CN108375380A - A kind of motion state detection method and apparatus - Google Patents
A kind of motion state detection method and apparatus Download PDFInfo
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- CN108375380A CN108375380A CN201810050148.4A CN201810050148A CN108375380A CN 108375380 A CN108375380 A CN 108375380A CN 201810050148 A CN201810050148 A CN 201810050148A CN 108375380 A CN108375380 A CN 108375380A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The purpose of the application is to provide a kind of motion state detection method and apparatus, by obtaining mobile data of the mobile robot in moving process；Wherein, the mobile data includes that pose data and mileage count；Based on the mobile data and preset state threshold, to determine the motion state of the mobile robot, realize the detection to the motion state of the mobile robot in moving process, to adjust and determine shift strategy correct and appropriate based on the determining motion state of detection for mobile device, and then the movement for improving mobile robot is flexible.
Description
Technical field
This application involves computer realm more particularly to a kind of motion state detection method and apparatus.
Background technology
More and more common with the use of mobile robot, application scenarios also become increasingly complex.Mobile robot at present
One of main problem faced is the limitation due to hardware, and whether mobile robot can not correctly judge current scene in different
Normal motion state, such as the case where skidding or besieging, caused greatly to make correct decision judgement to mobile robot
Puzzlement.
Invention content
The purpose of the application is to provide a kind of motion state detection method, in the prior art can not be to movement with solution
Robot carries out the problem of detection of motion state.
According to the one side of the application, a kind of motion state detection method is provided, wherein the method includes：
Obtain mobile data of the mobile robot in moving process；
Based on the mobile data and preset state threshold, the motion state of the mobile robot is determined.
Further, in the above method, the mobile data includes that pose data and mileage count.
Further, in the above method, the mobile data for obtaining mobile robot in moving process, including：
The current pose data and current mileage for obtaining current point in time of the mobile robot in moving process count,
And upper pose data corresponding to a upper time point for the current point in time and a upper mileage count；
It is described that the motion state of the mobile robot is determined based on the mobile data and preset state threshold, packet
It includes：
Pose difference and mileage of the mobile robot between current point in time and a upper time point was calculated and determined
Difference；
Calculate the difference between the pose difference and the mileage difference；
Based between the pose difference, the pose difference and the mileage difference difference and the preset state
Threshold value determines the motion state of the mobile robot.
Further, in the above method, it is described based on the pose difference, the pose difference and the mileage difference it
Between difference and the preset state threshold, determine the motion state of the mobile robot, including：
Judge the difference threshold whether the pose difference is less than in the preset state threshold, and the pose difference
Whether the difference between the mileage difference is more than the difference threshold in the preset state threshold；
If so, determining that the motion state of presently described mobile robot is slipping state；
If not, it is determined that the motion state of presently described mobile robot is non-slipping state.
Further, in the above method, the pose data include at least one dimension.
Further, in the above method, the mobile data for obtaining mobile robot in moving process, including：
Mobile robot is obtained to end in moving process to current point in time, preset quantity history pose data；
It is described that the motion state of the mobile robot is determined based on the mobile data and preset state threshold, packet
It includes：
The history pose data for traversing and analyzing the preset quantity obtain the history pose data in each dimension
Corresponding maximum value and minimum value；
It respectively in each dimension, calculates very poor between the maximum value and the minimum value, obtains the history bit
Appearance data are corresponding very poor in each dimension；
History pose data corresponding very poor and described preset state threshold in each dimension is stated based on described, is determined
The motion state of the mobile robot.
Further, in the above method, described to state history pose data corresponding very poor in each dimension based on described
With the preset state threshold, the motion state of the mobile robot is determined, including：
Judge the history pose data corresponding very poor whether respectively less than preset state threshold in each dimension
Very poor threshold value in value,
If so, determining that the motion state of current mobile robot is a state of siege；
If not, it is determined that the motion state of current mobile robot is non-a state of siege.
Further, in the above method, the method further includes：
Based on the motion state of the mobile robot, the shift strategy of the mobile robot is adjusted.
