阅读说明：本技术 一种地面介质的判断阈值的修正方法及其检测方法 (A kind of modification method and its detection method of the judgment threshold of ground medium ) 是由 赖钦伟 黄丽颖 于 2019-08-20 设计创作，主要内容包括：本发明公开一种地面介质的判断阈值的修正方法及其检测方法,该修正方法用于控制装配有声音发射器和声音接收器的移动机器人在刚启动移动过程中检测识别地面介质,通过主动收发声音信号来获取当前地面介质的首次检测结果,然后只通过声音接收器被动接收声音信号获取当前地面介质的待调节检测结果,并根据两种检测结果的异同去校正被动接收声音信号情况下的判断阈值,使得待调节检测结果被判断为与首次检测结果一致。同时将修正方法调节修正的判断阈值运用到后续的地面介质检测中,既可以减少机器移动过程中主动收发声音带来的噪声问题,又可以解决机器长期运转过程存在的老化和环境噪声的干扰问题。(The present invention discloses the modification method and its detection method of a kind of judgment threshold of ground medium, the modification method is used to control the mobile robot for being equipped with acoustic emitter and sound receiver detection identification ground medium in just starting moving process, the testing result for the first time of Current terrestrial medium is obtained by actively receiving and dispatching voice signal, then the testing result to be regulated that voice signal obtains Current terrestrial medium is passively only received by sound receiver, and remove to correct the judgment threshold in the case of passively receiving voice signal according to the similarities and differences of two kinds of testing results, so that testing result to be regulated be judged as it is consistent with testing result for the first time.Modification method modified judgment threshold is adjusted simultaneously to apply in subsequent ground medium detection, not only it can reduce in machine moving process and actively receive and dispatch sound bring noise problem, but also can solve the interference problem of aging and ambient noise existing for the long-term operation process of machine.)

1. a kind of modification method of the judgment threshold of ground medium, which is characterized in that the modification method is sound for controlling assembly The parameter of the mobile robot of sound transmitter and sound receiver amendment detection ground medium during rigid starting is mobile；

The modification method includes:

Step 1, control acoustic emitter emit the voice signal of the first predeterminated frequency, while controlling sound receiver and receiving sound Signal, then according to the amplitude of received voice signal and the relationship of the first default judgment threshold determine Current terrestrial medium Testing result for the first time；Wherein, the first default judgment threshold is the fixation empirical value that experiment test obtains, and testing result is for the first time The type information of Current terrestrial medium；

Step 2 after determining testing result for the first time, stops acoustic emitter and emits voice signal, only control sound receiver and receive Voice signal, then according to the relationship of frequency-domain transform result and the second default judgment threshold of received voice signal determine The testing result to be regulated of Current terrestrial medium；Wherein, the second default judgment threshold is to support to adjust modified, detection to be regulated The result is that the type information of Current terrestrial medium；

Whether testing result is identical as testing result to be regulated for the first time for step 3, judgement, is then to keep the second default judgment threshold not Become, otherwise correct the second default judgment threshold, so that the testing result to be regulated that return step 2 obtains becomes tying with detection for the first time Fruit is consistent, wherein the second default judgment threshold is an adjustable allowance.

2. modification method according to claim 1, which is characterized in that described according to the received sound of institute in the step 1 The amplitude of signal and the relationship of the first default judgment threshold include: come the method for determining the testing result for the first time of Current terrestrial medium

From the step 1 extract in received voice signal first predeterminated frequency measured signal amplitude；

Judge whether the amplitude of the measured signal of first predeterminated frequency is less than the described first default judgment threshold, is then determining The testing result for the first time of Current terrestrial medium is carpet, otherwise determines that the testing result for the first time of Current terrestrial medium is Hard floor；

Wherein, the described first default judgment threshold is for measuring the Current terrestrial medium to the to be measured of first predeterminated frequency The damping capacity of signal；The voice signal of first predeterminated frequency is the sound wave of the dedicated frequency of acoustic emitter modulate emission Signal.

3. modification method according to claim 2, which is characterized in that described according to the received sound of institute in the step 2 The relationship of the frequency-domain transform result of signal and the second default judgment threshold determines the testing result to be regulated of Current terrestrial medium Method include:

Control in the step 2 the received voice signal of institute and carry out frequency-domain transform, then extract the second predeterminated frequency to frequency measurement The range value of domain signal；

Judge whether the range value of the frequency-region signal to be measured of the second predeterminated frequency is less than the described second default judgment threshold, is then true The testing result to be regulated for determining Current terrestrial medium is carpet, otherwise determines the detection to be regulated of Current terrestrial medium The result is that hard floor；

Wherein, the described second default judgment threshold is for measuring Current terrestrial medium to the decaying energy of the voice signal of high band Power；Second predeterminated frequency is the response frequency that the voice signal of the sound receiver real-time reception is obtained by frequency-domain transform High fdrequency component in section.

4. modification method according to claim 3, which is characterized in that in the step 3, the default judgement of the amendment second The method of threshold value includes:

When the testing result for the first time is carpet, and the testing result to be regulated is hard floor, it is default to increase described second Judgment threshold, until second predeterminated frequency frequency-region signal to be measured range value be less than the described second default judgment threshold, So that return the testing result to be regulated that the step 2 acquires be judged as it is identical as the testing result for the first time；

When the testing result for the first time is carpet, and the testing result to be regulated is carpet, keeps described second to preset and sentence Disconnected threshold value is constant, remains unchanged so that returning to the step 2 and acquiring the testing result to be regulated；

When the testing result for the first time is hard floor, and the testing result to be regulated is carpet, it is default to reduce described second Judgment threshold, until second predeterminated frequency frequency-region signal to be measured range value be greater than the described second default judgment threshold, So that return the testing result to be regulated that the step 2 acquires be judged as it is identical as the testing result for the first time；

When the testing result for the first time is hard floor, and the testing result to be regulated is hard floor, holding described second is pre- If judgment threshold is constant, remained unchanged so that returning to the step 2 and acquiring the testing result to be regulated；

Wherein, the range value of the frequency-region signal to be measured of second predeterminated frequency is the sound receiver real-time reception and passes through The signal amplitude value that frequency-domain transform obtains.

