Detection method, robot and storage medium

The embodiment of the invention provides a detection method, a robot and a storage medium. The detection method comprises the following steps: acquiring stress information of advancing wheels of a self-moving robot in a period of time; and according to the stress information, determining the ground state of the environment where the self-moving robot is located. By detecting the surface pressure of the advancing wheels, the ground state and the advancing state of the self-moving robot can be judged according to the surface stress area and the stress of the advancing wheels, the types and the number of sensors used in the self-moving robot are reduced, the detection process is simplified, and the detection efficiency and accuracy are improved. 本申请实施例提供检测方法、机器人及存储介质。该检测方法包括：获取一时段内所述自移动机器人行进轮的受力信息；根据所述受力信息，确定所述自移动机器人所在环境的地面状态。通过对行进轮表面压力的检测，根据行进轮表面受力面积和受力大小，能够判断出地面状态和自移动机器人的行进状态，减少自移动机器人中传感器使用种类和数量，简化检测过程，提升检测效率和准确率。