According to the another aspect of the application, a kind of non-volatile memory medium is additionally provided, being stored thereon with computer can
Reading instruction when the computer-readable instruction can be executed by processor, makes the processor realize such as above-mentioned motion state detection
Method.
According to the another aspect of the application, a kind of motion state detection equipment is additionally provided, wherein the equipment includes：
One or more processors；
Non-volatile memory medium, for storing one or more computer-readable instructions,
When one or more of computer-readable instructions are executed by one or more of processors so that one
Or multiple processors realize such as above-mentioned motion state detection method.
Compared with prior art, the application is by obtaining mobile data of the mobile robot in moving process；Wherein, institute
It includes that pose data and mileage count to state mobile data；Based on the mobile data and preset state threshold, to determine
The motion state of mobile robot is stated, the detection to the motion state of the mobile robot in moving process is realized, to be based on
The determining motion state of detection is that mobile device adjusts and determine shift strategy correct and appropriate, and then improves mobile machine
The movement of people is flexible.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows a kind of flow diagram of motion state detection method according to the application one side；
Fig. 2 shows the detection mobile robot in a kind of motion state detection method according to the application one side whether
Flow diagram in slipping state；
Whether Fig. 3 shows the detection mobile robot in a kind of motion state detection method according to the application one side
Flow diagram in a state of siege；
Whether Fig. 4 shows the detection mobile robot in a kind of motion state detection method according to the application one side
Flow diagram in slipping state and a state of siege simultaneously.
Same or analogous reference numeral represents same or analogous component in attached drawing.
Specific implementation mode
The application is described in further detail below in conjunction with the accompanying drawings.
In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and memory.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, magnetic tape disk storage or other magnetic storage apparatus or
Any other non-transmission medium can be used for storage and can be accessed by a computing device information.As defined in this article, computer
Readable medium does not include non-temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
As shown in Figure 1, a kind of motion state detection method that the application provides on one side, this method is applied to moving machine
During device people carries out the detection of its motion state in moving process, wherein the method comprising the steps of S11 and step S12,
It specifically includes as follows：
Step S11 obtains mobile data of the mobile robot in moving process；Wherein, the mobile data includes position
Appearance data and mileage count, here, the pose data can be that mobile robot is current corresponding to current point in time
Pose data can also be the history pose data corresponding to the historical time point of mobile robot in the process of moving, be used for
Indicate mobile robot in moving process with the relevant data in position and the relevant data of posture etc.；The mileage counts
It can be not only the pose data for including mobile robot, can also be driving mileage data, wherein the driving mileage data can
Can also be mobile robot in moving process to be mileage travelled number of the mobile robot corresponding to current point in time
Accumulative mileage travelled number of history etc. is used to indicate the traveling number of actual wheel traveling of the mobile robot in moving process
According to or the mobile mileage number that actually moves, for indicating the practical mileage travelled moved of mobile robot.
It should be noted that the mobile robot is distinguished from working environment, it may include indoor mobile robot and room
Outer mobile robot；It is distinguished by move mode, may include wheeled mobile robot, walking mobile robot, snakelike machine
People, caterpillar mobile robot, climbing robot etc.；It is distinguished by control architecture, may include function formula (horizontal)
Constructed machine people, behavior formula (rectilinear) constructed machine people and serial-parallel machining robot；It is distinguished by function and purposes, may include
Medical robot, military robot, disabled aiding robot, clean robot etc.；It is distinguished by working space, may include that land is moved
Mobile robot, underwater robot, unmanned aerial vehicle and robot for space.
Step S12, based on the mobile data and preset state threshold, to determine the movement shape of the mobile robot
State realizes the detection to the motion state of the mobile robot in moving process, to be based on the determining motion state of detection
Mobile device adjusts and determines shift strategy correct and appropriate, and then the movement for improving mobile robot is flexible.
In the present embodiment, movement of the mobile robot in carrying out movement and obtaining moving process by the step S11
Further include step S110 before data, initialize the motion state of mobile robot, wherein the motion state may include skidding
State and/or a state of siege, the initialization procedure that the step S110 carries out mobile robot can be：By mobile robot
The state variable of slipping state be initialized as 0 or FALSE, i.e., the initial slipping state of mobile robot is non-skidding shape
State, and/or, the state variable of a state of siege of mobile robot is initialized as 0 or FALSE, i.e. mobile robot is initial
A state of siege be non-a state of siege, to realize the Initialize installation of motion state to mobile robot before the movement.