5. modification method according to claim 1, which is characterized in that the adjustable allowance obtains described with real-time processing There are proportionate relationships for the range value of the frequency-region signal to be measured of second predeterminated frequency.

6. a kind of detection method of ground medium, which is characterized in that the detection method for control be equipped with acoustic emitter and The mobile robot of sound receiver detects ground medium in moving process, wherein mobile robot is begun to after starting Detect ground medium；

The detection method includes:

Step S1, it controls the mobile robot perform claim and requires any one of 1 to 5 modification method；

Step S2, described in any one of claim 1 to 5, any one of testing result and claim 1 to 5 are described to be regulated for the first time When testing result is identical, using the testing result to be regulated as effective testing result of Current terrestrial medium, right is returned again to It is required that any one of 1 to 5 step 1；

Step S3, judge whether the testing result for the first time that any one of claim 1 to 5 step 1 obtains is situated between with Current terrestrial Whether effective testing result of matter is identical, is to continue to execute any one of claim 1 to 5 step 2, and by the step 2 testing results to be regulated obtained update effective testing result of Current terrestrial medium；Otherwise claim 1 to 5 is continued to execute Any one step 2 and the step 3, then return step S2；

Wherein, effective testing result of Current terrestrial medium be to the mobile robot Current terrestrial medium shift strategy Play the testing result of influence.

7. detection method according to claim 6, which is characterized in that described otherwise to continue to execute any one of claim 1 to 5 The step 2 and the step 3, then the method for return step S2 include:

When the testing result for the first time is carpet, and the testing result to be regulated is hard floor, it is default to increase described second Judgment threshold, until second predeterminated frequency frequency-region signal to be measured range value be less than the described second default judgment threshold, Then it returns to the step 2 and determines that the testing result to be regulated becomes carpet from hard floor, using carpet as described current Effective testing result of ground medium；

When the testing result for the first time is carpet, and the testing result to be regulated is carpet, keeps described second to preset and sentence Disconnected threshold value is constant, and using carpet as effective testing result of the Current terrestrial medium；

When the testing result for the first time is hard floor, and the testing result to be regulated is carpet, it is default to reduce described second Judgment threshold, until second predeterminated frequency frequency-region signal to be measured range value be greater than the described second default judgment threshold, Then return to the step 2 and determine that the testing result to be regulated becomes hard floor from carpet, by hard floor be used as described in work as Effective testing result of preceding ground medium；

When the testing result for the first time is hard floor, and the testing result to be regulated is hard floor, holding described second is pre- If judgment threshold is constant, and using hard floor as effective testing result of the Current terrestrial medium.

Technical field

The invention belongs to the detection technique field of ground medium more particularly to a kind of amendments of the judgment threshold of ground medium Method and a kind of detection method of ground medium.

Background technique

Chinese patent 2019102688381 discloses a kind of carpet detection method, acquires ground especially by sound transducer Dieletric reflection and when main brush from robot interior, blower operating generated sound, according to carpet in voice signal The assimilation effect difference of the harmonic wave of different frequency sections is chosen within the scope of the restriction of the response frequency range of sound transducer internal circuit Selection of land blanket absorbs the range value for scattering apparent high fdrequency component, and has been compared to the preset threshold as reference amplitude value It is detected at carpet.

But machine is after a period of use, various motors and mechanical part have some agings, and noise circumstance can also be sent out It is raw to change, at this point, sweeper, which collects the audio signal from ground return, can occur some variations, so that as factory setting The preset threshold as reference amplitude value can not be applicable in all states of machine, cause robot by phonetic analysis over the ground Error caused by the media recognition of face is larger.

Summary of the invention

It is influenced to overcome in voice signal detection ground medium detection process by mechanical aging and ambient noise, this hair It is bright to increase acoustic emitter on the basis of Chinese patent 2019102688381, cooperate the detection information of sound receiver to correct The parameter of ground medium is detected, thus judged by accident during detection ground medium after avoiding the mobile robot from starting, Specific technical solution is as follows:

A kind of modification method of the judgment threshold of ground medium, the modification method are equipped with acoustic emitter and sound for controlling The parameter of the mobile robot of receiver amendment detection ground medium during rigid starting is mobile；The modification method includes: Step 1, control acoustic emitter emit the voice signal of the first predeterminated frequency, while controlling sound receiver and receiving sound letter Number, then according to the amplitude of received voice signal and the relationship of the first default judgment threshold determine Current terrestrial medium Testing result for the first time；Wherein, the first default judgment threshold is the fixation empirical value that experiment test obtains, and testing result is to work as the first time The type information of preceding ground medium；Step 2 after determining testing result for the first time, stops acoustic emitter and emits voice signal, only control Sound receiver processed receives voice signal, then default is judged according to the frequency-domain transform result of the received voice signal of institute with second The relationship of threshold value determines the testing result to be regulated of Current terrestrial medium；Wherein, the second default judgment threshold is to support to adjust Modified, testing result to be regulated is the type information of Current terrestrial medium；Step 3, judgement for the first time testing result with it is to be regulated Whether testing result is identical, is then to keep the second default judgment threshold constant, the second default judgment threshold is otherwise corrected, so that returning Returning the testing result to be regulated that step 2 obtains becomes consistent with testing result for the first time, wherein the second default judgment threshold is one Adjustable allowance.The technical solution is preset according to testing result for the first time and the testing result similarities and differences to be regulated amendment second and judges threshold Value so that during detecting Current terrestrial medium, revised judgment threshold is used for the process of subsequent detection ground medium In, only opening sound receiver not only can solve machine and actively receives and dispatches sound bring noise problem, but also can solve machine because For the problem for operating aging and bring phonetic analysis inaccuracy for a long time, detection ground is situated between after avoiding the mobile robot from starting It is judged by accident during matter.

