Autonomous mobile device, operating method for autonomous mobile device, system and storage medium

A method for operating an autonomous mobile device, comprising:

• identifying a charging station in an environment in which the autonomous mobile device operates;
• calculating a relative location of the charging station relative to the autonomous mobile device;
• calculating, based on the relative location and a real time location of the autonomous mobile device, a global location of the charging station in a map corresponding to the environment;
• setting a temporary restricted zone in the map, wherein the temporary restricted zone includes the global location of the charging station;
• during a time period in which the autonomous mobile device executes a work task, controlling the autonomous mobile device to avoid entering the temporary restricted zone;
• and
• when charging is needed for the autonomous mobile device, controlling the autonomous mobile device to allow and guide the autonomous mobile device to enter the temporary restricted zone, wherein identifying the charging station includes:
• detecting, through at least one sensor of the autonomous mobile device, at least one feature of the charging station;
• and
• identifying the charging station based on the at least one feature.

A non-transitory computer-readable storage medium storing instructions, wherein when the instructions are executed by one or more processors, the instructions cause the one or more processors to execute a method for operating an autonomous mobile device, the method comprising:

• performing a re-localization for the autonomous mobile device;
• after the re-localization, detecting, by at least one sensor on the autonomous mobile device, a first feature of at least one first identifier in an environment in which the autonomous mobile device operates;
• calculating, based on the detected first feature of the at least one first identifier, a first relative location of an object having the at least one first identifier relative to the autonomous mobile device;
• calculating, based on the first relative location and a real time location of the autonomous mobile device, a current global location of the object in a map in a coordinate system of the map corresponding to the environment;
• retrieving a prior global location of the charging station in the coordinate system of the map;
• comparing the current global location of the object with the prior global location of the charging station;
• in response to a difference between the current global location of the object and the prior global location of the charging station being greater than or equal to a predetermined difference threshold:
• detecting a second feature of the object;
• determining, based on the second feature, whether the object is the charging station;
• and
• in response to a determination that the object is the charging station, setting, based on the current global location, a temporary restricted zone in the map, wherein the temporary restricted zone includes the current global location;
• during a time period in which the autonomous mobile device executes a work task, controlling the autonomous mobile device to avoid entering the temporary restricted zone;
• and
• when charging is needed for the autonomous mobile device, controlling the autonomous mobile device to allow the autonomous mobile device to enter the temporary restricted zone.