Qfeeltech (beijing) Co., Ltd.

Huizhong An

Zhen Chen

Yiming Zhang

Xin Wu

Shuailing Li

Chenhao Wu

Wulin Tian

A method for processing a map of a closed space is provided. The method includes obtaining a plurality of self-locations of a mobile device. The method also includes obtaining a plurality of obstacle locations. The method also includes obtaining a boundary profile based on the obstacle locations, the boundary profile being a closed line formed by sequentially connecting multiple adjacent obstacle locations. The method also includes obtaining a self-circle based on the self-locations of the mobile device, the self-circle being a closed line formed by sequentially connecting multiple adjacent self-location of the mobile device. The method also includes determining the boundary profile as an outer profile when the boundary profile encircles the self-circle at an outer side of the self-circle. The method further includes processing the map of the closed space based on the outer profile.

Method for processing map of closed space, apparatus, and mobile device

A method executable by an autonomous mobile device includes moving in a work environment, obtaining environmental data acquired by a sensing device, and determining whether the sensing device is in a suspected ineffective state based on the environmental data. The method also includes based on a determination that the sensing device is in the suspected ineffective state, rotating at a same location for a first predetermined spin angle. The method also includes obtaining an estimated rotation angle based on one or more motion parameters acquired by a dead reckoning sensor, comparing the estimated rotation angle with the first predetermined spin angle, and based on a determination that a difference between the estimated rotation angle and the first predetermined spin angle is greater than a first predetermined threshold value, executing escape instructions to move backwardly for a first predetermined distance and move along a curve or a folded line.

Method and apparatus for autonomous mobile device

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Beijing, China

Huizhong An