Skid state detection method and device and storage medium

The invention provides a slip state detection method and device and a storage medium. In the walking process of the automatic cleaning equipment, the metering distance value and the multiple frame point clouds in the preset detection time period are obtained, and it can be rapidly and accurately determined that the automatic cleaning equipment is in the slipping state through the metering distance value and the multiple frame point clouds. The sensing efficiency and the detection sensitivity of the system are improved, and the user experience is improved. 本公开提供了一种打滑状态的检测方法、设备及存储介质。本公开在自动清洁设备的行走过程中，获得预设检测时间段内计量距离值和多个帧点云，通过计量距离值和多个帧点云能够快速准确的确定自动清洁设备处于打滑状态。提高了系统的感知效率和检测的灵敏性，提高了用户体验。