A control method and system of an omnidirectional terrain adaptive wheeled robot chassis

Abstract

The application discloses a control method and system of an omnidirectional terrain adaptive wheeled robot chassis, and comprises the following steps: receiving a task instruction; performing path planning to generate a plurality of preset action template combinations of the wheeled robot moving from an initial position to a target position and posture change parameters in the moving process; performing gait planning to obtain gait planning instructions; performing inverse kinematics calculation on the posture change parameters to obtain posture control instructions; performing superposition calculation on the gait planning instructions and the posture control instructions to obtain motor target angles in each execution unit of the wheeled robot for chassis moving control; obtaining a position relationship of a current vehicle body of the wheeled robot relative to a map coordinate system to perform path planning adjustment and gait planning adjustment; and obtaining angles of the current vehicle body of the wheeled robot relative to three axes of an earth coordinate system to adjust the posture control instructions. The application guarantees chassis tracking performance and motion performance, and can adapt to more extensive terrain environments and load requirements.

Description

Technical Field

[0001] This invention relates to the field of wheeled robot chassis control technology, specifically to a control method and system for an omnidirectional terrain-adaptive wheeled robot chassis. Background Technology

[0002] Existing wheeled robot chassis are mostly differential steering, front-wheel steering (Ackerman type), or four-wheel steering chassis. Among them, differential steering wheel chassis achieve steering through the speed difference between the left and right sides and sliding relative to the ground. However, due to different ground materials or other external factors, the steering accuracy is poor, and the wear and tear on the tire components is severe. Front-wheel steering (Ackerman type) wheel chassis achieve front wheel steering through a rotating joint set in the normal direction of the front wheels on the ground, and the rear wheels differentially drive to achieve the steering of the whole vehicle. Although it solves the drawbacks of steering accuracy and component wear, it has the disadvantage of a large turning radius, which is not suitable for narrow industrial application scenarios. Four-wheel steering adds a rear wheel steering design to the front wheel steering. The four wheels can be independently controlled and cooperated to achieve flexible control such as turning on the spot. However, the four wheels only have the ability to rotate and steer. On uneven or sloping ground, it cannot guarantee the normal operation of the vehicle and the mission equipment carried, and the terrain adaptability is poor.

[0003] Existing wheeled robots' terrain adaptability largely relies on passive shock-absorbing suspension to filter ground vibrations or on non-fixed wheel-body connections to offset some of the terrain's impact. However, this adaptability is limited for industrial scenarios with a large proportion of unpaved roads. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to address the shortcomings of existing technologies by providing a control method and system for an omnidirectional terrain-adaptive wheeled robot chassis. The method employs path planning, segmented gait control, and attitude control to compensate for gait control, ensuring the chassis's tracking and motion performance. This allows the system to adapt to a wider range of terrain environments and load requirements, and has multiple application scenarios.

[0005] Technical solution: The control method for the omnidirectional terrain-adaptive wheeled robot chassis of the present invention includes the following steps:

[0006] S1: Receive task instructions and obtain the target position and target attitude from the task instructions;

[0007] S2: Perform path planning, form a movement route based on the initial position, map information and target position in the task instructions, divide the movement route into segments and map them to preset action templates, generate several preset action template combinations for the wheeled robot to move from the initial position to the target position and posture change parameters during the movement;

[0008] S3: Perform gait planning, combine several preset action templates formed by segmenting the path planning, match them with preset time-angle relationship action instruction sequences, and fill in the transition state with actions to form a continuous action instruction sequence to obtain gait planning instructions.

[0009] S4: Establish the transformation matrix from the map coordinate system to the wheeled robot body coordinate system and the transformation matrix from the body coordinate system to the angle mapping relationship of each execution unit in the four sets of wheel systems. Perform inverse kinematics calculation on the attitude change parameters to obtain the attitude control command.

[0010] S5: The gait planning command and posture control command are added together to calculate the target angle of the motor in each execution unit of the wheeled robot. Each execution unit performs chassis movement control according to the corresponding motor target angle, and returns the current angle through the angle encoder of each execution unit for closed-loop control.

[0011] S6: Obtain the positional relationship of the wheeled robot's current body relative to the map coordinate system through the vehicle positioning module, compare the positional relationship with the target position in the path planning in S2 and the segmented process position in S3, and return the positional deviation obtained by comparison to S2 and S3 respectively for path planning adjustment and gait planning instruction adjustment.

