A wheel-leg integrated robot with omni-directional motion capability

Abstract

This invention discloses an integrated wheeled and legged robot with omnidirectional mobility, belonging to the field of mobile robot technology. It includes several integrated wheel sets, allowing free switching between wheeled and legged locomotion modes; a control module that integrates sensory information, environmental data, and robot status, and makes decisions and plans actions based on this information; a power supply module, composed of batteries, providing the necessary electrical energy for the entire integrated wheeled and legged robot; an intelligent sensing system, installed on the side of the vehicle body, enabling efficient perception and data acquisition of environmental information to support the robot's flexible movement, obstacle crossing, and path planning capabilities under different terrain and obstacle conditions; and a task execution device, installed on the vehicle body, for performing task operations. This invention can efficiently switch between wheeled and legged modes, reducing the robot's mechanical complexity, improving control accuracy, and exhibiting better stability, adaptability, and obstacle crossing capabilities.

Description

Technical Field

[0001] This invention belongs to the field of mobile robot technology, and more specifically, relates to a novel wheel-leg integrated robot with omnidirectional motion capabilities. Background Technology

[0002] Existing wheeled robots typically employ complex leg joint structures, attempting to achieve flexible movement and obstacle crossing capabilities in diverse terrains by mimicking the multi-joint coordinated movement patterns of human legs. However, this design often leads to increased mechanical complexity, thus requiring the development of sophisticated control algorithms. This significantly increases the development cycle of such robots and results in slow computational response times.

[0003] Existing mobile robots have poor mobility in complex terrains, slow transformation speed, poor obstacle crossing ability in legged mode, and difficulty in maintaining body balance in legged structure, making it impossible to meet the driving requirements of complex trajectories.

[0004] Existing wheel-leg integrated deformable mechanism designs exhibit unsatisfactory energy consumption during obstacle crossing. This is because the complex joint structure often struggles to achieve efficient responses to obstacles of varying heights. Adaptive obstacle crossing requires highly sophisticated control algorithms and sensors. Furthermore, excessive sensors and servo motors during adaptive obstacle crossing control can lead to excessive energy consumption, negatively impacting the robot's energy efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a novel wheel-leg integrated robot with omnidirectional motion capability, which reduces the mechanical complexity of the robot, improves the accuracy of control, and has better stability, adaptability and obstacle crossing ability.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A novel wheel-legged integrated robot with omnidirectional motion capabilities includes:

[0008] Several integrated wheel sets are distributed and installed at the bottom of the vehicle body, allowing for free switching between wheeled and footed movement modes;

[0009] The control module, installed on the vehicle body, integrates perception information, environmental data, and robot status, and makes decisions and plans actions based on this information to enable the robot to move efficiently, overcome obstacles, and plan paths in different motion modes.

[0010] The power supply module, consisting of batteries, is installed on the vehicle body and provides the necessary electrical energy for the entire wheel-foot integrated robot to meet the robot's power requirements in different movement modes;

[0011] The intelligent sensing system, including radar, cameras, and sensors, is installed on the side of the vehicle to achieve efficient perception and data collection of environmental information, so as to support the robot's ability to move flexibly, overcome obstacles, and plan paths under different terrain and obstacle conditions.

[0012] The mission execution device is mounted on the vehicle body to perform mission operations.

[0013] Preferably, each integrated wheelset includes two wheel foot mechanisms, with a second motor between the two wheelset mechanisms. The second motor is connected to a first bevel gear, which meshes with the second bevel gear for transmission. The second bevel gear is connected to a bearing assembly. The left and right sides of the bearing assembly are each automatically telescopically connected to one end of a second shaft. The other end of the second shaft is automatically detachably connected to the wheel foot mechanism. The second motor drives the first and second bevel gears to rotate, and the second bevel gears drive the two second shafts to rotate. When the second shaft is connected to the wheel foot mechanism, the wheel foot mechanism is in a wheel-type motion mode, and the second shaft drives the wheelset mechanism.

[0014] Preferably, when the second shaft retracts and separates from the wheel mechanism, the bearing assembly can automatically raise or lower itself by means of the telescopic device, which in turn drives the second motor, the first bevel gear, the second bevel gear, and the second shaft.