Further, in the step 1, it is described according to the amplitude of received voice signal default judge threshold with first The relationship of value includes: from the received sound letter of step 1 institute come the method for determining the testing result for the first time of Current terrestrial medium The amplitude of the measured signal of first predeterminated frequency is extracted in number；Judge the width of the measured signal of first predeterminated frequency Whether degree is less than the described first default judgment threshold, is that the testing result for the first time of determining Current terrestrial medium is carpet, Otherwise determine that the testing result for the first time of Current terrestrial medium is hard floor；Wherein, the described first default judgment threshold is used for The Current terrestrial medium is measured to the damping capacity of the measured signal of first predeterminated frequency；First predeterminated frequency Voice signal is the acoustic signals of the dedicated frequency of acoustic emitter modulate emission.The technical solution is by receiving analysis by sound The voice signal of transmitter transmitting and the first predeterminated frequency through ground dieletric reflection, using the voice signal of specific frequency on ground The attenuation situation of face medium carries out the detection of ground medium, overcomes the influence of machine operation aging bring variable noise.

Further, in the step 2, it is described according to the frequency-domain transform result of received voice signal and second pre- If the relationship of judgment threshold includes: in the control step 2 come the method for determining the testing result to be regulated of Current terrestrial medium The received voice signal of institute carries out frequency-domain transform, then extracts the range value of the frequency-region signal to be measured of the second predeterminated frequency；Judgement Whether the range value of the frequency-region signal to be measured of the second predeterminated frequency is less than the described second default judgment threshold, is then determining current position The testing result to be regulated of face medium is carpet, otherwise determines that the testing result to be regulated of Current terrestrial medium is hard Floor；Wherein, the described second default judgment threshold is for measuring Current terrestrial medium to the decaying energy of the voice signal of high band Power；Second predeterminated frequency is the response frequency that the voice signal of the sound receiver real-time reception is obtained by frequency-domain transform High fdrequency component in section.The technical solution fully takes into account carpet to the assimilation effect of the harmonic wave of different frequency sections in voice signal Difference selects carpet and absorbs the apparent high fdrequency component of scattering within the scope of the restriction of the response frequency range of the sound receiver Range value improves the precision of carpet detection, avoids interference brought by the extraneous abnormal sound conducted.

Further, in the step 3, the method for the second default judgment threshold of the amendment include: when it is described for the first time Testing result is carpet, and when the testing result to be regulated is hard floor, increases the second default judgment threshold, Zhi Daosuo The range value for stating the frequency-region signal to be measured of the second predeterminated frequency is less than the described second default judgment threshold, so that returning to the step 2 testing results to be regulated acquired are judged as identical as the testing result for the first time；When the testing result for the first time It is carpet, and when the testing result to be regulated is carpet, keeps the second default judgment threshold constant, so that described in returns Step 2 acquires the testing result to be regulated and remains unchanged；When the testing result for the first time is hard floor, and it is described to be regulated When testing result is carpet, reduce the second default judgment threshold, until the frequency-region signal to be measured of second predeterminated frequency Range value be greater than the described second default judgment threshold so that returning to the testing result to be regulated that the step 2 acquires It is judged as identical as the testing result for the first time；When the testing result for the first time is hard floor, and the detection knot to be regulated When fruit is hard floor, keep the second default judgment threshold constant, so that returning to the step 2 acquires the inspection to be regulated Result is surveyed to remain unchanged；Wherein, the range value of the frequency-region signal to be measured of second predeterminated frequency is that the sound receiver is real When receive and pass through frequency-domain transform acquisition signal amplitude value.Preset sentence when a fixed factory with using in the prior art Disconnected threshold value is compared, the technical program by comparison for the first time testing result and it is to be detected as a result, only control sound receiver it is passive In the case where receiving voice signal, the second default judgment threshold is corrected, so that judgment threshold adapts to current machine operating and produces It is influenced brought by raw noise variable condition.

Further, the adjustable allowance and the frequency-region signal to be measured for handling obtained second predeterminated frequency in real time Range value there are proportionate relationships, to guarantee the accuracy of correction result.

A kind of detection method of ground medium, the detection method are equipped with acoustic emitter and sound receiver for controlling Mobile robot ground medium is detected in moving process, wherein mobile robot begun to after starting detection ground be situated between Matter；The detection method includes: step S1, the aforementioned modification method of the control mobile robot execution；Step S2, it is aforementioned for the first time When testing result is identical as aforementioned testing result to be regulated, using the testing result to be regulated as the effective of Current terrestrial medium Testing result returns again to the step 1；Step S3, judge testing result for the first time that the step 1 obtains whether with Current terrestrial Whether effective testing result of medium is identical, is the inspection to be regulated for continuing to execute the step 2, and the step 2 being obtained Survey effective testing result that result updates Current terrestrial medium；Otherwise the step 2 and the step 3 are continued to execute；Wherein, when Effective testing result of preceding ground medium is that the shift strategy to the mobile robot in Current terrestrial medium plays influence Testing result.The mobile robot is subsequent across during different ground media from starting to start to, first determining Default judgment threshold, shadow brought by the sound differences for overcoming machine ages to generate dynamically are adjusted on the basis of secondary testing result It rings, is adapted under various machine ages states whether accurately detection identification Current terrestrial medium is carpet, and then control the shifting Mobile robot evades carpet during cleaning operation in real time.

Further, described otherwise to continue to execute the step 2 and the step 3, the then method packet of return step S2 Include: when the testing result for the first time is carpet, and the testing result to be regulated is hard floor, increase described second is default to be sentenced Disconnected threshold value, until the range value of the frequency-region signal to be measured of second predeterminated frequency is less than the described second default judgment threshold, so After return to the step 2 and determine that the testing result to be regulated becomes carpet from hard floor, using carpet as the current position Effective testing result of face medium；When the testing result for the first time is carpet, and the testing result to be regulated is carpet, protect Hold that the described second default judgment threshold is constant, and using carpet as effective testing result of the Current terrestrial medium；When described Testing result is hard floor for the first time, and when the testing result to be regulated is carpet, reduces the second default judgment threshold, directly Range value to the frequency-region signal to be measured of second predeterminated frequency is greater than the described second default judgment threshold, then described in return Step 2 determines that the testing result to be regulated becomes hard floor from carpet, using hard floor as the Current terrestrial medium Effective testing result；When the testing result for the first time is hard floor, and the testing result to be regulated is hard floor, institute is kept State that the second default judgment threshold is constant, and using hard floor as effective testing result of the Current terrestrial medium.With existing skill Use preset judgment threshold when a fixed factory to compare in art, the technical program by comparison for the first time testing result and to Testing result corrects the second default judgment threshold in the case where only control sound receiver passively receives voice signal, So that result to be detected adapts to influence brought by the noise variable condition that current machine operating generates, the mobile machine is improved The detection recognition capability of ground medium of the people under various machine ages states.