[0012] S7: The on-board inertial measurement module senses the angles of the wheeled robot's current body relative to the three axes of the Earth coordinate system, obtains the deflection angle of the body in the Earth coordinate system, converts the deflection angle into angle data in the map coordinate system, compares it with the target posture of the posture change parameters in S4 to obtain the posture deviation, and feeds the posture deviation back to S4 to adjust the posture control command.

[0013] S8: Obtain the adjusted gait planning instructions and / or attitude control instructions, and repeat step S5;

[0014] S9: Repeat S6-S8 until the wheeled robot reaches the target position in the target posture.

[0015] To further improve the above technical solution, the wheeled robot includes four sets of wheel systems, each set of wheel systems is equipped with a steering execution unit, a lifting execution unit, and a walking execution unit.

[0016] Furthermore, in S3, the turning radius calculated from the physical dimensions of the wheeled robot's body and the steering angle of each wheel are mapped and stored as a time-angle relationship action sequence, forming a preset action template. A single action template refers to a series of target angles and time correspondences to achieve specific actions, such as going straight, turning yy degrees with a radius of xx, tilting the body's P-axis, etc.

[0017] Furthermore, the transformation matrix for establishing the map coordinate system to the wheeled robot body coordinate system and the transformation matrix for the angular mapping relationship between the body coordinate system and each execution unit in the four wheel systems are expressed as follows: → ,in This indicates four gear trains. This indicates the vehicle's position coordinates and deflection angle on the map. This indicates the deflection angle of the steering actuator, lifting actuator, and traveling actuator in the wheel system coordinate system.

[0018] Furthermore, the step of generating attitude change parameters from the initial position to the target position according to the gait planning instruction includes: obtaining the speed and / or turning angle during the action in the gait planning instruction; calculating the vehicle body roll angle or braking tilt angle according to the vehicle body size and weight; and calculating the attitude change parameters according to the vehicle body roll angle or braking tilt angle.

[0019] Furthermore, the steering execution unit of the four wheel systems is a servo actuator with the stator and rotor respectively fixed to the four ends of the vehicle body and the steering connector, used to control the rotation of the vehicle body around the horizontal plane to realize the steering of the wheeled robot chassis; the lifting execution unit of the four wheel systems is an eccentric inner wheel structure with the stator and rotor respectively fixed to the four steering connectors, used to control the lifting of the inner wheels; the walking execution unit of the four wheel systems is a servo mechanism with the stator and rotor respectively fixed to the four eccentric inner wheels and outer wheels, used to control the rotation of the inner wheels and the contact between the outer wheels and the ground to realize the overall movement of the wheeled robot.

[0020] Furthermore, the control system for implementing the control method of the above-mentioned omnidirectional terrain-adaptive wheeled robot chassis includes:

[0021] The control module is used to output task instructions;

[0022] The path planning module is used to receive task instructions, obtain the target position and target posture in the task instructions, form a movement route based on the initial position, map information and the target position in the task instructions, divide the movement route into segments and map them to preset action templates, generate several preset action template combinations for the wheeled robot to move from the initial position to the target position and distribute them to the gait planning module and posture control module.

[0023] The gait planning module matches a set of preset action templates formed by the received path planning segments with preset time-angle relationship action command sequences, and fills in the transition states with actions to form a continuous action command sequence to obtain gait planning commands to be sent to the motion control module.

[0024] The attitude control module is used to establish the transformation matrix from the map coordinate system to the robot body coordinate system and the transformation matrix from the body coordinate system to the angle mapping relationship of each actuator in the four sets of wheel systems. Based on the gait planning instructions, it generates the attitude change parameters from the initial position to the target position, performs inverse kinematics calculation, calculates the angle relationship of each actuator motor in the wheel system, and sends the target angle of each actuator motor to the motion control module.

[0025] The motion control module adds up the commands output by the posture control module and the gait planning module to calculate the target angle of the motor in each execution unit. It then sends the target angle to each execution unit via the control bus and returns the current angle through the angle encoder on the execution unit to achieve closed-loop control.