[0015] Preferably, the wheel mechanism includes a first motor, a first shaft, a wheel hub, and a tire. The second shaft is perpendicular to the tire and detachably connected to the center of the tire. The first shaft is arranged along the diameter of the tire, with one end connected to the first motor and the other end connected to the tire. The first motor is fixedly connected to the wheel hub, which is located above the tire. The first motor drives the first shaft to rotate, and the first shaft drives the tire to rotate.

[0016] Preferably, it also includes a third shaft and a third motor. The third motor is fixedly connected to the top of the vehicle body, the third motor is connected to one end of the third shaft, and the other end of the third shaft is fixedly connected to the wheel hub.

[0017] Preferably, the control module includes:

[0018] Sensing data fusion and processing: Receive data from sensors such as radar and cameras, and integrate and process data from different sensors through advanced data fusion algorithms;

[0019] Environmental perception and decision-making: Based on the fused perception data, the system uses intelligent decision-making algorithms to perceive and analyze the environment, accurately determine the position, size and distance of surrounding obstacles, identify terrain features, formulate movement strategies and movement patterns based on real-time conditions, and develop corresponding path plans.

[0020] Coordinated motion scheduling: Coordinates vehicle movement under different motion modes to ensure orderly switching of wheel feet and scheduling of movement modes. Based on perception data and decision results, it adjusts the motion state of each wheel foot in real time to achieve coordinated motion and flexible obstacle crossing.

[0021] Real-time feedback and correction: Responsible for planning the robot's motion trajectory, monitoring the robot's motion status and environmental changes in real time; reacting quickly to sudden situations or changes, adjusting motion strategies to ensure the robot's safety and stability.

[0022] Preferably, a clock spring structure is provided on the vehicle body where the third axle passes through the vehicle body.

[0023] The beneficial effects of adopting the above technical solution are as follows:

[0024] 1. The wheel-foot mechanism 1 of this robot uses an integrated design, which is more compact than previous wheel-foot mechanisms. Since the execution unit of the wheel-foot mechanism is the wheel in both wheeled and legged movement modes, it has a better load-bearing capacity than other integrated wheeled robots in legged movement mode, and is simple to maintain and not easily damaged.

[0025] 2. The single wheel-leg mechanism of this robot has only 3 rotating axes, so the robot consumes less energy and has a lower energy requirement. In addition, the control of 3 axes is simpler than that of traditional multi-joint leg structures, and the manufacturing cost is lower.

[0026] 3. Compared with traditional wheel-leg integrated robots, this robot has a faster obstacle-crossing ability. This is because the design of this robot can inherit the advantages of wheel-like movement even in legged mode. It can quickly complete the legged movement cycle of a single wheel-leg mechanism (the first axis rotates 360°) by driving a single axis, without having to control the coordinated movement of multiple axes to complete the obstacle-crossing action, thereby improving obstacle-crossing efficiency.

[0027] 4. Traditional wheeled robots need to mimic human leg-lifting movements when crossing obstacles, requiring different leg-lifting heights to be matched for different terrains. However, this robot does not have a complex multi-joint leg structure, so it does not need to accurately judge the size of obstacles in front of it and calculate the required driving angle of each joint. This greatly reduces the consumption of computing resources and the difficulty of designing control algorithms.

[0028] 5. This wheel-foot integrated robot has omnidirectional movement capability in both wheeled and footed movement modes, which is a movement performance that other wheel-foot integrated robots do not have. Attached Figure Description

[0029] Figure 1This is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is an axonometric view of the overall structure of the present invention;

[0031] Figure 3 yes Figure 2 A magnified view of the area along direction A;

[0032] Figure 4 This is a schematic diagram of the bottom structure of the present invention;

[0033] Figure 5 This is a top view of the structure of the present invention;

[0034] Figure 6 This is a schematic diagram of the left-side structure of the present invention;

[0035] Figure 7 yes Figure 6 BB section view;

[0036] Figure 8 This is a schematic diagram of the obstacle-crossing trajectory of the present invention;

[0037] In the diagram: 1. Wheel mechanism; 101. First motor; 102. First shaft; 103. Wheel hub; 104. Tire; 2. Vehicle body; 3. Control module; 4. Power supply module; 5. Intelligent sensing system; 6. Task execution device; 7. Bearing assembly; 8. Second shaft; 9. Third shaft; 10. Second motor; 11. First bevel gear; 12. Third motor; 13. Second bevel gear; 14. Clock spring structure. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0039] like Figure 1-2 As shown, the present invention includes an integrated wheelset, a control module 33, a power supply module 4, an intelligent sensing system 5, a task execution device 6, and a vehicle body 2. The control module 3 and the intelligent sensing system 5 are connected via a high-speed data bus. The intelligent sensing system 5 and the control module 3, and the task execution device 6 and the control module 3 are connected via data interfaces. The power supply module 4 is electrically connected to the integrated wheelset, to the control module 3, to the intelligent sensing system 5, and to the task execution device 6.

