The invention provides a control method of a wheel-type robot driving moor, the control device of the wheel-type robot driving motor, and the wheel-type robot. The control method comprises steps that the current rotating speed and the current of the driving motor of the wheel-type robot are determined; the current is converted into a two-phase rotating coordinate system; according to a difference value between the current rotating speed and a preset rotating speed, a radial current component is adjusted, and according to a current output moment and a corresponding relation between a pre-stored moment and a target vertical current value, the vertical current component is adjusted; when the absolute value of the difference value between the current rotating speed and the preset rotating speed is smaller than a first preset value, and the absolute value of the difference value between the current vertical component and the target vertical current value is smaller than a second preset value, a target current after adjustment is determined; the duty ratio of the motor is determined according to the preset rotating speed, the current rotating speed, and the target current after the adjustment. The output power of the motor is improved by adjusting the radial current component, and the output efficiency of the motor is improved by adjusting the vertical current component, and therefore the output power of the motor and the output efficiency of the motor are improved.