[0026] The vehicle-mounted inertial measurement module collects the angles of the vehicle body relative to the three axes of the Earth coordinate system through the inertial unit, and obtains the horizontal and pitch deflection angles of the vehicle body in the Earth coordinate system. The deflection angles are converted into angle data in the map coordinate system and compared with the target angle in the attitude control module to obtain the attitude deviation. The attitude deviation is negatively fed back to the attitude control module to control the lifting execution unit.

[0027] The vehicle positioning module is used to obtain the current position of the vehicle body relative to the map coordinate system, and compare the position with the target position in the path planning and the process position of each segment in the gait planning module. The position deviation obtained from the comparison is output to the path planning module and the gait planning module for adjustment, and then output to the motion control module after adjustment.

[0028] Furthermore, the control module is a host computer or a handheld remote control terminal, and the wheeled robot includes four sets of wheel systems, each set of wheel systems is equipped with a steering execution unit, a lifting execution unit, and a walking execution unit.

[0029] Furthermore, in S3, the turning radius calculated from the physical dimensions of the wheeled robot body and the steering angle of each wheel are mapped and stored as a time-angle relationship action sequence to form a preset action template.

[0030] The transformation matrix for establishing the map coordinate system to the wheeled robot body coordinate system and the transformation matrix for the angular mapping relationship between the body coordinate system and each execution unit in the four wheel systems are expressed as follows: → ,in This indicates four gear trains. This indicates the vehicle's position coordinates and deflection angle on the map. This indicates the deflection angle of the steering actuator, lifting actuator, and traveling actuator in the wheel system coordinate system.

[0031] Furthermore, the steering execution unit of the four wheel systems is a servo actuator with the stator and rotor respectively fixed to the four ends of the vehicle body and the steering connector, used to control the rotation of the vehicle body around the horizontal plane to realize the steering of the wheeled robot chassis; the lifting execution unit of the four wheel systems is an eccentric inner wheel structure with the stator and rotor respectively fixed to the four steering connectors, used to control the lifting of the inner wheels; the walking execution unit of the four wheel systems is a servo mechanism with the stator and rotor respectively fixed to the four eccentric inner wheels and outer wheels, used to control the rotation of the inner wheels and the contact between the outer wheels and the ground to realize the overall movement of the wheeled robot.

[0032] Beneficial effects: Compared with the prior art, the advantages of the present invention are as follows:

[0033] This invention employs path planning and segmented gait control. During gait control, the outer loop is closed-loop controlled by comparing the target position with the target position to assess the current yaw level and improve the level of decision intervention. The process position is a continuous motion trajectory parameter formed after gait planning is completed. Compared with the target position, the process position is equivalent to the inner loop control, which is used to correct the current motion plan in real time and ensure the chassis tracking performance.

[0034] This invention combines attitude control with gait control. In gait control, when turning or accelerating / decelerating at a preset angle and speed, the centrifugal force or braking force is calculated based on the size and weight characteristics of the chassis. Through active attitude compensation, the continuity of chassis movement is ensured. During high-speed turns, emergency stops, and other actions, the chassis body roll angle or forward tilt angle is adjusted, and the center of gravity is adjusted to match the body movement, ensuring tire grip during cornering and braking, and improving chassis motion performance.

[0035] This invention separates the attitude control module from path planning and gait control. The attitude control module can coordinate and compensate for attitude deviations based on the parameters required by path planning, and can also actively adjust the attitude based on attitude deviations detected by the onboard inertial measurement module to achieve active attitude stabilization. The purpose of attitude control is to eliminate attitude deviations based on the target attitude, which is measured by the onboard inertial measurement module. The target attitude at the target position can be a horizontally stable state as conventionally understood, or it can be a tilt adjustment to coordinate with chassis movement. The target attitude at the target position is a state determined during the pre-motion planning stage. The attitude deviation is the difference between the actual movement and the target attitude caused by external forces. The attitude deviation is then eliminated by the separate movements of the four wheel systems, ensuring that the chassis remains stable within the allowable deviation range of the target position. Compared to chassis that do not have separate attitude sensing and control or no attitude control for the motion mechanism, this invention can compensate for external interference factors such as terrain changes, achieving adaptive motion chassis attitude stabilization.

