Control method, apparatus, leg-wheeled robot, and computer program for a leg-wheeled robot

Abstract

A control method, device, leg-wheel robot, and storage medium for a leg-wheel robot, which are related to the technical field of robots, are provided. The method includes a step (301, 402) of controlling a first leg wheel to move from a first staircase to a second staircase and controlling a second leg wheel and an auxiliary leg wheel to be stabilized on the first staircase, a step (302, 404) of controlling a second leg wheel to move from the first staircase to a second staircase and controlling a first leg wheel to be stabilized on the second staircase and an auxiliary leg wheel to be stabilized on the first staircase, and a step (303, 407) of controlling a first leg wheel to move from the first staircase to a second staircase and controlling a first leg wheel and a second leg wheel to be stabilized on the second staircase.

Description

[Technical Field]

[0001] This application claims priority based on a Chinese patent application filed on March 11, 2022, with application number 202210238633.0, whose title is "Control method, apparatus for a leg-wheeled robot, leg-wheeled robot, and storage medium," and all of its contents are incorporated herein by reference.

[0002] Embodiments of the present invention relate to the field of robotics, and more particularly to a control method and apparatus for a leg-wheeled robot, a leg-wheeled robot, and a storage medium. [Background technology]

[0003] Legged wheeled robots are robots that use a legged wheel structure to control the motion of their robot body. Legged wheeled robots have attracted widespread attention from researchers due to their agility and flexibility in ground movement. Currently, the main research direction is to find ways to control legged wheeled robots to achieve a wider range of movements. [Overview of the project]

[0004] Embodiments of the present invention provide a control method and apparatus for a leg-wheeled robot, a leg-wheeled robot, and a storage medium.

[0005] In one embodiment, the present invention provides a method for controlling a leg-wheeled robot, which includes a first leg wheel, a second leg wheel, and an auxiliary leg wheel, the method comprising: a step of controlling the first leg wheel to move from a first staircase to a second staircase, and controlling the second leg wheel and the auxiliary leg wheel to stabilize on the first staircase, wherein there is a height difference between the first staircase and the second staircase; a step of controlling the second leg wheel to move from the first staircase to the second staircase, and controlling the first leg wheel to stabilize on the second staircase and the auxiliary leg wheel to stabilize on the first staircase; and a step of controlling the auxiliary leg wheel to move from the first staircase to the second staircase, and controlling the first leg wheel and the second leg wheel to stabilize on the second staircase.

[0006] In one embodiment, the present invention provides a control device for a leg-wheeled robot including a first leg wheel, a second leg wheel, and an auxiliary leg wheel, comprising: a first leg wheel control module that controls the first leg wheel to move from a first staircase to a second staircase, and controls the second leg wheel and the auxiliary leg wheel to stabilize on the first staircase, wherein there is a height difference between the first staircase and the second staircase; a second leg wheel control module that controls the second leg wheel to move from the first staircase to the second staircase, controls the first leg wheel to stabilize on the second staircase, and controls the auxiliary leg wheel to stabilize on the first staircase; and an auxiliary leg wheel control module that controls the auxiliary leg wheel to move from the first staircase to the second staircase, and controls the first leg wheel and the second leg wheel to stabilize on the second staircase.

[0007] In one embodiment, a leg-wheeled robot is provided, comprising a first leg wheel, a second leg wheel, an auxiliary leg wheel, a base, one or more processors, and one or more memories, wherein the base is located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and is connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and at least one computer program is stored in the one or more memories, the at least one computer program is loaded and executed by the processor to implement the control method of the leg-wheeled robot described above.

[0008] In one embodiment, the present invention provides a computer-readable storage medium in which at least one computer program is stored, wherein the at least one computer program is loaded and executed by a processor to implement the control method for the leg-wheeled robot described above.

[0009] In one embodiment, the present invention provides a computer program product comprising at least one computer program, wherein the at least one computer program is stored in a computer-readable storage medium, and the processor of a legged wheeled robot reads the at least one computer program from the computer-readable storage medium and executes it so as to cause a computer device to implement the control method of the legged wheeled robot. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram of the implementation environment for the control method of a legged wheeled robot according to an embodiment of the present invention. [Figure 2] This is a schematic diagram of the configuration of a legged wheeled robot according to an embodiment of the present invention. [Figure 3] This is a flowchart of a control method for a legged wheeled robot according to an embodiment of the present invention. [Figure 4] This is a flowchart of a control method for a legged wheeled robot according to an embodiment of the present invention. [Figure 5] This is a schematic diagram illustrating the acquisition of joint angle information according to an embodiment of the present invention. [Figure 6] This is a schematic diagram of the posture of a legged wheeled robot according to an embodiment of the present invention on the first staircase. [Figure 7] This is a schematic diagram illustrating how the wheel lifting height is obtained according to an embodiment of the present invention. [Figure 8] This is a schematic diagram of the movement of the first leg wheel according to an embodiment of the present invention. [Figure 9] This is a schematic diagram showing the movement of the base according to an embodiment of the present invention. [Figure 10] This is a schematic diagram of the movement of the second leg wheel according to an embodiment of the present invention. [Figure 11] This is a schematic diagram showing the movement of the base according to an embodiment of the present invention. [Figure 12] This is a schematic diagram of spatial angles according to an embodiment of the present invention. [Figure 13] This is a schematic diagram illustrating the control of the pitch angle balance according to an embodiment of the present invention. [Figure 14] This is a schematic diagram illustrating the control of the roll angle balance according to an embodiment of the present invention. [Figure 15] This is a schematic diagram showing the movement of the base according to an embodiment of the present invention. [Figure 16] This is a schematic diagram showing the configuration of a control device for a legged wheeled robot according to an embodiment of the present invention. [Figure 17] This is a schematic diagram of the configuration of a legged wheeled robot according to an embodiment of the present invention. [Modes for carrying out the invention]

[0011] To further clarify the object, technical means, and advantages of the present invention, embodiments of the present invention will be described in more detail below with reference to the drawings.

[0012] In the present specification, the terms such as "first" and "second" are used to distinguish identical or similar items having substantially the same actions and functions. Furthermore, there is no logical or temporal dependency between "first", "second" and "n-th", and the number and execution order are not limited.

[0013] The invention according to the present application mainly relates to robot technology. A robot is a mechanical electronic device that can imitate certain human skills, which is combined by utilizing mechanical transmission and modern microelectronic technology. With the development of technology, robots have been greatly improved in terms of function and technology, and technologies such as mobile robots and the vision and tactile sense of robots are typical representatives.

[0014] Leg-wheel robot: A leg-wheel robot is a robot that performs motion control on itself by means of a leg-wheel structure, has extremely high wheel energy efficiency and very strong adaptive capability, and can overcome uneven terrain. Here, the leg-wheel structure includes two parts, namely a leg part including at least one joint and a wheel. Since a leg-wheel robot contacts the ground only through the wheels of the leg-wheels, there are often problems of balance control.

[0015] The implementation environment of the present invention will be described below. FIG. 1 is a schematic diagram of an implementation environment of a control method for a leg-wheel robot according to an embodiment of the present invention. As shown in FIG. 1, the implementation environment includes a leg-wheel robot 100 and a control device 200, and the leg-wheel robot 100 and the control device 200 are connected to each other via a wired or wireless network.

