Floor material recognition method, control method, and storage medium

A control method for controlling a moving velocity of an autonomous mobile device, comprising:

• transmitting control instructions to the autonomous mobile device, the control instructions including commands that instruct the autonomous mobile device to rotate at a same location for a predetermined rotation angle;
• obtaining an actual rotation angle of the autonomous mobile device;
• comparing the actual rotation angle with the predetermined rotation angle;
• when the actual rotation angle is smaller than the predetermined rotation angle and an absolute value of a difference between the actual rotation angle and the predetermined rotation angle is greater than a first predetermined angle difference, configuring a set velocity of the autonomous mobile device as:
• Vset=K×Vtarget, wherein, Vset is the set velocity, Vtarget is a target velocity, K is a coefficient, and K>1, wherein the target velocity is a moving velocity for the autonomous mobile device to reach when moving on a floor as required by the control instructions, wherein the set velocity is a velocity for a motion assembly of the autonomous mobile device to reach, as required by the control instructions, in order for the autonomous mobile device to reach the target velocity;
• and
• controlling the autonomous mobile device to move on the floor at the target velocity.

A non-transitory computer-readable storage medium storing computer-executable program instructions, which when executed by a processor of an autonomous mobile device, cause the processor to perform a floor material recognition method, wherein the floor material recognition method comprises:

• transmitting control instructions to the autonomous mobile device, the control instructions including commands instructing the autonomous mobile device to rotate at the same location for a predetermined rotation angle;
• obtaining an actual rotation angle of the autonomous mobile device;
• comparing the actual rotation angle with the predetermined rotation angle;
• and
• determining that a floor material is a high-resistance material:
• when the actual rotation angle is smaller than the predetermined rotation angle and an absolute value of a difference between the actual rotation angle and the predetermined rotation angle is greater than a first predetermined angle difference;
• and
• based on a determination that the floor material is the high-resistance material, configuring a set velocity of the autonomous mobile device as:
• Vset=K×Vtarget, wherein, Vset is the set velocity, Vtarget is a target velocity, K is a coefficient, and K>1,
• wherein the target velocity is a moving velocity for the autonomous mobile device to reach when moving on a floor as required by the control instructions, wherein the set velocity is a velocity for a motion assembly of the autonomous mobile device to reach, as required by the control instructions, in order for the autonomous mobile device to reach the target velocity.