In one embodiment of the application, as shown in Fig. 2, the step S11 obtains shifting of the mobile robot in moving process
Dynamic data, including：
The current pose data and current mileage for obtaining current point in time of the mobile robot in moving process count,
And upper pose data corresponding to a upper time point for the current point in time and a upper mileage count；Here, according to one
Fixed time interval acquires the pose data corresponding to Each point in time of the mobile robot in moving process, and at this
Between be spaced in the mileage of accumulative traveling count, and preserve all pose data and mileage until current point in time and count
According in the data of preservation, in order to determine motion state of the mobile robot residing for current point in time, then in current point in time
When, it not only needs that the current pose data of the current point in time preserved and current mileage is called to count, also to call preservation
Upper pose data and a upper mileage corresponding to a upper time point for current point in time count, for example, current point in time is
It is corresponding current then to obtain mobile robot current point in time T0 then in order to determine the current motion state of mobile robot by T0
Pose data PT0M is counted with current mileageT0, the upper pose data corresponding to the upper time point T01 of current point in time T0
PT01M is counted with a upper mileageT01.The step S12 determines the shifting based on the mobile data and preset state threshold
The motion state of mobile robot, including：
Pose difference and mileage of the mobile robot between current point in time and a upper time point was calculated and determined
Difference；For example, passing through the corresponding current pose data P of current point in time T0T0With the upper pose corresponding to upper time point T01
Data PT01, the pose difference P of the mobile robot is calculatedDifference, and pass through the corresponding current odometers of current point in time T0
Data MT0M is counted with a upper mileageT01, the mileage difference M of the mobile robot is calculatedDifference；Later, the pose is calculated
Difference PDifferenceWith the mileage difference MDifferenceBetween difference abs (PDifference-MDifference)；Then, it is based on the pose difference PDifference, it is described
Pose difference PDifferenceWith the mileage difference MDifferenceBetween difference abs (PDifference-MDifference) and the preset state threshold, determine institute
The motion state of mobile robot is stated, realizes the inspection of the motion state of the current point in time to mobile robot in moving process
It surveys.
Further, in the present embodiment, in the step S12 based on the pose difference, the pose difference with
Difference between the mileage difference and the preset state threshold, determine the motion state of the mobile robot, specifically
Including：
Judge the pose difference PDifferenceThe difference threshold D-value whether being less than in the preset state thresholdThreshold value, and
The pose difference PDifferenceWith the mileage difference MDifferenceBetween difference abs (PDifference-MDifference) whether it is more than the preset state
Difference threshold D-value in threshold valueThreshold value；
If so, i.e. (PDifference<D-valueThreshold value) and (abs (PDifference-MDifference)>D-valueThreshold value), it is determined that presently described moving machine
The motion state of device people is slipping state；
If it is not, i.e. (PDifferenceMore than or equal to D-valueThreshold value) and/or (abs (PDifference-MDifference) it is less than or equal to D-valueThreshold value), then
It determines that the motion state of presently described mobile robot is non-slipping state, realizes to mobile robot beating in moving process
Sliding state is also the detection of non-slipping state, and strategy is correctly travelled to be made for the mobile robot in slipping state
Adjustment.
