Robot control method and robot

Abstract

The embodiment of the invention relates to the technical field of mobile robots, and discloses a robot control method, and a robot comprises a wheel type chassis and a gravity center adjusting device; the control method comprises the following steps: acquiring road condition information, and identifying a road condition type based on the road condition information; planning a moving strategy based on the road condition type; wherein the moving strategy meets the conditions that at least two target wheel sets make contact with the ground to form a supporting face so that the chassis platform can be parallel to the ground, and the gravity center of the robot is located in the supporting face; and based on the moving strategy, controlling a driving system to drive at least two target wheel groups to move and / or controlling a gravity center adjusting device to adjust the gravity center of the robot so as to travel through the road condition type. According to the method, the supporting face formed by the at least two target wheel sets making contact with the ground is changed in real time according to the road condition type, meanwhile, the gravity center of the robot is adjusted through the gravity center adjusting device, the gravity center of the robot is located in the supporting face all the time, and therefore the obstacle crossing stability of the robot facing different road conditions is improved.

Description

Technical Field

[0001] This application relates to the field of mobile robot technology, and more particularly to a robot control method and a robot. Background Technology

[0002] Mobility is one of the fundamental technologies for the widespread application of humanoid robots. From a configurational design perspective, how to endow robots with efficient motion performance, flexible posture adjustment capabilities, and good obstacle-crossing performance has become a key issue in this field. Currently, based on the mode of locomotion, the configurational design of humanoid robots mainly includes three categories: wheeled, legged, and wheel-legged. Wheeled mobile platforms are widely used in factories, warehouses, offices, and other environments with flat ground due to their simple structure, high mobility, and low cost. However, these platforms have limited freedom of movement, lack effective vertical adjustment capabilities, and struggle to adapt to rugged terrain or cross significant obstacles (such as steps or ditches). They also have difficulty maintaining balance when traversing uneven ground, resulting in poor stability and maneuverability. Summary of the Invention

[0003] The embodiments of this application mainly provide a robot control method to improve the vertical adjustment capability of a mobile robot and enhance its stability during obstacle crossing.

[0004] To solve the above-mentioned technical problems, the embodiments of this application adopt the following technical solutions: In a first aspect, this application provides a robot control method, the robot including a wheeled chassis and a center of gravity adjustment device; The wheeled chassis includes a chassis platform, a wheel system, and a drive system. The wheel system includes a first wheel group, a second wheel group, and a third wheel group arranged sequentially in the front-rear direction. The drive system is configured to drive any one of the wheel groups in the wheel system to move on the ground and to move in the vertical direction. The center of gravity adjustment device is configured to adjust the robot's center of gravity; The control method includes: Obtain traffic information and identify traffic condition types based on the information; Based on the road condition type, a movement strategy is planned; wherein, the movement strategy satisfies: at least two target wheel sets are in contact with the ground to form a support surface so that the chassis platform is parallel to the ground, and the robot's center of gravity is located within the support surface; Based on the mobility strategy, the control drive system drives at least two target wheel sets to move and / or controls the center of gravity adjustment device to adjust the robot's center of gravity to travel through different road conditions.

[0005] In some embodiments, the road condition type is a step crossing or a ditch crossing; Based on road condition type, plan a movement strategy, including: The control drive system drives the first wheel set to lift off the ground, controls the second wheel set to land, keeps the chassis platform parallel to the ground, and controls the center of gravity adjustment device to adjust the robot's center of gravity so that it is located within the support surface formed by the second and third wheel sets. The control drive system drives the second and third wheel sets forward, causing the first wheel set to move above the step or across the ditch; The control drive system drives the first wheel set to touch the ground, controls the second wheel set to lift off the ground to raise the chassis platform, and controls the center of gravity adjustment device to adjust the robot's center of gravity so that it is located within the support surface formed by the first wheel set and the third wheel set. The control drive system drives the first and third wheel sets forward to move the second wheel set over a step or across a ditch. Control the second wheel set to touch the ground, drive the third wheel set to lift off the ground, keep the chassis platform parallel to the ground, and control the center of gravity adjustment device to move the robot's center of gravity forward so that it is located within the support surface defined by the first wheel set and the second wheel set. The control drive system drives the first and second wheel sets forward so that the third wheel set can move onto a step or cross a ditch. The control drive system drives the third wheel set to press down to the ground, controls the second wheel set to lift off the ground, keeps the chassis platform parallel to the ground, and controls the center of gravity adjustment device to adjust the robot's center of gravity so that it is located within the support surface defined by the first and third wheel sets, so as to complete the climbing of steps or crossing of ditches.

[0006] In some embodiments, the road condition type is hill driving; Based on road condition type, plan a movement strategy, including: When going uphill, the control drive system drives the first and third wheel sets to rotate around the chassis platform so that the chassis platform is close to the slope and parallel to the slope; the control center of gravity adjustment device moves the robot's center of gravity forward and keeps the center of gravity within the support surface defined by the first and third wheel sets to complete the slope travel. When going downhill, the control drive system drives the first and third wheel sets to rotate around the chassis platform so that the chassis platform is close to the slope and parallel to the slope; the control center of gravity adjustment device moves the robot's center of gravity backward and keeps the center of gravity within the support surface defined by the first and third wheel sets to complete the slope travel.

[0007] In some embodiments, the first wheel set includes a first left wheel and a first right wheel; the third wheel set includes a third left wheel and a third right wheel, and the road condition type is undulating road surface driving; Based on road condition type, plan a movement strategy, including: Obtain the height information of the undulating road surface in front of the first wheel group and its distance information from the first left wheel and the first right wheel; Acquire motion information, which includes the speed and direction of motion of the first left wheel, the first right wheel, the third left wheel, and the third right wheel. Calculate the estimated time from the current moment for the first left wheel, first right wheel, third left wheel, and third right wheel to contact the undulating road surface based on distance and motion information; Based on altitude information and estimated time, the drive system controls the first left wheel, first right wheel, third left wheel, and third right wheel to rotate around the chassis platform, keeping the chassis platform parallel to the ground to complete driving on undulating roads.

[0008] In some embodiments, the road condition type is climbing inclined steps; Based on road condition type, plan a movement strategy, including: The center of gravity adjustment device is controlled to move the robot's center of gravity backward so that it is located within the support surface formed by the second and third wheel sets, and the drive system is controlled to drive the first wheel set to lift off the ground. The control drive system drives the second and third wheel sets forward, causing the first wheel set to move above the inclined step; the control drive system drives the first wheel set to rotate around the chassis platform so that the first wheel set contacts the inclined step and keeps the chassis platform level. Control the second wheel set to lift off the ground, drive the first and third wheel sets forward, move the second wheel set to the top of the inclined step and press it down to contact the inclined step; The center of gravity of the robot is moved forward by the control center adjustment device, the drive system is driven to lift the third wheel group off the ground, and the first wheel group is driven to rotate around the chassis platform so that the chassis platform remains parallel to the inclined steps. The control drive system drives the first and second wheel sets forward to move the third wheel set above the inclined step. The control drive system drives the third wheel set to press down onto the ground, while the second wheel set is lifted off the ground, keeping the chassis platform parallel to the inclined steps, thus completing the climb up the inclined steps.

[0009] In some embodiments, the first wheel set is an orthogonal wheel.

[0010] In some embodiments, controlling the drive system to drive the first wheel set and the second wheel set forward specifically includes the following steps: The rotational speed of the first wheel set is adjusted by torque control or speed control so that the torque output by the first wheel set can ensure that the chassis platform moves in the forward direction.