[0016] In an embodiment of the present invention, the configuration of the leg-wheel robot 100 is as shown in FIG. 2. The leg-wheel robot 100 includes a first leg-wheel 110, a second leg-wheel 120, an auxiliary leg-wheel 130 and a base 140. The base 140 is located above the first leg-wheel 110, the second leg-wheel 120 and the auxiliary leg-wheel 130, and is connected to the first leg-wheel 110, the second leg-wheel 120 and the auxiliary leg-wheel 130.

[0017] The first leg wheel 110 and the second leg wheel 120 are for driving the robot's movement, and the structure of the first leg wheel 110 and the structure of the second leg wheel 120 are identical. The first leg wheel 110 will be described below as an example. As shown in Figure 2, the first leg wheel 110 includes two leg structures 111 and a wheel 112, and both leg structures 111 are connected to the wheel 112. The two leg structures 111 include a thigh structure 1111 and a lower leg structure 1112, that is, the first leg wheel 110 includes two thigh structures 1111 and two lower leg structures 1112, and each thigh structure 1111 is connected to the corresponding lower leg structure 1112 via a rotary joint. Each of the two leg structures 111 is associated with one first motor 150, and each first motor 150 is connected to a thigh structure 1111 in its associated leg structure 111 and is used to control the extension and retraction of the associated leg structure 111. That is, the first leg wheel 110 is controlled by two first motors 150, and the two thigh structures 1111 of the first leg wheel 110 are connected to the base 140 via the output shafts of the respective associated first motors 150. The wheel 112 is the driving wheel, and the wheel 112 can achieve driving rotation by being driven by a second motor 160. This allows the leg-wheeled robot 100 to be controlled to perform specified actions, such as controlling the leg-wheeled robot to move forward, control the leg-wheeled robot to move backward, control the leg-wheeled robot to rotate, or control the leg-wheeled robot to stand still. For example, the second motor 160 is fixed to one lower leg structure 1112 of the first leg wheel 110 so as to drive the rotation axis of the wheel 112 (i.e., the main drive wheel) by belt transmission in order to drive the main drive wheel.

[0018] The auxiliary leg wheel 130 assists in maintaining the balance of the leg-wheeled robot so that the leg-wheeled robot can complete complex movements such as climbing stairs. As shown in Figure 2, the auxiliary leg wheel 130 includes an auxiliary leg 131 and an auxiliary wheel 132. The auxiliary leg 131 is connected to the base 140 via the output shaft of a third motor 170. The third motor 170 is used to control the up-and-down swing of the auxiliary leg wheel 130 relative to the base. The auxiliary wheel 132 is a driven wheel, and when the auxiliary leg wheel 130 is in contact with the ground, the auxiliary wheel 132 can roll along the ground as the leg-wheeled robot 100 moves.

[0019] The legged wheeled robot 100 further includes hardware structures such as a processor and a battery. Preferably, the processor and battery are mounted within the base 140. The processor is used to control the legged wheeled robot so that it can perform various actions. Preferably, the processor is a separate hardware structure, or the legged wheeled robot includes a microcomputer and the processor is integrated within the microcomputer.

[0020] The control device 200 is a terminal or a remote control device. Here, the terminal includes, but is not limited to, a smartphone, a tablet computer, a notebook computer, a desktop computer, etc. In some embodiments, the control device 200 transmits control commands to the legged wheeled robot 100 in order to control the legged wheeled robot 100 to perform the actions instructed by the control commands.

[0021] Figure 3 is a flowchart of a control method for a leg-wheeled robot according to an embodiment of the present invention. Based on the implementation environment shown in Figure 1, the method is executed by the processor of the leg-wheeled robot. As shown in Figure 3, the method according to the embodiment includes the following steps.

[0022] Step 301: The leg-wheeled robot controls the first leg wheel to move from the first staircase to the second staircase, and controls the second leg wheel and auxiliary leg wheel to stabilize on the first staircase. There is a height difference between the first staircase and the second staircase.

[0023] In some embodiments, the second staircase is higher than the first staircase, meaning that the process of the first wheeled robot moving from the first staircase to the second staircase is the process of the wheeled robot climbing the stairs.

[0024] In some embodiments, the processor first controls the leg-wheeled robot to maintain balance on a first staircase using the three legs as support, and then controls one leg to move while the other two legs remain still so that the leg-wheeled robot can maintain balance as it performs the action of climbing the staircase.

[0025] Step 302: The leg-wheeled robot controls the second leg wheel to move from the first staircase to the second staircase, the first leg wheel to stabilize on the second staircase, and the auxiliary leg wheel to stabilize on the first staircase.

[0026] Step 303: The leg-wheeled robot controls the auxiliary leg wheels to move from the first staircase to the second staircase, and controls the first and second leg wheels to stabilize on the second staircase.

[0027] In some embodiments, for steps 301 to 303 described above, the wheeled robot controls the movement of its three wheels based on stair information so that the wheeled robot can perform a stair-climbing motion. Here, the stair information is used to indicate the characteristics of the staircase and the position of the wheeled robot relative to the staircase, and includes the width of the staircase, the height difference between the first and second staircases, and the distance between the wheeled robot and the first or second staircase.

[0028] Preferably, the wheeled robot acquires the stair information in two ways. In one implementation, a technical staff member transmits a control command to the wheeled robot via a control device, the control command transports the stair information, and the processing unit of the wheeled robot receives the control command and acquires the stair information transported by the control command. In the other implementation, an image acquisition sensor is attached to the wheeled robot, and the image acquisition sensor can acquire images including a first stair and a second stair, and the wheeled robot acquires the stair information based on the images acquired by the image acquisition sensor.

[0029] The technology according to an embodiment of the present invention controls the first leg wheel, the second leg wheel, and the auxiliary leg wheel to move sequentially from the first staircase to the second staircase, and controls the other two leg wheels to stabilize on the staircase when any one leg wheel moves. This ensures the balance of the leg-wheeled robot itself and enables the leg-wheeled robot to perform the function of climbing stairs, thereby improving the diversity of the execution movements and functions of the leg-wheeled robot and improving the leg-wheeled robot's adaptability to the ground.

[0030] The embodiment shown in Figure 3 above briefly introduces the control method for a leg-wheeled robot according to the present invention. The method will be described in detail below with reference to Figure 4, based on the implementation environment shown in Figure 1 and the leg-wheeled robot shown in Figure 2. Figure 4 is a flowchart of the control method for a leg-wheeled robot according to an embodiment of the present invention. The embodiment of the present invention will be described as an example in which a leg-wheeled robot acquires stair information using an image acquisition sensor. As shown in Figure 4, the method is performed by a leg-wheeled robot and includes the following steps.

[0031] Step 401: The leg-wheeled robot is controlled to maintain balance on the first staircase using the first leg wheels, second leg wheels, and auxiliary leg wheels as support structures.

[0032] Preferably, the leg-wheeled robot controls the first leg wheel, the second leg wheel, and the auxiliary leg wheel to remain stationary on the first staircase, or adjusts the first leg wheel, the second leg wheel, and the auxiliary leg wheel to a stable state. The process for adjusting the three leg wheels to a stable state is described below.