[0040] The wheel-legged robot comprises three integrated wheel sets, mounted parallel to each other on the bottom of the vehicle body 2. Each integrated wheel set includes two wheel-leg mechanisms 1. A second motor 10 is located between the two wheel-leg mechanisms 1, connected to a first bevel gear 11. The first bevel gear 11 meshes with a second bevel gear 13 for transmission. The second bevel gear 13 is connected to a bearing assembly 7. The left and right sides of the bearing assembly 7 are each automatically retractable to one end of a second shaft 8. The other end of the second shaft 8 is automatically detachable from the wheel-leg mechanism 1. The second motor 10 drives the first bevel gear 11 and the second bevel gear 13 to rotate, which in turn drives the two second shafts 8 to rotate. When the second shafts 8 are connected to the wheel-leg mechanisms 1, the wheel-leg mechanism 1 operates in wheeled motion mode, with the second shafts 8 driving the wheel set mechanism. When the second shafts 8 retract and separate from the wheel-leg mechanism 1, the bearing assembly 7 automatically raises the second motor 10, the first bevel gear 11, the second bevel gear 13, and the second shafts 8, thus providing space and freedom for switching from wheeled to legged motion.

[0041] like Figure 3-4 As shown, the wheel-foot mechanism 1 includes a first motor 101, a first shaft 102, a hub 103, and a tire 104 (the outer edge of the tire 104 is made of rubber material with added treads, allowing it to better adhere to the obstacle surface when it comes into contact with an obstacle, thus reducing slippage and increasing the robot's obstacle-crossing performance). A second shaft 8 is perpendicular to the tire 104 and detachably connected to the center of the tire 104. The first shaft 102 is arranged along the diameter of the tire 104, with one end connected to the first motor 101 and the other end connected to the tire 104. The first motor 101 is fixedly connected to the hub 103, which is positioned above the tire 104. The first motor 101 drives the first shaft 102 to rotate, and the first shaft 102 drives the tire 104 to rotate. The wheel-foot mechanism 1 also includes a third shaft 9 and a third motor 12, as shown in the diagram. Figure 5 As shown, the third motor 12 is fixedly connected to the upper part of the vehicle body 2. The third motor 12 is connected to one end of the third shaft 9, and the other end of the third shaft 9 is fixedly connected to the wheel hub 103.

[0042] Control module 3 acts as the crucial central brain of this wheeled-legged integrated mobile robot, responsible for intelligent logic control of various aspects of the vehicle, including wheel-leg switching, sensor signal processing, and coordinated motion scheduling. Its core function is to integrate sensory information, environmental data, and robot status, and based on this information, make decisions and plan actions to achieve efficient movement, obstacle crossing, and path planning in different motion modes. Control module 3, through advanced algorithms and real-time data processing, ensures the robot can adapt to diverse terrain and obstacle conditions, achieving efficient movement and obstacle crossing capabilities. The following are the key functions and components of control module 3:

[0043] Perception Data Fusion and Processing: Control module 3 is responsible for receiving data from sensors such as radar and RGB cameras, which provide crucial information about the surrounding environment. Control module 3 integrates and processes data from different sensors using advanced data fusion algorithms to obtain more accurate and complete environmental perception results. This processed data provides the fundamental information needed for the robot to move in different modes.

[0044] Environmental Perception and Decision-Making: Based on the fused perception data, control module 3 performs environmental perception and analysis through intelligent decision-making algorithms. The module can accurately determine the position, size, and distance of surrounding obstacles, identify terrain features, and formulate movement strategies based on real-time conditions. This autonomous decision-making capability enables the robot to automatically select the optimal movement mode (wheeled or legged) according to environmental conditions and formulate corresponding path plans to ensure efficient and safe movement.