In one embodiment of the application, the pose data include at least one dimension, for example, the pose data include moving
Position data of the mobile robot in this dimension of position further includes indicating mobile robot in the relevant horizontal dimensions of posture
Horizontal attitude data and vertical dimensions on height attitude data and three-dimensional or the four-dimension etc. on Spatial Dimension spatial attitude
Data etc..As shown in figure 3, when the step S11 obtains mobile data of the mobile robot in moving process, including：
Mobile robot is obtained to end in moving process to current point in time, preset quantity history pose data；
Here, acquiring the pose number corresponding to Each point in time of the mobile robot in moving process according to certain time interval
According to, and cut-off is preserved to current point in time, preset quantity history pose data.For example, to current since time point T1
Time point T100 obtains 100 history pose data of mobile robot, if cut-off is to current point in time T100 and presets
When quantity is 10, then the history pose data of preset quantity are to be the corresponding 91st article of pose data of T91 at time point to the time
10 article pose data of the point between the corresponding 100th article of pose data of T100 are (i.e.：Pose data P91 is to pose data
P100)；If time point is T101, the history pose data of the preset quantity obtained are the corresponding 92nd article of pose number of T92
According to 10 articles of pose data (i.e. pose data P92 to pose number to time point between the corresponding 101st article of pose data of T101
According to P101), the history pose data of corresponding preset quantity are obtained according to different current points in time, to meet in different realities
Border mobile context demand, the demand of equipment performance and the data to different current points in time.Then, the step S12 is based on
The mobile data and preset state threshold, determine the motion state of the mobile robot, including：
The history pose data for traversing and analyzing the preset quantity obtain the history pose data in each dimension
Corresponding maximum value and minimum value；Here, since every pose data include at least one dimension, it can be seen that every
Pose data are also one group of data for including at least one dimension.In order to be gone through from cut-off to current point in time, preset quantity
The current motion state of mobile robot is analyzed in history pose data, then needs the history pose number to all preset quantities
According to, analyzed from each dimension, if such as have 10 groups of history pose data and every group of history pose data packet includes 2 dimensions,
The two dimensions are respectively x and y, then this 10 groups of history pose data are respectively：(x1,y1),(x2,y2)...(x10,y10),
For example the minimum value on x dimension is x3, maximum value is x7, and the minimum value on y-dimension is y9, maximum value y1, then when having traversed
The minimum value of x dimension will be recorded after the history pose data of all preset quantities (such as 10 groups) and maximum value is respectively：
X3 and x7；The minimum value and maximum value of y-dimension be respectively：Y9 and y1；
Then, step S12 is respectively in each dimension, calculates very poor between the maximum value and the minimum value, obtains
It is corresponding very poor in each dimension to the history pose data；It calculates separately corresponding very poor on x dimension：(x7-x3), and
It is corresponding very poor on y-dimension：(y1-y9), it is corresponding very poor for (x7- on x dimension respectively that 10 groups of history pose data are obtained
X3), corresponding very poor for (y1-y9) on y-dimension；
Later, to state history pose data corresponding very poor and described preset in each dimension based on described by step S12
State threshold determines the motion state of the mobile robot, to reach based on cut-off to current point in time, preset quantity
History pose data determine the purpose of the motion state of mobile robot.
Further, in the present embodiment, in the step S12 based on the history pose data of stating in each dimension
Upper corresponding very poor and described preset state threshold, determines the motion state of the mobile robot, specifically includes：
Judge the history pose data corresponding very poor whether respectively less than preset state threshold in each dimension
Very poor threshold value in value, for example, judging that above-mentioned preset quantity very poor is to be corresponding on the x dimension of 10 groups of history pose data
No satisfaction (x7-x3)<EDThreshold value, while corresponding on y-dimension very poor whether meeting (y1-y9)<EDThreshold value, that is, judge whether (x7-
x3)<EDThreshold valueAnd (y1-y9)<EDThreshold value,
If so, i.e. (x7-x3)<EDThreshold valueAnd (y1-y9)<EDThreshold value, it is determined that the motion state of current mobile robot is to enclose
Tired state；
If it is not, i.e. (x7-x3) is more than or equal to EDThreshold valueAnd/or (y1-y9) is more than or equal to EDThreshold value, it is determined that currently move machine
The motion state of people is non-a state of siege, and realization is also non-a state of siege to a state of siege of mobile robot in moving process
Detection, so as to for the mobile robot in a state of siege make correctly traveling strategy adjustment.
In one embodiment of the application, as shown in figure 4, the step S11 acquires moving machine according to certain time interval
Pose data corresponding to Each point in time of the device people in moving process, and the accumulative odometer travelled in the time interval
Data, and all pose data and mileage preserved until current point in time count, wherein the pose data packet of preservation
At least one dimension is included, for example, the pose data include position data of the mobile robot in this dimension of position, is also wrapped
Include the height posture number for indicating mobile robot in the horizontal attitude data and vertical dimensions in the relevant horizontal dimensions of posture
According to and Spatial Dimension on three-dimensional or the four-dimension etc. spatial attitude data etc..