Detailed description of the invention

Fig. 1 is a kind of process of the modification method of the judgment threshold for ground medium that a kind of embodiment of the invention provides Figure.

Fig. 2 is a kind of stream of the modification method of the judgment threshold for ground medium that another embodiment of the invention provides Cheng Tu.

Fig. 3 is a kind of flow chart of the detection method for ground medium that a kind of embodiment of the invention provides.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail It states.

The embodiment of the present invention provides a kind of modification method of the judgment threshold of ground medium, and the modification method is for controlling dress Amendment during rigid starting is mobile of mobile robot equipped with acoustic emitter and sound receiver is situated between for detecting ground The parameter of matter, to adapt to current machine ageing state.The present invention increases sound on the basis of Chinese patent 2019102688381 Transmitter cooperates the detection information of sound receiver to correct the parameter of detection ground medium, to avoid the mobile robot It detects ground medium after starting to judge by accident in the process, wherein acoustic emitter and sound receiver are mounted on mobile robot Chassis, for detecting the sensor of audio signal, then processor is transferred to analyze audio signal, wherein acoustic emitter harmony Be separated from each other between sound receiver by sound-insulating structure, enhance ground dieletric reflection sound detection effect, while they also by every Sound material keeps apart the chassis of itself and external mobile robot, to avoid the influence of body conducted noise.

During the mobile robot is for cleaning, very big sound is generated by rotating main brush (blower), this A little sound are in hard floors such as ceramic tiles, and the high-frequency signal of sound is relatively abundanter, and amplitude is also bigger, and on carpet, sound High-frequency signal is suppressed, meanwhile, whole sound amplitude also becomes smaller, and is conducted by ground return, body, is connect by sound receiver It receives.So the present embodiment distinguishes whether ground medium is carpet by these features.However, the mobile robot makes After a period of time, various motors and mechanical part have some agings, and environment can also change, at this point, sound receiver Collected audio signal changes therewith, is easy to appear error detection.

It is influenced to overcome in voice signal detection ground medium detection process by mechanical aging and ambient noise, this hair The mobile robot that bright embodiment provided be suitable for just has started a kind of judgment threshold of ground medium under moving condition Modification method, as shown in Figure 1, specifically including:

Step S101, control acoustic emitter emits the voice signal of the first predeterminated frequency, while controlling sound receiver reception Then voice signal passes through amplitude and the first default judgment threshold of the voice signal at the first predeterminated frequency of extraction and analysis Relationship, to determine the testing result for the first time of Current terrestrial medium, subsequently into step S102, wherein the first default judgment threshold It is the fixation empirical value that experiment test obtains, testing result is the type information of Current terrestrial medium for the first time.When the moving machine When device people is located on carpet, since the absorption of carpet is more apparent, the signal amplitude being reflected back is caused to reduce；And hardstand Absorb the amplitude for reflecting signal and the size of the first default judgment threshold less, therefore receive by comparing sound receiver Relationship can distinguish carpet and hardstand.At this point, the voice signal at the first predeterminated frequency that sound receiver extracts is with sound The voice signal of first predeterminated frequency of sound transmitter transmitting is leading, but does not exclude the presence of the noise of extraneous other same frequencys It influences, since the voice signal of the first predeterminated frequency is the acoustic signals of the dedicated frequency of acoustic emitter modulate emission, so The voice signal that the external world is propagated through the first predeterminated frequency come is few, and the voice signal at the first predeterminated frequency of extraction and analysis is for the first time Detecting generated sound when ground medium is not operated by main brush, the blower inside the mobile robot is influenced, but It is not excluded for bring the additional noise on a small quantity other than machine running noises.

Step S102, after determining testing result for the first time, stop acoustic emitter and emit voice signal, only control sound and receive Device receive voice signal, then according to institute received voice signal frequency-domain transform result and the second default judgment threshold relationship The testing result to be regulated of Current terrestrial medium is determined, subsequently into step S103, wherein the second default judgment threshold is branch Hold adjust it is modified, testing result to be regulated is the type information of Current terrestrial medium；It is true by the detection for the first time of step S101 Determine the type of Current terrestrial medium, this result is produced when not operated by main brush, the blower inside the mobile robot The influence of raw sound, but be not excluded for meeting acoustic emitter and bring the additional noise other than machine running noises on a small quantity, So completing after detecting for the first time, stops acoustic emitter and emit voice signal, only control sound receiver and receive voice signal, this When the acoustic emitter closed will not emit the voice signal of first predeterminated frequency, avoid causing noise pollution to human ear. The sound receiver acquires sample of the one section of sound as analysis after the mobile robot starting, at this time collected sound Noise of the sound signal mainly from the main brush of machine.Since the mobile robot moving distance is smaller, it is believed that ground material It not yet changes, that is to say, that there are no being moved to carpet from hardstand, or from carpet moving to hardstand, then pass through It analyzes received voice signal and detects ground medium again, the received voice signal of institute is subjected to frequency-domain transform, then from frequency domain The range value for extracting the frequency-region signal to be measured of the second predeterminated frequency, according to the relationship of the range value and the second default judgment threshold To determine the testing result to be regulated of Current terrestrial medium.

