Motion state detection method and apparatus for mobile robot, and medium and device

Abstract

A motion state detection method for a mobile robot, comprising: acquiring a first motion quantity of a mobile robot within a first sampling period on the basis of an odometer of the mobile robot; on the basis of a time-of-flight sensor of the mobile robot, acquiring a second motion quantity of the mobile robot within a second sampling period corresponding to the first sampling period; and detecting a motion state of the mobile robot at least on the basis of the first motion quantity and the second motion quantity to obtain a detection result of the motion state. In the method, whether the motion state of the mobile robot is a slipping state can be quickly and accurately determined. Further provided are a motion state detection apparatus for a mobile robot, and a storage medium and an electronic device.

Description

A method, apparatus, medium, and equipment for detecting the motion state of a mobile robot.

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410291811.5, filed on March 14, 2024, entitled "A method, apparatus, medium and device for detecting the motion state of a mobile robot", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of automated detection technology, and in particular to a method, apparatus, medium and equipment for detecting the motion state of a mobile robot. Background Technology

[0004] With the continuous development of science and technology, mobile robots are being used more and more widely. They can be used for tasks such as moving objects and cleaning floors.

[0005] For wheeled mobile robots, wheel odometry is a fundamental and crucial sensor, typically used to estimate the robot's motion state. However, wheeled robots may experience wheel slippage in certain situations, at which point the odometry readings cannot accurately represent the robot's motion state, resulting in inaccurate motion state detection results for the mobile robot. Summary of the Invention

[0006] In view of this, this application provides a method, device, medium, and equipment for detecting the motion state of a mobile robot.

[0007] This application provides a method for detecting the motion state of a mobile robot, including:

[0008] Odometry based on mobile robots acquires the first motion volume of the mobile robot within the first sampling time period;

[0009] Based on the time-of-flight sensor of the mobile robot, the second motion amount of the mobile robot in the second sampling time period corresponding to the first sampling time period is obtained;

[0010] Based at least on the first motion quantity and the second motion quantity, the motion state of the mobile robot is detected to obtain the motion state detection result.

[0011] Optionally, the odometry based on the mobile robot acquires the first movement amount of the mobile robot within the first sampling time period, specifically including:

[0012] The first amount of motion is obtained by measuring the distance traveled by the mobile robot during the first sampling time period using an odometer.

[0013] Optionally, the time-of-flight sensor based on the mobile robot acquires the second motion amount of the mobile robot within a second sampling time period corresponding to the first sampling time period, specifically including:

[0014] Based on the time-of-flight sensor, the first flight time data and the second flight time data are collected at the start and end of the sampling time corresponding to the second sampling time period.

[0015] Based on the first time-of-flight data and the second time-of-flight data, registration processing is performed to obtain the relative movement distance of the mobile robot, thereby obtaining the second motion amount.

[0016] Optionally, before detecting the motion state of the mobile robot, the method further includes:

[0017] Based on the correspondence between the first and second sampling periods, distance-based detection and / or speed-based detection are determined as target detection methods.

[0018] The step of detecting the motion state of the mobile robot based at least on the first motion quantity and the second motion quantity, and obtaining the motion state detection result, specifically includes:

[0019] Based on the first motion quantity, the second motion quantity, and the target detection method, the motion state of the mobile robot is detected to obtain the motion state detection result.

[0020] Optionally, the correspondence relationship includes any one of the following: overlapping relationship, inclusion relationship, partial inclusion relationship, and identical relationship;

[0021] The determination of distance-based and / or speed-based detection methods as target detection methods based on the correspondence between the first and second sampling time periods specifically includes:

[0022] When the correspondence is any one of overlapping, inclusion, or partial inclusion, the speed-based detection method is determined as the target detection method.

[0023] When the correspondence is the same, the distance-based detection method and / or the speed-based detection method are determined as the target detection method.

[0024] Optionally, when the target detection method is a distance-based detection method, the step of detecting the motion state of the mobile robot based on the first motion quantity, the second motion quantity, and the target detection method to obtain the motion state detection result specifically includes:

[0025] The distance difference is determined based on the first and second amounts of exercise.