[0036] In this invention, all four wheel systems can perform independent lifting and lowering actions, enabling the overall vehicle body to be raised and lowered to adjust the minimum ground clearance, adapting to different usage requirements such as climbing, obstacle crossing, and wading. This allows for active terrain adaptation to maintain vehicle stability, providing a stable working environment for the robot's payload, and is particularly suitable for applications equipped with image acquisition sensors, ensuring more stable and effective image data acquisition. Simultaneously, the wheelbase of the wheeled robot chassis can be adjusted during the lifting and lowering actions of the four wheel systems, adapting to a wider range of terrain environments and load requirements. This invention employs four-wheel independent steering control, superior to differential steering and front-wheel steering, achieving omnidirectional steering with zero turning radius and no slippage on the ground. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0038] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0039] like Figure 1 The control system of the omnidirectional terrain-adaptive wheeled robot chassis shown includes a host computer / handheld remote control terminal, a path planning module, a gait planning module, an attitude control module, a motion control module, four sets of wheel systems, and an on-board inertial measurement module and an on-board positioning module installed on the vehicle body.

[0040] The wheeled robot comprises four wheel systems, each equipped with a steering actuator, a lifting actuator, and a walking actuator, totaling twelve actuators. The four steering actuators are servo actuators whose motor stators and rotors are fixed to the four ends of the robot body and the steering connectors, respectively, driving the rotation of the four wheel systems to achieve rotation around the horizontal plane of the robot body and steering of the robot chassis. The four lifting actuators are eccentric inner wheel structures whose motor stators and rotors are fixed to the four steering connectors, respectively, raising and lowering the inner wheels through motor rotation, thereby achieving overall vehicle body raising and lowering, and enabling each wheel system to actively adapt to the terrain to maintain vehicle stability. The four walking actuators are servo mechanisms whose motor stators and rotors are fixed to the four eccentric inner wheels and outer wheels, respectively, enabling rotation around the inner wheels while the outer wheels contact the ground, achieving overall movement of the wheeled robot.

[0041] The control method for an omnidirectional terrain-adaptive wheeled robot chassis using the above system includes the following steps:

[0042] S1: The host computer or handheld remote control issues a task command;

[0043] S2: The path planning module receives the task instructions issued by the host computer or handheld remote control, obtains the target position and target posture in the task instructions, divides them into multiple preset action template combinations, that is, several preset action template combinations from the current position to the target position and the posture change parameters of the vehicle itself during the process, and distributes the decomposed instructions to the gait planning module and the posture control module.

[0044] S3: The gait planning module outputs a sequence of commands based on preset motion template combinations. It stores the mapping relationship between the turning radius (calculated from the aircraft's physical dimensions) and the steering angle of each wheel as a time-angle relationship motion sequence, forming a preset motion template. Based on the preset motion template combination, it matches preset time-angle relationship motion command sequences, fills in transitional states with actions, and forms a continuous sequence of motion commands to obtain gait planning commands, which are then sent to the motion control module.

[0045] S4: The attitude control module establishes the transformation matrix from the map coordinate system to the robot body coordinate system, and the transformation matrix from the body coordinate system to the angle mapping relationship of each actuator in the four wheel trains, thereby realizing the inverse kinematics solution of the body. → ,in This indicates four gear trains. This indicates the vehicle's position coordinates and deflection angle on the map. This indicates the deflection angles of the steering, lifting, and traveling actuators in the wheel system coordinate system. Based on the specified vehicle body posture, the angular relationships of the twelve actuator motors across the four wheel systems are calculated, and the target angles of each motor are sent to the motion control module.

[0046] S5: The motion control module receives instructions from the posture control and gait planning modules, adds them together and calculates them to obtain the target angle of the motor in each execution unit. It then sends the angle to the steering, lifting and walking execution units via the control bus and returns the current angle through the angle encoder on the execution unit to achieve closed-loop control.

[0047] S6: The vehicle-mounted inertial measurement module senses the angles of the vehicle body relative to the three axes of the Earth coordinate system through the inertial unit, thereby obtaining the horizontal and pitch deflection angles of the vehicle body in the Earth coordinate system. After converting this angle into data in the map coordinate system, it is compared with the target angle in the attitude control module to achieve closed-loop control of the vehicle body attitude. When the robot chassis causes the vehicle body attitude to change due to terrain changes, the deviation obtained through the inertial unit is negatively fed back to the attitude control module to realize the adjustment of the lifting actuators of the four wheel systems, so as to maintain the active stabilization control of the vehicle body attitude.