It should be understood that the mobile robot is as a kind of clean robot, and clean robot is the bottom of under the present embodiment Cleaning assemblies is assembled on disk, for example assembles main brush for collecting rubbish, the interior blower that sets for dust suction, usually when mopping floor operation It is easy to damage carpet, so, mobile robot needs to carry out the detection of ground medium during rigid starting is mobile Identification.Generated sound can be transmitted to ground and reflect, In when main brush inside the mobile robot, blower operating During carrying out cleaning operation, acoustic amplitudes caused by main brush, blower operating are larger, occupy an leading position, so, stop sound Transmitter emits voice signal, only controls sound receiver and receives voice signal, what is got is inside the mobile robot Main brush, blower operating when be transmitted to ground and be reflected back the voice signal of the sound receiver.

Step S103, whether testing result is identical as testing result to be regulated for the first time for judgement, is, keeps second to preset and sentences Disconnected threshold value is constant, the second default judgment threshold is otherwise corrected, then return step S102, so that it is real-time to return to the step S102 Testing result to be regulated acquired in the voice signal reflected on same ground medium is detected to be judged as and testing result for the first time Unanimously.If it is determined that testing result and testing result to be regulated be not identical for the first time, first the second default judgment threshold is modified to small In currently received voice signal frequency-domain transform as a result, returning again to step 2 with determination testing result to be regulated；Can also first by Second default judgment threshold is modified according to adjustable allowance, returns again to the frequency domain of the voice signal of step 2 and real-time reception Transformation results are compared.Wherein, the second default judgment threshold is an adjustable allowance, which is according to reception The frequency-domain transform result of voice signal test the obtained experience range value of test according to a certain percentage, subsequent correction can be improved As a result accuracy；The initial value of second default judgment threshold is set under machine factory state.

In the present embodiment, testing result is regarded as acoustic emitter by actively transmitting for detecting described first for the first time Although the voice signal of predeterminated frequency and the ground medium pre-detection that obtains as a result, not will receive the influence of machine ages, The additional noise other than machine running noises can be brought, this additional noise is the sound of first predeterminated frequency Signal, it is noise to the human ear；On the other hand, the testing result to be regulated of ground medium is derived from and was run to machine Main brush, blower in journey operate generated sound spectrum and analyze to obtain, but with the variation of machine state (aging), it is above-mentioned The signal amplitude value for the high band that the operation that machinery issues can change, therefore spectrum analysis is obtained and fixed factory When preset judgment threshold be compared and obtain the testing result of ground medium to be detected and can not be applicable in all situations, so It is then needed using to the described second default judgment threshold according to the current pre-detection result of ground medium and ground in the present embodiment The current testing result again of medium is modified, so that the testing result obtained under the conditions of revised default judgment threshold It is consistent with testing result for the first time, so that the second default judgment threshold adapts to current machine ageing state.The embodiment of the present invention Testing result and the testing result similarities and differences to be regulated it will correct the second default judgment threshold for the first time so that in detection Current terrestrial medium During, revised judgment threshold can solve machine because of long-term operating aging and bring phonetic analysis inaccuracy Problem is judged by accident during detection ground medium after avoiding the mobile robot from starting.Meanwhile obtaining the second default judgement After threshold value, does not need on same ground medium to open acoustic emitter and detect ground to emit the audio signal of specific frequency The pre-detection of medium using the second default judgment threshold as a result, need to only judge the voice signal of sound receiver acquisition, so that it may Determine the type of ground medium, the audio signal for mitigating first predeterminated frequency of acoustic emitter transmitting causes to make an uproar to human ear Sound pollution.

Preferably, the sound receiver can be MEMS microphone or electret microphone；The acoustic emitter can To be buzzer, specially piezoelectric buzzer.

As one embodiment, as shown in Fig. 2, the modification method is equipped with acoustic emitter for control and sound connects The mobile robot for receiving device detects ground medium during rigid starting is mobile, specifically includes:

Step S201, the voice signal that the acoustic emitter emits first predeterminated frequency is controlled；The sound is controlled simultaneously Sound receiver receives voice signal, then extracts received transmission of sound signals by bandpass filter to bandpass filter The measured signal of first predeterminated frequency, and the amplitude of the measured signal of its first predeterminated frequency is therefrom extracted, then Enter step S202.Since the voice signal of the first predeterminated frequency is the sound wave letter of the dedicated frequency of acoustic emitter modulate emission Number, have the characteristics of specificity, it is not easy to be influenced by various machine ages state bring variable noises.So extraneous The voice signal for being propagated through the first predeterminated frequency come is few, not by the main brush inside the mobile robot, blower fortune The influence of generated sound when turning, but it is not excluded for bring the additional noise other than machine running noises on a small quantity, institute The voice signal for stating the first predeterminated frequency is noise for people.

Step S202, judge whether the amplitude of the measured signal of first predeterminated frequency is less than the described first default judgement Threshold value is to enter step S203, otherwise enters step S204.The collected voice signal amplitude of sound receiver is ratio More stable, and the amplitude of the measured signal of the first predeterminated frequency reflected through hardstand extracted is apparently higher than ground Blanket, therefore can be distinguished with the described first default judgment threshold.Wherein, the described first default judgment threshold is described for measuring Ground medium to the damping capacity of the frequency-region signal to be measured of first predeterminated frequency, the first predeterminated frequency described in extraction and analysis Generated sound is influenced when voice signal is not operated by main brush, the blower inside the mobile robot, so, this In the first default judgment threshold can be preset fixed threshold.

Step S203, the testing result for the first time for determining Current terrestrial medium is carpet, subsequently into step S205.Institute It states during mobile robot is located at carpet, since the absorption of carpet is more apparent, so, the reflection of the voice signal Signal attenuation amplitude is greater than the first default judgment threshold；During the mobile robot is located at hard floor, due to hard floor The sound wave of absorption is smaller, so the reflection signal attenuation amplitude of the voice signal is less than the first default judgment threshold.

Step S205, it controls the acoustic emitter to close, while controlling the sound receiver and receiving voice signal, so After enter step S207.Sample of the sound receiver for one section of sound after acquiring the mobile machine startup as analysis This, it is default will not to generate described first mainly from main noise of the brush through ground return of machine for collected voice signal at this time The voice signal of frequency mitigates noise pollution.