[0026] Based on the distance difference and a predetermined distance difference threshold, the motion state of the mobile robot is determined to be either slipping or non-slipping, so as to obtain the motion state detection result.

[0027] Optionally, when the target detection method is a speed-based detection method, the step of detecting the motion state of the mobile robot based on the first motion quantity, the second motion quantity, and the target detection method to obtain the motion state detection result specifically includes:

[0028] Based on the first amount of motion and the time interval of the first sampling period, the first speed of the mobile robot during the first sampling period is determined;

[0029] Based on the second motion quantity and the time interval of the second sampling period, the second speed of the mobile robot during the second sampling period is determined;

[0030] Determine the speed difference based on the first speed and the second speed;

[0031] Based on the speed difference and a predetermined speed error threshold, the motion state of the mobile robot is determined to be either slipping or non-slipping, so as to obtain the motion state detection result.

[0032] This application provides a motion state detection device for a mobile robot, comprising:

[0033] The first acquisition module is used to acquire the first motion amount of the mobile robot within the first sampling time period based on the mobile robot's odometer.

[0034] The second acquisition module is used to acquire the second motion amount of the mobile robot in a second sampling time period corresponding to the first sampling time period based on the mobile robot's time-of-flight sensor;

[0035] The detection module is used to detect the motion state of the mobile robot based on the first motion quantity, the second motion quantity, and the target detection method, and obtain the motion state detection result.

[0036] This application provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the motion state detection method for a mobile robot described above.

[0037] This application provides an electronic device, including at least a memory and a processor. The memory stores a computer program, and the processor, when executing the computer program in the memory, implements the steps of the motion state detection method for a mobile robot described above.

[0038] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0040] Figure 1 is a flowchart of a motion state detection method for a mobile robot according to an embodiment of this application;

[0041] Figure 2 is a schematic diagram of the historical point cloud and the current point cloud at the end of the embodiments of this application;

[0042] Figure 3 is a flowchart of a motion state detection method for a mobile robot according to another embodiment of this application;

[0043] Figure 4 is a structural block diagram of a motion state detection device for a mobile robot according to another embodiment of this application;

[0044] Figure 5 is a structural block diagram of an electronic device according to another embodiment of this application. Detailed Implementation

[0045] Various embodiments and features of this application are described herein with reference to the accompanying drawings.

[0046] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this application will be apparent to those skilled in the art.

[0047] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0048] These and other features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0049] It should also be understood that although this application has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this application.

[0050] The above and other aspects, features and advantages of this application will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0051] Specific embodiments of this application are described thereafter with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of this application, which can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that could obscure the application. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as the basis and representative basis for the claims to teach those skilled in the art to use this application in a variety of substantially any suitable detailed structures.

[0052] This specification may use the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” or “in other embodiments,” all of which may refer to one or more of the same or different embodiments according to this application.

[0053] This application provides a motion state detection method for a mobile robot, which can be applied to mobile devices such as mobile robots. As shown in Figure 1, the method in this embodiment includes the following steps:

[0054] Step S101: Obtain the first motion amount of the mobile robot within the first sampling time period based on the mobile robot's odometer.

[0055] In this step, the wheel odometer can be installed on the mobile robot's wheels to record the number of rotations of the wheels during the first sampling time period. The mileage is then calculated based on the number of rotations and the circumference of the wheels, thereby obtaining the distance traveled by the mobile robot during the first sampling time period, and thus obtaining the first amount of motion of the mobile robot during the first sampling time period.

[0056] Step S102: Based on the mobile robot's time-of-flight sensor, obtain the second motion amount of the mobile robot within the second sampling time period corresponding to the first sampling time period;

[0057] In this step, the time-of-flight data includes information about the location of obstacles in space. Specifically, the Time-of-Flight (TOF) data is obtained by collecting the location information of obstacles at the starting point of the sampling time using a TOF sensor. Alternatively, at any sampling time point, the TOF sensor detects an obstacle; if an obstacle is present, the time difference between the light emission time and the reception time of the light reflected from the obstacle can be determined, thus obtaining the time-of-flight data between the mobile robot and the obstacle. Similarly, at the next sampling time point, the TOF sensor will also detect and obtain the time-of-flight data between the mobile robot and the obstacle. Based on the time-of-flight data from the two sampling time points, the second motion of the mobile robot during that sampling period can be obtained.

