Abstract: An autonomous mobile robot control method and apparatus, a device and a readable storage medium. An autonomous mobile robot determines a sound source direction according to a voice signal from a user, and determines moving objects around the autonomous mobile robot itself. The autonomous mobile robot determines, from the moving objects, a target object located in the sound source direction, determines a working area according to the target object, and moves to the working area, and executes a task.

Abstract: The application discloses a method, system, device, and storage medium for determining a cleaning path. The method includes: in response to a cleaning instruction from a cleaning robot, controlling the cleaning robot to rotate a preset angle on the surface to be cleaned based on a target rotation direction; detecting whether the cleaning robot generates a first edge corner trigger signal during its rotation; and determining a working path of the cleaning robot on a surface to be cleaned based on the detecting result of the first edge corner trigger signal. This application automatically determines the working path based on the detecting result of the first edge corner trigger signal, which, compared to existing technologies that rely on manually selecting the working path, ensures the adaptability of the working path to the surface to be cleaned.