A multi-scenario application robot and a multi-scenario application control method

Abstract

The present invention discloses a multi-scenario application robot and a multi-scenario application control method. The multi-scenario application robot includes a body module, a seismic isolation platform module, a suspension module, a paddle module, a lateral spring damper, a supporting web and a moving wheel; the seismic isolation platform module is provided with a gyroscope sensor and a scanner; when the present invention performs multi-scenario application control, in a ground scenario, if the suspension side plate drops, the paddle stops and the robot performs ground movement; if the suspension side plate is lifted, the suspension spring damper drops the suspension side plate and then stops; in a water scenario, if the suspension side plate is lifted, the moving wheel stops and the paddle is driven by a motor to drive the robot to operate on the water; the vibration amplitude and tilt angle of the robot detected by the gyroscope are converted into pulse signals and transmitted to the motor and ball screw to reduce the shock of the robot; the robot of the present invention solves the problem of easy damage to material transportation in complex post-disaster environments while working in both land and water environments.

Description

Technical Field

[0001] The present invention relates to a robot, and in particular to a multi-scenario application robot and a multi-scenario application control method. Background Art

[0002] With the continuous advancement of technology, mobile robots for outdoor operations are becoming increasingly popular, especially those used to transport supplies in complex environments. For example, transporting supplies in complex environments, such as after a disaster, is typically done manually, which is labor-intensive and dangerous. However, while traditional tracked mobile robots can traverse certain obstacles to transport supplies, they lack maneuverability, consume more power, and require more time than wheeled robots. In applications such as security rescue, resource exploration, and military operations, traditional wheeled mobile robots, while capable of overcoming obstacles, experience significant changes in their posture during the process, making them incapable of providing a stable transport platform. This makes it difficult to perform specialized tasks such as supply transportation, limiting the scope of mobile robots' capabilities.

[0003] On the other hand, in complex environments, there are not only land obstacles to overcome but also rivers to cross. Traditional tracked mobile robots are unable to adapt to these complex and changing environments and require manual labor. Furthermore, transporting supplies, especially precision instruments like radar life detectors for disaster relief, is difficult to ensure they are not damaged during transportation.

[0004] Furthermore, wheeled mobile robots are required to have wading capabilities in their work scenarios. While traditional surface robots meet the requirements for surface operations, they lack the capabilities for land operations. Therefore, traditional specialized robots currently cannot meet the requirements for tasks requiring poor road conditions and high off-road capabilities. This is especially true when specialized robots are required to operate in both water and land conditions. Traditional specialized robots lack the ability to maintain stability and be amphibious while navigating obstacles.

[0005] An amphibious mobile robot with multiple motion modes (CN202110487352.4) combines a surface robot with a land robot. It can walk on land and swim in water, and can easily adapt to two working environments. However, the mobile robot requires high power, a large output torque of the power module, and a large turning radius, making it unsuitable for use in complex terrain environments. An all-wheel co-phase driven vehicle and its turning control method (CN201610368782.3) discloses an all-wheel co-phase driven vehicle and its turning control method. A turning control method can be used for mobile robots, obstacle-crossing vehicles, etc. that need to walk on uneven and flat ground, but this method cannot adapt to both land and water working environments; an amphibious obstacle-crossing robot (CN202210526045.7) discloses an amphibious obstacle-crossing robot, which includes a shell, a rotating mechanism and multiple curved blades, which can adapt to both land and water working environments and solve the problem of insufficient wheeled obstacle-crossing ability, but its load-bearing capacity is poor, and the wheels are very easy to be damaged under heavy loads. The curved blades have weak load-bearing capacity and are extremely easy to be damaged during the wheel deformation process. Summary of the Invention

[0006] Purpose of the invention: In view of the current situation in the prior art of transporting materials in complex environments such as after disasters, especially avoiding damage when transporting precision instruments such as infrared thermal imagers and radar life detectors, the present invention proposes a multi-scenario application robot and a multi-scenario application control method, which solves the technical problem of transporting materials in complex post-disaster environments while operating in both land and water environments.