[0058] Step S103: Based at least on the first motion quantity and the second motion quantity, detect the motion state of the mobile robot and obtain the motion state detection result.

[0059] In this step, the first and second motion quantities can be compared to determine if there is a significant difference between them, thereby determining whether the mobile robot's motion state is slipping. In other words, if the difference between the first and second motion quantities is large, the mobile robot's motion state can be determined to be slipping; conversely, if the difference is small, the mobile robot's motion state can be determined to be non-slipping.

[0060] The motion state detection method for the mobile robot in this embodiment can accurately obtain the second motion quantity during the second sampling period based on the time-of-flight sensor. Subsequently, the second motion quantity can be compared with the first motion quantity recorded by the wheel odometer, thereby quickly determining whether the mobile robot's motion state is slipping based on the comparison result, thus improving the accuracy of the detection result.

[0061] Based on the above embodiments, another embodiment of this application provides a motion state detection method for a mobile robot. In this embodiment, when obtaining the second motion amount of the mobile robot, the following method can be adopted: based on the time-of-flight sensor, the first time-of-flight data and the second time-of-flight data are collected respectively at the sampling time start and sampling time end corresponding to the second sampling time period; based on the first time-of-flight data and the second time-of-flight data, registration processing is performed to obtain the relative motion distance of the mobile robot, thereby obtaining the second motion amount.

[0062] In other words, a first point cloud of the obstacle object can be obtained based on the first time-of-flight data; a second point cloud of the obstacle object can be obtained based on the second time-of-flight data; registration processing is performed on the first point cloud and the second point cloud to determine the relative positional relationship between the first point cloud and the second point cloud; finally, based on the relative positional relationship, the relative movement distance of the mobile robot at the end of the sampling time relative to the start of the sampling time is determined. In this embodiment, the mobile robot is equipped with a TOF sensor, which emits light waves into a three-dimensional range. The emitted light waves act like a projector, and thus the obtained point cloud is the obstacle point corresponding to the obstacle object in space. As shown in Figure 2, the first point cloud / historical point cloud corresponding to the sampling time start point A is shown in Figure 2(a), and the second point cloud / current point cloud corresponding to the sampling time end point B is shown in Figure 2(b). Thus, by registering the historical point cloud and the current point cloud, it can be determined that the mobile robot moves to the current position where the sampling time end point B is located after turning left from the previous position where the sampling time start point A is located.

[0063] In this embodiment, when registering the current point cloud and the historical point cloud, a predetermined point cloud registration algorithm is specifically used. The predetermined point cloud registration algorithm includes any one or more of the following: ICP nearest neighbor search algorithm, NICP algorithm, GICP algorithm, PL-ICP algorithm, LOAM algorithm, Lio-SAM algorithm, and FAST-lio algorithm. In this embodiment, by sampling any of the above point cloud registration algorithms, the second motion quantity of the mobile robot can be accurately determined based on the historical point cloud and the current point cloud, laying the foundation for subsequent motion state detection of the mobile robot based on the second motion quantity.

[0064] Another embodiment of this application provides a method for detecting the motion state of a mobile robot. In this embodiment, since the TOF sensor and the odometer operate independently, it is difficult for the first and second sampling time periods to be perfectly aligned when they sample to obtain the first and second motion quantities. That is, it is difficult for the start and end times of the sampling time of the first and second sampling time periods to be aligned. Therefore, directly comparing the first and second motion quantities to determine whether the mobile robot is slipping may still result in inaccurate detection results.

[0065] Therefore, in this embodiment, before detecting the motion state of the mobile robot based on the first and second motion quantities, the correspondence between the first and second sampling periods can be further determined. Then, based on the correspondence, the distance-based detection method and / or the speed-based detection method are determined as the target detection method. That is, when the correspondence is any one of overlapping, inclusion, or partial inclusion, the speed-based detection method is determined as the target detection method; when the correspondence is identical, the distance-based detection method and / or the speed-based detection method are determined as the target detection method.