[0033] In some embodiments, a wheeled robot is controlled so that the base moves downward so that auxiliary wheels connected to the base of the wheeled robot make contact with a first staircase, and so that the projection point of the center of mass of the wheeled robot on the staircase lies within the range of a triangle formed by the staircase contact points of the first wheel, the second wheel, and the auxiliary wheel.

[0034] The process of controlling the base to move downward is described exemplified. The leg-wheeled robot obtains the distance between the auxiliary leg wheel and the first step based on an image transmitted by an image acquisition sensor, and obtains the target joint moment τ1 of the motor associated with the first leg wheel and the target joint moment τ2 of the motor associated with the second leg wheel based on the distance between the auxiliary leg wheel and the first step and the direction of movement of the leg wheel indicated by the retraction movement. That is, the target joint moment τ1 of the two first motors 150 associated with the first leg wheel and the target joint moment τ2 of the two first motors 150 associated with the second leg wheel are obtained in Figure 2. The two first motors 150 associated with the first leg wheel are controlled based on the target joint moment τ1, and the two first motors 150 associated with the second leg wheel are controlled based on the target joint moment τ2, thereby controlling the first and second leg wheels to retract so that the base of the leg-wheeled robot moves downward. Preferably, the target joint moment τ1 is a vector containing two moments, each moment corresponding to one first motor of the first leg wheel, i.e., each moment is used to control one first motor of the first leg wheel. The two moments may be the same or different, but embodiments of the present invention are not limited to the data format of the target joint moment τ1. The data format of the target joint moment τ2 is similar to that of the target joint moment τ1, and its description is omitted here.

[0035] The process of acquiring target joint moments τ1 and τ2 is described exemplified below. The leg-wheeled robot determines the target movement trajectory of the base based on the distance between the auxiliary leg wheel and the first step. The target movement trajectory is used to indicate the time required for the base to move downward and the position of the base at each point in time during the base's movement. Based on the position of the base at each point in time and the direction of movement of the leg wheels indicated by the retraction movement, the leg-wheeled robot acquires the target joint moment τ1 of the motor associated with the first leg wheel and the target joint moment τ2 of the motor associated with the second leg wheel at each point in time. The target joint moments τ1 and τ2 at any given point in time are used to control the leg wheels to retract so that the base moves from the position at the previous point in time to the position at that point in time. For example, taking the acquisition of the target joint moment τ1 of the motor associated with the first leg wheel at any given point in time as an example, as shown in Figure 5, the control device determines the position X3(x3,z3) of the wheel of the first leg wheel in the robot coordinate system based on the position of the base at that point in time. The robot coordinate system is an XZ coordinate system with the base position as the origin. Based on the distance l'0 between the two leg structures of the first leg wheel and the base connection point, the positions of the two leg structures and the base connection point in the robot coordinate system are determined to be X1(0.5l'0,0) and X5(-0.5l'0,0), respectively. Based on the positions of the two leg structures and the base connection point and the position of the wheel of the first leg wheel, the distance between the two connection point and the wheel of the first leg wheel is determined according to equation (1). Based on the distance between the two connection point and the wheel of the first leg wheel and the dimensions of the two leg structures, the joint angle information of the first leg wheel is determined according to equation (2). This joint angle information is the angle between the first leg wheel and the base. As shown in Figure 5, this joint angle information is the joint angle θ 11 , joint angle θ 12 , joint angle θ 21 and joint angle θ 22 This includes obtaining the target joint moment τ1 of the motor associated with the first leg wheel at that time based on the joint angle information.

[0036]

number

[0037]

number

[0038] Preferably, the leg-wheeled robot adjusts the angle between the auxiliary leg wheel and the base by controlling the motor associated with the auxiliary leg wheel, i.e., the third motor 170 in Figure 2. Thus, the projection point of the center of mass of the leg-wheeled robot on the stairs is controlled to be located within the triangle formed by the stairs contact points of the three leg wheels.

[0039] In some embodiments, a wheeled robot is controlled to first move forward on the first staircase so that the first and second wheels move to the boundary between the first and second staircases, and then the base of the wheeled robot is controlled to move downward. By having the first and second wheels move to the boundary between the first and second staircases, the distance that the first and second wheels need to travel when climbing the stairs is reduced, thus allowing the wheeled robot to complete the stair-climbing motion more effectively.

[0040] The process of controlling a wheeled robot to move forward on a first staircase is illustrated. The wheeled robot obtains the distance between the wheels of the first and second legs and the boundary of the staircase, and the reference rotational speed of the two wheels. Based on the obtained distance and reference rotational speed, it obtains a moment to control the two wheels, and based on the moment of the two wheels, it controls the motors of the two wheels. That is, it controls the two second motors 160 in Figure 2 to rotate the two wheels, thereby moving the wheeled robot forward on the first staircase. Preferably, the wheeled robot randomly determines the reference rotational speed of the two wheels, or the technical staff transmits a control command to the wheeled robot via a control device to control the robot's movement speed. Upon receiving the control command, the wheeled robot obtains the reference rotational speed of the two wheels based on the radius of the two wheels and the movement speed conveyed to the control command.

[0041] For example, Figure 6 shows images and a three-dimensional perspective view of a legged-wheeled robot from three viewpoints on the first staircase. As shown in Figure 6, the legged-wheeled robot maintains balance on the first staircase by its three legs, with the first leg 601 and second leg 602 located at the boundary of the staircase, the auxiliary leg 603 located on the first staircase, and the projection point 604 of the legged-wheeled robot's center of mass on the staircase located within the triangle formed by the staircase contact points of the three legs.

[0042] Step 402: The leg-wheeled robot controls the first leg wheel to move from the first staircase to the second staircase, and controls the second leg wheel and auxiliary leg wheel to stabilize on the first staircase. There is a height difference between the first staircase and the second staircase.

[0043] In some embodiments, the process of controlling the first leg wheel to move from the first staircase onto the second staircase includes the following steps: The leg-wheeled robot is first controlled to lift the first leg wheel, and then controlled to move towards the second staircase during the period when the first leg wheel is away from the first staircase and not in contact with the second staircase, so that the first leg wheel moves onto the second staircase when it falls. The process is described below by steps 402A to 402B.

[0044] Step 402A: The leg-wheeled robot controls the first leg wheel to step on the ground so that the first leg wheel leaves the first staircase.

[0045] In some embodiments, the leg-wheeled robot obtains a target joint moment τ3 of the motor associated with the first leg wheel based on the height difference between the first and second steps and the direction of movement of the leg wheel indicated by the stepping motion. That is, the target joint moments τ3 of the two first motors 150 associated with the first leg wheel are obtained in Figure 2. Based on the target joint moment τ3, the first leg wheel is controlled to step on the ground in order to lift the first leg wheel based on the reaction force of the first step. The data format of the target joint moment τ3 is the same as that of the target joint moment τ1 in step 401, and its description is omitted here.