Step S207, it controls the received voice signal of institute in the step S205 and carries out frequency-domain transform, then extract second The range value of the frequency-region signal to be measured of predeterminated frequency.Then the sample of analysis is made into frequency-domain transform to extract the second predeterminated frequency Frequency-region signal to be measured range value, subsequently into step S209；In the present embodiment, the voice signal of sound receiver acquisition exists It is the analog waveform that continuous harmonic superposition is formed in time domain, including infinite number of sine-wave superimposed synthesizes together, works as wave When shape transforms from the time domain to frequency domain, each sine wave decomposited in time domain corresponds to a frequency component in frequency domain, each Frequency component has corresponding range value, and high fdrequency component therein is used to judge that the second of ground medium to preset as subsequent step The reason of frequency, the second predeterminated frequency is chosen for 6KHz, selects 6KHz by the present embodiment be the amplitude of high frequency section it is smaller and Discrete distribution, and need to consider the limitation of the allowable range of error of the response frequency range of sound receiver.The height for ensuring to extract The range value of frequency component is effective.

Step S209, whether the range value of the frequency-region signal to be measured for the second predeterminated frequency that judgment step S207 is obtained is less than Second default judgment threshold is to enter step S212, otherwise enters step S210.Wherein, the described second default judgment threshold It is the variable allowance set on the basis of the range value of the frequency-region signal to be measured of second predeterminated frequency, mechanical aging state Variation will lead to and travel to the voice signal of the ground medium and change, it is corresponding on especially described second predeterminated frequency Current amplitude change relative to initial amplitude.

Step S212, determine that testing result to be regulated is carpet, the testing result for the first time that step S203 is obtained is ground Blanket, it is identical as the testing result to be regulated that the step determines, illustrate that the default judgment threshold of current second will not be because of mechanical old Change the variable noise generated and judge by accident, the state of current machine is adapted to, subsequently into step S213.

Step S213, the described second default judgment threshold is not corrected, the modification method is based on, in the mobile robot Testing result when starting mobile determines are as follows: the ground medium is carpet.

Step S210, the testing result to be regulated for determining the Current terrestrial medium is hard floor, at this point, step S203 is obtained To the testing result for the first time be carpet, it is not identical as the testing result to be regulated that currently determines, illustrate current described the Two default judgment thresholds are judged by accident because of the noise of mechanical aging generation, are not suitable with the state of current machine, subsequently into Step S211 is adjusted.

Step S211, increase the second default judgment threshold, increase so that the range value that the step S207 is obtained is less than The described second default judgment threshold after big, then return step S209.Alternatively, the second default frequency obtained according to step S207 The range value of the frequency-region signal to be measured of rate takes the ratio greater than 1 to obtain an allowance, obtains one modified described second and presets Judgment threshold, the dotted arrow for then returning again to step S205(such as Fig. 2 are directed toward), it rejudges the sound receiver and newly receives And the signal amplitude value obtained by frequency-domain transform, so that determination testing result to be regulated is modified to carpet.The step changes The allowance set on the basis of the range value of the frequency-region signal to be measured of second predeterminated frequency, described second through overregulating is pre- If there is the proportionate relationship greater than 1 relative to the high band range value of the frequency-region signal to be measured in judgment threshold.The allowance exists Automatically adjusted in the operation process of the mobile robot with the variation of mechanical aging state, and initial allowance be by What mechanical aging test and noise testing repeatedly obtained.Be conducive to correct the default judgment threshold to adapt to current machine State, it is ensured that the accuracy of carpet testing result.

If the described second default judgment threshold of factory setting is 50, second predeterminated frequency that step S207 is obtained The range value of frequency-region signal to be measured be 58, and step S203 detects that obtain the ground medium be carpet for the first time, step S207 The range value of acquisition is greater than the described second default judgment threshold, then step S209 is by the testing result to be regulated of the ground medium It is judged as hard floor, however this testing result to be regulated is from step S203 that testing result is different for the first time, illustrates the described of setting Second default judgment threshold is too low, and the described second default judgment threshold should be raised to 60 by entering step S211 at this time, makes big In 58, then the testing result to be regulated of the ground medium is judged as carpet by step S209.Wherein, 60 be on the basis of 58 by The result obtained according to certain proportion.The described second default judgment threshold after illustrating up-regulation adapts to current machine state, not by To the influence of machine ages.

If the described second default judgment threshold of factory setting is 50, second predeterminated frequency that step S207 is obtained The range value of frequency-region signal to be measured be 48, and step S203 detects that obtain the ground medium be carpet for the first time, step S207 The range value of acquisition is less than the described second default judgment threshold, then step S209 is by the testing result to be regulated of the ground medium It is judged as carpet, testing result is identical for the first time with step S204 for this testing result to be regulated, illustrates the described second default judgement Threshold value adapts to current machine state, is not influenced by machine ages.

Step S204, the testing result for the first time for determining Current terrestrial medium is hard floor, subsequently into step S206. During the mobile robot is located at hard floor, since the absorption of hard floor is unobvious, so described first is default The reflection signal attenuation amplitude of the measured signal of frequency is less than the described first default judgment threshold.

Step S206, it controls the acoustic emitter to close, while controlling the sound receiver and receiving voice signal, so After enter step S208.Sample of the sound receiver for one section of sound after acquiring the mobile machine startup as analysis This, collected voice signal presets frequency mainly from main noise of the brush through ground return of machine, but without described first at this time Noise pollution caused by the measured signal of rate.

Step S208, it controls the received voice signal of institute in the step S206 and carries out frequency-domain transform, then extract second The range value of the frequency-region signal to be measured of predeterminated frequency.Then the sample of analysis is made into frequency-domain transform to extract the second predeterminated frequency Frequency-region signal to be measured range value, subsequently into step S214；In the present embodiment, the voice signal of sound receiver acquisition exists It is the analog waveform that continuous harmonic superposition is formed in time domain, including infinite number of sine-wave superimposed synthesizes together, works as wave When shape transforms from the time domain to frequency domain, each sine wave decomposited in time domain corresponds to a frequency component in frequency domain, each Frequency component has corresponding range value, and high fdrequency component therein is used to judge that the second of ground medium to preset as subsequent step The reason of frequency, the second predeterminated frequency is chosen for 6KHz, selects 6KHz by the present embodiment be the amplitude of high frequency section it is smaller and Discrete distribution, and need to consider the limitation of the allowable range of error of the response frequency range of sound receiver.The height for ensuring to extract The range value of frequency component is effective.

