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. By adopting this solution, the moving objects have accurate spatial locations because the autonomous mobile robot determines the target object from the moving objects. Therefore, the autonomous mobile robot can accurately determine the target object from a plurality of moving objects according to the sound source direction and accurately reach the working area without the help of a client, and the process is simple and flexible. Moreover, this solution is applicable to all laser-based autonomous mobile robots, and is low in cost, has a simple algorithm and requires lower computing power.