Autonomous Mobile Apparatus, Control Method and Device thereof, and Storage Medium

A control device for autonomous mobile apparatus, comprising:

• a processor;
• a memory for storing processor-executable instructions;
• wherein the processor is configured to implement a control method for the autonomous mobile apparatus when executing the instructions stored in the memory, the control method comprising:
• a capturing step, capturing an image of a work environment of the autonomous mobile apparatus;
• a ranging step, acquiring point cloud data of the work environment of the autonomous mobile apparatus;
• a recognizing step, inputting the image into an image object recognition model for recognition to obtain an object in the image and a spatial range of a detection box where the object is located;
• an acquiring step, acquiring a number of point cloud data within the spatial range of the detection box;
• a determining step, determining whether a number of the point cloud data exceeds a preset number threshold;
• an object positioning step, calculating the spatial position of the detection box based on the point cloud data within the spatial range of the detection box in response to the number of the point cloud data exceeds the preset number threshold.

A non-transitory computer-readable storage medium, wherein when instructions in the storage medium are executed by a processor, the processor is caused to execute a control method for an autonomous mobile apparatus, comprising:

• a capturing step, capturing an image of a work environment of the autonomous mobile apparatus;
• a ranging step, acquiring point cloud data of the work environment of the autonomous mobile apparatus;
• a recognizing step, inputting the image into an image object recognition model for recognition to obtain an object in the image and a spatial range of a detection box where the object is located;
• an acquiring step, acquiring a number of point cloud data within the spatial range of the detection box;
• a determining step, determining whether a number of the point cloud data exceeds a preset number threshold;
• an object positioning step, calculating the spatial position of the detection box based on the point cloud data within the spatial range of the detection box in response to the number of the point cloud data exceeds the preset number threshold.