Detection method for autonomous mobile device, autonomous mobile device and storage medium

An autonomous mobile device, comprising:

• a motion assembly configured to move the autonomous mobile device in an environment;
• a storage device configured to store computer-executable instructions;
• and
• a processor configured to retrieve and execute the computer-executable instructions to:
• obtain an environmental map of an environment in which the autonomous mobile device is located, the environmental map being a grid map;
• obtain grids-to-be-processed in the environmental map;
• cluster the grids-to-be-processed to obtain one or more groups of grids-to-be-processed;
• and
• for each group of grids-to-be-processed, when a number of grids-to-be-processed included in the group of grids-to-be-processed is within a predetermined range, determine whether the group of grids-to-be-processed corresponds to a doorsill.

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

• obtaining an environmental map of an environment in which the autonomous mobile device is located, the environmental map being a grid map;
• obtaining grids-to-be-processed in the environmental map;
• clustering the grids-to-be-processed to obtain one or more groups of grids-to-be-processed;
• and
• for each group of grids-to-be-processed, when a number of grids-to-be-processed included in the group of grids-to-be-processed is within a predetermined range, determining whether the group of grids-to-be-processed corresponds to a doorsill.