of a current floor medium according to a relationship between an amplitude of the sound signal received and a first preset determination threshold; wherein the first preset determination threshold is a fixed experience value obtained through an experimental test, the first detection result is information of a type of the current floor medium;
S2, after determining the first detection result, stopping transmission of the sound signal by the sound emitter, only controlling the sound receiver to receive the sound signal, and then determining a to-be-adjusted detection result of a current floor medium according to a relationship between a frequency domain transformation result of the sound signal received and a second preset determination threshold; wherein the second preset determination threshold supports correction, the to-be-adjusted detection result is the information of the type of the current floor medium; wherein the current floor medium in S1 and the current floor medium in S2 are floor mediums at different times; wherein after the sound emitter stops transmitting the sound signal, the sound signal received by the sound receiver includes the noise of a main brush of the mobile robot; and
S3, determining whether the first detection result is the same as the to-be-adjusted detection result, in the case that the first detection result is the same as the to-be-adjusted detection result, keeping the second preset determination threshold unchanged, and in the case that the first detection result is not the same as the to-be-adjusted detection result, correcting the second preset determination threshold so that the to-be-adjusted detection result obtained by returning to S2 is consistent with the first detection result, wherein the second preset determination threshold is an adjustable margin; and controlling the mobile robot based on detected result of the current floor medium.