Control Method, Robot, and Readable Storage Medium

Abstract

The present disclosure provides a control method, a robot and a readable storage medium, the method comprising: in response to the robot being in an overhead state, controlling the robot wheels to stop rotating, the overhead state indicating that none of the robot wheels are in contact with the ground, controlling the vibrating wheels to rotate so that the robot vibrates, and in response to the robot not being in an overhead state, controlling the vibrating wheels to stop rotating. The present disclosure enables the robot to be in an overhead state by controlling the vibrating wheels to rotate so that the robot vibrates, thereby increasing the probability of the robot being able to escape, and avoiding the robot being unable to return to a normal working state due to the overhead state.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular, to a control method, a robot, and a readable storage medium. Background Art

[0002] With the wide application of wheeled machines such as floor cleaning robots, during the movement of the robot, it may encounter the situation where the travel route is blocked by obstacles. The current common solutions usually require the robot to obtain obstacle information in advance and accelerate to rush through the obstacles. However, when the chassis of the robot is completely lifted off the ground by the obstacles, the rotation of the robot's wheels cannot make the robot move out of trouble. Summary of the Invention

[0003] In view of this, the present disclosure provides a control method, a robot, and a readable storage medium to at least solve the problems existing in the related art.

[0004] According to a first aspect of an embodiment of the present disclosure, a control method is provided, which is applied to a wheeled robot. Among them, at least one of the wheels of the robot is a vibratable wheel, and the center of mass of the vibratable wheel does not coincide with the centroid. The method includes:

[0005] In response to the robot being in a lifted state, controlling the wheels of the robot to stop rotating, where the lifted state indicates that none of the wheels of the robot are in contact with the ground;

[0006] Controlling the vibratable wheel to rotate to vibrate the robot;

[0007] In response to the robot not being in a lifted state, controlling the vibratable wheel to stop rotating.

[0008] In combination with any implementation manner of the present disclosure, the robot further includes a positioning module for obtaining the position information of the robot;

[0009] The controlling the wheels of the robot to stop rotating in response to the robot being in a lifted state includes:

[0010] During the rotation of the wheels of the robot, in response to the position information of the robot not being updated within a first preset time period, controlling the wheels of the robot to stop rotating;

[0011] The controlling the vibratable wheel to stop rotating in response to the robot not being in a lifted state includes:

[0012] During the rotation of the vibratable wheel, in response to the position information of the robot being updated within a first preset time period, controlling the vibratable wheel to stop rotating.

[0013] In combination with any implementation manner of the present disclosure, a travel switch is further provided for each wheel of the robot;

[0014] Controlling the robot wheels to stop rotating in response to the robot being in the overhead state includes:

[0015] During the rotation of the robot wheels, controlling the robot wheels to stop rotating in response to each travel switch being in the reset state;

[0016] Controlling the vibratable wheel to stop rotating in response to the robot not being in the overhead state includes:

[0017] During the rotation of the vibratable wheel, controlling the vibratable wheel to stop rotating in response to at least one travel switch being in the compressed state.

[0018] In combination with any one of the embodiments of the present disclosure, the robot is further provided with a motion sensor for acquiring the vibration amplitude of the robot;

[0019] Controlling the rotation of the vibratable wheel includes:

[0020] Controlling the vibratable wheel to accelerate until the robot reaches the maximum vibration amplitude.

[0021] In combination with any one of the embodiments of the present disclosure, controlling the rotation of the vibratable wheel includes:

[0022] Controlling the rotation of the vibratable wheel based on the current resonance rotation speed of the robot, where the current resonance rotation speed of the robot is determined according to the current mass of the robot and a first mapping relationship, and the first mapping relationship represents the mapping relationship between the robot mass and the resonance rotation speed.

[0023] In combination with any one of the embodiments of the present disclosure, the robot includes a plurality of vibratable wheels, and controlling the rotation of the vibratable wheels includes:

[0024] Controlling one vibratable wheel to accelerate until the robot reaches the maximum vibration amplitude;

[0025] In response to the robot still being in the overhead state after a second preset time period, sequentially controlling the next vibratable wheel to accelerate until the robot reaches the maximum vibration amplitude until the robot is not in the overhead state.