[0007] Technical solution: The multi-scenario application robot of the present invention includes a body module, a seismic isolation platform module, a suspension module, a blade module, a transverse spring damper, a supporting web, and moving wheels; the seismic isolation platform module is provided with a gyroscope sensor and a scanner;

[0008] The seismic isolation platform module is fixed to the vehicle body module; the supporting webs are located on both sides of the vehicle body module; the transverse spring damper is connected to the supporting webs and the suspension module for shock absorption; the blade module is located between the two suspension modules; the bottom plate assembly of the vehicle body module is a cavity;

[0009] The suspension module includes a suspension connection assembly, a second motor and a transmission shaft. There are suspension side plates and a suspension middle plate on both sides of the suspension connection assembly. The sides of the suspension side plates and the suspension middle plate are provided with suspension side plates connected to the suspension spring damper. One end of the suspension spring damper is connected to the suspension connection assembly; the second motor transmits torque to the suspension module through the transmission shaft.

[0010] The seismic isolation platform module includes a first motor, a reducer and a web. A seismic isolation platform is provided above the web. A ball screw and a nut are connected to the seismic isolation platform. The first motor drives the ball screw through the reducer.

[0011] The vehicle body module further comprises connecting columns and connecting ribs, which are located between the bottom plate assembly and the web.

[0012] The blade module includes a blade, a third motor and a second reducer, and the third motor is connected to the blade through the second reducer.

[0013] The scanner is located above the seismic isolation platform to detect the height of obstacles.

[0014] The application control method of the multi-scenario application robot in multiple scenarios of the present invention comprises the following steps:

[0015] (1) In the ground scenario, if the suspension side panel is lowered, the third motor is turned off to stop the blades from running, and the motor is turned on to drive the moving wheels to drive on the ground, overcome obstacles, and change direction; if the suspension side panel is raised, the suspension spring damping is activated to contract, and after the suspension side panel is lowered to the set angle, the suspension spring damping stops contracting, so that the suspension side panel is in the lowered state, and the above steps are repeated;

[0016] (2) In the water scene, if the suspension side panel is raised, the motor is turned off to stop the movement of the moving wheel, the third stepper motor is turned on, and the blades are driven to rotate through the second reducer, thereby driving the mobile robot to move and turn on the water; if the suspension side panel is lowered, the suspension spring damper is started to lift the suspension side panel upward to a set angle, and then the suspension spring damper is turned off to keep the suspension side panel in the raised state, and the above steps are repeated;

[0017] (3) The vibration amplitude and tilt angle of the robot detected by the gyroscope sensor are converted into a pulse signal and transmitted to the stepper motor. The stepper motor drives the isolation platform to move through the ball screw to reduce the vibration of the robot.

[0018] In step (1), the robot's obstacle-crossing method is as follows:

[0019] (1) When the robot encounters a high obstacle, the scanner scans and detects the obstacle height h to obtain the required rotation angle of the suspension module;

[0020] (2) converting the angle into a pulse signal and sending it to the second stepper motor, which rotates the corresponding angle to generate torque;

[0021] (3) The torque is transmitted to the suspension center plate through the first reducer and the transmission shaft;

[0022] (4) The torque acts on the suspension mid-plate, causing the suspension module to lift upward by an angle θ, thereby overcoming the obstacle.

[0023] In step (1), when the robot encounters a high obstacle, the scanner scans and detects the obstacle height h, and the formula Get the required rotation angle of the suspension module.

[0024] In step (3), the multi-directional vibration reduction control process of the multi-scenario application robot is as follows:

[0025] (1) When encountering a bumpy road, the suspension spring damping expansion and contraction buffers the longitudinal force exerted on the robot;

[0026] (2) The lateral force on the robot is transmitted to the lateral spring damper, which buffers the lateral force by stretching and contracting;

[0027] (3) The force after longitudinal and lateral buffering is transmitted to the body module through the supporting web to achieve multi-directional shock absorption of the robot.