Step S214, whether the range value of the frequency-region signal to be measured for the second predeterminated frequency that judgment step S208 is obtained is less than Second default judgment threshold is to enter step S215, otherwise enters step S216.Wherein, the described second default judgment threshold It is the variable allowance set on the basis of the range value of the frequency-region signal to be measured of second predeterminated frequency, mechanical aging state Variation will lead to and travel to the voice signal of the ground medium and change, it is corresponding on especially described second predeterminated frequency Current amplitude change relative to initial amplitude.

Step S215, determine that testing result to be regulated is carpet, at this point, the testing result for the first time that step S204 is obtained Be hard floor, determine that testing result to be regulated is not identical with step S215, illustrate the described second current default judgment threshold because For mechanical aging generate noise and judge by accident, the state of current machine is not suitable with, subsequently into step S218.

Step S218, reduce the second default judgment threshold, subtract so that the range value that the step S208 is obtained is less than The described second default judgment threshold after small, then return step S214.Alternatively, pre- according to described the second of step S208 acquisition If the range value of the frequency-region signal to be measured of frequency takes the ratio less than 1 to obtain an allowance, one modified described second is obtained Default judgment threshold, the dotted arrow for then returning again to step S206(such as Fig. 2 are directed toward), it is new to rejudge the sound receiver The signal amplitude value for receiving and passing through frequency-domain transform acquisition, so that determination testing result to be regulated is modified to hard floor.The step Suddenly change the allowance set on the basis of the range value of the frequency-region signal to be measured of second predeterminated frequency, described in overregulating There is the proportionate relationship less than 1 relative to the high band range value of the frequency-region signal to be measured in the second default judgment threshold.It is described Allowance automatically adjusts in the operation process of the mobile robot with the variation of mechanical aging state, and initial allowance Be by repeatedly mechanical aging test and noise testing obtain.Be conducive to correct the default judgment threshold to adapt to currently The state of machine, it is ensured that the accuracy of carpet testing result.

Step S216, determine that testing result to be regulated is hard floor, and the testing result for the first time that step S204 is obtained It is hard floor, it is identical as the testing result to be regulated that the step determines, illustrate that the default judgment threshold of current second will not be because of Mechanical aging generate variable noise and judge by accident, the state of current machine is adapted to, subsequently into step S217.

Step S217, the described second default judgment threshold is not corrected, the modification method is based on, in the mobile robot Testing result when starting mobile determines are as follows: the ground medium is hard floor.

Compared with judgment threshold preset when using a fixed factory in the prior art, the present embodiment is first by comparison Secondary testing result and to be detected as a result, in the case where only control sound receiver passively receives voice signal, corrects described the Two default judgment thresholds, so that judgment threshold adapts to influence brought by the noise variable condition that current machine operating generates.

It should be noted that previous embodiment provides the testing result for the first time of Current terrestrial medium not as the moving machine Device people will obtain to be regulated effective testing result of Current terrestrial medium after the described second default judgment threshold amendment Testing result is as the mobile robot to effective testing result of the ground medium.

Another embodiment of the present invention provides a kind of detection method of ground medium, which is equipped with for controlling The mobile robot of acoustic emitter and sound receiver detects ground medium in moving process, wherein mobile robot from Detection ground medium is begun to after starting.The use of the basic testing principle and judgment threshold of the detection method of the ground medium Mode is identical with the embodiment of aforementioned modification method, and to briefly describe, the present embodiment part does not refer to place, can refer to above-mentioned Corresponding contents in embodiment.

As shown in figure 3, the detection method includes:

Step S301, control acoustic emitter emits the voice signal of the first predeterminated frequency, while controlling sound receiver reception Then voice signal passes through amplitude and the first default judgment threshold of the voice signal at the first predeterminated frequency of extraction and analysis Relationship, to determine the testing result for the first time of Current terrestrial medium, subsequently into step S302, wherein the first default judgment threshold It is the fixation empirical value that experiment test obtains, testing result is the type information of Current terrestrial medium for the first time.Due to first default The voice signal of frequency is the acoustic signals of the dedicated frequency of acoustic emitter modulate emission, so extraneous be propagated through first come The voice signal of predeterminated frequency is few, the voice signal at the first predeterminated frequency of extraction and analysis detect for the first time ground medium not by The influence of main brush, blower inside to the mobile robot generated sound when operating.

Before the step S301 of the present embodiment, a kind of repairing for primary judgment threshold of ground medium above-mentioned had been executed Correction method, and remain with the testing result, the corrected second default judgment threshold for the first time, and amendment described second The testing result to be regulated after default judgment threshold.When the testing result for the first time and amendment described second are preset and judge threshold The testing result to be regulated obtained after value is identical, then will correct described in obtaining after the described second default judgment threshold wait adjust Effective testing result of the testing result as last ground medium is saved, step S301 is then entered back into.

Step S302, judge the effective the testing result whether testing result for the first time of Current terrestrial medium obtains with the last time It is identical, it is that Current terrestrial medium does not change, enters step S303；Otherwise Current terrestrial medium changes, and enters step S304 is equivalent to and needs to re-execute primary aforementioned step S205 to step S218.

