Control method, device, robot, and storage medium for a wheel lag robot

Abstract

The invention relates to the field of robot technology, as a control method, device, robot, and storage medium for a wheel lag robot. The control method of the wheel lag robot comprises the steps of: controlling the first wheel lag to move from a first step to a second step and controlling the second wheel lag and the auxiliary wheel lag to stabilize at the first step (301; 402); controlling the second wheel lag to move from a first step to a second step, controlling the first wheel lag to stabilize at the second step, and controlling the auxiliary wheel lag to stabilize at the first step (302; 404); and controlling the auxiliary wheel lag to move from a first step to a second step and controlling the first wheel lag and the second wheel lag to stabilize at the second step (302; 404).

Description

Technology Field

[0001] This application claims priority to a Chinese patent application filed on March 11, 2022, with application number 202210238633.0 and title of invention “Method, apparatus, robot and storage medium for controlling a wheel lag robot,” the entire contents of which are incorporated into this application by reference.

[0002] The present application relates to the field of robotics, and in particular to a method for controlling a wheel lag robot, an apparatus, a robot, and a storage medium. Background Technology

[0003] A wheel lag robot is a robot that performs motion control on its body through a wheel lag structure. Wheel lag robots are receiving significant attention from researchers due to their agility and flexibility in moving on the ground. Methods to control wheel lag robots to enable them to perform more movements are currently a major research direction. The problem to be solved

[0004] Embodiments of the present application provide a control method, device, robot, and storage medium for a wheel lag robot. means of solving the problem

[0005] In one aspect, a method for controlling a wheel lag robot is provided, wherein the wheel lag robot comprises a first wheel lag, a second wheel lag, and an auxiliary wheel lag, and the method for controlling the wheel lag robot comprises the steps of: controlling the first wheel lag to move from a first step to a second step, and controlling the second wheel lag and the auxiliary wheel lag to stabilize at the first step, wherein the first step and the second step have a height difference; controlling the second wheel lag to move from the first step to the second step, and controlling the first wheel lag to stabilize at the second step and the auxiliary wheel lag to stabilize at the first step; and controlling the auxiliary wheel lag to move from the first step to the second step, and controlling the first wheel lag and the second wheel lag to stabilize at the second step.

[0006] In one aspect, a control device for a wheel lag robot is provided, wherein the wheel lag robot comprises a first wheel lag, a second wheel lag, and an auxiliary wheel lag, and the control device for the wheel lag robot comprises: a first wheel lag control module for controlling the first wheel lag to move from a first step to a second step and for controlling the second wheel lag and the auxiliary wheel lag to be stabilized at the first step, wherein the first step and the second step have a height difference; a second wheel lag control module for controlling the second wheel lag to move from the first step to the second step, for controlling the first wheel lag to be stabilized at the second step, and for controlling the auxiliary wheel lag to be stabilized at the first step; and an auxiliary wheel lag control module for controlling the auxiliary wheel lag to move from the first step to the second step and for controlling the first wheel lag and the second wheel lag to be stabilized at the second step.

[0007] In one aspect, a wheel lag robot is provided, wherein the wheel lag robot comprises a first wheel lag, a second wheel lag, an auxiliary wheel lag, a base, one or more processors, and one or more memories, wherein the base is positioned above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and the base is connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and 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 one or more processors to implement a method of controlling the wheel lag robot.

[0008] In one aspect, a computer-readable storage medium is provided, said computer-readable storage medium has at least one computer program stored therein, said at least one computer program is loaded and executed by a processor to implement a method for controlling the wheel lag robot.

[0009] In one aspect, a computer program product is provided, said computer program product comprises at least one computer program, said at least one computer program is stored on a computer-readable storage medium. A processor of a wheel lag robot reads said at least one computer program from the computer-readable storage medium, and the processor executes said at least one computer program to enable a computer device to implement a method for controlling said wheel lag robot. Brief explanation of the drawing

[0010] FIG. 1 is an example diagram of an implementation environment for a control method of a wheel lag robot provided in an embodiment of the present application. FIG. 2 is an example diagram of the structure of a wheel lag robot provided in an embodiment of the present application. FIG. 3 is a flowchart of a control method for a wheel lag robot provided in an embodiment of the present application. FIG. 4 is a flowchart of a control method for a wheel lag robot provided in an embodiment of the present application. FIG. 5 is an example diagram of obtaining joint angle information provided in an embodiment of the present application. FIG. 6 is an example of a pose of a wheel lag robot provided in an embodiment of the present application at the first step. FIG. 7 is an example diagram showing how to obtain the wheel lag lift height provided in an embodiment of the present application. FIG. 8 is an example diagram of moving the first wheel lag provided in an embodiment of the present application. FIG. 9 is an example diagram of moving the base provided in an embodiment of the present application. FIG. 10 is an example diagram of moving the second wheel lag provided in an embodiment of the present application. FIG. 11 is an example diagram of moving the base provided in an embodiment of the present application. FIG. 12 is an example of a spatial angle provided in an embodiment of the present application. FIG. 13 is an example diagram of controlling the pitch angle balance provided in an embodiment of the present application. FIG. 14 is an example diagram of controlling the roll angle balance provided in an embodiment of the present application. FIG. 15 is an example diagram of moving the base provided in an embodiment of the present application. FIG. 16 is an example diagram of the structure of a control device for a wheel lag robot provided in an embodiment of the present application. FIG. 17 is an example diagram of the structure of a wheel lag robot provided in an embodiment of the present application. Specific details for implementing the invention

[0011] In order to make the purpose, technical solution, and advantages of the present invention more clear, embodiments of the present invention will be described in detail below in combination with the attached drawings.

[0012] In this application, terms such as “first,” “second,” etc., are used to distinguish identical claims or similar items having generally the same operation and function. It should be understood that there is no logical or chronological dependency between “first,” “second,” and “n-th,” nor are there any limitations on the number or execution order.

[0013] The solution provided in this application is primarily related to robot technology. A robot is a type of mechanical and electronic device capable of mimicking specific human skills by combining mechanical power and modern microelectronic technology. With the advancement of technology, the functionality and technical level of robots have been greatly improved, and representative technologies include mobile robots, robot vision, and tactile senses.

[0014] Wheel Lag Robot: A wheel lag robot is a robot that performs motion control through a wheel lag structure. By possessing very high wheel energy and very strong adaptability, it can overcome uneven terrain. Here, the wheel lag structure comprises two parts: a lag and a wheel, each containing at least one joint. Since the wheel lag robot contacts the ground only through the wheels of the wheel lag, balance control problems often exist.

[0015] The following describes the implementation environment of the present application, and FIG. 1 is an example of the implementation environment of a control method for a wheel lag robot provided in an embodiment of the present application. Referring to FIG. 1, the implementation environment includes a wheel lag robot (100) and a control device (200), and the wheel lag robot (100) and the control device (200) are interconnected through a wired or wireless network.