[0028] In step (3), the vibration reduction process of the robot's isolation platform is as follows:

[0029] (1) When encountering a bumpy road, the gyroscope sensor collects the vibration amplitude and tilt degree of the robot;

[0030] (2) Processing the information collected by the gyroscope sensor into a pulse signal and transmitting it to the first stepper motor;

[0031] (3) The first stepper motor rotates, driving the ball screw to rotate and the nut to move;

[0032] (4) The nut drives the isolation platform to move, changing the center of gravity of the isolation platform module and reducing vibration of the isolation platform.

[0033] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0034] (1) The multi-scenario application robot of the present invention is adaptable to both terrestrial and water working environments, and the suspension module combines longitudinal shock absorption with lateral shock absorption, which reduces the vibration of the vehicle body in the up and down directions and the front and back directions and realizes shock absorption in multiple directions. At the same time, it combines the advantages of the simple structure of the non-independent suspension and the lack of interference between the independent suspensions, thereby reducing the vibration and tilt of the vehicle body. When crossing high obstacles, the suspension module is driven upward by a motor to cross obstacles that ordinary wheeled mobile robots cannot cross. The suspension module enables the mobile wheeled robot to have more superior obstacle crossing performance.

[0035] (2) The gyroscope sensor of the isolation platform module collects the vibration amplitude and tilt degree of the robot, and sends a signal to the stepper motor of the isolation platform module through the control system, so that it drives the isolation platform to move in a certain direction, causing the center of gravity of the isolation platform module to change accordingly, thereby realizing active isolation. On the basis of the original, the shock absorption capacity is further enhanced, ensuring the transportation of materials in complex environments, especially avoiding damage to precision instruments such as infrared thermal imagers and radar life detectors. For example, when it is necessary to pass through a river, the suspension module shock absorption fails. At this time, the directional movement of the isolation platform is used to reduce the impact of the vehicle body vibration caused by the river waves on the materials placed on the isolation platform, ensuring that the materials will not fall into the water and be damaged.

[0036] (3) The paddle modules on both sides of the robot of the present invention are powered by the motor in the paddle modules to drive the paddles to rotate when the robot is on water, and the paddle modules are powered off when the robot is on the ground, and the Mecanum wheels are powered to achieve ground movement. By switching the starting modules under different working environments, the robot can adapt to both water and land working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the three-dimensional structure of the multi-scenario application robot of the present invention;

[0038] Figure 2 This is a schematic diagram of the main structure of the multi-scenario application robot of the present invention;

[0039] Figure 3 2 is a schematic diagram of the right side structure of the multi-scenario application robot of the present invention;

[0040] Figure 4 This is a schematic diagram of the body module structure of the multi-scenario application robot of the present invention;

[0041] Figure 5 This is a schematic diagram of the structure of the seismic isolation platform module of the multi-scenario application robot of the present invention;

[0042] Figure 6 This is a schematic diagram of the suspension module structure of the multi-scenario application robot of the present invention;

[0043] Figure 7 This is a schematic diagram of a half-section structure of a suspension module of the multi-scenario application robot of the present invention;

[0044] Figure 8 This is a schematic diagram of the blade module structure of the multi-scenario application robot of the present invention;

[0045] Figure 9 This is a simulink-based road surface excitation and shock absorption simulation diagram of the present invention;

[0046] Figure 10This is a step response simulation diagram of the suspension shock absorption based on Simulink of the present invention;

[0047] Figure 11 This is a flow chart of the damping control in the multi-scenario application control method of the present invention;

[0048] Figure 12 This is a flowchart of the obstacle crossing control method in the multi-scenario application control method of the present invention;

[0049] Figure 13 Schematic diagram of obstacle crossing in the multi-scenario application control method of the present invention;

[0050] Figure 14 is a diagram of a steering control method in a multi-scenario application control method of the present invention;

[0051] Figure 15 This is a flow chart of the seismic isolation platform control method in the multi-scenario application control method of the present invention. DETAILED DESCRIPTION