[0046] The process of obtaining the target joint moment τ3 is illustrated below. Based on the height difference between the first and second steps, the control device obtains a target angle at which the side connected to the first leg wheel at the base needs to be lifted. Based on the target angle, it determines the initial acceleration for the first leg wheel to leave the first step and the reaction force required for the first leg wheel to leave the first step. Based on the initial acceleration, reaction force, and the direction of movement of the leg wheel indicated by the stepping motion, the control device obtains the target joint moment τ3 of the motor associated with the first leg wheel.

[0047] The process of obtaining the starting acceleration and reaction force based on the target angle will be illustrated. As shown in Figure 7, the control device determines the height Δl to which the first leg wheel must be lifted, based on the target angle, according to equation (3), and determines the starting acceleration and reaction force based on the height to which the first leg wheel must be lifted.

[0048]

number

[0049] Step 402B: The leg-wheeled robot is controlled so that the first leg wheel moves toward the second staircase during the period when the first leg wheel is away from the first staircase and not in contact with the second staircase, so that the first leg wheel moves onto the second staircase when it falls.

[0050] In some embodiments, a leg-wheeled robot is controlled to retract a first leg wheel by a first distance and to swing a second distance toward the second step during the period when the first leg wheel is away from the first step and not in contact with the second step. Here, the first distance is greater than the height difference between the first and second steps, and the second distance is greater than the radius of the first leg wheel and less than the width of the second step.

[0051] The process of controlling the first leg wheel to retract by a first distance is illustrated. The leg-wheeled robot obtains a first joint moment of the motor associated with the first leg wheel based on a first distance and the direction of movement of the leg wheel indicated by the retraction motion, i.e., obtains the first joint moments of the two first motors 150 associated with the first leg wheel in Figure 2, and controls the first leg wheel to retract by a first distance based on the first joint moments.

[0052] The process of controlling the first leg wheel to swing a second distance toward the second staircase is illustrated. The leg-wheeled robot determines the second joint moment of the motor associated with the first leg wheel based on the second distance and the direction of movement of the leg wheel indicated by the swing toward the second staircase, i.e., obtains the second joint moment of the two first motors 150 associated with the first leg wheel in Figure 2, and controls the first leg wheel to swing a second distance toward the second staircase based on the second joint moment.

[0053] The process for obtaining the first joint moment based on the first distance and the process for obtaining the second joint moment based on the second distance are the same as the process corresponding to Figure 5 in step 401, and their explanation is omitted here. The data format for the first and second joint moments is the same as the target joint moment τ1 in step 401, and their explanation is omitted here.

[0054] For example, Figure 8 shows images and a three-dimensional perspective view of a wheeled robot from three viewpoints while the first leg wheel is moving. In Figure 8, the posture of the wheeled robot when the first leg wheel is not moving and after it has moved are shown with solid and dashed lines, respectively. As shown in Figure 8, the wheeled robot first controls the first leg wheel 801 to lift it upward by stepping on the ground, and then controls the first leg wheel to retract and swing toward the second step during the period when the first leg wheel is not in contact with the stairs. This causes the first leg wheel to move onto the second step as it falls. During this process, the second leg wheel 802 and the auxiliary leg wheel 803 are held stable on the first step. After the first leg wheel has moved onto the second step, the projection point 804 of the center of mass of the wheeled robot on the stairs is within the triangle formed by the stair contact points of the three legs, so the wheeled robot can maintain its balance.

[0055] Step 403: The legged wheeled robot is controlled so that its base moves toward the second step, such that the projection point of the legged wheeled robot's center of mass on the step moves from the first step to the second step.

[0056] In some embodiments, the wheeled robot determines the distance the base needs to move toward the second staircase based on the current position of the center of mass of the wheeled robot, obtains joint moments to control the movement of the base based on the distance the base needs to move toward the second staircase, and controls the two first motors 150 of the first leg wheel and the two first motors 150 of the second leg wheel in Figure 2 based on the obtained joint moments, thereby keeping the wheels of the first and second leg wheels stationary while moving the base toward the second staircase. By controlling the base to move toward the second staircase, the center of mass of the wheeled robot is moved above the second staircase, and the wheeled robot can better maintain balance when controlling the second leg wheel to move toward the second staircase in subsequent steps, thus better completing the stair-climbing motion. Here, the data format for the joint moments for controlling the first leg wheel and the joint moments for controlling the second leg wheel is the same as the target joint moment τ1 in step 401, and its explanation is omitted here.

[0057] Furthermore, during the movement of the base, the auxiliary leg wheels move toward the second staircase on the first staircase in conjunction with the movement of the base, and the leg-wheeled robot can always maintain balance because the projection point of the leg-wheeled robot's center of mass on the staircase is always located within the triangle formed by the stair contact points of the three leg wheels.

[0058] For example, Figure 9 shows images and a three-dimensional perspective view of a wheeled robot with legs moving from three different viewpoints. In Figure 9, the posture of the wheeled robot when the leg is stationary and after the leg is moved are shown with solid and dashed lines, respectively. As shown in Figure 9, when the wheels of the first leg wheel 901 and the second leg wheel 902 are stationary, the base 905 of the wheeled robot is moved toward the second step, and therefore the projection point 904 of the center of mass of the wheeled robot toward the second step is moved toward the second step. In this process, the auxiliary leg wheel 903 moves toward the second step along with the movement of the base.

[0059] Step 404: The leg-wheeled robot controls the second leg wheel to move from the first staircase to the second staircase, the first leg wheel to stabilize on the second staircase, and the auxiliary leg wheel to stabilize on the first staircase.

[0060] In some embodiments, the leg-wheeled robot is controlled to move the second leg wheel to the second staircase in a manner similar to that of step 402, but this will not be described here.

[0061] For example, Figure 10 shows images and a three-dimensional perspective view of a wheeled robot from three viewpoints while the second leg wheel is moving. In Figure 10, the posture of the wheeled robot before and after the movement of the second leg wheel is shown with solid and dashed lines, respectively. As shown in Figure 10, the wheeled robot controls the second leg wheel 1002 to step downward on the ground, and controls the second leg wheel to retract and swing toward the second staircase during the period when the second leg wheel is not in contact with the stairs. This causes the second leg wheel to move onto the second staircase as it falls. During this process, the first leg wheel 1001 is controlled to stabilize on the second staircase, and the auxiliary leg wheel 1003 is controlled to stabilize on the first staircase. After the second leg wheel has moved onto the second staircase, the projection point 1004 of the center of mass of the wheeled robot on the stairs is located within the triangle formed by the stair contact points of the three leg wheels.

[0062] Step 405: The leg-wheeled robot is controlled to move its base forward so that the projection point of the leg-wheeled robot's center of mass on the stairs moves to the target position. The target position is a position where the distance of the connection line between the first leg wheel and the stairs contact point and the distance of the connection line between the second leg wheel and the stairs contact point are less than a distance threshold, and which lies within the range of the triangle formed by the stairs contact points of the first leg wheel, the second leg wheel, and the auxiliary leg wheel.

[0063] In some embodiments, the wheeled robot is controlled to move forward at its base in a manner similar to that described in step 403, but this description is omitted here. By moving the projection point of the wheeled robot's center of mass on the stairs to the target position, the center of mass of the wheeled robot can be moved further forward, thereby reducing the difficulty for the wheeled robot to maintain balance on the second staircase with its two wheels in subsequent steps, and allowing the wheeled robot to better complete the stair-climbing motion.