[0026] In combination with any one of the embodiments of the present disclosure, the robot is further provided with a motion sensor;

[0027] Controlling the rotation of the vibratable wheel includes:

[0028] Controlling the rotation of the vibratable wheel when the motion parameters collected by the motion sensor are zero.

[0029] In combination with any one of the embodiments of the present disclosure, the robot maintains an interaction relationship with the terminal device;

[0030] After controlling the rotatable vibration wheel to rotate, the method further includes:

[0031] In response to the robot still being in the air after a third preset time period, sending a prompt message to the terminal device, where the prompt message prompts the user that the robot cannot move currently.

[0032] According to a second aspect of the embodiments of the present disclosure, there is provided a control device applied to a wheeled robot. Among them, the wheels of the robot include at least one rotatable vibration wheel, and the center of mass and the centroid of the rotatable vibration wheel do not coincide. The device includes:

[0033] A stationary module configured to: in response to the robot being in the air, control the wheels of the robot to stop rotating, where the air state indicates that none of the wheels of the robot are in contact with the ground;

[0034] A vibration module configured to: control the rotatable vibration wheel to rotate so that the robot vibrates;

[0035] An escape module configured to: in response to the robot not being in the air, control the rotatable vibration wheel to stop rotating.

[0036] In combination with any implementation manner of the present disclosure, the robot further includes a positioning module configured to obtain the position information of the robot;

[0037] When the stationary module controls the wheels of the robot to stop rotating in response to the robot being in the air, it is specifically configured to:

[0038] During the rotation of the wheels of the robot, in response to the position information of the robot not being updated within a first preset time period, control the wheels of the robot to stop rotating;

[0039] When the stationary module controls the rotatable vibration wheel to stop rotating in response to the robot not being in the air, it is specifically configured to:

[0040] During the rotation of the rotatable vibration wheel, in response to the position information of the robot being updated within a first preset time period, control the rotatable vibration wheel to stop rotating.

[0041] In combination with any implementation manner of the present disclosure, each wheel of the robot is further provided with a travel switch;

[0042] When the stationary module controls the wheels of the robot to stop rotating in response to the robot being in the air, it is specifically configured to: during the rotation of the wheels of the robot, in response to each travel switch being in the reset state, control the wheels of the robot to stop rotating;

[0043] When the stationary module controls the rotatable vibrating wheel to stop rotating in response to the robot not being in the overhead state, it is specifically configured to: during the rotation of the rotatable vibrating wheel, in response to at least one travel switch being in a compressed state, control the rotatable vibrating wheel to stop rotating.

[0044] In combination with any one of the embodiments of the present disclosure, the robot is further provided with a motion sensor for acquiring the vibration amplitude of the robot.

[0045] When the vibration module controls the rotatable vibrating wheel to rotate, it is specifically configured to:

[0046] Control the rotatable vibrating wheel to accelerate until the robot reaches the maximum vibration amplitude.

[0047] In combination with any one of the embodiments of the present disclosure, when the vibration module controls the rotatable vibrating wheel to rotate, it is specifically configured to:

[0048] Control the rotatable vibrating wheel to rotate based on the current resonance rotation speed of the robot, where the current resonance rotation speed of the robot is determined according to the current mass of the robot and a first mapping relationship, and the first mapping relationship represents the mapping relationship between the mass of the robot and the resonance rotation speed.

[0049] In combination with any one of the embodiments of the present disclosure, the robot includes a plurality of rotatable vibrating wheels. When the vibration module controls the rotatable vibrating wheels to rotate, it is specifically configured to:

[0050] Control one rotatable vibrating wheel to accelerate until the robot reaches the maximum vibration amplitude;

[0051] In response to the robot still being in the overhead state after a second preset time period, sequentially control the next rotatable vibrating wheel to accelerate until the robot reaches the maximum vibration amplitude until the robot is not in the overhead state.

[0052] In combination with any one of the embodiments of the present disclosure, the robot is further provided with a motion sensor;

[0053] When the vibration module controls the rotatable vibrating wheel to rotate, it is specifically configured to:

[0054] When the motion parameters collected by the motion sensor are zero, control the rotatable vibrating wheel to rotate.