[0011] In some embodiments, the road condition type is a slope that extends from a flat road surface to the sloping side of the slope. Based on road condition type, plan a movement strategy, including: The control drive system drives the first wheel set to rotate around the chassis platform to raise the first wheel set to travel on the slope; Drive the first wheel set and the third wheel set forward so that the first wheel set contacts the inclined side. When the first wheel set contacts the inclined side, control the drive system to drive the first wheel set to rotate around the chassis platform to press the first wheel set down to the inclined side so that the chassis platform remains level. When the third wheel set moves forward and contacts the inclined side, the control center adjustment device adjusts the robot's center of gravity or the control drive system drives the third wheel set to rotate around the chassis platform so that the support surface formed by the first wheel set and the third wheel set can support the chassis platform to remain horizontal.

[0012] In some embodiments, the robot includes a first arm and a second arm respectively disposed on both sides of the robot, a first wheel set including a first left wheel and a first right wheel, a third wheel set including a third left wheel and a third right wheel, and a road condition type including turning in place; Based on road condition type, plan a movement strategy, including: Control the first and second arms to retract towards the robot and fix them to both sides of the robot; The control drive system drives the first left wheel and the third left wheel to rotate along the first direction at the first speed and the third speed, respectively. The control drive system drives the first right wheel and the third right wheel to rotate along the second direction at the second speed and the fourth speed, respectively. The first direction is opposite to the second direction, the first speed is equal to the second speed, and the third speed is equal to the fourth speed. The control drive system drives the third wheel set and the first wheel set to rotate around the chassis platform respectively, so as to reduce the included angle between the first wheel set, the chassis platform and the third wheel set.

[0013] Secondly, embodiments of this application also provide a robot, including: a wheeled chassis, a center of gravity adjustment device, the robot, and a controller; The wheeled chassis includes a chassis platform, a wheel system, and a drive system. The wheel system includes a first wheel group, a second wheel group, and a third wheel group arranged sequentially in the front-to-back direction. The drive system is configured to drive any one of the wheel groups in the wheel system to move on the ground and rotate around the chassis platform to achieve vertical movement. The robot is mounted on a chassis platform, and the center of gravity adjustment device is configured to adjust the robot's center of gravity. The controller is configured to execute the robot control method provided in any of the first aspects.

[0014] The beneficial effects of this application's embodiments are as follows: Unlike existing technologies, this application provides a robot control method. The robot includes a wheeled chassis, a center of gravity adjustment device, and the robot itself. The wheeled chassis includes a chassis platform, a wheel system, and a drive system. The wheel system includes a first wheel group, a second wheel group, and a third wheel group arranged sequentially in a front-rear direction. The drive system is configured to drive any one wheel group in the wheel system to move on the ground and in the vertical direction. The robot is positioned above the chassis platform, and the center of gravity adjustment device is configured to adjust the robot's center of gravity. The control method includes: acquiring road condition information and identifying road condition types based on the road condition information; planning a movement strategy based on the road condition type; wherein the movement strategy satisfies: at least two target wheel groups contact the ground to form a support surface so that the chassis platform is parallel to the ground, and the robot's center of gravity is located within the support surface; based on the movement strategy, controlling the drive system to drive at least two target wheel groups to move and / or controlling the center of gravity adjustment device to adjust the robot's center of gravity to traverse the road condition type. The above method changes the support surface formed by the contact of at least two target wheel sets with the ground in real time according to the road condition type. At the same time, the center of gravity of the robot is adjusted by the center of gravity adjustment device so that the center of gravity of the robot is always within the support surface, thereby improving the robot's obstacle crossing stability when facing different road conditions. Attached Figure Description

[0015] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0016] Figure 1 This is a schematic diagram of the structure of a robot provided in an embodiment of this application; Figure 2 This is a flowchart illustrating a robot control method provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating the process of a robot crossing stairs according to an embodiment of this application; Figure 4 This is a schematic diagram illustrating the process of a robot crossing a ditch, as provided in an embodiment of this application. Figure 5 This is a schematic diagram illustrating the process of a robot navigating undulating terrain, as provided in an embodiment of this application. Figure 6 This is a schematic diagram illustrating the process of a robot climbing an inclined staircase, as provided in an embodiment of this application. Figure 7 This is a schematic diagram of an orthogonal wheel structure provided in an embodiment of this application; Figure 8 This is a schematic diagram of torque control for a robot climbing inclined stairs, provided in an embodiment of this application; Figure 9 This is a schematic diagram illustrating the process of a robot traversing a slope from a flat surface to the inclined side of the slope, as provided in an embodiment of this application. Figure 10 This is a schematic diagram of a robot turning in place, provided in an embodiment of this application. Detailed Implementation

[0017] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0019] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. In addition, the terms "first," "second," and "third" used herein do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] Furthermore, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0022] With the continuous development of technology, humanoid robots are increasingly being used in daily life, and their mobility is one of the fundamental technologies for their widespread application. From a design perspective, how to endow robots with efficient motion performance, flexible posture adjustment capabilities, and good obstacle-crossing performance has become a key issue in this field. Currently, based on the mode of locomotion, existing humanoid robot designs mainly fall into three categories: wheeled, legged, and wheel-legged.

[0023] However, traditional wheeled chassis have limited degrees of freedom of movement, making it difficult to cross vertical obstacles (such as steps and ditches) that are higher than the wheel radius. On uneven ground, they are prone to tipping over due to the center of gravity shifting away from the support area. While legged robots possess superior terrain mobility, their multi-degree-of-freedom configuration leads to high system complexity, making control algorithm development difficult and significantly increasing manufacturing and maintenance costs. Wheel-legged robots combine the characteristics of both, but simply adding leg joints and wheel structures further increases system complexity; conversely, oversimplifying the joint structure offers limited improvement in obstacle-crossing ability. For example, some existing wheel-legged robots still lack vertical movement capabilities, resulting in unsatisfactory obstacle-crossing performance.

[0024] Therefore, this application provides a robot control method and a robot that can significantly improve the robot's obstacle-crossing ability and terrain adaptability while maintaining low complexity and cost.

[0025] In view of this, firstly, embodiments of this application provide a robot control method, such as... Figure 1 As shown, the robot (100) includes a wheeled chassis and a center of gravity adjustment device (not shown in the figure); the wheeled chassis includes a chassis platform (101), a wheel system and a drive system, the wheel system includes a first wheel group (102), a second wheel group (103) and a third wheel group (104) arranged sequentially in the front-rear direction, the drive system is configured to drive any one of the wheel groups in the wheel system to move on the ground and in the vertical direction; the center of gravity adjustment device is configured to adjust the center of gravity of the robot.

[0026] The chassis platform (101) serves as the main load-bearing structure. The first wheel set (102) is rotatably connected to the chassis platform and can rotate around the chassis platform (101) in the vertical plane to adjust the distance between the first wheel set (102) and the chassis platform in the vertical direction. The third wheel set (104) is also rotatably connected to the chassis platform (101) and can rotate around the chassis platform (101) in the vertical plane to adjust the distance between the third wheel set (104) and the chassis platform in the vertical direction. A second wheel set (103) is installed between the first wheel set (102) and the third wheel set (104) on the chassis platform (101). When the first wheel set (102) or the third wheel set (104) rotates around the chassis platform (101) and moves in the vertical direction, the second wheel set (103) will directly follow the chassis platform (101) in the vertical direction. For example, the first wheel set (102) includes two wheels, which are connected to the chassis platform via a first revolute joint (105) and a second revolute joint (106), respectively. Both wheels can rotate around the chassis platform (101) in a vertical plane. The second wheel set (103) includes two wheels (108), which are symmetrically arranged on both sides of the chassis platform (101). The two wheels in the third wheel set (104) are rigidly connected and connected to the chassis platform (101) via a third revolute joint (107).