[0052] like Figures 1 to 3 As shown, the multi-scenario application robot of the present invention includes a body module 1, a seismic isolation platform module 2, a suspension module 3, a blade module 4, a connecting rod 5, a transverse spring damper 6, a support web 7 and a moving wheel 8, wherein the moving wheel 8 adopts a Mecanum wheel; the seismic isolation platform module 2 is fixed above the body module 1, forming the main body of the wheeled mobile robot; the support web 7 is located on both sides of the body module 1 and is riveted and fixed by connecting columns 13; the transverse spring damper 6 is located on both sides of the main body, connected to the support web 7 and the suspension module 3, and is used to realize the transverse shock absorption in the transverse and longitudinal combined shock absorption of the mobile robot. The suspension module 3 is connected to the connecting rod 5 and the transverse spring damper 6 and is arranged on both sides of the main body, and the blade module 4 is placed in the middle of the suspension module 3, that is, between the two suspension side plates. The multi-scenario application robot of the present invention is a wheeled mobile robot.

[0053] like Figure 4 As shown, the vehicle body module 1 includes a floor assembly 11, connecting posts 12, and connecting ribs 13. The floor assembly 11 of the vehicle body module 1 includes a cavity structure that forms an integral part of the floor within the floor assembly 11. The cavity structure of the floor assembly 11 provides buoyancy for the mobile robot operating in an aquatic environment, thereby enabling the mobile robot to levitate above the water. The connecting posts 12 are positioned between the floor assembly 11 and the web 21 and are riveted to the floor assembly 11 and the web 21. The connecting ribs 13 are positioned between the floor assembly 11 and the web 21 and are riveted to the floor assembly 11 and the web 21.

[0054] like Figure 5As shown, a seismic isolation platform 22 is placed above the web 21. The seismic isolation platform 22 is connected to the ball screw nut 24 and moves with the movement of the ball screw nut 24. The gyroscope sensor 26 is located above the web 21 and is fixed to the web 21 by riveting. It is used to collect the vibration amplitude and tilt degree of the robot. The ball screw 23 is fixed above the web 21. The movement of the ball screw nut 24 is driven by the rotation of the ball screw 23. The first stepper motor 25 is connected to the ball screw 23 through a reducer. The vibration amplitude and tilt degree information of the mobile robot collected by the gyroscope sensor 26 is processed by the control system and converted into a corresponding pulse signal and sent to the first stepper motor 25, so that the first stepper motor 25 drives the ball screw 23 to rotate. The ball screw nut 24 converts the rotation into linear motion and drives the seismic isolation platform 22 to move in a directional manner, thereby realizing active shock absorption. The lidar scanner 27 is connected to the seismic isolation platform 22 by riveting. It is located above the seismic isolation platform 22 and plays the role of detecting the height of obstacles.

[0055] like Figure 6 、 Figure 7 As shown, the suspension module 3 includes a suspension connection assembly 34, a first speed reducer 37, a second motor 38, and a transmission shaft 39. The suspension side plates 32 and the suspension middle plate 35 are located on either side of the suspension connection assembly 34 and are welded together. The suspension side plates 31 are placed on either side of the suspension side plates 32 and the suspension middle plate 35, respectively. The suspension spring dampers 33 are placed on either side of the suspension side plates 31 and connected to the suspension side plates 31 and 32 via the suspension connection assembly 34. They provide longitudinal vibration reduction in the robot's combined lateral and longitudinal vibration reduction system. The transmission shaft 39 is welded to the suspension middle plate 35, while the suspension inner plate 36 is connected to the transmission shaft 39, serving as a connection to the lateral spring dampers 6. The second stepper motor 38 is connected to the transmission shaft 39 via the first speed reducer 37. The motor's torque is transmitted to the suspension middle plate 35 via the transmission shaft 39, thereby driving the suspension module 3 upward, improving the mobile robot's obstacle-crossing capability. The suspension module 3 is connected to the lateral spring damper 6 so that the lateral shock absorption and the longitudinal shock absorption are combined to achieve multi-directional shock absorption compared with the traditional single-direction shock absorption, thereby achieving a better shock absorption effect. The shock absorption effect simulation is as follows: Figure 8 ,9, as shown in Figure 8 The solid line shows the degree of road undulation, and the dashed line shows the undulation curve of the robot platform under a bumpy road simulated by a sinusoidal function. At 1.6 seconds, the road undulation reaches a maximum of 1dm, while the undulation of the robot platform is only 0.2dm, with an amplitude of only 20% of the original. At time points such as 3 seconds and 6 seconds, the slope of the road undulation curve is larger and steeper than that of the mobile robot platform. Figure 9The solid lines are step excitations of varying degrees, and the dotted lines are the responses of the suspension damping. The road excitation amplitude is 3dm from 0 to 2s, while the body amplitude is 2dm. At 1.8s, the body amplitude peak is around 0.2dm and stabilizes. From 2 to 4s, the amplitude difference between the road excitation and the previous excitation is 2dm, while the body amplitude is 1dm. The body amplitude peak gradually decreases in the subsequent several oscillations, and the body posture stabilizes after 1.7s. The time required for the body posture to stabilize is relatively short, as shown by the Figure 8 ,9 Simulation results show that the structure reduces the ground excitation information, has a good shock absorption effect, and meets the ,adaptability requirements for complex terrains.

