Robot load state-based advancing control method, system and equipment and storage medium

The embodiment of the invention provides an advancing control method, system and device based on the load state of a robot and a storage medium. The method comprises the following steps that load modes of different robots are obtained; according to the load modes of different robots, establishing a corresponding advancing control mode comparison matrix for each robot load mode; comparing a real-time load condition with the load mode to obtain a load mode which is most matched with the real-time load condition; according to the load mode most matched with the real-time load condition, a matrix is compared for the corresponding advancing control modes, and a load matching value corresponding to each advancing control mode in a robot advancing control mode library is calculated; according to the calculated advancing control mode with the highest load matching value, advancing mode control of the robot is achieved. According to the embodiment of the invention, the adaptability to the unevenness degree of the pave