Then the mobile robot was calculated and determined between current point in time and a upper time point in the step S12
Pose difference and mileage difference；
Judge the difference threshold whether the pose difference is less than in the preset state threshold, and the mileage difference
The mileage difference threshold whether being more than in the preset state threshold；
If so, determining that the motion state of presently described mobile robot is slipping state；
If not, it is determined that the motion state of presently described mobile robot is non-slipping state.
Meanwhile the mobile robot obtained in the step S11 end in moving process it is to current point in time, pre-
If the history pose data of quantity；The step S12 traverses and analyzes the history pose data of the preset quantity, obtains institute
State history pose data corresponding maximum value and minimum value in each dimension；Respectively in each dimension, described in calculating
It is very poor between maximum value and the minimum value, it is corresponding very poor in each dimension to obtain the history pose data；
Judge the history pose data corresponding very poor whether respectively less than preset state threshold in each dimension
Very poor threshold value in value,
If so, determining that the motion state of current mobile robot is a state of siege；
If not, it is determined that the motion state of current mobile robot is non-a state of siege.
Through this embodiment, it is counted by current point in time and the corresponding pose data of previous time point and mileage
According to, and cut-off beaten to judge whether mobile robot is in simultaneously to current point in time, preset quantity history pose data
Sliding state and a state of siege, if if, slipping state and a state of siege are in based on mobile machine robot, to mobile machine
Posture, position and move mode of people etc. are adjusted, so as to mobile robot cope with and from slipping state and besiege shape
It is adjusted in state, realizes the normal movement of mobile robot.
A kind of motion state detection method in one embodiment of the application further includes step S13, wherein the step S13
It specifically includes：
Based on the motion state of the mobile robot, the shift strategy of the mobile robot is adjusted.If for example, mobile
The motion state of robot is slipping state, then needs to adjust shift position and posture of mobile robot etc., so that moving machine
Device people can restore to the normal movement of non-slipping state, if the motion state of mobile robot is non-slipping state, moving machine
Device people then continues to move to according to the initial shift strategy of robot itself；In another example if the motion state of mobile robot is to enclose
The state of being stranded then needs the move mode (such as straddle type is mobile, spring is mobile and goes straight up to movement etc. of flying) of adjustment mobile robot
Deng so that mobile robot can release the motion state besieged, the normal movement of recovery to non-a state of siege, if moving machine
The motion state of device people is non-a state of siege, and mobile robot is then continued to move to according to the initial shift strategy of robot itself；
In another example if the motion state of mobile robot is slipping state and a state of siege, the movement for adjusting mobile robot is needed
Position and posture etc., so that mobile robot can be restored to the normal movement of non-slipping state, it is also desirable to adjust movement
Move mode (such as straddle type is mobile, spring is mobile and goes straight up to movement etc. of flying) of robot etc., so that mobile robot can
The motion state besieged is released, is restored to the normal movement of non-a state of siege, if the motion state of mobile robot is non-beats
Sliding state and be non-a state of siege, mobile robot is then continued to move to according to the initial shift strategy of robot itself, to ensure
The normal movement of mobile robot.
According to the another aspect of the application, a kind of non-volatile memory medium is additionally provided, being stored thereon with computer can
Reading instruction when the computer-readable instruction can be executed by processor, makes the processor realize such as above-mentioned motion state detection
Method.
According to the another aspect of the application, a kind of detection device for motion state is additionally provided, wherein the equipment
Including：
One or more processors；
Non-volatile memory medium, for storing one or more computer-readable instructions,
When one or more of computer-readable instructions are executed by one or more of processors so that one
Or multiple processors realize such as above-mentioned motion state detection method.
Here, the detailed content of each embodiment in the detection device for motion state, for details, reference can be made to the use
In the corresponding part of the embodiment of the method at the detection device end of motion state, here, repeating no more.