[0056] like Figure 7 As shown, the blade module 4 includes a blade 41, a third stepper motor 43 and a second reducer 42. The third stepper motor 43 is connected to the blade 41 through the second reducer 42. As the third stepper motor rotates, the blade 41 is driven to rotate, thereby driving the robot to work in the water environment.

[0057] The application control method of the multi-scenario application robot of the present invention is as follows:

[0058] (1) Start the robot and select the corresponding ground or water application scene as needed;

[0059] (2) In the ground scenario: When the multi-scenario application robot is in the ground application scenario, if the suspension side panel 31 is in the descending state, the third stepper motor 43 is turned off, the blade 41 stops running, the independent motors in the four moving wheels 8 are energized, and the motors of the moving wheels are started to drive the four moving wheels 8 to rotate, so that the robot can drive and overcome obstacles on the ground, and change direction through the moving wheels 8. If the suspension side panel 31 is in the raised state, the suspension spring damper 33 is first started to retract. After the suspension side panel 31 is lowered 45 degrees, the suspension spring damper 33 stops retracting, so that the suspension side panel 31 is in the descending state, and the above steps are repeated.

[0060] (3) When the robot is in a water application scenario, if the suspension side panel 31 is in the raised state, the four moving wheels 8 are stopped, the third stepper motor 43 is turned on, and the paddle blades 41 are driven to rotate through the second reducer 42. The paddle blades 41 paddle the water surface to drive the movement of the mobile robot, and the speed difference of the paddle blades 41 on both sides is used to achieve the turning on the water. If the suspension side panel 31 is in the lowered state, the suspension spring damper 33 is first activated to retract, and after the suspension side panel 31 is raised 45 degrees, the suspension spring damper 33 is turned off to make the suspension side panel 31 in the raised state, and the above steps are repeated.

[0061] (4) Based on steps (2) and (3), the vibration amplitude and tilt angle of the mobile robot are detected in real time by the gyroscope sensor 26 and transmitted to the control system. The control system converts the pulse signal into a pulse signal and transmits it to the stepper motor 25. The stepper motor 25 rotates and drives the ball screw 23 to move the ball screw nut 24, thereby driving the isolation platform 22 to move in a directional manner and further reducing the shock of the mobile robot.

[0062] like Figure 10 As shown, in step (4), the longitudinal and lateral combined shock absorption control method of the multi-scenario application robot is as follows:

[0063] (1) When encountering a bumpy road, the longitudinal force on the robot is buffered by the expansion and contraction of the suspension spring damper 33, thereby reducing the longitudinal bumps of the robot;

[0064] (2) The lateral force on the robot is transmitted to the lateral spring damper 6, which buffers the lateral force by stretching and contracting, thereby reducing the lateral bumps of the robot;

[0065] (3) The force after longitudinal and lateral buffering is transmitted to the vehicle body module 1 through the supporting web 7, so that the longitudinal shock absorption and lateral shock absorption of the wheeled mobile robot are combined to achieve multi-directional shock absorption of the robot.

