Method and system for recognizing ground material through ultrasonic waves and sweeping robot

The invention provides a method and system for recognizing ground materials through ultrasonic waves and a sweeping robot, and the method comprises the steps that echo signals are obtained, and according to the echo signals, the ultrasonic waves emitted by a first ultrasonic sensor touch the ground to be detected, and signal waves received by a second ultrasonic sensor are returned; processing the echo signal to obtain echo data X1; the working state of the first ultrasonic sensor and the working state of the second ultrasonic sensor are switched, the second ultrasonic sensor emits ultrasonic waves, the first ultrasonic sensor obtains echo signals, and the steps are repeated to obtain echo data X2; and calculating a mean value of the echo data X1 and the echo data X2, drawing a mean value curve, comparing the mean value curve with a threshold curve, and determining the material of the ground to be detected, the invention provides a method and a system for identifying a ground material through ultrasonic waves