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: 51, 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 (S101); 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 the 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 is adjustable, the to-be-adjusted detection result is the information about the type of the current floor medium (S102); 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 (S103). 51, 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 (S101); 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 the 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 is adjustable, the to-be-adjusted detection result is the information about the type of the current floor medium (S102); 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 (S103). <EOS>