[0066] In step (2), if Figure 12 , Figure 13 As shown in the figure, the obstacle control method of the multi-scenario application robot is as follows:

[0067] (1) Start the robot.

[0068] (2) When the robot encounters a high obstacle, the laser radar scanner 27 scans and detects the obstacle height h, and the formula The required rotation angle θ of the suspension module 3 is obtained, where r is half the distance between the front and rear wheels of the robot.

[0069] (3) The control system converts the angle into a corresponding pulse signal and sends it to the second stepper motor 38. The second stepper motor 38 rotates the corresponding angle to generate torque.

[0070] (4) The torque is transmitted to the suspension center plate 35 through the first speed reducer 37 and the transmission shaft 39.

[0071] (5) The torque acts on the suspension middle plate 35, causing the suspension module 3 to lift upward by an angle θ, thereby overcoming the obstacle.

[0072] In step (2), if Figure 14 As shown, the direction-changing control method of the multi-scenario application robot of the present invention is as follows:

[0073] (1) The robot is powered on and the four moving wheels on both sides are driven by independent motors.

[0074] (2) When all four moving wheels rotate forward, the robot moves forward.

[0075] (3) When all four moving wheels reverse, the robot moves backward.

[0076] (4) When wheel A rotates forward and wheel B rotates backward, the robot moves to the right.

[0077] (5) When wheel A rotates in reverse and wheel B rotates in forward direction, the robot moves to the left.

[0078] like Figure 15 As shown in the figure, the control method of the seismic isolation platform of the multi-scenario application robot is as follows:

[0079] (1) Start the robot and power it on, and the gyro sensor 26 starts working.

[0080] (2) When encountering a bumpy road, the gyro sensor 26 collects the vibration amplitude and tilt degree of the wheeled mobile robot.

[0081] (3) The gyro sensor 26 transmits the collected information to the control system, which processes the information to form a pulse signal and transmits it to the first stepper motor 25.

[0082] (4) The first stepper motor 25 rotates, driving the ball screw 23 to rotate, causing the ball screw nut 24 to move in a directional manner.

[0083] (5) The ball screw nut 24 drives the isolation platform 22 to move in a directional manner, so that the center of gravity of the isolation platform module 2 changes, thereby reducing the vibration of the isolation platform.

Claims

1. A multi-scenario application robot, characterized by: It comprises a vehicle body module (1), a shock-isolating platform module (2), a suspension module (3), a blade module (4), a transverse spring damper (6), a supporting web (7) and a moving wheel (8); the shock-isolating platform module (2) is provided with a gyroscope sensor (26) and a scanner (27); The seismic isolation platform module (2) is fixed on the vehicle body module (1); the supporting web (7) is located on both sides of the vehicle body module (1); the transverse spring damper (6) is connected to the supporting web (7) and the suspension module (3) for shock absorption; the blade module (4) is located between the two suspension modules (3); the bottom plate assembly (11) of the vehicle body module (1) is a cavity; The suspension module (3) comprises a suspension connection assembly (34), a second motor (38) and a transmission shaft (39); the suspension connection assembly (34) is provided with a suspension side plate (32) and a suspension middle plate (35) on both sides; the suspension side plate (32) and the suspension middle plate (35) are provided with a suspension side plate (31) connected to a suspension spring damper (33) on the side surfaces; one end of the suspension spring damper (33) is connected to the suspension connection assembly (34); the second motor (38) transmits torque to the suspension module (3) via the transmission shaft (39); The seismic isolation platform module (2) comprises a first motor (25), a reducer and a web (21); a seismic isolation platform (22) is provided above the web (21); a ball screw (23) and a nut (24) are connected to the seismic isolation platform (22); the first motor (25) drives the ball screw (23) through the reducer; The vehicle body module (1) further comprises a connecting column (12) and a connecting rib (13), wherein the connecting column (12) and the connecting rib (13) are located between the bottom plate assembly (11) and the web (21); The blade module (4) comprises a blade (41), a third motor (43) and a second reducer (42); the third motor (43) is connected to the blade (41) via the second reducer (42).