[0027] The first wheel set (102) and the third wheel set (104) are each driven by their respective hub motors. The second wheel set (103) can act as a driven wheel and follow the first wheel set (102) or the third wheel set (104) as they rotate on the ground when in contact with the ground. The first revolute joint (105), the second revolute joint (106), and the third revolute joint (107) can also be driven by their respective drive motors. Furthermore, an encoder can be configured to detect the rotation angle of the first wheel set (102) and the third wheel set (104) relative to the chassis platform (101).

[0028] The center of gravity adjustment device includes a pitch joint (111) and a lateral joint (112). The pitch joint (111) is used to adjust the pitch angle of the upper body of the robot (100) and assists in adjusting the center of gravity in the forward and backward direction during movement. The lateral joint (112) provides lateral angle adjustment and assists in adjusting the center of gravity in the left and right direction during movement. Each joint is equipped with an encoder for detecting rotation angle.

[0029] like Figure 2 As shown, the control method S100 includes: S10: Obtain road condition information and identify the road condition type based on the road condition information; plan a movement strategy based on the road condition type; wherein the movement strategy satisfies: at least two target wheel sets are in contact with the ground to form a support surface so that the chassis platform is parallel to the ground and the robot's center of gravity is located within the support surface.

[0030] Understandably, obtaining road condition information is a prerequisite for equipment to perform tasks such as obstacle crossing and climbing. Road condition information refers to specific data about the external environment on the route the equipment is traveling on. It includes terrain features and / or obstacle parameters. Terrain features can reflect information such as terrain slope, ground flatness, ground continuity, and ground material, while obstacle parameters can reflect information such as obstacle type, obstacle size, material, direction, and location.

[0031] The robot plans its movement strategy based on the identified different road conditions. During the robot's travel under different road conditions, the first, second, and third wheel sets change postures by moving vertically, switching between different support points. These support points define the support surface. That is, in some embodiments, any two of the three wheel sets act as support points, contacting the ground to form the support surface; in other embodiments, all three wheel sets act as support points, contacting the ground to form the support surface. By switching the robot's support points and support surface when facing different road conditions, the robot's chassis platform can be ensured to be parallel to the ground. The ground mentioned in this application refers to the road surface that the robot contacts during movement; it can be a plane or an incline.

[0032] Based on this, while adjusting the aforementioned support points and support surfaces, the robot's center of gravity is adjusted in conjunction with the center of gravity adjustment device, so that the robot's center of gravity or the projection of the center of gravity is always located within the support surface formed by the wheel set as the support point and the ground, thereby improving the robot's stability during movement. The aforementioned wheel set as the support point is the target wheel set.

[0033] S20: Based on the mobility strategy, the control drive system drives at least two target wheel sets to move and / or controls the center of gravity adjustment device to adjust the robot's center of gravity to travel through different road conditions.

[0034] As described above, the robot's first and third wheel sets are equipped with hub motors (i.e., independent power sources). These hub motors can independently control the rotational speed and steering of different wheel sets, thus enabling the chassis platform to move forward and backward. Furthermore, differential steering can be achieved by creating a speed difference between the left and right sides of any wheel set. Simultaneously, a drive motor is also installed on the chassis platform, capable of driving either the first or third wheel set to rotate around the platform, thereby changing the vertical distance between the first (and second) wheel set or the third (and third) wheel set and the chassis platform.

[0035] Furthermore, center of gravity adjustment devices (such as the attitude adjustment joints of a robot body) can precisely adjust the center of gravity by adjusting the robot's posture (such as pitch, yaw, etc.) or internal mass distribution to maintain the stability of the device in various motion states such as obstacle crossing and climbing. In some embodiments, the center of gravity adjustment device may be equipped with joint modules / drive mechanisms (such as high-torque servo motors and precision reducers) to drive its movement, a lightweight frame to provide structural support, attitude sensing elements (such as high-precision inertial measurement units), joint position sensors, and hardware facilities such as embedded controllers / drive boards / communication interfaces for data processing, algorithm execution, and command issuance. Optionally, if the center of gravity distribution is adjusted by means of internal mass distribution, a weight moving structure (such as a slide rail counterweight) may also be installed inside the center of gravity adjustment device.

[0036] Therefore, based on the movement strategy determined in step S10, the horizontal and vertical movements of at least two target wheel sets are adjusted by controlling the hub motors and drive motors in the drive system, thereby controlling the robot's horizontal movement or changing its posture. Simultaneously, the robot's center of gravity is adjusted using a center-of-gravity adjustment device, ensuring that the robot's center of gravity or its projection always lies within the support surface formed by the target wheel sets and the ground, thus improving the robot's stability during obstacle crossing.

[0037] In some embodiments, the "planning a movement strategy based on road condition type" in the aforementioned step S10 includes: S11: If the road condition is a step crossing or a ditch crossing; control the drive system to drive the first wheel set to lift off the ground, drive the second wheel set to land, keep the chassis platform parallel to the ground, and control the center of gravity adjustment device to adjust the robot's center of gravity so that it is located within the support surface formed by the second wheel set and the third wheel set. The control drive system drives the second and third wheel sets forward, causing the first wheel set to move above the steps or across the ditch; the control drive system drives the first wheel set to touch the ground, drives the second wheel set to lift off the ground to raise the chassis platform, and controls the center of gravity adjustment device to adjust the robot's center of gravity so that it is located within the support surface formed by the first and third wheel sets. The control drive system drives the first and third wheel sets forward to move the second wheel set above the step or across the ditch; the control drive system drives the second wheel set to the ground, drives the third wheel set to lift off the ground, keeps the chassis platform parallel to the ground, and controls the center of gravity adjustment device to move the robot's center of gravity forward so that it is located within the support surface defined by the first and second wheel sets. The control drive system drives the first and second wheel sets forward so that the third wheel set moves onto the steps or crosses the trenches; the control drive system drives the third wheel set to press down onto the ground, drives the second wheel set to lift off the ground, keeps the chassis platform parallel to the ground, and controls the center of gravity adjustment device to adjust the robot's center of gravity so that it is located within the support surface defined by the first and third wheel sets, so as to complete the step crossing or trench crossing.

[0038] like Figure 3 , Figure 4 As shown, when the road condition is a step crossing or a ditch crossing, the robot's movement strategy is as follows: First, control the drive motor to make the first wheel set rotate counterclockwise around the chassis platform, thereby lifting the first wheel set off the ground. At the same time, drive the second wheel set to the ground, keeping the chassis platform parallel to the ground. Then, through the center of gravity adjustment device, such as the waist pitch joint, shift the robot's center of gravity backward, so that the center of gravity of the robot after movement is located within the support surface formed by the second and third wheel sets as support points and the ground.

[0039] Then, the hub motor drives the third wheel set and moves the second wheel set horizontally until the first wheel set moves above the step or crosses the ditch. On this basis, the drive motor is controlled to make the first wheel set rotate clockwise around the chassis platform, thereby controlling the first wheel set to press down on the step surface or make contact with the ground. After the first wheel set contacts the step surface or the ground, the first wheel set is continuously controlled to rotate clockwise around the chassis platform to lift the second wheel set to the step height or lift it off the ground, thereby raising the chassis platform and avoiding collisions between the chassis platform and the steps or ditch during the crossing of steps or ditches. The center of gravity adjustment device is controlled to adjust the robot's center of gravity, transferring the robot's center of gravity to the support surface formed by the first and third wheel sets.