[0064] Furthermore, as the base moves forward, the auxiliary leg wheels move forward on the first step in conjunction with the movement of the base.

[0065] For example, Figure 11 shows images and a three-dimensional perspective view of a wheeled robot from three different viewpoints during base movement. Figure 11 shows the posture of the wheeled robot when the base is not moving and after the base has moved, with solid and dashed lines, respectively. As shown in Figure 11, when the wheels of the first leg wheel 1101 and the second leg wheel 1102 are not moving, the wheeled robot controls the base 1105 to move forward, and thus moves the projection point 1104 of the center of mass of the wheeled robot on the steps to the target position. In the process of the base moving forward, the auxiliary leg wheel 1103 moves forward on the first steps in conjunction with the movement of the base.

[0066] In some embodiments, a wheeled robot is first controlled to move forward a target distance on a second staircase. This target distance is smaller than the distance between the stair contact point of the second wheel and the boundary between the second and third staircases, where there is a height difference between the third and second staircases. Subsequently, the base of the wheeled robot is controlled to move forward so that the projection point of the center of mass of the wheeled robot on the staircase moves to the target position. By controlling the wheeled robot to move forward a target distance, the distance between the first and second wheels and the boundary between the first and second staircases is increased. This prevents the wheeled robot from falling off the second staircase and returning to the first staircase when maintaining balance on the first and second wheels in subsequent steps, and allows the wheeled robot to better complete the stair-climbing motion.

[0067] Step 406: The leg-wheeled robot is controlled to maintain balance on the second staircase, using the first and second leg wheels as support structures.

[0068] In some embodiments, a leg-wheeled robot maintains balance using its first and second leg wheels as support structures by controlling three spatial angles of the leg-wheeled robot. Here, the three spatial angles are the pitch angle, the roll angle, and the yaw angle. Specifically, Figure 12 is a schematic diagram of the spatial angles according to an embodiment of the present invention. Figure 12 shows a right-handed Cartesian coordinate system in three-dimensional space established based on the center of the base. Here, the X-axis is the coordinate axis in the direction of travel of the leg-wheeled robot and corresponds to the roll angle; that is, the angle in the X-axis direction of the leg-wheeled robot is called the roll angle. The Y-axis is the coordinate axis in the direction of connection between the two wheels of the leg-wheeled robot and corresponds to the pitch angle; that is, the angle in the Y-axis direction of the leg-wheeled robot is called the pitch angle. The Z-axis is the coordinate axis in the vertical upward direction and corresponds to the yaw angle; that is, the angle in the Z-axis direction of the leg-wheeled robot is called the yaw angle.

[0069] A method for controlling the pitch angle will be illustrated. As shown in Figure 13, the legged wheeled robot first controls the reference travel speed of the wheel centers of the first and second leg wheels. (outside 1) TIFF0007918275000004.tif931 and current movement speed (outside 2) Obtain TIFF0007918275000005.tif931. This reference speed is the speed that the wheel center needs to achieve depending on the motion state of the leg-wheeled robot. For example, if the current leg-wheeled robot needs to move stably in a balanced state, this reference speed is 0. The leg-wheeled robot is, (Outside 3) TIFF0007918275000006.tif931 and (outside 4) The difference with TIFF0007918275000007.tif931 is input to the proportional-integral-derivative (PID) control unit 1301, and the reference pitch angle θ of the legged wheeled robot is input. ref The leg-wheeled robot then obtains the current pitch angle θ of the leg-wheeled robot, and θ ref The difference between and θ is input to the PID control unit 1302, and the reference pitch angular velocity (outside 5) Retrieve TIFF0007918275000008.tif931. The legged wheeled robot's current pitch angular velocity (outside 6) Retrieve TIFF0007918275000009.tif931, (outer 7) TIFF0007918275000010.tif931 and (outside 8) The difference with TIFF0007918275000011.tif931 is input to the PID control unit 1303 to obtain a moment for controlling the balance of the pitch angle, and the second motors of the two wheels are controlled based on the obtained moment. This realizes control over the balance of the pitch angle of the legged wheeled robot. Preferably, (outer 9) TIFF0007918275000012.tif924, θ and (Outside 10) TIFF0007918275000013.tif924 is obtained by the attitude sensor of a legged wheeled robot.

[0070] A method for controlling the roll angle will be explained exemplified below. As shown in Figure 14, the reference roll angle of the legged wheeled robot is... (Outside 11) The TIFF0007918275000014.tif924 and the current roll angle φ are obtained. Preferably, if the legged wheeled robot has not received a roll angle control command, it obtains 0° as the reference roll angle, and if it has received a roll angle control command, it obtains the roll angle conveyed by the roll angle control command as the reference roll angle. Preferably, the legged wheeled robot obtains the current roll angle using an attitude sensor. The legged wheeled robot, (Outside 12) TIFF0007918275000015.tif924 and φ The difference between the two values ​​is input to the PID control unit 1401 to obtain the distance Δl' that the first and second leg wheels need to extend or retract. Δl' is input to the inverse kinematics solver (IK) 1402 to obtain joint angle information for the first and second leg wheels. Based on the joint angle information, a moment for controlling the roll angle balance is obtained, and based on the obtained moment, the two first motors of the first leg wheel and the two first motors of the second leg wheel are controlled. This realizes control over the roll angle balance of the leg-wheeled robot. According to the method shown in Figure 14, if there is a lack of freedom in the roll direction between the leg wheel and the base, that is, if the leg wheel cannot sway left or right relative to the base, the roll angle balance of the leg-wheeled robot can be controlled. Here, the data format for the moment for controlling the first leg wheel and the moment for controlling the second leg wheel is the same as the target joint moment τ1 in step 401, and its explanation is omitted here.

[0071] A method for controlling the yaw angle is exemplarily described. The legged-wheeled robot obtains the reference yaw angle φ of the legged-wheeled robot ref and the current yaw angle φ. Preferably, when the legged-wheeled robot does not receive a yaw angle control command, it obtains 0° as the reference yaw angle; when it receives a yaw angle control command, it obtains the yaw angle carried in the yaw angle control command as the reference yaw angle. Preferably, the legged-wheeled robot obtains the current yaw angle via an attitude sensor. The legged-wheeled robot obtains, based on a difference between φ ref and φ, the reference movement speed of the wheel center of the first leg wheel (Outside 13) TIFF0007918275000016.tif1033and the reference movement speed of the wheel center of the second leg wheel (Outside 14) TIFF0007918275000017.tif1033, (Outside 15) TIFF0007918275000018.tif1033(Outside 16) TIFF0007918275000019.tif1033and the radius of the wheels, obtains the reference rotational speeds of the two wheels, obtains a moment for yaw angle balance control based on the reference rotational speeds of the two wheels, and controls the second motors of the two wheels based on the obtained moment. Thereby, yaw angle balance control for the legged-wheeled robot is realized.

[0072] Note that after the legged-wheeled robot maintains balance on the second stair by taking the first leg wheel and the second leg wheel as supporting parts, the auxiliary leg wheel is still in contact with the first stair, but the acting force between the auxiliary leg wheel and the first stair approaches zero. That is, the legged-wheeled robot does not maintain balance with the auxiliary leg wheel as a support. Thereby, moving the auxiliary leg wheel onto the second stair in subsequent steps can be easily realized.