[0016] In an embodiment of the present application, the structure of the wheel lag robot (100) is as shown in FIG. 2, wherein the wheel lag robot (100) comprises a first wheel lag (110), a second wheel lag (120), an auxiliary wheel lag (130), and a base (140), and the base (140) is located above the first wheel lag (110), the second wheel lag (120), and the auxiliary wheel lag (130), and is connected to all of the first wheel lag (110), the second wheel lag (120), and the auxiliary wheel lag (130).

[0017] The first wheel lag (110) and the second wheel lag (120) are intended to guide the movement of the robot, and the structure of the first wheel lag (110) and the second wheel lag (120) is identical, and the following describes the first wheel lag (110) as an example. As shown in FIG. 2, the first wheel lag (110) includes two lag structures (111) and a wheel (112), and both lag structures (111) are connected to the wheel (112). Here, both lag structures (111) include a thigh structure (1111) and a calf structure (1112), that is, the first wheel lag (110) includes both two thigh structures (1111) and two calf structures (1112), and each thigh structure (1111) and one suitable calf structure (1112) are connected through a rotational joint. Both of the two lag structures (111) are associated with one first motor (150), and each first motor (150) is connected to a thigh structure (1111) of the associated lag structure (111) and is used to control the extension of the associated lag structure (111), that is, the first wheel lag (110) is controlled by two first motors (150), and the two thigh structures (1111) of the first wheel lag (110) are each connected to a base (140) through the output shaft of the associated first motor (150). The wheel (112) is a driving wheel, and the wheel (112) can implement active rotation based on the drive of the second motor (160), thereby controlling the wheel lag robot (100) to perform designated actions such as controlling the wheel lag robot to move forward, controlling the wheel lag robot to move backward, controlling the wheel lag robot to turn a corner, or controlling the wheel lag robot to become a stop station. For example, the second motor (160) is fixed to one calf structure (1112) of the first wheel lag (110) and acts as a rotation axis that drives the wheel (112, i.e., the driving wheel) through belt drive, thereby implementing the drive of the driving wheel.

[0018] The auxiliary wheel lag (130) is used to assist the wheel lag robot in maintaining balance, enabling the wheel lag robot to complete complex movements such as climbing stairs. As illustrated in FIG. 2, the auxiliary wheel lag (130) includes an auxiliary lag (131) and an auxiliary wheel (132). The auxiliary lag (131) is connected to the base (140) via the output shaft of a third motor (170), and the third motor (170) is intended to control the auxiliary wheel lag (130) swinging up and down relative to the base. The auxiliary wheel (132) is a driven wheel, and when the auxiliary wheel lag (130) comes into contact with the ground, the auxiliary wheel (132) can roll on the ground according to the motion of the wheel lag robot (100).

[0019] The wheel lag robot (100) further includes hardware structures such as a processor and a battery, and optionally, the processor and battery are installed on a base (140). The processor is for controlling the wheel lag robot to perform various operations, and optionally, the processor is an independent hardware structure, or the wheel lag robot includes a microcomputer and the processor is integrated into the microcomputer.

[0020] The above-mentioned control device (200) is a terminal or a remote control. Here, the terminal includes a smartphone, tablet, laptop, desktop, etc., and the embodiments of the present application are not limited thereto. In some embodiments, the above-mentioned control device (200) is intended to transmit a control command to the wheel lag robot (100) to control the wheel lag robot (100) to execute an action instructed by the control command.

[0021] Based on the embodiment environment illustrated in FIG. 1, FIG. 3 is a flowchart of a control method for a wheel lag robot provided in an embodiment of the present application, and the control method for the wheel lag robot is executed by a processor of the wheel lag robot, and as illustrated in FIG. 3, the embodiment includes the following steps.

[0022] In step 301, the wheel lag robot controls the first wheel lag to move from the first step to the second step, controls the second wheel lag and the auxiliary wheel lag to stabilize at the first step, and has a height difference between the first step and the second step.

[0023] In an embodiment of the present application, the second step is higher than the first step, that is, the process of moving the first wheel lag from the first step to the second step is a process in which the wheel lag robot performs a stair-climbing operation.

[0024] In some embodiments, the processor first controls the wheel lag robot to maintain balance in the first step by supporting the three wheel lags, and then controls one wheel lag to move and the other two wheel lags not to move, so that the wheel lag robot maintains balance while performing a stair climbing motion.

[0025] In step 302, the wheel lag robot controls the second wheel lag to move from the first step to the second step, controls the first wheel lag to stabilize at the second step, and controls the auxiliary wheel lag to stabilize at the first step.

[0026] In step 303, the wheel lag robot controls the auxiliary wheel lag to move from the first step to the second step, and controls the first wheel lag and the second wheel lag to stabilize at the second step.

[0027] In some embodiments, for steps 301 to 303, the wheel lag robot controls the three wheel lags to move based on step information, thereby controlling the wheel lag robot to perform a stair climbing motion. Here, the step information is intended to describe the characteristics of the step, such as the step width, the height difference between the first step and the second step, and the distance between the wheel lag robot and the first step or the second step, and the position of the wheel lag robot with respect to the step.

[0028] Optionally, the wheel lag robot acquires the step information through two methods. In one implementation, a technician transmits a control command to the wheel lag robot through a control device, the control command carries the step information, and the processor of the wheel lag robot receives the control command and acquires the step information carried by the control command. In another implementation, the wheel lag robot is equipped with an image acquisition sensor, the image acquisition sensor can acquire an image including a first step and a second step, and the wheel lag robot acquires the step information based on the image acquired by the image acquisition sensor.

[0029] The technical solution provided in the embodiment of the present application implements a stair-climbing function of a wheel lag robot by controlling the first wheel lag, the second wheel lag, and the auxiliary wheel lag to move sequentially from the first step to the second step, thereby ensuring the self-balance of the wheel lag robot by controlling the other two wheel lags to stabilize at the step when one wheel lag is moved, thereby improving the variety of movements and functions performed by the wheel lag robot and improving the adaptability of the wheel lag robot to the ground.

[0030] The embodiment provided in FIG. 3 above briefly introduces the control method of a wheel lag robot proposed in this application, and below, based on the implementation environment shown in FIG. 1 and the wheel lag robot introduced in FIG. 2, the control method of the wheel lag robot is introduced in detail in combination with FIG. 4. FIG. 4 is a flowchart of the control method of a wheel lag robot provided in the embodiment of this application, and the embodiment of this application explains, for example, that the wheel lag robot acquires step information based on an image acquisition sensor, and as shown in FIG. 4, the control method of the wheel lag robot is executed by the wheel lag robot and includes the following steps.

[0031] In step 401, the wheel lag robot controls the wheel lag robot to maintain balance in the first step by supporting the first wheel lag, the second wheel lag, and the auxiliary wheel lag.

[0032] Optionally, the wheel lag robot controls the first wheel lag, the second wheel lag, and the auxiliary wheel lag so that they do not move in the first step, or controls the first wheel lag, the second wheel lag, and the auxiliary wheel lag to be adjusted to a stable state. The following describes the process of adjusting the three wheel lags to a stable state.

[0033] In some embodiments, the wheel lag robot controls the base of the wheel lag robot to move downward so that an auxiliary wheel lag connected to the base comes into contact with the first step, and controls the projected point of the center of mass of the wheel lag robot in the step to be located within a triangular range formed by the step contact points of the first wheel lag, the second wheel lag, and the auxiliary wheel lag.