In conclusion the application is by obtaining mobile data of the mobile robot in moving process；Wherein, the movement
Data include that pose data and mileage count；Based on the mobile data and preset state threshold, to determine the movement
The motion state of robot realizes the detection to the motion state of the mobile robot in moving process, true to be based on detection
Fixed motion state is that mobile device adjusts and determine shift strategy correct and appropriate, and then improves the shifting of mobile robot
It is dynamic flexible.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With application-specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, the software program of the application can be executed by processor to realize steps described above or function.Similarly, the application
Software program (including relevant data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, hardware can be used to realize in some steps or function of the application, example
Such as, coordinate to execute the circuit of each step or function as with processor.
In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the present processes and/or technical solution.
And the program instruction of the present processes is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal loaded mediums and be transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, including a device according to one embodiment of the application, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When order is executed by the processor, method and/or skill of the device operation based on aforementioned multiple embodiments according to the application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second equal words are used for table
Show title, and does not represent any particular order.
Claims (10)
1. a kind of motion state detection method, wherein the method includes：
Obtain mobile data of the mobile robot in moving process；
Based on the mobile data and preset state threshold, the motion state of the mobile robot is determined.
2. according to the method described in claim 1, wherein, the mobile data includes that pose data and mileage count.
3. according to the method described in claim 2, wherein, the mobile data for obtaining mobile robot in moving process,
Including：
It obtains the current pose data of current point in time of the mobile robot in moving process and current mileage counts and institute
Upper pose data and a upper mileage corresponding to a upper time point for current point in time were stated to count；
It is described that the motion state of the mobile robot is determined based on the mobile data and preset state threshold, including：
Pose difference and mileage difference of the mobile robot between current point in time and a upper time point was calculated and determined；
Calculate the difference between the pose difference and the mileage difference；
Based between the pose difference, the pose difference and the mileage difference difference and the preset state threshold
Value, determines the motion state of the mobile robot.
4. according to the method described in claim 3, wherein, it is described based on the pose difference, the pose difference with it is described in
Difference between path difference value and the preset state threshold, determine the motion state of the mobile robot, including：
Judge the difference threshold whether the pose difference is less than in the preset state threshold, and the pose difference and institute
State the difference threshold whether difference between mileage difference is more than in the preset state threshold；
If so, determining that the motion state of presently described mobile robot is slipping state；
If not, it is determined that the motion state of presently described mobile robot is non-slipping state.
5. method according to any one of claim 2 to 4, wherein the pose data include at least one dimension.
6. according to the method described in claim 5, wherein, the mobile data for obtaining mobile robot in moving process,
Including：
Mobile robot is obtained to end in moving process to current point in time, preset quantity history pose data；
It is described that the motion state of the mobile robot is determined based on the mobile data and preset state threshold, including：
The history pose data for traversing and analyzing the preset quantity obtain the history pose data and distinguish in each dimension
Corresponding maximum value and minimum value；
It respectively in each dimension, calculates very poor between the maximum value and the minimum value, obtains the history pose number
According to corresponding very poor in each dimension；
State history pose data corresponding very poor and described preset state threshold in each dimension based on described, determine described in
The motion state of mobile robot.
7. according to the method described in claim 6, wherein, the history pose data of being stated based on described in correspond in each dimension
Very poor and described preset state threshold, determine the motion state of the mobile robot, including：
Judge the history pose data in each dimension in the corresponding very poor whether respectively less than preset state threshold
Very poor threshold value,
If so, determining that the motion state of current mobile robot is a state of siege；
If not, it is determined that the motion state of current mobile robot is non-a state of siege.
8. according to the method described in claim 1, wherein, the method further includes：
Based on the motion state of the mobile robot, the shift strategy of the mobile robot is adjusted.
9. a kind of non-volatile memory medium, is stored thereon with computer-readable instruction, the computer-readable instruction can be located
When managing device execution, the processor is made to realize such as method described in any item of the claim 1 to 8.
10. a kind of motion state detection equipment, wherein the equipment includes：
One or more processors；
Non-volatile memory medium, for storing one or more computer-readable instructions,
When one or more of computer-readable instructions are executed by one or more of processors so that one or more
A processor realizes such as method described in any item of the claim 1 to 8.
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