[0040] After adjustment, the hub motor drives the first and third wheel sets to move horizontally, that is, the first and third wheel sets move forward together, moving the second wheel set above the step or across the ditch; at the same time, the drive motor drives the first and third wheel sets to rotate around the chassis platform, so that the second wheel set presses down to contact the step or touch the ground, so as to keep the chassis platform parallel to the ground. Then, the third wheel set is driven to rotate clockwise around the chassis platform and lift off the ground. At this time, the wheel sets that serve as the support points are the first and second wheel sets. Therefore, the center of gravity adjustment device moves the robot's center of gravity forward, that is, adjusts the robot's center of gravity to the support surface formed by the first and second wheel sets and the ground.

[0041] Then, the hub motor is controlled to drive the first wheel set, causing the first wheel set and the second wheel set to move horizontally, that is, to move forward on the surface of the step or the ground, until the third wheel set moves onto the step or crosses the ditch.

[0042] Finally, the drive motor is controlled to make the third wheel set move counterclockwise around the chassis platform. This means the third wheel set presses down to contact the step surface or the ground, while the second wheel set is lifted off the ground, thus maintaining the chassis platform parallel to the ground. At this point, the first and third wheel sets serve as support points. Therefore, the center of gravity adjustment device adjusts the robot's center of gravity to the support surface formed by the first and third wheel sets and the ground, enabling the robot to cross steps or ditches.

[0043] S12: If the road condition is a slope, when going uphill, the control drive system drives the first and third wheel sets to rotate around the chassis platform so that the chassis platform is close to the slope to lower the center of gravity and expand the support surface, while maintaining parallelism with the slope; the control center of gravity adjustment device moves the robot's center of gravity forward and keeps the center of gravity within the support surface defined by the first and third wheel sets to complete the slope driving. When going downhill, the control drive system drives the first and third wheel sets to rotate around the chassis platform, so that the chassis platform is close to the slope to lower the center of gravity and expand the support surface, while maintaining parallelism with the slope; the control center of gravity adjustment device moves the robot's center of gravity backward and keeps the center of gravity within the support surface defined by the first and third wheel sets to complete the slope travel.

[0044] When facing a slope, different control strategies are employed depending on whether the robot is currently going uphill or downhill. If the robot is going uphill, the drive system is controlled to rotate the first wheel set counterclockwise around the chassis platform and the third wheel set clockwise around the chassis platform. This increases the angle between the first and third wheel sets and the chassis platform, i.e., reduces the vertical distance between the first and third wheel sets and the chassis platform. This causes the robot's chassis platform to press down, thereby lowering the center of gravity and expanding the support surface, bringing the chassis platform closer to the slope plane and parallel to it.

[0045] At the same time, the center of gravity adjustment device adjusts the robot's center of gravity to move forward, keeping the robot's center of gravity within the support surface formed by the first and third wheel sets and the ground. That is, when the robot is going uphill, by moving the robot's center of gravity forward, it uses its own gravity to generate an anti-tipping torque, thereby improving the stability of the robot's uphill movement.

[0046] Similarly, if the robot is currently going downhill, the control drive system will cause the first wheel set to rotate counterclockwise around the chassis platform and the third wheel set to rotate clockwise around the chassis platform. This will reduce the vertical distance between the first and third wheel sets and the chassis platform, causing the robot's chassis platform to press down, thereby lowering the center of gravity and expanding the support surface so that the chassis platform is closer to the slope plane and parallel to the slope plane.

[0047] At the same time, the center of gravity adjustment device adjusts the robot's center of gravity to move backward, keeping the robot's center of gravity within the support surface formed by the first and third wheel sets and the ground. That is, when the robot is going uphill, it uses its own gravity to generate an anti-tipping torque by moving the robot's center of gravity forward, thereby improving the stability of the robot when going downhill.

[0048] S13: The first wheel group includes the first left wheel and the first right wheel; the third wheel group includes the third left wheel and the third right wheel; if the road condition is undulating road surface driving, the height information of the undulating road surface in front of the first wheel group and its distance information from the first left wheel and the first right wheel are obtained; motion information is obtained, which includes the speed and direction of motion of the first left wheel, the first right wheel, the third left wheel and the third right wheel; the estimated time from the current moment to contact the undulating road surface is calculated based on the distance information and motion information; based on the height information and the estimated time, the drive system is controlled to drive the first left wheel, the first right wheel, the third left wheel and the third right wheel to rotate around the chassis platform, keeping the chassis platform parallel to the ground, so as to complete the undulating road surface driving.

[0049] It is understood that in this embodiment, the first wheel set and the third wheel set each include two wheels; that is, the first wheel set includes a first left wheel and a first right wheel, and the third wheel set includes a third left wheel and a third right wheel. When driving on undulating road surfaces, the robot acquires information about the height of the undulating road surface in front of the first wheel set using visual sensors (e.g., LiDAR, structured light camera, TOF camera, monocular / binocular / multi-view camera, etc.). The information about the undulating road surface is the height of the upward bulge or the depth of the downward depression.

[0050] Because the undulating road surface has bumps or depressions, and the distances of these bumps or depressions from the two wheels in the first wheel set are not exactly the same, the sensor also needs to acquire the distance information between itself and the first left wheel and the first right wheel in the first wheel set, as well as the motion information of the first left wheel, the first right wheel, and the third left wheel and the third right wheel in the third wheel set, including the motion speed and direction of motion of each of the first left wheel, the first right wheel, the third left wheel, and the third right wheel. Thus, the robot can calculate based on the acquired distance and motion information to obtain the estimated time when the first left wheel, the first right wheel, the third left wheel, and the third right wheel will come into contact with the undulating road surface from the current moment.

[0051] In addition, such as Figure 5 As shown, the undulating road surface can affect one side of the robot's wheel assembly. To prevent the chassis platform from tilting due to changes in the vertical distance between one wheel and the chassis platform, the other wheel needs to be adjusted vertically accordingly. In other words, during travel on undulating roads, the robot needs to control the drive motors to rotate the first left wheel, first right wheel, third left wheel, and third right wheel around the chassis platform based on the aforementioned road height information and calculated estimated time and attitude information. This ensures that when the vertical distance between one wheel and the chassis platform changes due to the undulating road surface, the other wheel can be adaptively adjusted simultaneously to maintain the chassis platform parallel to the ground when traversing undulating roads. For example, if the undulating road surface is only located on the travel path of the first left wheel, that is, when the robot passes through the undulating road surface, the first left wheel will rotate counterclockwise around the chassis platform due to passing through the undulating road surface, thereby reducing the distance between the first left wheel and the chassis platform in the vertical direction. At the same time, the drive motor is controlled to drive the first right wheel to rotate counterclockwise around the chassis platform, thereby adaptively adjusting the distance between the first right wheel and the chassis platform in the vertical direction and maintaining the chassis platform parallel to the ground.

[0052] Preferably, in some embodiments, the robot is also equipped with attitude sensors such as MEMS gyroscopes, accelerometers, and magnetometers. When driving on undulating road surfaces, the robot plans a movement strategy based on the road condition type, which further includes the following steps: (Through attitude sensors) acquire robot attitude information, which is the overall pitch angle change and / or yaw angle change of the robot caused by the undulating road surface; While controlling the drive system to rotate the first left wheel, first right wheel, third left wheel, and third right wheel around the chassis platform based on the altitude information and the estimated time, the robot's pitch joints and / or yaw joints are adjusted based on the acquired attitude information.