[0034] For example, the process of controlling the base to move downward is explained. The wheel lag robot acquires the distance between the auxiliary wheel lag and the first step based on an image transmitted by an image acquisition sensor, and acquires the target joint torque (τ1) of the motor associated with the first wheel lag and the target joint torque (τ2) of the motor associated with the second wheel lag based on the distance between the auxiliary wheel lag and the first step and the wheel lag movement direction indicated by the reduction movement, that is, acquires the target joint torque (τ1) of the two first motors (150) associated with the first wheel lag in FIG. 2 and the target joint torque (τ2) of the two first motors (150) associated with the second wheel lag, performs control on the two first motors (150) associated with the first wheel lag based on the target joint torque (τ1), and performs control on the two first motors (150) associated with the second wheel lag based on the target joint torque (τ2), so that the first wheel lag and the second wheel lag By controlling the reduction to be performed, the base of the wheel lag robot is made to move downward. Optionally, the target joint torque (τ1) is a vector containing two torques, each torque corresponding to one first motor of the first wheel lag, that is, each torque is intended to control one first motor of the first wheel lag, and the two torques may be the same or different, and the embodiment of the present application is not limited to the data form of the target joint torque (τ1). Since the data form of the target joint torque (τ2) is the same as that of the target joint torque (τ1), it is not described again here.

[0035] For example, the process of obtaining target joint torque (τ1) and target joint torque (τ2) is described. The wheel lag robot determines the target movement trajectory of the base based on the distance between the auxiliary wheel lag and the first step, and the target movement trajectory is intended to explain the length of time taken for the base to move downward and the position of the base at each time step during the base movement process. The wheel lag robot obtains the target joint torque (τ1) of the motor associated with the first wheel lag and the target joint torque (τ2) of the motor associated with the second wheel lag at each time step based on the position of the base at each time step and the wheel lag movement direction indicated by the contraction motion, and the target joint torque (τ1) and target joint torque (τ2) at any given time step control the wheel lag to perform contraction, thereby causing the base to move from the position at the previous time step to the position at the said time step. For example, taking as an example the acquisition of the target joint torque (τ1) of the motor associated with the first wheel lag at a given time, as illustrated in FIG. 5, the controller, based on the position where the base is located at said time, [describes] the position of the wheel of the first wheel lag in the robot coordinate system Determines, and the robot coordinate system is an XZ coordinate system with the location where the base is situated as the origin, and the distance between the two lag structures of the first wheel lag and the base connection point. Based on this, the connection points of the two lag structures and the base are positioned in the robot coordinate system, respectively and Determined, and based on the position of the connection point between the two lag structures and the base and the position of the wheel of the first wheel lag, the distance between the two connection points and the wheel of the first wheel lag is determined through formula (1), and based on the distance between the two connection points and the wheel of the first wheel lag and the size of the two lag structures, the joint angle information of the first wheel lag is determined through formula (2), and the joint angle information is the angle between the first wheel lag and the base, and as shown in FIG. 5, the joint angle information is the joint angle , joint angle , joint angle and joint angles It includes, and based on the joint angle information, obtains the target joint torque (τ1) of the motor associated with the first wheel lag at the above time.

[0036] (1)

[0037] (2)

[0038] Here, l5 and l6 are the distance between the connection point of the base and the wheel between the two lag structures of the first wheel lag, l1 and l3 are the size of the thigh structure among the two lag structures, and l2 and l4 are the size of the calf structure among the two lag structures.

[0039] Optionally, the wheel lag robot controls the motor associated with the auxiliary wheel lag, that is, the third motor (170) in FIG. 2, by adjusting the angle between the auxiliary wheel lag and the base, so that the projected point of the wheel lag robot's center of mass in the step is located within the triangular range formed by the step contact points of the three wheel lags.

[0040] In some embodiments, the wheel lag robot first controls the wheel lag robot to move forward from the first step, causing the first wheel lag and the second wheel lag to move to the boundary between the first step and the second step, and then controls the base of the wheel lag robot to move downward. By moving the first wheel lag and the second wheel lag to the boundary between the first step and the second step, the distance that the first wheel lag and the second wheel lag must travel when climbing stairs is reduced, thereby enabling the wheel lag robot to complete the stair climbing operation more effectively.

[0041] For example, the process of controlling the wheel lag robot to move forward in the first step is described. The wheel lag robot obtains the distance between the wheels of the first wheel lag and the second wheel lag and the step boundary and the reference rotational speed of the two wheels, and based on the obtained distance and reference rotational speed, obtains a torque to control the two wheels, and based on the torque of the two wheels, performs control on the motors of the two wheels, that is, performs control on the two second motors (160) of FIG. 2 so that the two wheels rotate, thereby causing the wheel lag robot to move forward in the first step. Optionally, the wheel lag robot randomly determines the reference rotational speed of the two wheels, or a technician transmits a control command for the robot movement speed to the wheel lag robot through a control device, and the wheel lag robot obtains the reference rotational speed of the two wheels based on the radius of the two wheels and the movement speed carried in the control command by receiving the control command.

[0042] For example, FIG. 6 illustrates three viewing angle images and three-dimensional perspectives of the wheel lag robot in the first step, and as shown in FIG. 6, the wheel lag robot maintains balance by having three wheel lags positioned in the first step, the first wheel lag (601) and the second wheel lag (602) are positioned at the step boundary, the auxiliary wheel lag (603) is positioned in the first step, and the projection point (604) of the center of mass of the wheel lag robot in the step is located within the triangle formed by the step contact points of the three wheel lags.

[0043] In step 402, the wheel lag robot controls the first wheel lag to move from the first step to the second step, controls the second wheel lag and the auxiliary wheel lag to stabilize at the first step, and has a height difference between the first step and the second step.

[0044] In some embodiments, the process of controlling the first wheel lag to move to the second step includes the wheel lag robot first controlling the first wheel lag to be lifted, and then controlling the first wheel lag to move in the direction of the second step within a time period during which the first wheel lag moves out of the first step and does not come into contact with the second step, thereby moving to the second step when the first wheel lag falls. The process is described below through steps 402A to 402B.

[0045] In step 402A, the wheel lag robot controls the first wheel lag to step on the ground, causing the first wheel lag to move out of the first step.

[0046] In some embodiments, the wheel lag robot obtains a target joint torque (τ3) of the motor associated with the first wheel lag based on the height difference between the first step and the second step and the direction of movement of the wheel lag indicated by the stepping motion, that is, obtains the target joint torque (τ3) of the two first motors (150) associated with the first wheel lag in FIG. 2, and controls the first wheel lag to step on the ground based on the target joint torque (τ3), thereby causing the first wheel lag to be lifted upward based on the reaction force of the first step. Since the data form of the target joint torque (τ3) is the same as the target joint torque (τ1) in step 401, it is not described again here.