[0073] Step 407: The leg-wheeled robot controls the auxiliary leg wheels to move from the first staircase to the second staircase, and controls the first and second leg wheels to stabilize on the second staircase.

[0074] In some embodiments, the step of controlling the auxiliary leg wheels to move onto a second staircase includes the step of controlling the leg-wheeled robot so that the base of the leg-wheeled robot moves upward by a third distance, the third distance being greater than or equal to the height difference between the first staircase and the second staircase, and the step of controlling the leg-wheeled robot to move forward on the second staircase so that the auxiliary leg wheels attached to the base move onto the second staircase.

[0075] Preferably, the leg-wheeled robot records its initial height. This initial height is the distance between the base and the first step as the leg-wheeled robot balances on its three legs on the first step. Accordingly, the third distance is the height difference between the leg-wheeled robot's current height and its initial height. By obtaining the third distance based on the initial height, the leg-wheeled robot can perform the next step-climbing maneuver better, as it maintains a height that matches the initial height after moving the base upward by a third distance.

[0076] The process of controlling the base to move upward by a third distance will be explained exemplarily. Based on the third distance and the direction of movement of the leg wheels indicated by the extension movement, the control device acquires the third joint moment of the motor associated with the first leg wheel and the fourth joint moment of the motor associated with the second leg wheel. That is, it acquires the third joint moments of the two first motors 150 associated with the first leg wheel and the fourth joint moments of the two first motors 150 associated with the second leg wheel in Figure 2. Then, based on the third and fourth joint moments, the control device controls the first and second leg wheels to extend by the third distance so that the base moves upward by a third distance. The process of acquiring the third and fourth joint moments based on the third distance is the same as the process corresponding to Figure 5 in step 401, and its explanation will be omitted here. The data format for the third and fourth joint moments is the same as that for the target joint moment τ1 in step 401, and therefore its explanation is omitted here.

[0077] For example, Figure 15 shows images and a three-dimensional perspective view of a leg-wheeled robot from three viewpoints during the process of the base moving upward by a third distance. As shown in Figure 15, the leg-wheeled robot controls the base 1505 to move upward by a third distance so that the auxiliary wheels 1503 leave the first step. During this process, the leg-wheeled robot controls the first leg wheel 1501 and the second leg wheel 1502 to maintain stability on the second step.

[0078] Furthermore, during the process of lifting the auxiliary leg wheels and moving them from the first staircase to the second staircase, the posture of the leg-wheeled robot changes, and therefore the position of the leg-wheeled robot's center of mass also changes. In order for the leg-wheeled robot to maintain balance in the direction of the pitch angle, the leg-wheeled robot acquires the position of its center of mass in real time, and based on the position of the leg-wheeled robot's center of mass, the PID control units 1301, 1302, and 1303 in step 406 acquire a moment to control the balance of the pitch angle, and control the second motors of the two wheels based on the acquired moment. This allows the leg-wheeled robot to maintain balance in the direction of the pitch angle.

[0079] The technology according to an embodiment of the present invention controls the first leg wheel, the second leg wheel, and the auxiliary leg wheel to move sequentially from the first staircase to the second staircase, and controls the other two leg wheels to stabilize on the staircase when any one leg wheel moves. This ensures the balance of the leg-wheeled robot itself and enables the leg-wheeled robot to perform the function of climbing stairs, thereby improving the diversity of the execution movements and functions of the leg-wheeled robot and improving the leg-wheeled robot's adaptability to the ground.

[0080] Figure 16 is a schematic diagram of the configuration of a control device for a leg-wheeled robot according to an embodiment of the present invention. As shown in Figure 16, the device includes a first leg-wheel control module 1601, a second leg-wheel control module 1602, and an auxiliary leg-wheel control module 1603.

[0081] The first leg wheel control module 1601 controls the first leg wheel to move from the first staircase to the second staircase, and controls the second leg wheel and auxiliary leg wheel to remain stable on the first staircase. There is a height difference between the first staircase and the second staircase.

[0082] The second leg wheel control module 1602 controls the second leg wheel to move from the first staircase to the second staircase, the first leg wheel to stabilize on the second staircase, and the auxiliary leg wheel to stabilize on the first staircase.

[0083] The auxiliary leg wheel control module 1603 controls the auxiliary leg wheels to move from the first staircase to the second staircase, and controls the first leg wheels and the second leg wheels to stabilize on the second staircase.

[0084] In some embodiments, the first leg wheel control module 1601 includes the following submodules:

[0085] The first control submodule controls the first leg wheel to leave the first staircase and to press against the ground.

[0086] The second control submodule controls the first leg wheel to move toward the second staircase during the period when the first leg wheel is away from the first staircase and not in contact with the second staircase, so that the first leg wheel moves toward the second staircase when it falls.

[0087] In some embodiments, the first control submodule includes the following parts:

[0088] The acquisition unit acquires the target joint moment of the motor associated with the first leg wheel based on the height difference between the first staircase and the second staircase, and the direction of movement of the leg wheel indicated by the stepping motion.

[0089] The control unit controls the first leg wheel to lift based on the reaction force of the first step, and to press the first leg wheel against the ground based on the target joint moment.

[0090] In some embodiments, the leg-wheeled robot further includes a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel.

[0091] The acquisition unit obtains a target angle at which the side of the base connected to the first leg wheel needs to be lifted, based on the height difference between the first staircase and the second staircase; determines the initial acceleration for the first leg wheel to leave the first staircase and the reaction force required for the first leg wheel to leave the first staircase, based on the target angle; and obtains a target joint moment of the motor associated with the first leg wheel, based on the initial acceleration, reaction force, and the direction of movement of the leg wheel indicated by the stepping motion.

[0092] In some embodiments, the second control submodule controls the first leg wheel to retract by a first distance and to swing toward the second step by a second distance during the period when the first leg wheel is away from the first step and not in contact with the second step, where the first distance is greater than the height difference between the first and second steps, and the second distance is greater than the radius of the wheel of the first leg wheel and less than the width of the second step.

[0093] In some embodiments, the second control submodule obtains a first joint moment of the motor associated with the first leg wheel based on a first distance and the direction of movement of the leg wheel indicated by the retraction movement, and controls the first leg wheel to retract by a first distance based on the first joint moment.

[0094] In some embodiments, the second control submodule determines a second joint moment of the motor associated with the first leg wheel based on a second distance and the direction of movement of the leg wheel indicated by the rocking toward the second step, and controls the first leg wheel to rock toward the second step by a second distance based on the second joint moment.

[0095] In some embodiments, the leg-wheeled robot further includes a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel.

[0096] The auxiliary leg wheel control module 1603 includes the following submodules:

[0097] The third control submodule controls the base of the legged wheeled robot to move upward by a third distance. This third distance is greater than or equal to the height difference between the first and second steps.

[0098] The fourth control submodule controls the wheeled robot to move forward on the second staircase so that the auxiliary leg wheels connected to the base move onto the second staircase.