[0053] By combining the above steps, the chassis platform can be further kept parallel to the ground surface when the robot traverses undulating terrain by adjusting the pitch and / or yaw joints.

[0054] S14: If the road condition is climbing inclined stairs; then control the center of gravity adjustment device to move the robot's center of gravity backward so that it is within the support surface formed by the second and third wheel sets; control the drive system to drive the first wheel set to lift off the ground; control the drive system to drive the second and third wheel sets forward, so that the first wheel set moves above the inclined stairs; control the drive system to drive the first wheel set to rotate around the chassis platform so that the first wheel set contacts the inclined stairs and keeps the chassis platform parallel to the ground; control the drive system to drive the first and third wheel sets to rotate around the chassis platform so that the second wheel set is lifted off the ground. On the ground, the robot drives the first and third wheel sets forward, moving the second wheel set above the inclined step and pressing it down to contact the inclined step; the robot's center of gravity is moved forward by the control center adjustment device, and the drive system is controlled to drive the third wheel set off the ground, driving the first wheel set to rotate around the chassis platform, keeping the chassis platform parallel to the inclined step; the drive system is controlled to drive the first and second wheel sets forward, moving the third wheel set above the inclined step, and the drive system is controlled to drive the third wheel set down to touch the ground, so that the second wheel set is lifted off the ground, keeping the chassis platform parallel to the inclined step, thus completing the climb of the inclined step.

[0055] It should be noted that "driving the second and third wheel sets forward" can mean driving the third wheel set forward, thereby simultaneously driving the second wheel set forward; and "driving the first and second wheel sets forward" can mean driving the first wheel set forward, thereby simultaneously driving the second wheel set forward.

[0056] When the road condition type is climbing inclined steps, such as Figure 6As shown, the left and right ends of the inclined step have different heights from the horizontal ground, or in other words, the two ends of the inclined step have a terrain difference. That is, there is a height difference between the left and right ends of the step directly in front of the robot. Based on this, when the robot climbs the inclined step, the drive motor drives the first wheel set to rotate counterclockwise around the chassis platform, thereby lifting the first wheel set off the ground. In the above scenario, it should be confirmed that the height difference between the first wheel set and the ground is greater than the height difference between the inclined step and the ground to avoid the first wheel set colliding with the inclined step during the climbing process. At the same time, the center of gravity adjustment device is controlled to shift the robot's center of gravity backward, so that it is located within the support surface defined by the second and third wheel sets and the ground.

[0057] Then, the hub motor drives the third wheel set and simultaneously propels the second wheel set forward, creating horizontal displacement until the first wheel set moves above the inclined step. At this point, the robot controls the drive motor to rotate the first wheel set around the chassis platform, pressing it down to contact the inclined step. It's understandable that the height difference between the first left and first right wheels and the horizontal ground after contacting the inclined step is different. If the vertical height of the first left and first right wheels is not adjusted, the chassis platform cannot remain level during the climb up the inclined step. Therefore, while the first wheel set presses down to contact the inclined step, the vertical distance between the first left and first right wheels and the chassis platform is adjusted according to the height difference between them and the horizontal ground.

[0058] For example, if after the first wheel assembly presses down and contacts the inclined step, the height difference between the first left wheel and the horizontal ground is greater than the height difference between the first right wheel and the horizontal ground (i.e., the first left wheel is on higher ground than the first right wheel), the controller controls the drive motor to drive the first right wheel to rotate clockwise around the chassis platform, increasing the vertical distance between the first right wheel and the chassis platform. This makes the height difference between the first left wheel and the first right wheel and the horizontal ground the same, maintaining the horizontal state of the chassis platform during the climbing of the inclined step. Similarly, if after the first wheel assembly presses down and contacts the inclined step, the height difference between the first left wheel and the horizontal ground is less than the height difference between the first right wheel and the horizontal ground (i.e., the first left wheel is on lower ground than the first right wheel), the controller controls the drive motor to drive the first left wheel to rotate clockwise around the chassis platform, increasing the vertical distance between the first left wheel and the chassis platform. This makes the height difference between the first left wheel and the first right wheel and the horizontal ground the same, maintaining the horizontal state of the chassis platform during the climbing of the inclined step.

[0059] After the adaptive adjustment of the first left or right wheel is completed, the drive motor is controlled to drive the first and third wheel sets to rotate around the chassis platform, so that the second wheel set is lifted off the ground. Similarly, after the second wheel set is lifted off the ground, the height difference between it and the horizontal ground should be greater than the height difference between the inclined step and the horizontal ground, so as to avoid collision between the second wheel set and the inclined step during the robot's climbing of the inclined step. At the same time, the hub motor is controlled to drive the first and third wheel sets forward, moving horizontally, until the second wheel set moves above the inclined step. At this time, the drive motor is controlled to drive the second wheel set to press down and contact the inclined step.

[0060] In some embodiments, a single wheel is used as the robot's second wheel assembly. During the process of the second wheel assembly pressing down to contact the inclined step, a center of gravity adjustment device is also needed to laterally shift the robot's center of gravity until the second wheel assembly fully contacts the inclined step. This prevents the robot's center of gravity from shifting during the pressing down of the second wheel assembly, which could lead to a decrease in robot stability. In other embodiments, the second wheel assembly uses a two-wheel combination structure, specifically a second left wheel and a second right wheel. In this case, during the process of the second wheel assembly pressing down to contact the inclined step, similar to the process of the first wheel assembly pressing down to contact the inclined step, the distance between the second wheel and the chassis platform in the vertical direction is adjusted based on the height difference between the second left wheel and the second right wheel and the horizontal ground, thereby maintaining the chassis platform parallel to the horizontal ground throughout the climbing process of the inclined step.

[0061] After the first and second wheel sets are adjusted vertically, the center of gravity adjustment device is controlled to move the robot's center of gravity forward. The drive motor is then controlled to drive the third wheel set to rotate clockwise around the chassis platform, causing the third wheel set to lift off the ground. At the same time, the drive motor drives the first wheel set to rotate around the chassis platform, adjusting the distance between each wheel in the first wheel set and the chassis platform in the vertical direction, so that the chassis platform is parallel to the inclined steps.

[0062] In some embodiments, if the robot's second wheel assembly consists of only a single wheel, the distance between each wheel in the first wheel assembly and the chassis platform in the vertical direction is adjusted by the drive motor in conjunction with the height difference between the first and second left wheels and the inclined step, thereby ensuring that the chassis platform remains parallel to the inclined step. In other embodiments, if the robot's second wheel assembly uses the same dual-wheel structure as the first and third wheel assemblies, the distance between each wheel in the vertical direction and the chassis platform in the inclined step needs to be adjusted by controlling the drive motor in conjunction with the height difference between each wheel in the first and second wheel assemblies and the inclined step, thereby ensuring that the chassis platform remains parallel to the inclined step.

[0063] Finally, the hub motor drives the first wheel assembly, which in turn moves the second wheel assembly forward, causing horizontal movement until the third wheel assembly reaches the top of the step. At this point, the drive motor drives the third wheel assembly to rotate counter-clockwise around the chassis platform, pressing it down to contact the inclined step surface. This keeps the chassis platform parallel to the inclined step, allowing the robot to climb it. Similar to the second wheel assembly, the distance between the third wheel assembly and the chassis platform in the vertical direction is adjusted using a similar method, depending on its configuration (single or double wheels). This adjustment will not be described further here.