[0045] Coordinated Motion Scheduling: Control module 3 coordinates the vehicle's movement under different motion modes, ensuring orderly switching of wheel legs and scheduling of movement modes. Based on perception data and decision-making results, control module 3 can adjust the motion state of each wheel leg in real time to achieve coordinated movement and flexible obstacle crossing. Through precise control, the module enables the robot to move stably and efficiently in complex terrain and various obstacles.

[0046] Real-time feedback and correction: Control module 3 is not only responsible for planning the robot's motion trajectory, but also for monitoring the robot's motion status and environmental changes in real time. In the event of unexpected situations or changes, control module 3 can react quickly and adjust its motion strategy to ensure the robot's safety and stability. This real-time feedback and correction capability enables the robot to adapt to changes in various conditions and maintain a high degree of motion control precision.

[0047] Power supply module 4 is the energy core of this vehicle, providing the necessary electrical energy for the entire wheeled and legged integrated mobile robot. This module consists of batteries to meet the robot's power requirements in different movement modes. As an energy storage device, the battery can release stored electrical energy during operation, providing continuous power support for the robot's wheeled and legged modes. Through reasonable battery selection and management, power supply module 4 ensures a stable energy supply for the robot under different working environments and tasks, thereby achieving efficient mobility and operation capabilities. The battery module is a key component of power supply module 4, comprising a combination of multiple battery cells to provide sufficient electrical energy reserves. Each battery cell consists of a positive electrode, a negative electrode, an electrolyte, etc., storing and releasing electrical energy through chemical reactions. The design of the battery module needs to consider factors such as battery type, capacity, and charge / discharge performance to meet the robot's operational requirements. To ensure system stability and safety, the battery module typically also includes auxiliary functions such as temperature monitoring and a battery management system (BMS) to monitor battery status, prevent overcharging and over-discharging, thereby extending battery life and reducing potential risks.

[0048] The intelligent sensing system 5 aims to achieve efficient perception and data acquisition of environmental information to support the robot's ability to move flexibly, overcome obstacles, and plan paths under different terrain and obstacle conditions. The sensing system consists of several key components, including sensor modules such as radar and RGB cameras, and a control module 3 for data processing and decision-making. Radar Sensor: The mobile robot is equipped with a radar sensor module for real-time perception of the surrounding environment's distance and obstacle information. The radar sensor can construct a three-dimensional distance image of the environment by emitting electromagnetic waves and receiving the reflected signals. This allows the robot to accurately detect the position, size, and distance of obstacles, providing crucial information for obstacle avoidance and path planning. RGB Camera: The system also features an RGB camera module for acquiring visual information about the environment. The RGB camera captures color images of the surrounding scene, which are essential for the robot's environmental perception and target recognition. Through image processing algorithms, the robot can perform visual analysis of terrain, obstacles, and task objectives, thereby assisting in decision-making and path planning. Data Fusion and Processing: The data acquired by the radar and RGB camera sensors in the sensing system undergoes data fusion and processing steps to obtain more accurate and complete environmental information. Control module 3 is responsible for fusing sensor data, combining distance and visual information to generate more information-dense environmental perception results. This processed data will support the robot's motion control, obstacle avoidance, and path planning. Environmental Perception and Decision-Making: The data output from the sensing system will be used by the robot's environmental perception and decision-making module 7. This module 7 analyzes the environmental conditions based on the fused sensor data and formulates corresponding motion strategies. Based on real-time perception data, the robot can autonomously determine how to choose the best movement mode (wheeled or legged), and how to avoid obstacles and navigate complex terrain. This autonomous decision-making capability enables the robot to react quickly and accurately in different environments.

[0049] By equipping multiple sensors to fuse and process the perceived data, the sensing system of this system provides strong support for the flexible movement, obstacle crossing, and path planning capabilities of the wheel-legged integrated mobile robot, thereby achieving efficient movement and obstacle crossing capabilities under diverse terrain and obstacle conditions.

[0050] During the switching between wheeled and footed movement modes, a clock spring structure 14 is provided at the point where the third axle 9 on the vehicle body 2 passes through the vehicle body 2 to prevent the wiring harness from tangling and locking the mechanism. This structure allows the wiring harness to move internally, preventing damage caused by the wiring harness locking.