[0055] In combination with any one of the embodiments of the present disclosure, the robot maintains an interactive relationship with the terminal device;

[0056] After controlling the rotatable vibrating wheel to rotate, the device further includes a detection module for:

[0057] In response to the robot still being in the overhead state after a third preset time period, a prompt message is sent to the terminal device, and the prompt message is used to prompt the user that the current robot cannot move.

[0058] According to a third aspect of the embodiments of the present disclosure, a wheeled robot is provided. The wheels of the wheeled robot include at least one vibratable wheel, and the center of mass and the centroid of the vibratable wheel do not coincide.

[0059] The wheeled robot includes:

[0060] A memory for storing executable instructions executable by the processor;

[0061] A processor configured to execute the executable instructions in the memory to implement the steps of the method according to any one of the first aspect embodiments described above.

[0062] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the method according to any one of the first aspect embodiments described above are implemented.

[0063] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0064] When the robot is in the overhead state, the vibratable wheel is controlled to rotate so that the robot vibrates, which improves the probability of the robot getting out of trouble and avoids the situation where the robot cannot return to the normal working state due to the overhead state.

[0065] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0067] Figure 1 is a schematic diagram of a vibratable wheel shown according to an exemplary embodiment of the present disclosure;

[0068] Figure 2 is a flowchart of a control method shown according to an exemplary embodiment of the present disclosure;

[0069] Figure 3 is a schematic diagram of a control device shown according to an exemplary embodiment of the present disclosure;

[0070] Figure 4 is a hardware structure diagram of a robot shown according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0071] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0072] The terms used in the present disclosure are for the purpose of describing particular embodiments only and are not intended to limit the present disclosure. The singular forms "a", "the", and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0073] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0074] The method described in the present disclosure is applied to a wheeled robot, where the wheeled robot includes at least one vibratable wheel, as Figure 1 shown, the center of mass and the centroid of the vibratable wheel do not coincide, and it can be achieved by adding a counterweight at any position on the radius along the rotation axis. When the vibratable wheel rotates on the ground, the robot moves smoothly, while when the vibratable wheel rotates in a suspended state, the continuous rotation of the vibratable wheel will cause the robot to vibrate.

[0075] Figure 1 FIG. shows a flowchart of a control method according to an exemplary embodiment of the present disclosure.

[0076] In step S101, in response to the robot being in an overhead state, control the robot wheels to stop rotating, where the overhead state indicates that all the robot wheels are not in contact with the ground.

[0077] In one example, when the robot is equipped with a positioning module, it is possible to determine whether the robot is in an elevated state based on the real-time position information of the robot collected by the positioning module. For example, during the rotation of the robot's wheels, in response to the position information of the robot not being updated within a first preset time period, that is, the rotation of the wheels cannot cause the robot to displace, it is determined that the robot is in an elevated state.

[0078] In another example, when travel switches are provided on each wheel of the robot, it is possible to determine whether the robot is in an elevated state based on the compression state of the travel switches. For example, during the rotation of the robot's wheels, in response to each travel switch being in a reset state, that is, each wheel is not supported by the ground force and remains in a natural hanging state, it is determined that the robot is in an elevated state.

[0079] After determining that the robot is in an elevated state, control each wheel of the robot to stop rotating.

[0080] In step S102, control the rotatable wheel to rotate to vibrate the robot.

[0081] When the rotatable wheel rotates in a suspended state, the continuous rotation of the rotatable wheel will cause the vibration of the robot.

[0082] Among them, it is possible to make the robot reach the resonance vibration amplitude to obtain the most ideal vibration effect and increase the possibility of the robot getting out of trouble.

[0083] In one example, a motion sensor (such as an IMU sensor) can be set on the robot to obtain the vibration amplitude of the robot, and control the rotatable wheel to accelerate until the robot reaches the maximum vibration amplitude.

[0084] Specifically, first, control the rotatable wheel to accelerate and continuously obtain the current vibration amplitude of the robot. When it is detected that the vibration amplitude of the robot exceeds the peak and turns into a descending state, it indicates that the vibration frequency of the robot exceeds the resonance frequency and the vibration effect of the robot decreases.

[0085] After that, it is possible to obtain the speed value of the robot at the inflection point of the vibration amplitude and control the rotatable wheel to decelerate to this speed value to make the robot reach the resonance vibration amplitude.