[0064] In some embodiments, orthogonal wheels are selected as the first left and first right wheels in the first wheel set. For example... Figure 7 As shown, an orthogonal wheel consists of a hub and a ring of passive rollers, with the roller axis at a 90° angle to the tangent of the hub circumference. The rollers are typically spindle-shaped, smaller at both ends and larger in the center, allowing them to rotate freely around their own axis to convert sliding friction perpendicular to the hub into rolling friction. It can be understood that if the direction of hub displacement is set to the Y-axis, then the direction of passive roller displacement is perpendicular to the Y-axis. For example, when the first wheel assembly moves forward with the robot, if only displacement in the Y-axis is needed, only the circumferential rolling of the hub produces effective rotation. The passive rollers, driven by the orthogonal wheel, move relative to the ground along the Y-axis, generating static friction with the ground along the Y-axis. When this orthogonal wheel is located on a surface with a tendency to move relative to the ground along the X-axis, the friction along the X-axis is rolling friction and can be ignored. If oblique displacement or directional rotation is required, the hub and passive rollers need to combine at different rotational speeds.

[0065] In this embodiment, orthogonal wheels are used as the first left wheel and the first right wheel in the first wheel set, which reduces the friction of robot displacement while enabling the robot to move in all directions on the plane.

[0066] In some embodiments, if orthogonal wheels are used as the first left wheel and the first right wheel, controlling the drive system to drive the first wheel group and the second wheel group forward specifically includes the following steps: The rotational speed of the first wheel set is adjusted by torque control or speed control so that the torque output by the first wheel set can ensure that the chassis platform moves in the forward direction.

[0067] During the robot's ascent of the inclined stairs, when supported only by the first and second wheel sets, a tendency to move from the higher elevation to the lower elevation will emerge, such as... Figure 8As shown, taking the example where the height difference between the first left wheel and the horizontal ground is greater than the height difference between the first right wheel and the horizontal ground, the robot's gravity G in this scenario manifests as downward along the inclined plane (i.e., to the right in the diagram). Because the orthogonal wheel configuration in the first wheel assembly has minimal lateral (left-right direction in the diagram) friction, and the second wheel assembly only provides lateral friction while generating almost no front-back friction due to rolling, the friction F1 provided by the second wheel assembly is upward along the inclined plane (i.e., to the left in the diagram). Therefore, the first torque generated by the robot's gravity G and the friction F1 provided by the second wheel assembly, in a clockwise direction in the diagram, causes the chassis platform to have a relative motion tendency to rotate around the rotation center O, i.e., in the direction indicated by the X arrow in the diagram. At this time, the rotation center O is located at the center of the second wheel assembly. To balance this first torque and prevent the chassis platform from actually rotating around the rotation center O, a second torque opposite to the first torque needs to be added. This second torque can be achieved by controlling the hub motors that drive the left and right wheels of the first wheel assembly forward. For example, the torque applied by the hub motors to the first left and right wheels of the first wheel assembly can be adjusted, or speed control can be used to make their speeds strictly equal. This causes the motor of the first right wheel to generate a leftward torque (the direction of the torque is determined according to the right-hand rule), thus generating a forward force (i.e., F2 in the figure), and the motor of the first left wheel to generate a rightward torque, thus generating a backward force (i.e., F3 in the figure). This generates a backward force F3 on the first left wheel and a forward force F2 on the first right wheel. The second torque, formed by F2 and F3, cancels out the first torque, thereby preventing the robot from turning due to its movement trend and maintaining the chassis platform moving in the forward direction. By controlling the torque of the hub motors to adjust the torque or speed of each wheel in the first wheel assembly, the robot's omnidirectional movement capability on a plane can be ensured while maintaining its direction of movement, thereby improving the robot's stability when climbing inclined stairs.

[0068] In some embodiments, if the road condition is a slope from a flat road surface to the inclined side of the slope, the drive system is controlled to drive the first wheel set to rotate around the chassis platform to raise the first wheel set to drive on the slope. Drive the first wheel set and the third wheel set forward so that the first wheel set contacts the inclined side. When the first wheel set contacts the inclined side, control the drive system to drive the first wheel set to rotate around the chassis platform to press the first wheel set down to the inclined side so that the chassis platform remains level. When the third wheel set moves forward and contacts the inclined side, the control center adjustment device adjusts the robot's center of gravity or the control drive system drives the third wheel set to rotate around the chassis platform so that the support surface formed by the first wheel set and the third wheel set can support the chassis platform to remain horizontal.

[0069] like Figure 9 As shown, the robot travels from a flat surface to a ramp, then from the ramp to its edge and crosses over to the inclined side of the ramp. That is, the robot first travels forward from the horizontal ground (i.e., the flat surface) up the ramp, and then travels along the edge of the ramp to the inclined side of the ramp (this inclined side is tilted to the left and right relative to the ground).

[0070] In this type of road condition, the robot will first climb a forward slope. Specifically, the drive system will control the first wheel set to rotate around the chassis platform to raise the first wheel set to travel on the slope. At the same time, the first wheel set and the third wheel set will be driven forward so that the first wheel set contacts the inclined side.

[0071] Then, when the first wheel assembly contacts the inclined side, the control drive system drives the first wheel assembly to rotate around the chassis platform to press the first wheel assembly down onto the inclined side, thereby keeping the chassis platform level. Specifically, when the inclined side is... Figure 9 When the left side is higher than the right side, the control drive system drives the left wheel of the first wheel assembly to rotate counterclockwise around the chassis platform to reduce the distance between the left wheel and the platform. Simultaneously, it drives the right wheel of the first wheel assembly to rotate clockwise around the platform to increase the distance between the right wheel and the platform, thus keeping the chassis platform level. Here, "keeping level" means maintaining the same posture as the chassis platform when driving on a flat road or slope. Furthermore, the third wheel assembly remains in contact with the slope, ensuring that the chassis platform remains level during the transition from the slope to the inclined side.

[0072] Then, the third wheel set continues forward until it contacts the inclined side. At this point, the robot's center of gravity can be adjusted by controlling the center of gravity adjustment device (for a third wheel set consisting of a single wheel) or by controlling the drive system to drive the third wheel set to rotate around the chassis platform (for cases where two wheels can rotate around the chassis platform separately). This ensures that the support surface formed by the first and third wheel sets can keep the chassis platform level. Specifically, after the third wheel set contacts the inclined side, to ensure the chassis platform is level, the posture of the third wheel set needs to be readjusted to match that of the first wheel set. If the third wheel set consists of only a single wheel, then the left side of the third wheel set contacts the inclined side, while the right side is suspended in the air (because the third wheel set before this point was level with the ground). In this case, the robot's center of gravity needs to be adjusted so that it falls within the support surface formed by the left and right wheels of the first wheel set and the left side of the third wheel set to ensure the chassis platform is level. Based on this, if the left and right sides of the third wheel assembly are connected to the left and right sides of the second wheel assembly respectively via two left and right rods, and these two rods can rotate around the chassis platform, it is also possible to control the rotation of the first wheel assembly around the chassis platform to lower the height between the second wheel assembly and the inclined side, pressing the second wheel assembly down to contact the inclined side, thereby causing the suspended side of the third wheel assembly to press down until it contacts the inclined side. This is essentially equivalent to readjusting the vertical height of the left and right wheels of the first wheel assembly.