[0099] In some embodiments, the third control submodule obtains a third joint moment of the motor associated with the first leg wheel and a fourth joint moment of the motor associated with the second leg wheel based on a third distance and the direction of movement of the leg wheels indicated by the extension movement, and controls the first leg wheel and the second leg wheel to extend by the third distance based on the third and fourth joint moments so that the base moves upward by a third distance.

[0100] In some embodiments, the apparatus further includes the following modules:

[0101] The first balance control module controls the leg-wheeled robot to maintain balance on the first staircase using the first leg wheels, second leg wheels, and auxiliary leg wheels as support structures.

[0102] In some embodiments, the leg-wheeled robot further includes a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel.

[0103] The first balance control module controls the base of the leg-wheeled robot to move downward so that the auxiliary leg wheels connected to the base of the leg-wheeled robot make contact with the first staircase, and controls the projection point of the center of mass of the leg-wheeled robot on the staircase to be located within the triangle formed by the staircase contact points of the first leg wheels, the second leg wheels, and the auxiliary leg wheels.

[0104] In some embodiments, the first balance control module controls the wheeled robot to move forward on the first staircase such that the first and second wheels move to the boundary between the first and second staircases.

[0105] In some embodiments, the leg-wheeled robot further includes a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel.

[0106] The device further includes the following modules:

[0107] The base control module controls the base of the wheeled robot to move toward the second staircase so that the projection point of the wheeled robot's center of mass on the staircase moves from the first staircase to the second staircase.

[0108] In some embodiments, the apparatus further includes the following modules:

[0109] The second balance control module controls the leg-wheeled robot to maintain balance on the second staircase, using the first and second leg wheels as support structures.

[0110] In some embodiments, the leg-wheeled robot further includes a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel.

[0111] The device further includes the following modules:

[0112] The base control module controls the base of the wheeled robot to move forward so that the projection point of the center of mass of the wheeled robot on the stairs moves to a target position. The target position is a position where the distance of the connection line between the first wheel and the stairs contact point and the distance of the connection line between the second wheel and the stairs contact point are less than a distance threshold, and the position lies within the triangle formed by the stairs contact points of the first wheel, the second wheel, and the auxiliary wheel.

[0113] In the above embodiment, when the control device for the legged wheeled robot controls the legged wheeled robot, the above-mentioned functional block divisions were merely illustrated as examples. However, in actual applications, the above functions are executed by different functional blocks as needed; that is, the internal configuration of the device is divided into different functional blocks to complete all or part of the above-mentioned functions. Furthermore, the device according to the above embodiment belongs to the same concept as the embodiment of the method, and its specific implementation method can be explained by referring to the details of the embodiment of the method, so that explanation is omitted here.

[0114] Embodiments of this disclosure further provide a leg-wheeled robot that performs a control method for a leg-wheeled robot. Figure 17 is a schematic diagram of the configuration of a leg-wheeled robot according to an embodiment of the present invention. The leg-wheeled robot 1700 may include one or more processors (Central Processing Units: CPUs) 1701 and one or more memories 1702, although there may be relatively large differences depending on the configuration or performance. Here, one or more memories 1702 store at least one program code. This at least one program code is loaded and executed by one or more processors 1701 to implement the control method for a leg-wheeled robot according to each embodiment of the above method. The leg-wheeled robot 1700 may further include wired or wireless network interfaces for input / output, a keyboard, an input / output interface, etc. The leg-wheeled robot 1700 may further include other components for realizing the functions of the device, but their description is omitted here.

[0115] In an exemplary embodiment, the present invention further provides a computer-readable storage medium in which at least one program code is stored, the at least one program code being executed by a processor to implement a control method for any of the above-described leg-wheeled robots. For example, the computer-readable storage medium may be a read-only memory (ROM), random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a flexible disk, an optical data storage device, and the like.

[0116] In an exemplary embodiment, the present invention provides a computer program product comprising at least one computer program, the at least one computer program being stored in a computer-readable storage medium, and the processor of a legged wheeled robot reading and executing the at least one computer program from the computer-readable storage medium to cause a computer device to implement the control method of the legged wheeled robot.

[0117] In some embodiments, a computer program according to an embodiment of the present invention may be configured and executed on a single computer device, on multiple computer devices located in one location, on multiple computer devices distributed in multiple locations and connected to each other via a communication network, or on a blockchain system composed of multiple computer devices located in multiple locations and connected to each other via a communication network.

[0118] Furthermore, all information relating to the present invention (including, but not limited to, user device information and user personal information), data (including, but not limited to, analytical data, stored data, and presentation data), and signals are authorized by the user or fully authorized by each party, and the collection, use, and processing of relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the step information relating to the present invention was obtained with full authorization.

[0119] It will be understood by those skilled in the art that all or part of the steps to realize the above embodiment are performed by hardware, or are instructed by a program to be performed by relevant hardware. The program is stored in a computer-readable storage medium, including read-only memory, magnetic disks, or optical disks.

[0120] The above embodiments are merely illustrative examples of the present invention and do not limit the invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit of the invention are also covered by the protection of the present invention.

Claims

1. A control method for a wheeled robot, which includes a first leg wheel, a second leg wheel, an auxiliary leg wheel, and a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel, wherein the stepped contact points of the first leg wheel, the stepped contact points of the second leg wheel, and the stepped contact points of the auxiliary leg wheel form a triangle, A step for controlling the first leg wheel to move from the first staircase onto the second staircase, and for controlling the second leg wheel and auxiliary leg wheel to stabilize on the first staircase, wherein there is a height difference between the first staircase and the second staircase, The steps include controlling the second leg wheel to move from the first staircase onto the second staircase, controlling the first leg wheel to stabilize on the second staircase, and controlling the auxiliary leg wheel to stabilize on the first staircase, The process includes the steps of controlling the auxiliary leg wheels to move from the first staircase onto the second staircase, and controlling the first leg wheels and the second leg wheels to stabilize on the second staircase, The step of controlling the first leg wheel to move from the first staircase to the second staircase is: A step of controlling the first leg wheel to step on the ground so that the first leg wheel leaves the first step, A method comprising the step of controlling the first leg wheel to move toward the second staircase during a period when the first leg wheel is away from the first staircase and not in contact with the second staircase, such that the first leg wheel moves toward the second staircase when it falls.

2. The step of controlling the first leg wheel to step on the ground so that the first leg wheel leaves the first step is, A step of obtaining a target joint moment of the motor associated with the first leg wheel based on the height difference between the first staircase and the second staircase, and the direction of movement of the leg wheel indicated by the stepping motion, The method according to claim 1, comprising the step of controlling the first leg wheel to press against the ground based on a target joint moment, so as to lift the first leg wheel based on the reaction force of the first step.

3. The step of obtaining a target joint moment of the motor associated with the first leg wheel based on the height difference between the first staircase and the second staircase, and the direction of movement of the leg wheel indicated by the stepping motion, A step of obtaining a target angle at which the side of the base connected to the first leg wheel needs to be lifted, based on the height difference between the first staircase and the second staircase, A step of determining, based on the target angle, the initial acceleration for the first leg wheel to leave the first staircase, and the reaction force required for the first leg wheel to leave the first staircase, The method according to claim 2, comprising the step of obtaining a target joint moment of a motor associated with the first leg wheel based on the initial acceleration, the reaction force, and the direction of movement of the leg wheel indicated by the stepping motion.