[0048] S7: The vehicle positioning module obtains the current positional relationship of the vehicle body relative to the map space through the SLAM unit, and compares the positional relationship with the process position of each segment in the gait planning module and the target position in the path planning. The deviation is output to the gait planning module and the path planning module, and after adjustment, it is output to the motion control module to realize the closed-loop control of the vehicle body trajectory in the map coordinate system, so as to ensure the tracking performance of the robot chassis.

[0049] S8: Obtain the adjusted gait planning instructions and / or attitude control instructions, and repeat step S5;

[0050] S9: Repeat S6-S8 until the wheeled robot reaches the target position in the target posture.

[0051] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A control method for an omnidirectional terrain-adaptive wheeled robot chassis, characterized in that, Includes the following steps: S1: Receive task instructions and obtain the target position and target attitude from the task instructions; S2: Perform path planning, form a movement route based on the initial position, map information and target position in the task instructions, divide the movement route into segments and map them to preset action templates, generate several preset action template combinations for the wheeled robot to move from the initial position to the target position and posture change parameters during the movement; S3: Perform gait planning, combine several preset action templates formed by segmenting the path planning, match them with preset time-angle relationship action instruction sequences, and fill in the transition state with actions to form a continuous action instruction sequence to obtain gait planning instructions. S4: Establish the transformation matrix from the map coordinate system to the wheeled robot body coordinate system and the transformation matrix from the body coordinate system to the angle mapping relationship of each execution unit in the four sets of wheel systems; generate the posture change parameters from the initial position to the target position according to the gait planning instructions, perform inverse kinematics calculation on the posture change parameters, calculate the angle relationship of the motors of each execution unit in the wheel system, and obtain the posture control instructions; S5: The gait planning command and posture control command are added together to calculate the target angle of the motor in each execution unit of the wheeled robot. Each execution unit performs chassis movement control according to the corresponding motor target angle, and returns the current angle through the angle encoder of each execution unit for closed-loop control. S6: Obtain the positional relationship of the wheeled robot's current body relative to the map coordinate system through the vehicle positioning module, compare the positional relationship with the target position in the path planning in S2 and the segmented process position in S3, and return the positional deviation obtained by comparison to S2 and S3 respectively for path planning adjustment and gait planning instruction adjustment. S7: The on-board inertial measurement module senses the angles of the wheeled robot's current body relative to the three axes of the Earth coordinate system, obtains the deflection angle of the body in the Earth coordinate system, converts the deflection angle into angle data in the map coordinate system, compares it with the target posture of the posture change parameters in S4 to obtain the posture deviation, and feeds the posture deviation back to S4 to adjust the posture control command. S8: Obtain the adjusted gait planning instructions and / or posture control instructions, and repeat step S5; S9: Repeat S6-S8 until the wheeled robot reaches the target position in the target posture.

2. The control method for an omnidirectional terrain-adaptive wheeled robot chassis according to claim 1, characterized in that: The wheeled robot includes four wheel systems, each equipped with a steering execution unit, a lifting execution unit, and a walking execution unit.

3. The control method for an omnidirectional terrain-adaptive wheeled robot chassis according to claim 2, characterized in that: In S3, the turning radius calculated from the physical dimensions of the wheeled robot body and the steering angle of each wheel are mapped and stored as a time-angle relationship action sequence to form a preset action template.

4. The control method for an omnidirectional terrain-adaptive wheeled robot chassis according to claim 3, characterized in that: The transformation matrix for establishing the map coordinate system to the wheeled robot body coordinate system, and the transformation matrix for the angular mapping relationship between the body coordinate system and each execution unit in the four wheel systems, are expressed as follows: → ,in This indicates four gear trains. This indicates the vehicle's position coordinates and deflection angle on the map. This indicates the deflection angle of the steering actuator, lifting actuator, and traveling actuator in the wheel system coordinate system.

5. The control method for an omnidirectional terrain-adaptive wheeled robot chassis according to claim 4, characterized in that: The process of generating posture change parameters from the initial position to the target position based on gait planning instructions includes: obtaining the speed and / or turning angle during the action in the gait planning instructions; calculating the vehicle body roll angle or braking tilt angle based on the vehicle body size and weight; and calculating the posture change parameters based on the vehicle body roll angle or braking tilt angle.