[0051] The working process of the wheel-legged integrated robot is as follows: The integrated wheel assembly is responsible for the robot's movement and positioning. The control module 3, based on the surrounding environment information acquired by the intelligent sensing system 5, calculates the optimal movement strategy for the robot using its built-in algorithm and transmits the instructions to the integrated wheel assembly. The intelligent sensing system 5 senses the robot's surrounding environment, including obstacles and terrain. The data acquired by the sensors is transmitted to the control module 3 through a data interface to formulate a reasonable movement plan (such as selecting whether to switch between wheel-legged movement modes). If the control module 3 detects an obstacle ahead through the intelligent sensing system 5, it will control the integrated wheel assembly to complete the transformation between wheeled and legged mechanisms. Based on the data from the intelligent sensing system 5, the control module 3 calculates the robot's movement trajectory, speed, and other parameters using its internal algorithm and sends control signals to the integrated wheel assembly, thereby achieving precise movement and positioning of the robot. After the control module 3 determines that it has reached the target location based on the data from the intelligent sensing system 5, it controls the task execution device 6 to perform tasks, such as controlling the mechanical gripper to perform a grasping task.

[0052] Wheel-Leg Integrated Robot Wheel-Leg Switching Method: In this patent, a novel and efficient switching method for the robot between different working modes is provided, which can adapt to diverse environments and task requirements. The robot's movement modes are divided into two modes: wheeled movement mode and legged movement mode.

[0053] Wheeled motion mode (taking one set of wheel-foot mechanism 1 as an example, the principle of the remaining five sets is the same): When moving on a normal flat ground, that is, when the control module 3 does not detect the existence of obstacles on the movement path from the data provided by the intelligent sensing system 5, the robot maintains the wheeled motion mode. In this mode, when the vehicle body 2 moves straight forward, the second axis 8 is perpendicular to the direction of movement of the vehicle body 2. The second axis 8 rotates, driving the tire 104 to rotate and roll. At this time, the rotation angle of the third axis 9 can be changed at any time to enable the vehicle body 2 to achieve omnidirectional movement in the wheeled motion mode (that is, it still has the ability to move freely without changing the orientation of the robot chassis).

[0054] Foot-based movement mode: When the control module 3 detects an obstacle in front of the vehicle that cannot be safely passed by wheeled means through the intelligent sensing system 5, the control module 3 will control the wheel-foot integrated mechanism of the vehicle body 2 to begin deforming, changing from wheeled movement mode to foot-based movement mode. The deformation process has three steps (taking one wheel-foot mechanism as an example, the principle of the remaining 5 wheel sets is the same): First, the second axle 8 will move and retract into the bearing assembly 7; then, the bearing assembly 7 and the second motor 10 are connected and rise together along the vehicle body 2 under the action of the telescopic device, raising the chassis to avoid collision with the obstacle. Finally, the third axle 9 rotates 90 degrees, and the first axle 102 rotates to be perpendicular to the forward direction of the vehicle body 2. The first motor 101 drives the first axle 102 to rotate, and the first axle 102 drives the tire 104 to roll and rotate around the first axle 102. The tire 104 flips over the obstacle and begins the foot-based movement mode.

[0055] The difference between the legged and wheeled locomotion modes is that the wheeled mode is driven by the second axle 8, while the legged mode is driven by the first axle 102. The second axle 8 remains fixed during legged movement, allowing for forward movement without wheels and overcoming obstacles that are difficult to traverse with ordinary wheels. This robot underwent obstacle-crossing tests in the ADAMS physical simulation environment. All models in the tests were given mass and physical collision volumes, and the obstacle arrangement was as follows: Figure 8 As shown, 11 hemispheres are randomly scattered and embedded on the ground in the direction of the robot's movement, simulating a scenario where the robot encounters obstacles while moving in wheeled mode. The radius of each hemisphere is set to 20mm, while in the simulation environment, the radius of a single wheel is 30mm. A 2 / 3 height ratio is difficult for traditional wheeled robots to overcome; the wheels would collide with obstacles, causing them to deviate from their intended trajectory and ultimately fail to reach the destination. However, in the simulation environment, the novel wheel-legged integrated robot of this invention can successfully pass through a cluster of obstacles with a height ratio of 2 / 3 to the wheel radius without significantly disrupting the stability of its overall trajectory, and ultimately reaches the target point. This demonstrates that our novel wheel-legged integrated robot possesses superior obstacle-crossing performance compared to traditional wheeled mobile robots. Furthermore, similar to the wheeled mode, the robot can achieve omnidirectional movement in legged mode by changing the rotation angle of the third axis 9 at any time during movement.