[0073] If the third wheel set consists of two wheels that can rotate around the chassis platform and adjust their vertical height respectively, then the drive system is controlled to drive the left and right wheels of the third wheel set to rotate around the chassis platform in the same way as the first wheel set is adjusted, so that the support surface formed by the first wheel set and the third wheel set can support the chassis platform to remain horizontal.

[0074] In some embodiments, the robot includes a first arm and a second arm respectively disposed on both sides of the robot, a first wheel set including a first left wheel and a first right wheel, and a third wheel set including a third left wheel and a third right wheel; based on this, if the road condition type includes turning in place, such as... Figure 10 As shown, the first and second arms are controlled to retract towards the robot and be fixed to both sides of the robot; the drive system is controlled to drive the first left wheel and the third left wheel to rotate along the first direction at the first speed and the third speed respectively, and the drive system is controlled to drive the first right wheel and the third right wheel to rotate along the second direction at the second speed and the fourth speed respectively, wherein the first direction is opposite to the second direction, the first speed is equal to the second speed, and the third speed is equal to the fourth speed; The control drive system drives the third wheel set and the first wheel set to rotate around the chassis platform respectively, so as to reduce the included angle between the first wheel set, the chassis platform and the third wheel set.

[0075] During the robot's in-situ turning, it actually achieves this through the speed difference between the wheels of the wheel set, and different wheel sets can be selected as the power wheel sets for the robot's in-situ turning according to the actual application scenario. For example, in some embodiments, if the first wheel set is selected as the power wheel set, then the third wheel set acts as a follower wheel set to cooperate with the first wheel set to complete the turning; similarly, if the third wheel set is selected as the power wheel set, then the first wheel set acts as a follower wheel set to cooperate with the third wheel set to complete the turning. That is, the hub motor drives the first left wheel and the third left wheel to rotate along a first direction at a first speed and a third speed, respectively, while simultaneously driving the first right wheel and the third right wheel to rotate along a second direction at a second speed and a fourth speed, respectively. The first speed and the second speed are equal, the third speed and the fourth speed are equal, and the first speed and the third speed cannot both be 0. For example, if the first speed is zero, adaptively, the second speed is also zero. In this case, the third left wheel moves at the third speed along the first direction, and the third right wheel moves at the fourth speed along the second direction. That is, the third wheel set acts as the power wheel set for the robot's in-place turning, with the first and second directions opposite, and the third and fourth speeds equal. In other words, the two wheels in the third wheel set rotate at the same speed in opposite directions, and the first wheel set acts as a follower wheel set, cooperating with the third wheel set to complete the robot's in-place turning. As another example, if the third speed is zero, adaptively, the fourth speed is also zero. In this case, the first left wheel moves at the first speed along the first direction, and the first right wheel moves at the second speed along the second direction. That is, the first wheel set acts as the power wheel set for the robot's in-place turning, with the first and second directions opposite, and the first and second speeds equal. In other words, the two wheels in the first wheel set rotate at the same speed in opposite directions, and the third wheel set acts as a follower wheel set, cooperating with the first wheel set to complete the robot's in-place turning.

[0076] In some other embodiments, the first speed and the third speed are equal and not zero. Adaptively, the second speed and the fourth speed are equal and not zero. At this time, the first left wheel and the third left wheel move along the first direction at the first speed / third speed, and the first right wheel and the third right wheel move along the second direction at the second speed / fourth speed. That is, the first wheel set and the third wheel set simultaneously serve as the power wheel sets for the robot to turn in place, and the first direction and the second direction are opposite. In other words, the two wheels in the first wheel set and the third wheel set rotate in opposite directions at the same speed to complete the robot's turn in place.

[0077] It should be noted that the first, second, third, and fourth speeds here refer to the rotational speed actively applied to the wheels by the hub motor, not the actual speed of each wheel relative to the ground during a stationary turn. It can be understood that the actual ground speed of the driven wheels is not zero.

[0078] Based on this, in some embodiments, the wheels in the follower wheel set are configured as orthogonal wheels, thereby reducing the friction of the follower wheel set during the robot's turning process. For example, during a robot's in-place turning process, if the speed of the first wheel set is 0, and the robot completes the in-place turning by having two wheels in the third wheel set rotate at the same speed but in different directions, then the first wheel set can be configured as orthogonal wheels, or other types of omnidirectional wheels (e.g., Mecanum wheels or ball wheels), to reduce the friction of the first wheel set during the robot's in-place turning process. Similarly, if the speed of the third wheel set is 0, and the robot completes the in-place turning by having two wheels in the first wheel set rotate at the same speed but in different directions, then the third wheel set can be configured as orthogonal wheels, or other types of omnidirectional wheels, to reduce the friction of the third wheel set during the robot's in-place turning process.

[0079] In some embodiments, during the robot's in-place turning process, the controller further adjusts the area swept across the ground along the rotation direction by controlling the vertical distance between the first and third wheel sets and the chassis platform. Specifically, the controller controls the drive motors to rotate the first and third wheel sets around the chassis platform, thereby reducing the angle formed by the first wheel set, the chassis platform, and the third wheel set. The first wheel set rotates clockwise around the chassis platform, and the third wheel set rotates counterclockwise. This increases the vertical distance between the first and third wheel sets and the chassis platform, reducing the angle between them, thus decreasing the robot's turning radius during in-place turning. It can be understood that this turning radius is the straight-line distance between the center points of the two wheels of the power wheel set and the support point of any grounded follower wheel set.

[0080] Secondly, embodiments of this application also provide a robot, including: a wheeled chassis, a center of gravity adjustment device, and a controller; the wheeled chassis includes a chassis platform, a wheel system, and a drive system, the wheel system includes a first wheel group, a second wheel group, and a third wheel group arranged sequentially in the front-rear direction, the drive system is configured to drive any one of the wheel groups in the wheel system to move on the ground and rotate around the chassis platform to achieve vertical movement; the center of gravity adjustment device is configured to adjust the robot's center of gravity; the controller is configured to execute the control method of the robot provided in any of the first aspects.

[0081] In summary, this application controls the drive motor to rotate the first and third wheel sets around the chassis platform, adjusting the vertical distance between the first and third wheel sets and the chassis platform. Combined with the real-time adjustment of the support surface by the cooperative support of the second wheel set, the robot can dynamically adjust the support surface according to the actual road conditions, thereby enabling the robot to effectively cross obstacles such as steps and ditches. On this basis, the control center of gravity adjustment device adjusts the robot's center of gravity in real time, ensuring that the robot's center of gravity is always within the support surface defined by the wheel set and the ground during obstacle crossing. This allows the robot to maintain a stable posture when passing through unstructured terrain such as undulating roads and slopes, thus significantly improving the wheeled robot's passability.

[0082] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling a robot, characterized in that, The robot includes a wheeled chassis and a center of gravity adjustment device; The wheeled chassis includes a chassis platform, a wheel system, and a drive system. The wheel system includes a first wheel group, a second wheel group, and a third wheel group arranged sequentially in the front-rear direction. The drive system is configured to drive any one of the wheel groups in the wheel system to move on the ground and to move in the vertical direction. The center of gravity adjustment device is configured to adjust the center of gravity of the robot; The control method includes: Obtain traffic information and identify the type of traffic condition based on the traffic information; Based on the road condition type, a movement strategy is planned; wherein the movement strategy satisfies the following conditions: at least two target wheel sets contact the ground to form a support surface so that the chassis platform is parallel to the ground, and the robot's center of gravity is located within the support surface; Based on the mobility strategy, the drive system is controlled to move at least two of the target wheel sets and / or the center of gravity adjustment device is controlled to adjust the robot's center of gravity to travel through the road condition type.