6. The control method for an omnidirectional terrain-adaptive wheeled robot chassis according to claim 2, characterized in that: The steering actuators of the four wheel systems are servo actuators with stators and rotors fixed to the four ends of the vehicle body and the steering connectors, respectively, used to control the rotation of the vehicle body around the horizontal plane and realize the steering of the wheeled robot chassis; the lifting actuators of the four wheel systems are eccentric inner wheel structures with stators and rotors fixed to the four steering connectors, used to control the lifting of the inner wheels; the walking actuators of the four wheel systems are servo mechanisms with stators and rotors fixed to the four eccentric inner wheels and outer wheels, used to control the rotation of the inner wheels and the contact between the outer wheels and the ground, realizing the overall movement of the wheeled robot.

7. A control system for implementing the control method of the omnidirectional terrain-adaptive wheeled robot chassis according to claim 1, characterized in that, include: The control module is used to output task instructions; The path planning module is used to receive task instructions, obtain the target position and target posture in the task instructions, form a movement route based on the initial position, map information and the target position in the task instructions, divide the movement route into segments and map them to preset action templates, generate several preset action template combinations for the wheeled robot to move from the initial position to the target position and distribute them to the gait planning module and posture control module. The gait planning module matches a set of preset action templates formed by the received path planning segments with preset time-angle relationship action command sequences, fills in the transition states with actions, and forms a continuous action command sequence to obtain gait planning commands to be sent to the motion control module. The attitude control module is used to establish the transformation matrix from the map coordinate system to the robot body coordinate system and the transformation matrix from the body coordinate system to the angle mapping relationship of each actuator in the four sets of wheel systems. Based on the gait planning instructions, it generates the attitude change parameters from the initial position to the target position, performs inverse kinematics calculation, calculates the angle relationship of each actuator motor in the wheel system, and sends the target angle of each actuator motor to the motion control module. The motion control module adds up the commands output by the posture control module and the gait planning module to calculate the target angle of the motor in each execution unit. It then sends the target angle to each execution unit via the control bus and returns the current angle through the angle encoder on the execution unit to achieve closed-loop control. The vehicle-mounted inertial measurement module collects the angles of the vehicle body relative to the three axes of the Earth coordinate system through the inertial unit, and obtains the horizontal and pitch deflection angles of the vehicle body in the Earth coordinate system. The deflection angles are converted into angle data in the map coordinate system and compared with the target angle in the attitude control module to obtain the attitude deviation. The attitude deviation is negatively fed back to the attitude control module to control the lifting execution unit. The vehicle positioning module is used to obtain the current position of the vehicle body relative to the map coordinate system, and compare the position with the target position in the path planning and the process position of each segment in the gait planning module. The position deviation obtained from the comparison is output to the path planning module and the gait planning module for adjustment, and then output to the motion control module after adjustment.

8. The control system according to claim 7, characterized in that: The control module is a host computer or a handheld remote control terminal. The wheeled robot includes four sets of wheel systems, and each set of wheel systems is equipped with a steering execution unit, a lifting execution unit, and a walking execution unit.

9. The control system according to claim 7, characterized in that: In S3, the turning radius calculated from the physical dimensions of the wheeled robot body and the steering angle of each wheel are mapped and stored as a time-angle relationship action sequence to form a preset action template. The transformation matrix for establishing the map coordinate system to the wheeled robot body coordinate system and the transformation matrix for the angular mapping relationship between the body coordinate system and each execution unit in the four wheel systems are expressed as follows: → ,in This indicates four gear trains. This indicates the vehicle's position coordinates and deflection angle on the map. This indicates the deflection angle of the steering actuator, lifting actuator, and traveling actuator in the wheel system coordinate system.

10. The control system according to claim 8, characterized in that: The steering actuators of the four wheel systems are servo actuators with stators and rotors fixed to the four ends of the vehicle body and the steering connectors, respectively, used to control the rotation of the vehicle body around the horizontal plane and realize the steering of the wheeled robot chassis; the lifting actuators of the four wheel systems are eccentric inner wheel structures with stators and rotors fixed to the four steering connectors, used to control the lifting of the inner wheels; the walking actuators of the four wheel systems are servo mechanisms with stators and rotors fixed to the four eccentric inner wheels and outer wheels, used to control the rotation of the inner wheels and the contact between the outer wheels and the ground, realizing the overall movement of the wheeled robot.

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