[0047] For example, the process of obtaining the target joint torque (τ3) is described. Based on the height difference between the first step and the second step, the controller obtains a target angle that must be lifted from the side where the base and the first wheel lag are connected, and based on the target angle, determines the starting acceleration for the first wheel lag to move away from the first step and the reaction force required when the first wheel lag moves away from the first step, and obtains the target joint torque (τ3) of the motor associated with the first wheel lag based on the starting acceleration, the reaction force, and the direction of movement of the wheel lag indicated by the stepping motion.

[0048] For example, the process of obtaining the starting acceleration and reaction force based on the target angle is described. As shown in FIG. 7, the controller determines the height to which the first wheel lag must be lifted based on the target angle, using formula (3). Determine the starting acceleration and reaction force based on the height at which the wheel lag must be lifted.

[0049] (3)

[0050] Here, It indicates the distance between the wheels of the first wheel lag and the second wheel lag, and It displays the target angle.

[0051] In step 402B, the wheel lag robot controls the first wheel lag to move in the direction of the second step within the time period during which the first wheel lag moves out of the first step and does not come into contact with the second step, so that the first wheel lag moves to the second step when it falls.

[0052] In some embodiments, the wheel lag robot controls the first wheel lag to be reduced by a first distance within a time period during which the first wheel lag moves away from the first step and does not come into contact with the second step, and controls the first wheel lag to be swung by a second distance in the direction of the second step so that the first wheel lag moves to the second step. Here, the first distance is greater than the height difference between the first step and the second step, and the second distance is greater than the radius of the wheel of the first wheel lag and smaller than the width of the second step.

[0053] For example, a process of controlling the first wheel lag to be reduced by a first distance is described. The wheel lag robot obtains a first joint torque of a motor associated with the first wheel lag based on the wheel lag movement direction indicated by the first distance and reduction movement, that is, obtains the first joint torque of two first motors (150) associated with the first wheel lag in FIG. 2, and controls the first wheel lag to be reduced by a first distance based on the first joint torque.

[0054] For example, a process of controlling the first wheel lag to swing by a second distance in the direction of the second step is described. The wheel lag robot determines a second joint torque of a motor associated with the first wheel lag based on the second distance and the direction of movement of the wheel lag indicated by swinging to the second step, that is, obtains the second joint torque of two first motors (150) associated with the first wheel lag in FIG. 2, and controls the first wheel lag to swing by a second distance in the direction of the second step based on the second joint torque.

[0055] The process of obtaining the first joint torque based on the first distance and the process of obtaining the second joint torque based on the second distance are the same as the process corresponding to Fig. 5 in step 401, so they are not explained again here. The data form of the first joint torque and the second joint torque is the same as the target joint torque (τ1) in step 401, so they are not explained again here.

[0056] For example, FIG. 8 illustrates three viewing angle images and a three-dimensional perspective view of the wheel lag robot during the movement process of the first wheel lag, and FIG. 8 uses solid and dotted lines, respectively, to indicate the pose of the wheel lag robot when the first wheel lag is not moving and after the first wheel lag has moved, and as shown in FIG. 8, the wheel lag robot is first controlled to be lifted upward by stepping on the ground, and then, within the time period when the first wheel lag is not in contact with the step, the first wheel lag is controlled to be retracted and swung in the direction of the second step, thereby moving to the second step when the first wheel lag falls, and in this process, the second wheel lag (802) and the auxiliary wheel lag (803) are maintained to be stable in the first step. After the first wheel lag is moved to the second step, the projection point (804) of the center of mass of the wheel lag robot in the step is positioned within the triangular range formed by the step contact points of the three wheel lags, thereby allowing the balance of the wheel lag robot to be maintained.

[0057] In step 403, the wheel lag robot controls the base of the wheel lag robot to move in the direction of the second step, so that the projected point of the center of mass of the wheel lag robot in the step moves from the first step to the second step.

[0058] In some embodiments, the wheel lag robot determines the distance the base must move in the direction of the second step based on the current position of the center of mass of the wheel lag robot, obtains a joint torque for controlling the base movement based on the distance the base must move in the direction of the second step, and, based on the obtained joint torque, performs control on the two first motors (150) of the first wheel lag and the two first motors (150) of the second wheel lag in FIG. 2 so that the wheels of the first wheel lag and the second wheel lag are not moved, thereby causing the base to move in the direction of the second step. By controlling the base to move in the direction of the second step, the center of mass of the wheel lag robot is moved upward in the direction of the second step, and when the second wheel lag is controlled to move to the second step in a subsequent step, the wheel lag robot can maintain balance better, thereby enabling it to complete the stair climbing motion better. Here, the data forms of the joint torque for controlling the first wheel lag and the joint torque for controlling the second wheel lag are the same as the target joint torque (τ1) in step 401, so they are not explained again here.

[0059] What needs to be explained is that during the process of moving the base, the auxiliary wheel lag moves from the first step to the second step according to the movement of the base, and the wheel lag robot maintains balance throughout by ensuring that the projected point of the center of mass of the wheel lag robot in the step is positioned within the triangular range formed by the step contact points of the three wheel lags.

[0060] For example, FIG. 9 illustrates three viewing angle images and a three-dimensional perspective view of a wheel lag robot during the base movement process, and FIG. 9 uses solid and dotted lines, respectively, to indicate the pose of the wheel lag robot when the base is not moved and after the base has moved, and as shown in FIG. 9, when the wheels of the first wheel lag (901) and the second wheel lag (902) are not moved, the base (905) of the wheel lag robot is controlled to move in the direction of the second step, thereby causing the projection point (904) of the center of mass of the wheel lag robot in the step to move to the second step, and in this process, the auxiliary wheel lag (903) moves in the direction of the second step according to the movement of the base.

[0061] In step 404, the wheel lag robot controls the second wheel lag to move from the first step to the second step, controls the first wheel lag to stabilize at the second step, and controls the auxiliary wheel lag to stabilize at the first step.

[0062] In some embodiments, the wheel lag robot controls the second wheel lag to move to the second step in the same way as in step 402, so it is not described again here.

[0063] For example, FIG. 10 illustrates images and three-dimensional perspectives of the wheel lag robots at different viewing angles during the movement of the second wheel lag, and FIG. 10 uses solid and dotted lines, respectively, to indicate the poses of the wheel lag robots when the second wheel lag is not moving and after the second wheel lag has moved. As shown in FIG. 10, the wheel lag robot controls the second wheel lag (1002) to step on the ground downwards, and controls the second wheel lag to contract and swing in the direction of the second step within the time period when the second wheel lag is not in contact with the step, thereby causing the second wheel lag to move to the second step when it falls, and in this process, controls the first wheel lag (1001) to stabilize at the second step and controls the auxiliary wheel lag (1003) to stabilize at the first step. After the second wheel lag is moved to the second step, the center of mass of the wheel lag robot is located within the triangle formed by the step contact points of the three wheel lags, where the projection point (1004) in the step is located.

[0064] In step 405, the wheel lag robot is controlled so that the base of the wheel lag robot moves forward, thereby moving the projected point of the center of mass of the wheel lag robot in the step to a target position, wherein the distance of the connecting line between the step contact points of the first wheel lag and the second wheel lag is less than the distance threshold, and the target position is located within the triangular range formed by the step contact points of the first wheel lag, the second wheel lag, and the auxiliary wheel lag.