[0066] In this embodiment, after determining the target detection method, the motion state of the mobile robot can be detected based on the first motion quantity, the second motion quantity, and the target detection method to obtain the motion state detection result. That is, motion state detection can include the following two situations:

[0067] In scenario 1, when the target detection method is a distance-based detection method, the distance difference can be determined based on the first motion quantity and the second motion quantity; then, based on the distance difference and a predetermined distance difference threshold, the motion state of the mobile robot can be determined as a slipping state or a non-slipping state to obtain the motion state detection result.

[0068] In this embodiment, a distance difference threshold can be preset, for example, any value within the range of 0-5cm. Of course, the distance difference threshold can also be adjusted according to actual needs. When comparing the distance difference with the distance difference threshold, if the distance difference is less than the threshold, the mobile robot's motion state can be determined to be non-slipping; conversely, if the distance difference is greater than or equal to the threshold, the mobile robot's motion state can be determined to be slipping.

[0069] Scenario 2: When the target detection method is a speed-based detection method, the first speed of the mobile robot in the first sampling period can be determined based on the first motion quantity and the time interval of the first sampling period; the second speed of the mobile robot in the second sampling period can be determined based on the second motion quantity and the time interval of the second sampling period; the speed difference can be determined based on the first speed and the second speed; and the motion state of the mobile robot can be determined as slipping or non-slipping based on the speed difference and a predetermined speed error threshold, so as to obtain the motion state detection result.

[0070] In this embodiment, a speed difference threshold can be preset during implementation. For example, the speed difference threshold can be any value within the range of 0-0.1 m / s. Of course, the speed difference threshold can also be adjusted according to actual needs. When comparing the speed difference with the speed difference threshold, if the speed difference is less than the speed difference threshold, it can be determined that the mobile robot's motion state is not slipping; conversely, if the speed difference is greater than or equal to the speed difference threshold, it can be determined that the mobile robot's motion state is slipping.

[0071] In this embodiment, by first determining the correspondence between the first and second sampling periods, and then determining whether the target detection method is based on distance detection or speed detection based on speed, the determination of the detection method can be reasonable and accurate. This avoids the problem of increased data volume caused by still using speed detection when the first and second sampling periods completely overlap, which helps to reduce data processing volume and improve detection efficiency.

[0072] Based on the above embodiments, another embodiment of this application provides a motion state detection method for a mobile robot. In this embodiment, the motion state can be detected directly based on speed without determining the target detection method. That is, regardless of whether the first sampling time period and the second sampling time period are completely aligned, as long as there is an overlap between the first sampling time period and the second sampling time period, the corresponding first speed and second speed can be determined based on the first motion quantity and the second motion quantity, respectively, and then slippage detection can be performed based on the first speed and the second speed. Specifically, as shown in Figure 3, the method in this embodiment includes the following steps:

[0073] Step 1: Acquire the current frame TOF data from the TOF sensor;

[0074] In other words, it obtains the current flight time data at the current moment.

[0075] Step 2: Determine if the current frame TOF data is the first frame TOF data; if it is the first frame TOF data, proceed to step 6; if it is not the first frame TOF data, proceed to step 3.

[0076] In this step, the first frame of TOF data refers to the first set of TOF data acquired after the mobile robot starts motion state detection.

[0077] Step 3: Perform point cloud registration between the current frame TOF data and the reference data Last to obtain the second motion quantity, and determine the second velocity of the mobile robot based on the second motion quantity.

[0078] In this step, the reference data Last specifically refers to the TOF data of the previous frame acquired at the previous moment.

[0079] If the current frame TOF data is not the first frame TOF data, motion state detection can be performed. This allows point cloud registration between the current frame TOF data and the previous frame TOF data (reference data Last) acquired at the previous time step. In this step, point cloud registration involves matching the TOF point cloud data from the two time steps to calculate the relative motion relationship between the machines at these two time steps, obtaining the relative distance, and thus obtaining the second motion quantity.

[0080] Step 4: Based on the wheeled odometer of the mobile robot, obtain the mileage / distance traveled from the previous moment to the current moment to obtain the first motion amount, and determine the first speed of the mobile robot based on the first motion amount;

[0081] Step 5: Compare the first speed with the second speed; if the difference between the two is less than the predetermined error threshold, the motion state of the mobile robot is determined to be "non-slipping"; otherwise, the motion state of the mobile robot is determined to be "slipping".

