Autonomous mobile device and obstacle overcoming method and computer-readable storage medium

An autonomous mobile device, comprising:

• a first driving mechanism;
• a second driving mechanism, wherein the first driving mechanism and the second driving mechanism are disposed in parallel;
• and
• a control unit configured to:
• determine whether the autonomous mobile device is jammed by an obstacle;
• based on a determination that the autonomous mobile device is jammed by the obstacle, control the autonomous mobile device to move in a predetermined obstacle overcoming mode,
• wherein, when the control unit controls the autonomous mobile device to move in a predetermined obstacle overcoming mode, the control unit is also configured to:
• control both of the first driving mechanism and the second driving mechanism of the autonomous mobile device to simultaneously retreat backwardly from a current location for a first distance, wherein the first distance is determined based on an inter-wheel distance between the first driving mechanism and the second driving mechanism;
• apply braking to the second driving mechanism, and control the first driving mechanism to rotate forwardly for a first angle around the second driving mechanism, wherein the first angle is selected such that a displacement component of the first driving mechanism in a direction perpendicular to a lower edge of a slant surface of the obstacle is sufficient to allow the first driving mechanism to arrive at a top surface of the obstacle;
• and
• secure the first driving mechanism, and control the second driving mechanism to rotate forwardly for a second angle around the first driving mechanism, wherein the second angle is selected such that a displacement component of the second driving mechanism in the direction perpendicular to the lower edge of the slant surface of the obstacle is sufficient to allow the second driving mechanism to arrive at the top surface of the obstacle.

A non-transitory computer-readable storage medium, storing computer program instructions, which when executed by a control unit of an autonomous mobile device, cause the control unit of the autonomous mobile device to perform an obstacle overcoming method comprising:

• detecting whether the autonomous mobile device is jammed by an obstacle;
• and
• based on a detection that the autonomous mobile device is jammed by the obstacle, controlling the autonomous mobile device to move in a predetermined obstacle overcoming mode;
• wherein, controlling the autonomous mobile device to move in the predetermined obstacle overcoming mode, includes:
• controlling both of a first driving mechanism and a second driving mechanism of the autonomous mobile device to simultaneously retreat backwardly from a current location for a first distance, wherein the first distance is determined based on an inter-wheel distance between the first driving mechanism and the second driving mechanism;
• applying braking to the second driving mechanism, and controlling the first driving mechanism to rotate forwardly for a first angle around the second driving mechanism, wherein the first angle is selected such that a displacement component of the first driving mechanism in a direction perpendicular to a lower edge of a slant surface of the obstacle is sufficient to allow the first driving mechanism to arrive at a top surface of the obstacle;
• and
• securing the first driving mechanism, and controlling the second driving mechanism to rotate for a second angle around the first driving mechanism, wherein the second angle is selected such that a displacement component of the second driving mechanism in the direction perpendicular to the lower edge of the slant surface of the obstacle is sufficient to allow the second driving mechanism to arrive at the top surface of the obstacle.