[0065] In some embodiments, the wheel lag robot is controlled to move the robot's base forward in the same manner as in step 403, so it is not described again here. By moving the projected point of the wheel lag robot's center of mass in the step to a target position, the center of mass of the wheel lag robot is moved further forward, thereby reducing the difficulty of the wheel lag robot maintaining balance with two wheel lags in the second step in a future step, and enabling the wheel lag robot to complete the stair climbing motion better.

[0066] What needs to be explained is that during the process of the base moving forward, the auxiliary wheel lag moves forward from the first step in accordance with the movement of the base.

[0067] For example, FIG. 11 illustrates images of three viewing angles and a three-dimensional volume of the wheel lag robot during the base movement process, and FIG. 11 uses solid and dotted lines, respectively, to indicate the pose of the wheel lag robot when the base is not moved and after the base has moved. As shown in FIG. 11, when the wheels of the first wheel lag (1101) and the second wheel lag (1102) are kept from moving, the wheel lag robot controls the base (1105) to move forward, thereby causing the projection point (1104) of the center of mass of the wheel lag robot in the step to move to a target position. During the process of the base moving forward, the auxiliary wheel lag (1103) moves forward in the first step according to the movement of the base.

[0068] In some embodiments, the wheel lag robot is first controlled to move forward by a target distance from the second step, the target distance being smaller than the distance between the step contact point of the second wheel lag and the boundary between the second step and the third step, and the third step and the second step having a height difference, and the next base is controlled to move forward so that the projected point of the center of mass of the wheel lag robot in the step moves to the target position. By controlling the wheel lag robot to move forward by a target distance, the distance between the first wheel lag and the second wheel lag and the boundary between the first step and the second step is increased, thereby preventing the wheel lag robot from falling from the second step to the first step when maintaining balance through the first wheel lag and the second wheel lag in a future step, so that the wheel lag robot can better complete the stair climbing operation.

[0069] In step 406, the wheel lag robot controls the wheel lag robot to maintain balance in the second step by supporting the first wheel lag and the second wheel lag.

[0070] In some embodiments, the wheel lag robot maintains balance by supporting the first wheel lag and the second wheel lag by controlling three spatial angles of the wheel lag robot. Here, the three spatial angles are pitch, roll, and yaw. For example, FIG. 12 is an example of a spatial angle provided in an embodiment of the present application, FIG. 12 is a right-handed Cartesian coordinate system constructed based on a base center, wherein the X-axis is a coordinate axis following the forward direction of the wheel lag robot and corresponds to the roll angle, that is, the angle of the wheel lag robot following the X-axis direction is referred to as the roll angle, the Y-axis is a coordinate axis following the direction of the two wheels of the wheel lag robot and corresponds to the pitch angle, that is, the angle of the wheel lag robot following the Y-axis direction is referred to as the pitch angle, and the Z-axis is a coordinate axis in the vertically upward direction and corresponds to the yaw angle, that is, the angle of the wheel lag robot following the Z-axis direction is referred to as the yaw angle.

[0071] For example, a method for controlling the pitch angle is described. As shown in FIG. 13, the wheel lag robot first [controls] the reference movement speed of the wheel centers of the first wheel lag and the second wheel lag. and current movement speed It obtains, and the reference movement speed is the movement speed that the wheel center must reach depending on the motion state of the wheel lag robot; for example, if the wheel lag robot must maintain a balanced state without moving, the reference movement speed is 0. The wheel lag robot and The difference value is input to the ratio-integral-derivative (PID) controller (1301) to the reference pitch angle of the wheel lag robot After obtaining, the wheel lag robot is the wheel lag robot's current pitch angle To obtain, and The difference value between them is input to the PID controller (1302) to reference pitch angle velocity Obtaining, the wheel lag robot is the wheel lag robot's current pitch angle velocity To obtain, and The difference value between them is input to the PID controller (1303) to obtain a torque for controlling the pitch angle balance, and by obtaining a second motor for controlling two wheels based on the obtained torque, control is performed on the pitch angle balance of the wheel lag robot. Optionally,

[0072] and This was obtained based on the pose sensor of the wheel lag robot.

[0073] For example, a method for controlling the roll angle is described. As shown in FIG. 14, the wheel lag robot's reference roll angle and current roll angle It acquires. Optionally, if a roll angle control command is not received, the wheel lag robot sets the acquisition of the reference roll angle to 0°, and if a roll angle control command is received, it acquires the roll angle carried in the roll angle control command as the reference roll angle. Optionally, the wheel lag robot acquires the current roll angle based on the pose sensor. The wheel lag robot and Input the difference value between them into the PID controller (1401) so that the distance at which the first wheel lag and the second wheel lag must be extended is While obtaining, The joint angle information of the first wheel lag and the second wheel lag is obtained by inputting it into an inverse kinematics solver (IK, 1402), and based on the joint angle information, a torque for controlling the roll angle balance is obtained, and by controlling the two first motors of the first wheel lag and the two first motors of the second wheel lag based on the obtained torque, control of the roll angle balance of the wheel lag robot is implemented. Through the method illustrated in FIG. 14, when there is a lack of degrees of freedom in the roll direction between the wheel lag and the base, that is, when the wheel lag cannot perform left and right swing relative to the base, the wheel lag robot can control the balance in the roll angle direction. Here, since the data form of the torque for controlling the first wheel lag and the torque for controlling the second wheel lag is the same as the target joint torque (τ1) in step 401, it is not explained again here.

[0074] For example, the method of controlling the yaw angle is explained. The wheel lag robot is the wheel lag robot's reference yaw angle and current angle It acquires. Optionally, if a yaw angle control command is not received, the wheel lag robot sets the acquisition of the reference yaw angle to 0°, and if a yaw angle control command is received, it acquires the yaw angle carried in the yaw angle control command as the reference yaw angle. Optionally, the wheel lag robot acquires the current roll angle based on the pose sensor. The wheel lag robot and Based on the difference value between, the reference movement speed of the wheel center of the first wheel lag and the reference movement speed of the wheel center of the second wheel lag Acquire, , Based on the radius of the wheel, a reference rotational speed of two wheels is obtained, and based on the reference rotational speed of two wheels, a torque for controlling the yaw angle balance is obtained, and based on the obtained torque, control is performed on the second motor of two wheels, thereby implementing control of the yaw angle balance of the wheel lag robot.

[0075] What needs to be explained is that the wheel lag robot maintains balance in the second step based on supporting the first wheel lag and the second wheel lag, and the auxiliary wheel lag is still in contact with the first step, but because the force acting between the auxiliary wheel lag and the first step is close to zero, that is, the wheel lag robot no longer maintains balance based on supporting the auxiliary wheel lag, thereby laying a good foundation for moving the auxiliary wheel lag to the second step in the future step.

[0076] In step 407, the wheel lag robot controls the auxiliary wheel lag to move from the first step to the second step, and controls the first wheel lag and the second wheel lag to stabilize at the second step.