2. The method according to claim 1, characterized in that, The road condition type is either a step crossing or a ditch crossing; The process of planning a movement strategy based on the road condition type includes: The drive system is controlled to lift the first wheel set off from the ground, and the second wheel set is controlled to land on the ground, keeping the chassis platform parallel to the ground. The center of gravity adjustment device is also controlled to adjust the robot's center of gravity so that it is located within the support surface defined by the second wheel set and the third wheel set. The drive system is controlled to drive the second and third wheel sets forward, causing the first wheel set to move above the step or across the ditch; The drive system is controlled to drive the first wheel set to the ground, and the second wheel set is controlled to lift off the ground to raise the chassis platform. The center of gravity adjustment device is also controlled to adjust the robot's center of gravity so that it is located within the support surface formed by the first wheel set and the third wheel set. The drive system is controlled to drive the first wheel set and the third wheel set forward, so as to move the second wheel set above the step or across the ditch; Control the second wheel set to touch the ground, drive the third wheel set to lift off the ground, keep the chassis platform parallel to the ground, and control the center of gravity adjustment device to move the robot's center of gravity forward so that it is located within the support surface defined by the first wheel set and the second wheel set; The drive system is controlled to drive the first wheel set and the second wheel set forward, so that the third wheel set moves onto the step or across the ditch; The drive system is controlled to drive the third wheel set to press down onto the ground, the second wheel set is controlled to lift off the ground, the chassis platform is kept parallel to the ground, and the center of gravity adjustment device is controlled to adjust the robot's center of gravity so that it is located within the support surface defined by the first wheel set and the third wheel set, so as to complete the step climbing or the trench crossing.

3. The method according to claim 1, characterized in that, The road condition type is driving on a slope; The process of planning a movement strategy based on the road condition type includes: When going uphill, the drive system is controlled to drive the first wheel set and the third wheel set to rotate around the chassis platform so that the chassis platform is close to the slope and parallel to the slope; the center of gravity adjustment device is controlled to move the robot's center of gravity forward and keep the center of gravity within the support surface defined by the first wheel set and the third wheel set to complete the slope travel; When going downhill, the drive system is controlled to drive the first wheel set and the third wheel set to rotate around the chassis platform so that the chassis platform is close to the slope and parallel to the slope; the center of gravity adjustment device is controlled to move the robot's center of gravity backward and keep the center of gravity within the support surface defined by the first wheel set and the third wheel set to complete the slope travel.

4. The method according to claim 1, characterized in that, The first wheel set includes a first left wheel and a first right wheel; the third wheel set includes a third left wheel and a third right wheel, and the road condition type is undulating road surface driving; The process of planning a movement strategy based on the road condition type includes: Obtain the height information of the undulating road surface in front of the first wheel set and its distance information from the first left wheel and the first right wheel; Acquire motion information, wherein the motion information is the speed and direction of motion of the first left wheel, the first right wheel, the third left wheel, and the third right wheel respectively; Calculate the estimated time from the current moment for the first left wheel, the first right wheel, the third left wheel, and the third right wheel to contact the undulating road surface based on the distance information and the motion information; Based on the altitude information and the estimated time, the drive system is controlled to drive the first left wheel, the first right wheel, the third left wheel, and the third right wheel to rotate around the chassis platform, keeping the chassis platform parallel to the ground, so as to complete the driving on the undulating road surface.

5. The method according to claim 1, characterized in that, The road condition type is climbing inclined steps; The process of planning a movement strategy based on the road condition type includes: Control the center of gravity adjustment device to move the robot's center of gravity backward so that it is located within the support surface formed by the second wheel set and the third wheel set, and control the drive system to drive the first wheel set to lift off the ground; The drive system is controlled to drive the second and third wheel sets forward, causing the first wheel set to move above the inclined step; the drive system is controlled to drive the first wheel set to rotate around the chassis platform, so that the first wheel set contacts the inclined step and keeps the chassis platform level. Control the second wheel set to lift off the ground, drive the first wheel set and the third wheel set forward, move the second wheel set to above the inclined step and press it down to contact the inclined step; The center of gravity of the robot is moved forward by the center of gravity adjustment device, the drive system is driven to lift the third wheel set off the ground, and the first wheel set is driven to rotate around the chassis platform so that the chassis platform remains parallel to the inclined step. The drive system is controlled to propel the first and second wheel sets forward, thereby moving the third wheel set above the inclined step. The drive system is controlled to drive the third wheel set to press down onto the ground, thereby lifting the second wheel set off from the ground and keeping the chassis platform parallel to the inclined steps, thus completing the climbing of the inclined steps.

6. The method according to claim 5, characterized in that, The first wheel set is an orthogonal wheel.

7. The method according to claim 6, characterized in that, The process of controlling the drive system to drive the first wheel set and the second wheel set forward specifically includes the following steps: The rotational speed of the first wheel set is adjusted by torque control or speed control so that the torque output by the first wheel set can ensure that the chassis platform moves in the forward direction.

8. The method according to claim 1, characterized in that, The road condition type is described as starting from a flat road surface, ascending a slope, and then crossing to the sloping side of the slope. The process of planning a movement strategy based on the road condition type includes: The drive system is controlled to drive the first wheel set to rotate around the chassis platform, so as to raise the first wheel set to travel on the slope; Drive the first wheel set and the third wheel set forward so that the first wheel set contacts the inclined side. When the first wheel set contacts the inclined side, control the drive system to drive the first wheel set to rotate around the chassis platform to press the first wheel set down to the inclined side so that the chassis platform remains horizontal. When the third wheel set moves forward and contacts the inclined side, the center of gravity adjustment device is controlled to adjust the robot's center of gravity or the drive system is controlled to drive the third wheel set to rotate around the chassis platform, so that the support surface formed by the first wheel set and the third wheel set can support the chassis platform to remain horizontal.

9. The method according to claim 1, characterized in that, The robot includes a first arm and a second arm respectively disposed on both sides of the robot, the first wheel set includes a first left wheel and a first right wheel, the third wheel set includes a third left wheel and a third right wheel, and the road condition type includes turning in place; The process of planning a movement strategy based on the road condition type includes: Control the first arm and the second arm to retract towards the robot and fix them to both sides of the robot; The drive system is controlled to drive the first left wheel and the third left wheel to rotate along a first direction at a first speed and a third speed, respectively, and the drive system is controlled to drive the first right wheel and the third right wheel to rotate along a second direction at a second speed and a fourth speed, respectively, wherein the first direction is opposite to the second direction, the first speed is equal to the second speed, and the third speed is equal to the fourth speed; The drive system is controlled to drive the third wheel set and the first wheel set to rotate around the chassis platform respectively, so as to reduce the included angle between the first wheel set, the chassis platform and the third wheel set.

10. A robot, characterized in that, include: Wheeled chassis, center of gravity adjustment device and controller; The wheeled chassis includes a chassis platform, a wheel system, and a drive system. The wheel system includes a first wheel group, a second wheel group, and a third wheel group arranged sequentially in the front-rear direction. The drive system is configured to drive any one of the wheel groups in the wheel system to move on the ground and rotate around the chassis platform to achieve vertical movement. The center of gravity adjustment device is configured to adjust the center of gravity of the robot; The controller is configured to perform the control method of the robot according to any one of claims 1-9.

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