[0086] In another example, it is possible to control the rotatable wheel to rotate based on the current resonance rotation speed of the robot, where the current resonance rotation speed of the robot is determined according to the current mass of the robot and a first mapping relationship, and the first mapping relationship represents the mapping relationship between the robot mass and the resonance rotation speed.

[0087] Among them, the robot can be provided with a mass sensor to obtain the current mass of the robot. When the robot is a floor cleaning robot, a mass sensor can be arranged at the bottom of the water tank of the robot to obtain the mass of the water tank of the robot, and the current mass of the robot can be obtained according to the preset mass of other parts of the robot.

[0088] The first mapping relationship represents the mapping relationship between the mass of the robot and the resonant rotation speed, which can be obtained in advance based on experiments. Among them, each mass of the robot corresponds to the resonant speed of a vibratable wheel, so that the robot reaches the resonant amplitude.

[0089] Based on the current mass of the robot and the first mapping relationship, the rotational speed of the vibratable wheel that can make the robot reach the resonant amplitude currently can be obtained, and the vibratable wheel is controlled to rotate based on this speed to make the robot resonate.

[0090] Preferably, before controlling the rotation of the vibratable wheel, the motion parameters of the robot can also be collected based on a motion sensor. When the motion parameters are zero, that is, when the robot is in a balanced stationary state, the vibratable wheel is controlled to rotate to improve the accuracy of collecting data on the vibration amplitude of the robot.

[0091] In step S103, in response to the robot not being in an overhead state, the rotation of the vibratable wheel is controlled to stop.

[0092] When any one of the wheels of the robot is in contact with the ground, it indicates that the robot has escaped from trouble, and the rotation of the vibratable wheel can be controlled to stop to restore the normal working state of the robot.

[0093] Similarly, when the robot is provided with a positioning module, it is possible to determine whether the robot is in an overhead state according to the real-time position information of the robot collected by the positioning module. For example, during the rotation of the vibratable wheel, in response to the update of the position information of the robot within the first preset time period, the rotation of the vibratable wheel is controlled to stop.

[0094] In another example, when a travel switch is provided on each wheel of the robot, it is possible to determine whether the robot is in an overhead state according to the compression state of the travel switch. For example, during the rotation of the vibratable wheel, in response to at least one travel switch being in a compressed state, the rotation of the vibratable wheel is controlled to stop.

[0095] In the solution described in the present disclosure, when the robot is in an overhead state, the rotation of the vibratable wheel is controlled to vibrate the robot, which improves the probability of the robot escaping from trouble and avoids the situation that the robot cannot return to the normal working state due to the overhead state.

[0096] In the above embodiment, preferably, the robot maintains an interactive relationship with the terminal device, and in response to the robot being still in an overhead state after a third preset time period, a prompt message can be sent to the terminal device, such as sending a summary short message to the user's mobile phone, wherein the prompt message reminds the user that the current robot cannot move, so that the user can obtain user assistance in time when the robot cannot automatically escape, thereby increasing the probability of escape.

[0097] In an optional embodiment, the robot includes a plurality of vibrating wheels, and controlling the rotation of the vibrating wheels includes:

[0098] A vibrating wheel is controlled to rotate at an accelerated speed until the robot reaches a maximum vibration amplitude. In response to the robot still being in an overhead state after a second preset time period, the next vibrating wheel is controlled to rotate at an accelerated speed in sequence until the robot reaches a maximum vibration amplitude, until the robot is no longer in the overhead state.

[0099] For example, when the robot is provided with two vibrating wheels, one of the vibrating wheels can be controlled to rotate to the maximum vibration amplitude that the robot can reach. At this vibration amplitude, if the robot is still in an overhead state after a second preset time period, indicating that the current vibration amplitude is insufficient, another vibrating wheel can be added to vibrate simultaneously with the previous vibrating wheel to make the robot reach a larger vibration amplitude until the robot leaves the overhead state.

[0100] The method disclosed in the present disclosure, when the robot includes multiple vibrating wheels, sequentially controls the next vibrating wheel to accelerate and rotate until the robot reaches the maximum vibration amplitude, until the robot is no longer in an overhead state. This reduces the power consumption used to drive the vibrating wheels to rotate, and enables the robot to escape with a higher probability at a relatively small vibration amplitude, avoiding collisions caused by excessive vibration amplitude during the vibration process.

