Method and apparatus for autonomous mobile device

An autonomous mobile device, comprising:

• a sensing device configured to acquire environmental data;
• an inertial measurement unit configured to acquire one or more motion parameters of the autonomous mobile device;
• a motion unit including a wheel assembly configured to drive the autonomous mobile device to move in a work environment;
• and
• a processor configured to execute computer-executable instructions to perform the following functions:
• obtaining the environmental data acquired by the sensing device;
• determining whether the sensing device is in a suspected ineffective state based on the environmental data, the suspected ineffective state being a state in which the autonomous mobile device is unable to determine whether the autonomous mobile device is in a stranded situation;
• based on a determination that the sensing device is in the suspected ineffective state, rotating at a same location for a first predetermined spin angle;
• obtaining an estimated rotation angle of the autonomous mobile device based on the one or more motion parameters acquired by the inertial measurement unit;
• comparing the estimated rotation angle with the first predetermined spin angle;
• and
• based on a determination that a difference between the estimated rotation angle and the first predetermined spin angle is greater than a first predetermined threshold value, executing escape instructions,
• wherein the escape instructions, when executed by the processor, cause the autonomous mobile device to perform the following operations:
• moving backwardly for a first predetermined distance;
• and
• moving along a curve to circumvent a location where the processor determines that the sensing device is in the suspected ineffective state,
• wherein when the escape instructions are executed to cause the autonomous mobile device to move along the curve, the escape instructions cause the autonomous mobile device to perform the following operations:
• step S1, controlling the wheel assembly to drive the autonomous mobile device to move forwardly while rotating in a second rotation direction for a first predetermined rotation angle;
• step S2, based on a determination that a rotation angle of the autonomous mobile device in the second rotation direction reaches the first predetermined rotation angle, determining a current location of the autonomous mobile device;
• step S3, comparing the current location determined in the step S2 with a stranded location where the autonomous mobile device is in the stranded situation, and performing a normal movement based on a determination that at the current location determined in the step S2 the autonomous mobile device circumvents the stranded location, or executing the step S1 or S4 based on a determination that at the current location determined in the step S2 the autonomous mobile device does not circumvent the stranded location;
• step S4, controlling the wheel assembly to drive the autonomous mobile device to move forwardly while rotating in a first rotation direction for a second predetermined rotation angle;
• step S5, based on a determination that the rotation angle of the autonomous mobile device in the first rotation direction reaches the second predetermined rotation angle, determining a current location of the autonomous mobile device;
• step S6, comparing the current location determined in the step S5 with the stranded location, and performing the normal movement based on a determination that at the current location determined in the step S5 the autonomous mobile device circumvents the stranded location;
• and
• based on a determination that at the current location determined in the step S5 the autonomous mobile device does not circumvent the stranded location, repeating execution of the steps S1-S3 or the steps S4-S6, until at the current location determined in the step S5 the autonomous mobile device circumvents the stranded location.

A non-transitory computer-readable storage medium storing computer-executable instructions, which when executed by a processor, are configured to cause the processor to perform a method executable by an autonomous mobile device, the method comprising:

• moving in a work environment;
• obtaining environmental data acquired by a sensing device;
• determining whether the sensing device is in a suspected ineffective state based on the environmental data, the suspected ineffective state being a state in which the autonomous mobile device is unable to determine whether the autonomous mobile device is in a stranded situation based on feedback information provided by the sensing device;
• based on a determination that the sensing device is in the suspected ineffective state, rotating at a same location for a first predetermined spin angle;
• obtaining an estimated rotation angle based on one or more motion parameters acquired by a dead reckoning sensor;
• comparing the estimated rotation angle with the first predetermined spin angle;
• and
• based on a determination that a difference between the estimated rotation angle and the first predetermined spin angle is greater than a first predetermined threshold value, executing escape instructions,
• wherein the escape instructions, when executed, cause the autonomous mobile device to perform the following operations:
• moving backwardly for a first predetermined distance;
• and
• moving along a curve to circumvent a stranded location where the autonomous mobile device determines that the sensing device is in the suspected ineffective state,
• wherein moving along the curve includes:
• step S1, controlling a wheel assembly of the autonomous mobile device to drive the autonomous mobile device to move forwardly while rotating in a second rotation direction for a first predetermined rotation angle;
• step S2, based on a determination that a rotation angle of the autonomous mobile device in the second rotation direction reaches the first predetermined rotation angle, determining a current location of the autonomous mobile device;
• step S3, comparing the current location determined in the step S2 with the stranded location, and performing a normal movement based on a determination that at the current location determined in the step S2 the autonomous mobile device circumvents the stranded location, or executing the step S1 or S4 based on a determination that at the current location the autonomous mobile device does not circumvent the stranded location;
• step S4, controlling the wheel assembly to drive the autonomous mobile device to move forwardly while rotating in a first rotation direction for a second predetermined rotation angle;
• step S5, based on a determination that the rotation angle of the autonomous mobile device in the first rotation direction reaches the second predetermined rotation angle, determining a current location of the autonomous mobile device;
• step S6, comparing the current location determined in the step S5 with the stranded location, and performing the normal movement based on a determination that at the current location determined in the step S5 the autonomous mobile device circumvents the stranded location;
• and
• based on a determination that at the current location determined in the step S5 the autonomous mobile device does not circumvent the stranded location, repeating execution of the steps S1-S3 or the steps S4-S6, until at the current location determined in the step S5 the autonomous mobile device circumvents the stranded location.