2. The multi-scenario application robot according to claim 1, characterized in that: The scanner (27) is located above the seismic isolation platform (22) to detect the height of obstacles.

3. A method for controlling the application of a multi-scenario application robot in multiple scenarios according to claim 2, characterized in that: The following steps are involved: (1) In a ground scenario, if the suspension side plate (31) is lowered, the third motor (43) is turned off to stop the blade (41) from running, and the motor is turned on to drive the moving wheel (8) to rotate, so as to drive on the ground, cross obstacles, and change direction; if the suspension side plate (31) is raised, the suspension spring damper (33) is started to shrink, and after the suspension side plate (31) is lowered to a set angle, the suspension spring damper (33) stops shrinking, so that the suspension side plate (31) is in a lowered state, and the above steps are repeated; (2) In the water scene, if the suspension side plate (31) is lifted, the motor is turned off to stop the movement of the moving wheel (8), the third motor (43) is turned on, and the blade (41) is driven to rotate through the second reducer (42), thereby driving the mobile robot to move and turn on the water; If the suspension side plate (31) is lowered, the suspension spring damper (33) is activated to lift the suspension side plate (31) upward to a set angle, and then the suspension spring damper (33) is closed to put the suspension side plate (31) in a lifted state, and the above steps are repeated; (3) The vibration amplitude and tilt angle of the robot detected by the gyroscope sensor (26) are converted into a pulse signal and transmitted to the first motor (25). The first motor (25) drives the isolation platform (22) to move through the ball screw (23) to reduce the vibration of the robot.

4. The multi-scenario application control method of the multi-scenario application robot according to claim 3, characterized in that: In step (1), the robot's obstacle-crossing method is as follows: (1) When the robot encounters a high obstacle, the scanner (27) scans and detects the obstacle height h to obtain the required rotation angle of the suspension module (3); (2) converting the angle into a pulse signal and sending it to the second motor (38), so that the second motor (38) rotates the corresponding angle to generate torque; (3) The torque is transmitted to the suspension center plate (35) through the first reducer (37) and the transmission shaft (39); (4) The torque acts on the suspension middle plate (35), causing the suspension module (3) to lift up by an angle θ to cross the obstacle.

5. The multi-scenario application control method of the multi-scenario application robot according to claim 4, characterized in that: In step (1), when the robot encounters a high obstacle, the scanner (27) scans and detects the obstacle height h, and the formula The required rotation angle of the suspension module (3) is obtained, where r is half of the distance between the front wheel and the rear wheel of the robot.

6. The multi-scenario application control method of a multi-scenario application robot according to claim 3, characterized in that: In step (3), the multi-directional vibration reduction control process of the multi-scenario application robot is as follows: (1) When encountering a bumpy road, the suspension spring damper (33) expands and contracts to buffer the longitudinal force exerted on the robot; (2) The lateral force exerted on the robot is transmitted to the lateral spring damper (6), and the lateral spring damper (6) buffers the lateral force by stretching and contracting; (3) The force after longitudinal and transverse buffering is transmitted to the vehicle body module (1) through the supporting web (7) to perform multi-directional shock absorption on the robot.

7. The multi-scenario application control method of a multi-scenario application robot according to claim 3, characterized in that: In step (3), the vibration reduction process of the robot's isolation platform is as follows: (1) When encountering a bumpy road, the gyroscope sensor (26) collects the vibration amplitude and tilt degree of the robot; (2) processing the information collected by the gyro sensor (26) into a pulse signal and transmitting it to the first motor (25); (3) The first motor (25) rotates, driving the ball screw (23) to rotate and the driving nut (24) to move; (4) The nut (24) drives the seismic isolation platform (22) to move, thereby changing the center of gravity of the seismic isolation platform module (2) and reducing vibration of the seismic isolation platform.

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