[0082] Step 6: Save the current frame data as reference data last;

[0083] Step 7: Determine if motion state detection has terminated; if yes, end the process; if no, return to Step 1.

[0084] The method in this embodiment acquires current time-of-flight (TOF) data, and then uses the current TOF data and historical TOF data to accurately determine the relative distance the mobile robot has traveled from the previous moment to the current moment to obtain a second motion quantity. Simultaneously, it acquires the mileage recorded by the wheel odometry to obtain a first motion quantity. Since the sampling time periods of the time-of-flight sensor and the wheel odometry will deviate and not be perfectly aligned, a first velocity within that sampling time period can be calculated based on the first motion quantity and the wheel odometry's sampling time period (first sampling time period). Similarly, a second velocity within that sampling time period is calculated based on the second motion quantity and the TOF sensor's sampling time period (second sampling time period). The two velocities are then compared to determine if they are close enough to quickly and accurately determine whether the mobile robot is slipping, thus improving the accuracy of the detection results.

[0085] Another embodiment of this application provides a motion state detection device for a mobile robot, as shown in FIG4, including:

[0086] The first acquisition module 11 is used to acquire the first motion amount of the mobile robot within the first sampling time period based on the mobile robot's odometer.

[0087] The second acquisition module is used to acquire the second motion amount of the mobile robot in a second sampling time period corresponding to the first sampling time period based on the mobile robot's time-of-flight sensor;

[0088] The detection module 14 is used to detect the motion state of the mobile robot based at least on the first motion amount and the second motion amount, and obtain the motion state detection result.

[0089] In this embodiment, the first acquisition module is used to: acquire the moving distance of the mobile robot within the first sampling time period based on the odometer, so as to obtain the first amount of motion.

[0090] In this embodiment, the second acquisition module is used to: collect first flight time data and second flight time data based on the sampling time start and sampling time end corresponding to the second sampling time period by the time-of-flight sensor; perform registration processing based on the first flight time data and the second flight time data to obtain the relative movement distance of the mobile robot, so as to obtain the second motion amount.

[0091] In this embodiment, the motion state detection device of the mobile robot further includes a determination module, which is used to: determine the distance-based detection method and / or the speed-based detection method as the target detection method based on the correspondence between the first sampling time period and the second sampling time period;

[0092] The detection module is specifically used to: detect the motion state of the mobile robot based on the first motion amount, the second motion amount, and the target detection method, and obtain the motion state detection result.

[0093] In the specific implementation of this embodiment, the correspondence relationship includes any one of the following: overlapping relationship, inclusion relationship, partial inclusion relationship, and identical relationship;

[0094] The determining module is specifically used to: when the correspondence is any one of overlapping, inclusion, or partial inclusion, determine the speed-based detection method as the target detection method; when the correspondence is the same, determine the distance-based detection method and / or the speed-based detection method as the target detection method.

[0095] In this embodiment, when the target detection method is a distance-based detection method, the detection module is specifically used to: determine the distance difference based on the first motion amount and the second motion amount; and determine whether the motion state of the mobile robot is a slipping state or a non-slipping state based on the distance difference and a predetermined distance difference threshold, so as to obtain the motion state detection result.

[0096] In this embodiment, when the target detection method is a speed-based detection method, the detection module is specifically used to: determine the first speed of the mobile robot in the first sampling period based on the first motion quantity and the time interval of the first sampling period; determine the second speed of the mobile robot in the second sampling period based on the second motion quantity and the time interval of the second sampling period; determine the speed difference based on the first speed and the second speed; and determine whether the motion state of the mobile robot is slipping or not based on the speed difference and a predetermined speed error threshold, so as to obtain the motion state detection result.

[0097] The motion state detection device for the mobile robot in this embodiment can accurately acquire the second motion amount in the second time period based on the time-of-flight sensor. Subsequently, it can compare the second motion amount with the first motion amount recorded by the wheel odometer, thereby quickly determining whether the mobile robot's motion state is slipping based on the comparison result, thus improving the accuracy of the detection result.