[0077] In some embodiments, the process of moving the auxiliary wheel lag to the second step includes controlling the wheel lag robot so that the base of the wheel lag robot moves upward by a third distance, wherein the third distance is greater than or equal to the height difference between the first step and the second step, and controlling the wheel lag robot to move forward from the second step, thereby causing the auxiliary wheel lag connected to the base to move to the second step.

[0078] Optionally, the starting height of the wheel lag robot is recorded, and the starting height is the distance between the base and the first step when the wheel lag robot maintains balance with three wheel lags in the first step, and correspondingly, the third distance is also the height difference between the current height of the wheel lag robot and the starting height. By obtaining the third distance through the starting height, the base is moved upward by the third distance, and by maintaining the height of the wheel lag robot and the starting height to match, the next stair climbing motion is performed better.

[0079] For example, the process of controlling the base to move upward by a third distance is described. Based on the direction of movement of the wheel lag indicated by the third distance and the contraction movement, the controller obtains the third joint torque of the motor associated with the first wheel lag and the fourth joint torque of the motor associated with the second wheel lag, that is, the third joint torque of the two first motors (150) associated with the first wheel lag in FIG. 2 and the fourth joint torque of the two first motors (150) associated with the second wheel lag, and based on the third joint torque and the fourth joint torque, controls the first wheel lag and the second wheel lag to extend by a third distance so that the base moves upward by a third distance. What needs to be explained is that the process of obtaining the third joint torque and the fourth joint torque based on the third distance is the same as the process corresponding to FIG. 5 in step 401, so it is not explained again here. The data form of the above third joint torque and fourth joint torque is the target joint torque (τ) in step 401. 1) Since it is the same, I will not repeat the explanation here.

[0080] For example, FIG. 15 illustrates an image of the field of view and a three-dimensional view of the wheel lag robots as the base moves upward by a third distance. As shown in FIG. 15, the wheel lag robot controls the base (1505) to move upward by a third distance, thereby causing the auxiliary wheel lag (1503) to move out of the first step. In this process, the wheel lag robot controls the first wheel lag (1501) and the second wheel lag (1502) to maintain stability in the second step.

[0081] What needs to be explained is that in the process of controlling the auxiliary wheel lag to lift from the first step to the second step, a change in the pose of the wheel lag robot occurs, and thus the position of the center of mass of the wheel lag robot also changes. In order for the wheel lag robot to maintain balance in the pitch angle direction, the wheel lag robot acquires the position of the center of mass of the wheel lag robot in real time, and based on the position of the center of mass of the wheel lag robot and the PID controller (1301), PID controller (1302), and PID controller (1303) in step 406, a torque to control the pitch angle balance is acquired, and by performing control on the second motor of the two wheels based on the acquired torque, the wheel lag robot maintains balance in the pitch angle direction.

[0082] The technical solution provided in the embodiment of the present application implements a stair-climbing function of a wheel lag robot by controlling the first wheel lag, the second wheel lag, and the auxiliary wheel lag to move sequentially from the first step to the second step, thereby ensuring the self-balance of the wheel lag robot by controlling the other two wheel lags to stabilize at the step when one wheel lag is moved, thereby improving the variety of movements and functions performed by the wheel lag robot and improving the adaptability of the wheel lag robot to the ground.

[0083] FIG. 16 is an exemplary structural diagram of a control device for a wheel lag robot provided in an embodiment of the present application, and as shown in FIG. 16, the control device for the wheel lag robot includes a first wheel lag control module (1601), a second wheel lag control module (1602), and an auxiliary wheel lag control module (1603).

[0084] The first wheel lag control module (1601) is for controlling the first wheel lag to move from a first step to a second step, and for controlling the second wheel lag and the auxiliary wheel lag to be stable at the first step, and the first step and the second step have a height difference;

[0085] The second wheel lag control module (1602) is for controlling the second wheel lag to move from the first step to the second step, for the first wheel lag to be stabilized at the second step, and for controlling the auxiliary wheel lag to be stabilized at the first step;

[0086] The auxiliary wheel lag control module (1603) is for controlling the auxiliary wheel lag to move from the first step to the second step, and for controlling the first wheel lag and the second wheel lag to stabilize at the second step.

[0087] In some embodiments, the first wheel lag control module (1601) is,

[0088] A first control submodule for controlling the first wheel lag to step on the ground so that the first wheel lag moves out of the first step; and

[0089] It includes a second control submodule for controlling the first wheel lag to move in the direction of the second step within a time period during which the first wheel lag moves out of the first step and does not come into contact with the second step, so that the first wheel lag moves to the second step when it falls.

[0090] In some embodiments, the first control submodule is,

[0091] A acquiring unit for acquiring a target joint torque of a motor associated with the first wheel lag based on the height difference between the first step and the second step and the direction of movement of the wheel lag indicated by the ground-stepping motion; and

[0092] It includes a control unit for controlling the first wheel lag to step on the ground based on the above target joint torque, thereby causing the first wheel lag to be lifted upward based on the reaction force of the first step.

[0093] In some embodiments, the wheel lag robot further comprises a base, the base being located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag;

[0094] The above acquisition unit is intended to acquire a target angle to be lifted from the side where the base and the first wheel lag are connected, based on the height difference between the first step and the second step; to determine, based on the target angle, the starting acceleration of the first wheel lag moving away from the first step and the reaction force required when the first wheel lag moves away from the first step; and to acquire a target joint torque of a motor associated with the first wheel lag, based on the starting acceleration, the reaction force, and the direction of movement of the wheel lag indicated by the ground-stepping motion.

[0095] In some embodiments, the second control submodule is for controlling the first wheel lag to be reduced by a first distance and to swing the first wheel lag by a second distance in the direction of the second step during a time period in which the first wheel lag moves away from the first step and does not come into contact with the second step; wherein the first distance is greater than the height difference between the first step and the second step, and the second distance is greater than the radius of the wheel of the first wheel lag and smaller than the width of the second step.

[0096] In some embodiments, the second control submodule is for obtaining a first joint torque of a motor associated with the first wheel lag based on the wheel lag movement direction indicated by the first distance and the reduction movement; and for controlling the first wheel lag to be reduced by a first distance based on the first joint torque.

[0097] In some embodiments, the second control submodule determines a second joint torque of a motor associated with the first wheel lag based on the direction of movement of the wheel lag corresponding to the second distance and the swing to the second step; and controls the first wheel lag to swing by a second distance in the direction of the second step based on the second joint torque.

[0098] In some embodiments, the wheel lag robot further comprises a base, the base being located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag;

[0099] The above auxiliary wheel lag control module (1603) is,

[0100] A third control submodule for controlling the base of the wheel lag robot to move upward by a third distance - the third distance is greater than or equal to the height difference between the first step and the second step - ; and

[0101] It includes a fourth control submodule for controlling the wheel lag robot to move forward in the second step, thereby causing the auxiliary wheel lag connected to the base to move to the second step.

[0102] In some embodiments, the third control submodule obtains a third joint torque of a motor associated with the first wheel lag and a fourth joint torque of a motor associated with the second wheel lag based on the direction of movement of the wheel lag indicated by the third distance and the reduction movement; and, based on the third joint torque and the fourth joint torque, controls the first wheel lag and the second wheel lag to extend by a third distance so that the base moves upward by a third distance.