[0056] When the control module 3 determines through the intelligent sensing system 5 that there are no obstacles in front of the vehicle, it controls the integrated wheel assembly to transform and switch back to wheeled motion mode. The bearing assembly 7 descends, the third axle 9 rotates 90°, and the second axle 8 extends, reconnecting with the tires 104 at both ends. After the transformation is complete, the wheeled motion mode begins.

[0057] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A wheel-legged integrated robot with omnidirectional motion capability, characterized in that, include: Several integrated wheel sets are distributed and installed at the bottom of the vehicle body, which can freely switch between wheeled and footed sports modes; The control module, installed on the vehicle body, integrates perception information, environmental data, and robot status, and makes decisions and plans actions based on this information to enable the robot to move efficiently, overcome obstacles, and plan paths in different motion modes. The power supply module, consisting of batteries, is installed on the vehicle body and provides the necessary electrical energy for the entire wheel-foot integrated robot to meet the power requirements of different movement modes; The intelligent sensing system, including radar, cameras, and sensors, is installed on the side of the vehicle to achieve efficient perception and data collection of environmental information, so as to support the ability to move, overcome obstacles, and plan paths under different terrain and obstacle conditions. The mission execution device is mounted on the vehicle body to perform mission operations; Each integrated wheelset includes two wheel foot mechanisms. A second motor is provided between the two wheel foot mechanisms. The second motor is connected to a first bevel gear. The first bevel gear meshes with the second bevel gear for transmission. The second bevel gear is connected to a bearing assembly. The left and right sides of the bearing assembly are automatically and retractably connected to one end of a second shaft. The other end of the second shaft is automatically and detachably connected to the wheel foot mechanism. The second motor drives the first and second bevel gears to rotate. The second bevel gears drive the two second shafts to rotate. When the second shaft is connected to the wheel foot mechanism, the wheel foot mechanism is in wheel motion mode, and the second shaft drives the wheelset mechanism. When the second shaft retracts and separates from the wheel mechanism, the bearing assembly, under the action of the telescopic device, can automatically raise the second motor, the first bevel gear, the second bevel gear, and the second shaft, or automatically lower them.

2. The wheel-legged integrated robot with omnidirectional motion capability according to claim 1, characterized in that, The wheel mechanism includes a first motor, a first shaft, a wheel hub, and a tire. The second shaft is perpendicular to the tire and detachably connected to the center of the tire. The first shaft is arranged along the diameter of the tire, with one end connected to the first motor and the other end connected to the tire. The first motor is fixedly connected to the wheel hub, which is located above the tire. The first motor drives the first shaft to rotate, and the first shaft drives the tire to rotate.

3. A wheel-legged integrated robot with omnidirectional motion capability according to claim 2, characterized in that, It also includes a third axle and a third motor. The third motor is fixedly connected to the top of the vehicle body. The third motor is connected to one end of the third axle, and the other end of the third axle is fixedly connected to the wheel hub.

4. A wheel-legged integrated robot with omnidirectional motion capability according to claim 1, characterized in that, The control module includes: Sensing data fusion and processing: Receive data from radar and camera sensors, and integrate and process the sensor data through data fusion algorithms; Environmental perception and decision-making: Based on the fused perception data, the system uses intelligent decision-making algorithms to perceive and analyze the environment, accurately determine the position, size and distance of surrounding obstacles, identify terrain features, formulate movement strategies and movement patterns based on real-time conditions, and develop corresponding path plans. Coordinated motion scheduling: Coordinates vehicle movement under different motion modes to ensure orderly switching of wheel feet and scheduling of movement modes. Based on perception data and decision results, it adjusts the motion state of each wheel foot in real time to achieve coordinated motion and flexible obstacle crossing. Real-time feedback and correction: Responsible for planning the robot's motion trajectory, monitoring the robot's motion status and environmental changes in real time; reacting to emergencies or changes, and adjusting motion strategies to ensure the robot's safety and stability.

5. A wheel-legged integrated robot with omnidirectional motion capability according to claim 1, characterized in that, On the vehicle body, a clock spring structure is installed where the third axle passes through the vehicle body.

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