Step S304, after determining testing result for the first time, stop acoustic emitter and emit voice signal, only control sound and receive Device receive voice signal, then according to institute received voice signal frequency-domain transform result and the second default judgment threshold relationship The testing result to be regulated of Current terrestrial medium is determined, subsequently into step S305, wherein the second default judgment threshold is branch Hold adjust it is modified, testing result to be regulated is the type information of Current terrestrial medium；It is true by the detection for the first time of step S301 Determine the type of Current terrestrial medium, this result is produced when not operated by main brush, the blower inside the mobile robot The influence of raw sound.It completes after detecting for the first time, stops acoustic emitter and emit voice signal, only control sound receiver and receive Voice signal, at this time noise of the collected voice signal mainly from the main brush of machine.During determining testing result for the first time, The mobile robot moving distance is smaller, it is believed that ground material not yet changes, that is to say, that there are no from hard place Face is moved to carpet, or from carpet moving to hardstand, then detects ground Jie again by analyzing received voice signal The received voice signal of institute is carried out frequency-domain transform, then extracts the frequency-region signal to be measured of the second predeterminated frequency from frequency domain by matter Range value, the detection knot to be regulated of Current terrestrial medium is determined according to the relationship of the range value and the second default judgment threshold Fruit.

Step S305, judgement for the first time testing result it is whether identical with testing result to be regulated, be keep described second in advance If judgment threshold is constant, the described second default judgment threshold is otherwise corrected, so that it is same to return to the step S304 real-time detection Testing result to be regulated acquired in the voice signal reflected on the medium of ground becomes consistent with testing result for the first time, subsequently into Step S306.If it is determined that testing result and testing result to be regulated be not identical for the first time, first the second default judgment threshold is corrected For the frequency-domain transform less than currently received voice signal as a result, returning again to step S304 with determination testing result to be regulated； First the second default judgment threshold can be modified according to adjustable allowance, return again to the sound of step S304 and real-time reception The frequency-domain transform result of signal is compared.Wherein, the second default judgment threshold is an adjustable allowance, the adjustable allowance It is that the frequency-domain transform result of voice signal based on the received tests the experience range value tested and obtained according to a certain percentage, second is pre- If the initial value of judgment threshold is set under machine factory state.

Step S303, stop acoustic emitter and emit voice signal, only control sound receiver and receive voice signal, then According to the frequency-domain transform result of received voice signal and the relationship of the second default judgment threshold determine Current terrestrial medium Testing result to be regulated, subsequently into step S306, wherein the second default judgment threshold be support adjust it is modified, wait adjust Section testing result is the type information of Current terrestrial medium；Pass through the class for detecting determining Current terrestrial medium for the first time of step S301 Type, generated sound is influenced when this result is not operated by main brush, the blower inside the mobile robot.It completes After detecting for the first time, stops acoustic emitter and emit voice signal, only control sound receiver and receive voice signal, collect at this time Voice signal mainly from the main brush of machine noise.During determining testing result for the first time, the mobile robot is mobile Distance is smaller, it is believed that ground material not yet changes, that is to say, that there are no be moved to carpet, Huo Zhecong from hardstand Then carpet moving detects ground medium by analyzing received voice signal to hardstand again, the received sound of institute is believed Number frequency-domain transform is carried out, then extract from frequency domain the range value of the frequency-region signal to be measured of the second predeterminated frequency, according to the amplitude The relationship of value and the second default judgment threshold determines the testing result to be regulated of Current terrestrial medium.

Step S306, the consistent testing result to be regulated of the testing result for the first time obtained with step S301 is determined as Effective testing result of Current terrestrial medium, then return step S301 continues to complete the detection to ground medium.Wherein, currently Effective testing result of ground medium is that the shift strategy to the mobile robot in Current terrestrial medium plays influence Testing result.

The testing result to be regulated both from the step S305 executed in the case of Different Ground medium is crossed over, was also come The step S303 executed from the case of same ground medium；When the testing result to be regulated had both come from across Different Ground When the step S305 executed in the case of medium, the testing result to be regulated is to re-execute primary aforementioned step S205 The testing result to be regulated after the amendment judgment threshold obtained to step S218, then the testing result to be regulated is updated Effective testing result of last ground medium, effective testing result as Current terrestrial medium；When the detection to be regulated When the step S303 as a result executed in the case of same ground medium, then do not need to correct described second and preset to judge threshold Value, directly using the described second default judgment threshold participation execution step S303 to obtain the testing result to be regulated, Effective testing result that the testing result to be regulated is updated to last ground medium again, as the effective of Current terrestrial medium Testing result.

In the present embodiment, the mobile robot may be from starting to start to the subsequent mistake across different ground media Cheng Zhong, dynamically adjusts default judgment threshold on the basis of determining testing result for the first time, and the sound for overcoming machine ages to generate is poor It is influenced brought by different, is adapted under various machine ages states whether accurately detection identification Current terrestrial medium is carpet, into And it controls the mobile robot and evades carpet in real time during cleaning operation.

Specifically, in the step S305, when the testing result for the first time is carpet, and the testing result to be regulated When being hard floor, increase the second default judgment threshold, until the amplitude of the frequency-region signal to be measured of second predeterminated frequency Value is less than the described second default judgment threshold, then returns to the step S304 and determines the testing result to be regulated by hard place Plate becomes carpet, using carpet as effective testing result of the Current terrestrial medium；When the testing result for the first time is carpet, And the testing result to be regulated keeps the second default judgment threshold constant when being carpet, and by carpet be used as described in work as Effective testing result of preceding ground medium；When the testing result for the first time is hard floor, and the testing result to be regulated is ground When blanket, reduce the second default judgment threshold, until the range value of the frequency-region signal to be measured of second predeterminated frequency is greater than Then the second default judgment threshold returns to the step S304 and determines that the testing result to be regulated becomes hard from carpet Floor, using hard floor as effective testing result of the Current terrestrial medium；When the testing result for the first time is hard floor, and When the testing result to be regulated is hard floor, keep the second default judgment threshold constant, and described in hard floor is used as Effective testing result of Current terrestrial medium.It should be noted that the basic principle of the step S304 and the step S305 The step S205 to step S218 being equivalent in previous embodiment.

Compared with judgment threshold preset when using a fixed factory in the prior art, the present embodiment is first by comparison Secondary testing result and to be detected as a result, in the case where only control sound receiver passively receives voice signal, corrects described the Two default judgment thresholds, so that result to be detected adapts to influence brought by the noise variable condition that current machine operating generates, Improve the detection recognition capability of ground medium of the mobile robot under various machine ages states.

Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.