[0098] Another embodiment of this application provides a storage medium storing a computer program, which, when executed by a processor, implements the following method steps:

[0099] Step 1: Obtain the first motion volume of the mobile robot within the first sampling time period using the mobile robot's odometry.

[0100] Step 2: Based on the mobile robot's time-of-flight sensor, acquire the second motion quantity of the mobile robot within the second sampling time period corresponding to the first sampling time period;

[0101] Step 3: Based at least on the first motion quantity and the second motion quantity, detect the motion state of the mobile robot and obtain the motion state detection result.

[0102] The specific implementation process of the above method steps can be found in the embodiment of the motion state detection method for any mobile robot, which will not be repeated here.

[0103] In this application, the storage medium can accurately acquire the second motion quantity of the second time period based on the time-of-flight sensor. Subsequently, the second motion quantity can be compared with the first motion quantity recorded by the wheel odometer, thereby quickly determining whether the mobile robot's motion state is slipping based on the comparison result, thus improving the accuracy of the detection result.

[0104] Another embodiment of this application provides an electronic device, as shown in FIG5, which includes at least a memory 1 and a processor 2. The memory 1 stores a computer program, and the processor 2 performs the following method steps when executing the computer program in the memory 1:

[0105] Step 1: Obtain the first motion volume of the mobile robot within the first sampling time period using the mobile robot's odometry.

[0106] Step 2: Based on the mobile robot's time-of-flight sensor, acquire the second motion quantity of the mobile robot within the second sampling time period corresponding to the first sampling time period;

[0107] Step 3: Based at least on the first motion quantity and the second motion quantity, detect the motion state of the mobile robot and obtain the motion state detection result.

[0108] The specific implementation process of the above method steps can be found in the embodiment of the motion state detection method for any mobile robot, which will not be repeated here.

[0109] In this application, the electronic device can accurately acquire the second motion quantity in the second time period based on the time-of-flight sensor. Subsequently, it can compare the second motion quantity with the first motion quantity recorded by the wheel odometer, thereby quickly determining whether the mobile robot's motion state is slipping based on the comparison result, thus improving the accuracy of the detection result.

[0110] The above embodiments are merely exemplary embodiments of this application and are not intended to limit this application. The scope of protection of this application is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to this application within its substance and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of this application.

Claims

1. A method for detecting the motion state of a mobile robot, wherein, include: Based on the mobile robot's odometer, the first movement amount of the mobile robot within the first sampling time period is obtained; Based on the time-of-flight sensor of the mobile robot, the second motion amount of the mobile robot in the second sampling time period corresponding to the first sampling time period is obtained; Based at least on the first motion quantity and the second motion quantity, the motion state of the mobile robot is detected to obtain the motion state detection result.

2. The method as described in claim 1, wherein, The odometry based on the mobile robot acquires the first movement amount of the mobile robot within the first sampling time period, including: The first amount of motion is obtained by measuring the distance traveled by the mobile robot during the first sampling time period using an odometer.

3. The method as described in claim 1, wherein, The time-of-flight sensor based on the mobile robot acquires the second motion quantity of the mobile robot within a second sampling time period corresponding to the first sampling time period, including: Based on the time-of-flight sensor, the first flight time data and the second flight time data are collected at the start and end of the sampling time corresponding to the second sampling time period. Based on the first time-of-flight data and the second time-of-flight data, registration processing is performed to obtain the relative movement distance of the mobile robot, thereby obtaining the second motion amount.

4. The method of claim 1, wherein, Before detecting the motion state of the mobile robot, the method further includes: Based on the correspondence between the first and second sampling periods, distance-based detection and / or speed-based detection are determined as target detection methods. The step of detecting the motion state of the mobile robot based at least on the first motion quantity and the second motion quantity, and obtaining the motion state detection result, includes: Based on the first motion quantity, the second motion quantity, and the target detection method, the motion state of the mobile robot is detected to obtain the motion state detection result.

5. The method of claim 4, wherein, The correspondence relationship includes any of the following: overlapping relationship, inclusion relationship, partial inclusion relationship, and identical relationship; The determination of distance-based detection and / or speed-based detection methods as target detection methods based on the correspondence between the first and second sampling time periods includes: When the correspondence is any one of overlapping, inclusion, or partial inclusion, the speed-based detection method is determined as the target detection method. When the correspondence is the same, the distance-based detection method and / or the speed-based detection method are determined as the target detection method.