[0101] For the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present disclosure is not limited by the described order of actions, because according to the present disclosure, certain steps can be performed in other orders or simultaneously.

[0102] Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0103] Corresponding to the aforementioned application function implementation method embodiment, the present disclosure also provides an application function implementation device and a corresponding terminal embodiment.

[0104] A block diagram of a control device shown in an exemplary embodiment of the present disclosure is as follows Figure 3 As shown, it is applied to a wheeled robot, wherein the wheel of the robot includes at least one vibrating wheel, the center of mass and the center of shape of the vibrating wheel do not coincide, and the device includes:

[0105] The stationary module 301 is used to: in response to the robot being in an overhead state, control the robot wheels to stop rotating, wherein the overhead state indicates that the robot wheels are not in contact with the ground;

[0106] The vibration module 302 is used to: control the rotation of the vibrating wheel to make the robot vibrate;

[0107] The escape module 303 is used to: in response to the robot being not in the aerial state, control the vibrating wheel to stop rotating.

[0108] In combination with any embodiment of the present disclosure, the robot further includes a positioning module for obtaining position information of the robot;

[0109] The stationary module, in response to the robot being in an overhead state, controls the robot wheels to stop rotating, and is specifically used to:

[0110] During the rotation of the wheels of the robot, in response to the position information of the robot not being updated within a first preset time period, controlling the wheels of the robot to stop rotating;

[0111] When the stationary module controls the vibrating wheel to stop rotating in response to the robot not being in the overhead state, the stationary module is specifically used to:

[0112] During the rotation of the vibrating wheel, in response to the update of the position information of the robot within the first preset time period, the vibrating wheel is controlled to stop rotating.

[0113] In combination with any embodiment of the present disclosure, each wheel of the robot is further provided with a travel switch;

[0114] When the stationary module controls the robot wheels to stop rotating in response to the robot being in an overhead state, the stationary module is specifically used to: during the rotation of the robot wheels, in response to each travel switch being in a reset state, control the robot wheels to stop rotating;

[0115] When the stationary module controls the vibrating wheel to stop rotating in response to the robot not being in an overhead state, the stationary module is specifically used to: during the rotation of the vibrating wheel, in response to at least one travel switch being in a compressed state, control the vibrating wheel to stop rotating.

[0116] In combination with any embodiment of the present disclosure, the robot is further provided with a motion sensor for acquiring the vibration amplitude of the robot;

[0117] When controlling the rotation of the vibratable wheel, the vibration module is specifically configured to:

[0118] Control the vibratable wheel to rotate at an accelerated speed until the robot reaches the maximum vibration amplitude.

[0119] In combination with any embodiment of the present disclosure, when controlling the rotation of the vibratable wheel, the vibration module is specifically configured to:

[0120] Control the rotation of the vibratable wheel based on the current resonance rotation speed of the robot, where the current resonance rotation speed of the robot is determined according to the current mass of the robot and the first mapping relationship, and the first mapping relationship represents the mapping relationship between the mass of the robot and the resonance rotation speed.

[0121] In combination with any embodiment of the present disclosure, the robot includes a plurality of vibratable wheels. When controlling the rotation of the vibratable wheels, the vibration module is specifically configured to:

[0122] Control one vibratable wheel to rotate at an accelerated speed until the robot reaches the maximum vibration amplitude;

[0123] In response to the robot still being in the suspended state after a second preset time period, sequentially control the next vibratable wheel to rotate at an accelerated speed until the robot reaches the maximum vibration amplitude until the robot is not in the suspended state.

[0124] In combination with any embodiment of the present disclosure, the robot is further provided with a motion sensor;

[0125] When controlling the rotation of the vibratable wheel, the vibration module is specifically configured to:

[0126] Control the rotation of the vibratable wheel when the motion parameters collected by the motion sensor are zero.

[0127] In combination with any embodiment of the present disclosure, the robot maintains an interaction relationship with the terminal device;

[0128] After controlling the rotation of the vibratable wheel, the device further includes a detection module for:

[0129] In response to the robot still being in the suspended state after a third preset time period, send a prompt message to the terminal device, and the prompt message prompts the user that the current robot cannot move.