[0103] In some embodiments, the control device of the wheel lag robot is,

[0104] The above wheel lag robot further includes a first balance control module for controlling the wheel lag robot to maintain balance in the first step by supporting the first wheel lag, the second wheel lag, and the auxiliary wheel lag.

[0105] In some embodiments, the wheel lag robot further comprises a base, the base being located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag;

[0106] The first balance control module is for controlling the base of the wheel lag robot to move downward so that the auxiliary wheel lag connected to the base comes into contact with the first step; and for controlling the projection point of the center of mass of the wheel lag robot in the step to be located within a triangular range formed by the step contact points of the first wheel lag, the second wheel lag, and the auxiliary wheel lag.

[0107] In some embodiments, the first balance control module is also for controlling the wheel lag robot to first move forward from the first step, thereby causing the first wheel lag and the second wheel lag to move to the boundary between the first step and the second step.

[0108] In some embodiments, the wheel lag robot further comprises a base, the base being located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag;

[0109] The control device of the above-mentioned wheel lag robot is,

[0110] It further includes a base control module for controlling the base of the wheel lag robot to move in the direction of the second step, so that the projected point of the center of mass of the wheel lag robot in the step moves from the first step to the second step.

[0111] In some embodiments, the control device of the wheel lag robot is,

[0112] The above wheel lag robot further includes a second balance control module for controlling the wheel lag robot to maintain balance in the second step by supporting the first wheel lag and the second wheel lag.

[0113] In some embodiments, the wheel lag robot further comprises a base, the base being located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag;

[0114] The control device of the above-mentioned wheel lag robot is,

[0115] The system further includes a base control module that controls the base of the wheel lag robot to move forward so that the projected point of the center of mass of the wheel lag robot in the step moves to a target position, wherein the target position is located within a triangular range formed by the step contact points of the first wheel lag and the second wheel lag, and the distance of the connecting line between the first wheel lag and the second wheel lag and the step contact points is smaller than a distance threshold.

[0116] It should be explained that when the control device of the wheel lag robot provided in the above embodiment controls the wheel lag robot, it has been described only by way of example through the assignment of each functional module; however, in actual application, the functions are distributed to be completed by different functional modules as needed, that is, the internal structure of the device is assigned to different functional modules to complete all or part of the functions described above. Furthermore, the control device of the wheel lag robot and the control method of the wheel lag robot provided in the above embodiment belong to the same concept, and the specific implementation process thereof refers to the method embodiment and is not repeated here.

[0117] An embodiment of the present invention provides a wheel lag robot for executing a control method of the wheel lag robot, FIG. 17 is an exemplary structural diagram of the wheel lag robot provided in an embodiment of the present application, and the wheel lag robot (1700) may have relatively large differences due to differences in configuration or performance, and includes one or more processors (Central Processing Units, CPU, 1701) and one or more memories (1702), wherein at least one program code is stored in the one or more memories (1702), and the at least one program code is loaded and executed by the one or more processors (1701) to implement the method provided in the embodiment of the control method of each wheel lag robot. Of course, the wheel lag robot (1700) may further be equipped with components such as a wired or wireless network interface, a keyboard, and an input / output interface to facilitate input / output, and the wheel lag robot (1700) may further include other components for implementing device functions, which are not described repeatedly here.

[0118] In an exemplary embodiment, a computer-readable storage medium, such as a memory containing at least one program code, is further provided, and said at least one program code can be executed by a processor to complete a control method of a wheel lag robot in said embodiment. For example, said computer-readable storage medium is a Read-Only Memory (ROM), Random Access Memory (RAM), Compact Disc Read-Only Memory (CD-ROM), tape, floppy disk, and optical data storage device.

[0119] In an exemplary embodiment, a computer program product is further provided, said computer program product comprises at least one computer program, said at least one computer program is stored on a computer-readable storage medium. A processor of a wheel lag robot reads said at least one computer program from the computer-readable storage medium, and the processor executes said at least one computer program to cause said wheel lag robot to execute an operation executed in a control method of said wheel lag robot.

[0120] In some embodiments, the computer program related to the embodiments of the present application is distributed and executed on a single computer device, executed on multiple computer devices located at a single site, or executed on multiple computer devices distributed at multiple sites and interconnected through a communication network, and the multiple computer devices distributed at multiple sites and interconnected through a communication network constitute a blockchain system.

[0121] It must be explained that information (including, but not limited to, user device information, user personal information, etc.), data (including, but not limited to, data used for analysis, data used for storage, data used for display, etc.), and signals related to this application are all authorized by the user or all parties, and the collection, use, and processing of related data must comply with relevant laws, regulations, and standards of the relevant countries and regions. For example, all step information related to this application was obtained with full authorization.

[0122] A person skilled in the art will understand that all or part of the steps for implementing the above embodiment are completed through hardware or through hardware related to program instructions, and that the program is stored in a computer-readable storage medium, and that the said storage medium includes read-only memory, magnetic disk or optical disk, etc.

[0123] The foregoing is merely an optional embodiment of the present application and is not intended to limit the present application; any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present application shall all be included within the scope of protection of the present application.