6. The method of claim 4, wherein, When the target detection method is a distance-based detection method, the step of detecting the motion state of the mobile robot based on the first motion quantity, the second motion quantity, and the target detection method to obtain the motion state detection result includes: The distance difference is determined based on the first and second amounts of exercise. Based on the distance difference and a predetermined distance difference threshold, the motion state of the mobile robot is determined to be either slipping or non-slipping, so as to obtain the motion state detection result.

7. The method of claim 4, wherein, When the target detection method is a speed-based detection method, the step of detecting the motion state of the mobile robot based on the first motion quantity, the second motion quantity, and the target detection method to obtain the motion state detection result includes: Based on the first amount of motion and the time interval of the first sampling period, the first speed of the mobile robot during the first sampling period is determined; Based on the second motion quantity and the time interval of the second sampling period, the second speed of the mobile robot during the second sampling period is determined; Determine the speed difference based on the first speed and the second speed; Based on the speed difference and a predetermined speed error threshold, the motion state of the mobile robot is determined to be either slipping or non-slipping, so as to obtain the motion state detection result.

8. A motion state detection device for a mobile robot, wherein, include: The first acquisition module is used to acquire the first motion amount of the mobile robot within the first sampling time period based on the mobile robot's odometer. The second acquisition module is used to acquire the second motion amount of the mobile robot in a second sampling time period corresponding to the first sampling time period based on the mobile robot's time-of-flight sensor; The detection module is used to detect the motion state of the mobile robot based on the first motion quantity, the second motion quantity, and the target detection method, and obtain the motion state detection result.

9. The apparatus of claim 8, wherein, The first acquisition module is used for: The first amount of motion is obtained by measuring the distance traveled by the mobile robot during the first sampling time period using an odometer.

10. The apparatus of claim 8, wherein, The second acquisition module is used for: Based on the time-of-flight sensor, the first flight time data and the second flight time data are collected at the start and end of the sampling time corresponding to the second sampling time period. Based on the first time-of-flight data and the second time-of-flight data, registration processing is performed to obtain the relative movement distance of the mobile robot, thereby obtaining the second motion amount.

11. The apparatus of claim 8, wherein, The motion state detection device for the mobile robot further includes a determination module, which is used for: Based on the correspondence between the first and second sampling periods, distance-based detection and / or speed-based detection are determined as target detection methods. The detection module is used to: detect the motion state of the mobile robot based on the first motion amount, the second motion amount, and the target detection method, and obtain the motion state detection result.

12. The apparatus of claim 11, wherein, The correspondence relationship includes any of the following: overlapping relationship, inclusion relationship, partial inclusion relationship, and identical relationship; The determining module is used to: determine the speed-based detection method as the target detection method when the correspondence is any one of overlapping relationship, inclusion relationship, or partial inclusion relationship; When the correspondence is the same, the distance-based detection method and / or the speed-based detection method are determined as the target detection method.

13. The apparatus of claim 11, wherein, The detection module is used for: The distance difference is determined based on the first and second amounts of exercise. Based on the distance difference and a predetermined distance difference threshold, the motion state of the mobile robot is determined to be either slipping or non-slipping, so as to obtain the motion state detection result.

14. The apparatus of claim 11, wherein, The detection module is used for: Based on the first amount of motion and the time interval of the first sampling period, the first speed of the mobile robot during the first sampling period is determined; Based on the second motion quantity and the time interval of the second sampling period, the second speed of the mobile robot during the second sampling period is determined; Determine the speed difference based on the first speed and the second speed; Based on the speed difference and a predetermined speed error threshold, the motion state of the mobile robot is determined to be either slipping or non-slipping, so as to obtain the motion state detection result.

15. A storage medium, wherein, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the motion state detection method for a mobile robot according to any one of claims 1-7.

16. An electronic device, wherein, It includes at least a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program in the memory, implements the steps of the motion state detection method for a mobile robot according to any one of claims 1-7.

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