[0130] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the descriptions in the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present disclosure solution. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0131] The embodiments of the control device in this specification can be applied to a wheeled robot, such as a robot processor. Among them, the wheels of the wheeled robot include at least one vibratable wheel, and the centroid of the vibratable wheel does not coincide with the centroid. The device embodiments can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a logically defined device, it is formed by the processor that controls it reading the corresponding computer program instructions in the non-volatile memory into the memory and running them. From the hardware level, as Figure 4 shown, it is a hardware structure diagram of the robot where the control device in the embodiments of this specification is located. In addition to Figure 4 the processor 410, memory 430, network interface 420, and non-volatile memory 440 shown, for the server or electronic device where the device is located in the embodiments, usually according to the actual functions of the computer device, other hardware may also be included, which will not be elaborated here.

[0132] Those skilled in the art will readily conceive of other implementations of the present disclosure after considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0133] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A control method, characterized in that, it is applied to a wheeled robot, wherein at least one of the wheels of the robot is a vibratable wheel, and the centroid and the centroid of the vibratable wheel do not coincide. The method includes: In response to the robot being in an overhead state, controlling the wheels of the robot to stop rotating, where the overhead state indicates that none of the wheels of the robot are in contact with the ground; Controlling the vibratable wheel to rotate to vibrate the robot; In response to the robot not being in an overhead state, controlling the vibratable wheel to stop rotating; wherein, the controlling the vibratable wheel to rotate includes: Controlling the vibratable wheel to rotate based on the current resonance rotation speed of the robot, where the current resonance rotation speed of the robot is determined according to the current mass of the robot and a first mapping relationship, and the first mapping relationship represents the mapping relationship between the mass of the robot and the resonance rotation speed.

2. The method according to claim 1, characterized in that, the robot further includes a positioning module for obtaining the position information of the robot; the responding to the robot being in an overhead state and controlling the wheels of the robot to stop rotating includes: During the rotation of the wheels of the robot, in response to the position information of the robot not being updated within a first preset time period, controlling the wheels of the robot to stop rotating; the responding to the robot not being in an overhead state and controlling the vibratable wheel to stop rotating includes: During the rotation of the vibratable wheel, in response to the position information of the robot being updated within a first preset time period, controlling the vibratable wheel to stop rotating.

3. The method according to claim 1, characterized in that, each wheel of the robot is further provided with a travel switch; the responding to the robot being in an overhead state and controlling the wheels of the robot to stop rotating includes: During the rotation of the wheels of the robot, in response to each travel switch being in a reset state, controlling the wheels of the robot to stop rotating; the responding to the robot not being in an overhead state and controlling the vibratable wheel to stop rotating includes: During the rotation of the vibratable wheel, in response to at least one travel switch being in a compressed state, controlling the vibratable wheel to stop rotating.

4. The method according to claim 1, characterized in that, the robot is further provided with a motion sensor for obtaining the vibration amplitude of the robot; the controlling the vibratable wheel to rotate includes: Controlling the vibratable wheel to accelerate until the robot reaches the maximum vibration amplitude.

5. The method according to claim 4, characterized in that, the robot includes a plurality of vibratable wheels, and the controlling the vibratable wheel to rotate includes: Controlling one vibratable wheel to accelerate until the robot reaches the maximum vibration amplitude; In response to the robot still being in an overhead state after a second preset time period, sequentially controlling the next vibratable wheel to accelerate until the robot reaches the maximum vibration amplitude until the robot is not in an overhead state.

6. The method according to claim 1, characterized in that, the robot is further provided with a motion sensor; the controlling the vibratable wheel to rotate includes: Controlling the vibratable wheel to rotate when the motion parameters collected by the motion sensor are zero.

7. The method according to claim 1, wherein, the robot maintains an interaction relationship with the terminal device; after controlling the rotatable vibrating wheel to rotate, the method further comprises: in response to the robot still being in the overhead state after a third preset time period, sending a prompt message to the terminal device, the prompt message being used to prompt the user that the current robot cannot move.

8. A wheeled robot, wherein, the wheels of the wheeled robot include at least one rotatable vibrating wheel, and the center of mass of the rotatable vibrating wheel does not coincide with the centroid; the wheeled robot comprises: a memory for storing executable instructions for a processor; a processor configured to execute the executable instructions in the memory to implement the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, on which a computer program is stored, wherein, when the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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