4. The step of controlling the first leg wheel to move toward the second staircase during the period when the first leg wheel is away from the first staircase and not in contact with the second staircase is: The method includes the steps of controlling the first leg wheel to retract by a first distance and to swing toward the second step by a second distance during the period when the first leg wheel is away from the first step and not in contact with the second step, The first distance is greater than the height difference between the first staircase and the second staircase. The method according to claim 1, wherein the second distance is greater than the radius of the wheel of the first leg wheel and less than the width of the second staircase.

5. The step of controlling the first leg wheel to retract by a first distance is: A step of obtaining a first joint moment of the motor associated with the first leg wheel based on the first distance and the direction of movement of the leg wheel indicated by the retraction movement, The method according to claim 4, comprising the step of controlling the first leg wheel to retract by a first distance based on the first joint moment.

6. The step of controlling the first leg wheel to oscillate a second distance toward the second staircase is: A step of determining a second joint moment of the motor associated with the first leg wheel based on the second distance and the direction of movement of the leg wheel indicated by the rocking motion toward the second step, The method according to claim 4, comprising the step of controlling the first leg wheel to oscillate by a second distance toward the second staircase based on the second joint moment.

7. The step of controlling the auxiliary leg wheel to move from the first staircase onto the second staircase is: A step of controlling the base of the leg-wheeled robot to move upward by a third distance, wherein the third distance is greater than or equal to the height difference between the first staircase and the second staircase, The method according to claim 1, comprising the step of controlling the leg-wheeled robot to move forward on the second staircase so that the auxiliary leg wheels connected to the base move onto the second staircase.

8. The step of controlling the base of the legged wheeled robot to move upward by a third distance is: The steps include obtaining the third joint moment of the motor associated with the first leg wheel and the fourth joint moment of the motor associated with the second leg wheel based on the third distance and the direction of movement of the leg wheel indicated by the extension movement, The method according to claim 7, comprising the step of controlling the first leg wheel and the second leg wheel to extend by a third distance based on the third joint moment and the fourth joint moment, such that the base moves upward by a third distance.

9. A method for controlling a leg-wheeled robot, which includes a first leg wheel, a second leg wheel, an auxiliary leg wheel, and a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel, A step for controlling the first leg wheel to move from the first staircase onto the second staircase, and for controlling the second leg wheel and auxiliary leg wheel to stabilize on the first staircase, wherein there is a height difference between the first staircase and the second staircase, The steps include controlling the second leg wheel to move from the first staircase onto the second staircase, controlling the first leg wheel to stabilize on the second staircase, and controlling the auxiliary leg wheel to stabilize on the first staircase, The process includes the steps of controlling the auxiliary leg wheels to move from the first staircase onto the second staircase, and controlling the first leg wheels and the second leg wheels to stabilize on the second staircase, The step further includes controlling the leg-wheeled robot to maintain balance on the first staircase using the first leg wheel, the second leg wheel, and the auxiliary leg wheel as support parts, The step of controlling the leg-wheeled robot to maintain balance on the first staircase using the first leg wheel, the second leg wheel, and the auxiliary leg wheel as support parts is: A step of controlling the base of the leg-wheeled robot to move downward so that the auxiliary leg wheels connected to the base of the leg-wheeled robot come into contact with the first staircase, A method comprising the step of controlling the projected point of the center of mass of the leg-wheeled robot on a staircase to be located within the range of a triangle formed by the staircase contact point of the first leg wheel, the staircase contact point of the second leg wheel, and the staircase contact point of the auxiliary leg wheel.

10. The method according to claim 9, further comprising the step of controlling the leg-wheeled robot to move forward on the first staircase such that the first leg wheel and the second leg wheel move to the boundary between the first staircase and the second staircase.

11. The method according to claim 1, further comprising the step of controlling the base of the leg-wheeled robot to move toward the second staircase such that the projection point of the center of mass of the leg-wheeled robot on the staircase moves from the first staircase to the second staircase.

12. The method according to claim 1, further comprising the step of controlling the leg-wheeled robot to maintain balance on the second staircase using the first leg wheel and the second leg wheel as support parts.

13. A method for controlling a leg-wheeled robot, which includes a first leg wheel, a second leg wheel, an auxiliary leg wheel, and a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel, A step for controlling the first leg wheel to move from the first staircase onto the second staircase, and for controlling the second leg wheel and auxiliary leg wheel to stabilize on the first staircase, wherein there is a height difference between the first staircase and the second staircase, The steps include controlling the second leg wheel to move from the first staircase onto the second staircase, controlling the first leg wheel to stabilize on the second staircase, and controlling the auxiliary leg wheel to stabilize on the first staircase, The process includes the steps of controlling the auxiliary leg wheels to move from the first staircase onto the second staircase, and controlling the first leg wheels and the second leg wheels to stabilize on the second staircase, A method comprising the step of controlling the base of the leg-wheeled robot to move forward so that the projection point of the center of mass of the leg-wheeled robot on a staircase moves to a target position, wherein the target position is a position located within the range of a triangle formed by the staircase contact point of the first leg wheel, the staircase contact point of the second leg wheel, and the staircase contact point of the auxiliary leg wheel, where the distance of the connection line to the staircase contact point of the first leg wheel and the distance of the connection line to the staircase contact point of the second leg wheel are less than a distance threshold.

14. A control device for a leg-wheeled robot, comprising: a first leg wheel; a second leg wheel; an auxiliary leg wheel; and a base located above the first leg wheel, the second leg wheel, and the auxiliary leg wheel, and connected to the first leg wheel, the second leg wheel, and the auxiliary leg wheel, wherein a triangle is formed by the stepped contact points of the first leg wheel, the stepped contact points of the second leg wheel, and the stepped contact points of the auxiliary leg wheel, A first wheel control module that controls the first wheel to move from the first staircase onto the second staircase, and controls the second wheel and auxiliary wheel to remain stable on the first staircase, wherein there is a height difference between the first staircase and the second staircase, A second leg wheel control module controls the second leg wheel to move from the first staircase onto the second staircase, the first leg wheel to stabilize on the second staircase, and the auxiliary leg wheel to stabilize on the first staircase. The system includes an auxiliary leg wheel control module that controls the auxiliary leg wheels to move from the first staircase onto the second staircase, and controls the first leg wheels and the second leg wheels to remain stable on the second staircase, The first leg wheel control module is, The first leg wheel is controlled to leave the first staircase and to press against the ground. A device for controlling the movement of the first leg wheel toward the second staircase during a period when the first leg wheel is away from the first staircase and not in contact with the second staircase, so that when the first leg wheel falls, it moves toward the second staircase.

15. A wheeled robot comprising a first leg wheel, a second leg wheel, an auxiliary leg wheel, a base, one or more processors, and one or more memories, wherein at least one computer program is stored in the one or more memories, and the at least one computer program is loaded and executed by the processor to implement the control method for the wheeled robot according to any one of claims 1 to 13.

16. A computer program that, when executed by a processor, realizes the control method for a leg-wheeled robot according to any one of claims 1 to 13.

Images