According to Tianyancha's intellectual property information, Guangzhou Xiaopeng Automotive Technology Co., Ltd. recently announced its patent application for "Mobile Control Method and Foot Robot" for foot robots. The method includes: obtaining visual images of the surrounding environment, sequentially determining tactile images, rigid body images, fusion images, and planning robot foot trajectory. Through this method, as the legged robot moves, the fusion map will be adjusted in real-time with changes in terrain, accurately representing the terrain information of the surrounding environment. Based on the fusion map, the robot's foot trajectory can be correctly planned, allowing the robot to move normally on various terrains without the need for pre collection of training data and training, greatly reducing development costs. This method is also applicable to different types of legged robots and has strong portability.