Claims

Claim 1 A method for controlling a wheel lag robot, wherein the wheel lag robot is executed by the wheel lag robot, the wheel lag robot comprises a first wheel lag, a second wheel lag, and an auxiliary wheel lag, and the method for controlling the wheel lag robot comprises the step of controlling the first wheel lag to move from a first step to a second step and controlling the second wheel lag and the auxiliary wheel lag to stabilize at the first step - wherein the first step and the second step have a height difference -; the step of controlling the second wheel lag to move from the first step to the second step, the step of controlling the first wheel lag to stabilize at the second step, and the step of controlling the auxiliary wheel lag to stabilize at the first step; and the step of controlling the auxiliary wheel lag to move from the first step to the second step, and controlling the first wheel lag and the second wheel lag to stabilize at the second step. Claim 2 A method for controlling a wheel lag robot according to claim 1, wherein the step of controlling the first wheel lag to move from a first step to a second step comprises: a step of controlling the first wheel lag to step on the ground so that the first wheel lag moves out of the first step; and a step of controlling the first wheel lag to move in the direction of the second step within a time period during which the first wheel lag moves out of the first step and does not come into contact with the second step, so that the first wheel lag moves to the second step when falling. Claim 3 A method for controlling a wheel lag robot according to claim 2, wherein the step of controlling the first wheel lag to step on the ground so that the first wheel lag moves out of the first step comprises: a step of obtaining a target joint torque of a motor associated with the first wheel lag based on the height difference between the first step and the second step and the direction of movement of the wheel lag indicated by the action of stepping on the ground; and a step of controlling the first wheel lag to step on the ground based on the target joint torque so that the first wheel lag is lifted upward based on the reaction force of the first step. Claim 4 In paragraph 3, the wheel lag robot further comprises a base, wherein the base is positioned above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and is connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag; the step of obtaining a target joint torque of a motor associated with the first wheel lag based on the height difference between the first step and the second step and the direction of movement of the wheel lag indicated by the step of stepping on the ground comprises: a step of obtaining a target angle to be lifted from the side connected to the base and the first wheel lag based on the height difference between the first step and the second step; and a step of determining, based on the target angle, the starting acceleration of the first wheel lag moving away from the first step and the reaction force required when the first wheel lag moves away from the first step. A control method for a wheel lag robot characterized by including the step of obtaining a target joint torque of a motor associated with the first wheel lag based on the starting acceleration, the reaction force, and the direction of movement of the wheel lag indicated by the stepping motion. Claim 5 A method for controlling a wheel lag robot according to claim 2, wherein the step of controlling the first wheel lag to move in the direction of the second step within a time period during which the first wheel lag moves away from the first step and does not come into contact with the second step comprises the step of controlling the first wheel lag to be reduced by a first distance and controlling the first wheel lag to swing by a second distance in the direction of the second step within a time period during which the first wheel lag moves away from the first step and does not come into contact with the second step, wherein the first distance is greater than the height difference between the first step and the second step, and the second distance is greater than the radius of the wheel of the first wheel lag and smaller than the width of the second step. Claim 6 A method for controlling a wheel lag robot according to claim 5, wherein the step of controlling the first wheel lag to be reduced by a first distance comprises: a step of obtaining a first joint torque of a motor associated with the first wheel lag based on the first distance and the wheel lag movement direction indicated by the reduction motion; and a step of controlling the first wheel lag to be reduced by a first distance based on the first joint torque. Claim 7 A method for controlling a wheel lag robot according to claim 5, wherein the step of controlling the first wheel lag to swing by a second distance in the direction of the second step comprises: determining a second joint torque of a motor associated with the first wheel lag based on the second distance and the direction of movement of the wheel lag indicated by the swing toward the second step; and controlling the first wheel lag to swing by a second distance in the direction of the second step based on the second joint torque. Claim 8 A method for controlling a wheel lag robot according to claim 1, wherein the wheel lag robot further comprises a base, the base being located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag; and the step of controlling the auxiliary wheel lag to move from the first step to the second step comprises: the step of controlling the base of the wheel lag robot to move upward by a third distance - the third distance being greater than or equal to the height difference between the first step and the second step -; and the step of controlling the wheel lag robot to move forward from the second step, thereby causing the auxiliary wheel lag connected to the base to move to the second step. Claim 9 A method for controlling a wheel lag robot according to claim 8, wherein the step of controlling the base of the wheel lag robot to move upward by a third distance comprises: a step of obtaining a third joint torque of a motor associated with the first wheel lag and a fourth joint torque of a motor associated with the second wheel lag based on the direction of movement of the wheel lag indicated by the third distance and the reduction movement; and a step of controlling the first wheel lag and the second wheel lag to extend by a third distance based on the third joint torque and the fourth joint torque, thereby causing the base to move upward by a third distance. Claim 10 A method for controlling a wheel lag robot according to claim 1, wherein the method further comprises the step of controlling the wheel lag robot to maintain balance in the first step by supporting the first wheel lag, the second wheel lag, and the auxiliary wheel lag. Claim 11 A method for controlling a wheel lag robot according to claim 10, wherein the wheel lag robot further comprises a base, the base being located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag; and the step of controlling the wheel lag robot to maintain balance in the first step by supporting the first wheel lag, the second wheel lag, and the auxiliary wheel lag comprises: a step of controlling the base of the wheel lag robot to move downward so that the auxiliary wheel lag connected to the base comes into contact with the first step; and a step of controlling the wheel lag robot so that the projected point of the center of mass of the wheel lag robot in the step is located within a triangular range formed by the step contact points of the first wheel lag, the second wheel lag, and the auxiliary wheel lag. Claim 12 In claim 11, the control method of the wheel lag robot further comprises the step of controlling the wheel lag robot to move forward in the first step, thereby causing the first wheel lag and the second wheel lag to move to the boundary between the first step and the second step. Claim 13 A method for controlling a wheel lag robot according to claim 1, wherein the wheel lag robot further comprises a base, the base is positioned above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and is connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag; and, after controlling the first wheel lag to move from a first step to a second step and controlling the second wheel lag and the auxiliary wheel lag to stabilize at the first step, and before controlling the second wheel lag to move from the first step to the second step, the method for controlling the wheel lag robot further comprises the step of controlling the base of the wheel lag robot to move in the direction of the second step so that the projected point of the center of mass of the wheel lag robot at the step moves from the first step to the second step. Claim 14 A method for controlling a wheel lag robot according to claim 1, wherein, after controlling the second wheel lag to move from the first step to the second step, and after controlling the first wheel lag to stabilize at the second step and the auxiliary wheel lag to stabilize at the first step, the method further comprises the step of controlling the wheel lag robot to maintain balance at the second step by supporting the first wheel lag and the second wheel lag. Claim 15 In claim 14, the wheel lag robot further comprises a base, said base being located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag; A method for controlling a wheel lag robot, wherein, after controlling the second wheel lag to move from the first step to the second step, and after controlling the first wheel lag to stabilize at the second step and the auxiliary wheel lag to stabilize at the first step, the method further comprises the step of controlling the base of the wheel lag robot to move forward so that the projected point of the center of mass of the wheel lag robot at the step moves to a target position—wherein the distance of the connecting line between the step contact points of the first wheel lag and the second wheel lag is less than a distance threshold and the target position is located within a triangular range formed by the step contact points of the first wheel lag, the second wheel lag, and the auxiliary wheel lag. Claim 16 A control device for a wheel lag robot, wherein the wheel lag robot comprises a first wheel lag, a second wheel lag, and an auxiliary wheel lag, and the control device for the wheel lag robot comprises: a first wheel lag control module for controlling the first wheel lag to move from a first step to a second step and for controlling the second wheel lag and the auxiliary wheel lag to be stabilized at the first step - wherein the first step and the second step have a height difference; a second wheel lag control module for controlling the second wheel lag to move from the first step to the second step, for controlling the first wheel lag to be stabilized at the second step, and for controlling the auxiliary wheel lag to be stabilized at the first step; and an auxiliary wheel lag control module for controlling the auxiliary wheel lag to move from the first step to the second step and for controlling the first wheel lag and the second wheel lag to be stabilized at the second step. Claim 17 A wheel lag robot comprising a first wheel lag, a second wheel lag, an auxiliary wheel lag, a base, one or more processors, and one or more memories, wherein the base is located above the first wheel lag, the second wheel lag, and the auxiliary wheel lag and is connected to all of the first wheel lag, the second wheel lag, and the auxiliary wheel lag, and 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 one or more processors to implement a control method of the wheel lag robot according to any one of claims 1 to 15. Claim 18 A computer-readable storage medium, wherein at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor to implement a method for controlling a wheel lag robot according to any one of claims 1 to 15. Claim 19 A computer program stored on a computer-readable storage medium, wherein the computer program is executed by a processor to implement a method for controlling a wheel lag robot according to any one of claims 1 to 15.

Images