Method and apparatus for identifying ground feature by automatic cleaning device

A method for identifying a ground feature by an automatic cleaning device, comprising:

• i) obtaining a rolling brush reference current and a side brush reference current via a calibration process;
• ii) collecting a rolling brush current and a side brush current of the automatic cleaning device;
• iii) obtaining a ground identification coefficient by:
• obtaining a first difference value between the rolling brush current and the rolling brush reference current, wherein the first difference value is a positive number;
• obtaining a second difference value between the side brush current;
• and the side brush reference current, wherein the second difference value is a positive number;
• and
• calculating the ground identification coefficient as a sum of the first difference value multiplied by a first weighting coefficient and the second difference value multiplied by a second weighting coefficient;
• and
• iv) identifying the ground feature where the automatic cleaning device is located by comparing the ground identification coefficient to a first threshold, and outputting that an identification result is a carpet if the ground identification coefficient is greater than the first threshold within a first preset time range;
• further
• comprising:
• updating the rolling brush reference current and the side brush reference current by steps comprising:
• (a) collecting a plurality of rolling brush currents and a plurality of side brush currents over a period of time;
• (b) obtaining an average value of the plurality of rolling brush currents and an average value of the plurality of side brush currents;
• (c) obtaining a dispersion degree of the plurality of rolling brush currents and a dispersion degree of the plurality of side brush currents;
• and
• (d) when a difference value between the average value of the plurality of rolling brush currents and athe rolling brush reference current is less than a preset value (P1), a difference value between the average value of the plurality of side brush currents and athe side brush reference current is less than a preset value (P2), and the dispersion degree of the plurality of rolling brush currents is less than a second preset threshold (T2) and the dispersion degree of the plurality of side brush currents is less than the second preset threshold (T2) remain stable, updating the rolling brush reference current and the side brush reference current are updated with the respective obtained average values.