System and method for testing slope dynamic and static stability of mobile robot

Abstract

The invention belongs to the technical field of robot testing, and discloses a mobile robot slope dynamic and static stability test system and method, and the system comprises a ramp test device which is used for providing a horizontal slope and a slope surface which is connected with the horizontal slope and can adjust different slope values; the motion capture system is used for monitoring the motion state of the mobile robot on the ramp test device in real time; and the control system is electrically connected with the ramp test device and the motion capture system, and is used for controlling the slope value of the ramp test device in real time, receiving the detection result of the motion capture system, and judging whether to adjust and control the next slope value according to the detection result. According to the invention, the climbing and slope holding capabilities and the stability of the mobile robot can be tested.

Description

Technical Field

[0001] The invention belongs to the technical field of robot testing, and in particular relates to a mobile robot slope dynamic and static stability testing system and method. Background Art

[0002] With the continuous upgrading of the intelligence level of mobile robots, they are widely used in various fields such as industry and commerce, so their safety and stability are particularly important. The dynamic and static stability of mobile robots on roads with different slopes is an important factor to ensure their safety. Therefore, the climbing and staying ability test of mobile robots is an important part of evaluating the safety and stability of mobile robots. GB / T 37703-2019 "General Technical Conditions for Ground Ruins Search and Rescue Robots", GB / T 38124-2019 "Service Robot Performance Test Method", CR-1-0302TS:2018 "Automated Guided Vehicle (AGV) Safety Technical Specifications", DB13 / T1483-2011 "Underground Detection Robot for Mining", ISO 3691-4:2020 and other current standards have put forward standard requirements for the test methods of mobile robots' climbing, staying and stability. The standard verifies the dynamic and static stability of the robot on slopes with different slopes as the evaluation standard, and the ramp test system with accurate slope and stable load is the premise to ensure the credibility and accuracy of the test. Existing ramp test benches are mostly combined with an inclinometer to measure the slope adjustment. For test requirements with multiple slope values, it is necessary to manually reset the slope value before each test. The operation is relatively complicated and the accuracy is difficult to guarantee. Alternatively, the stability of the mobile robot is measured by an electric-driven ramp, but its carrying capacity is limited and the accuracy retention is poor.

[0003] The above description of the background technology is only for facilitating an in-depth understanding of the technical solution of the present invention (such as the technical means used, the technical problems solved and the technical effects produced), and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0004] The present invention aims to solve the above technical problems at least to a certain extent. To this end, the present invention aims to provide a mobile robot slope dynamic and static stability test system and method.

[0005] The technical solution adopted by the present invention is:

[0006] A mobile robot slope dynamic and static stability testing system, comprising:

[0007] A ramp test device is used to provide a horizontal slope surface and a slope surface connected to the horizontal slope surface and capable of adjusting different slope values;

[0008] Motion capture system, used to monitor the motion status of the mobile robot on the ramp test device in real time;

[0009] The control system is electrically connected to the ramp test device and the motion capture system respectively, and is used to control the slope value of the ramp test device in real time, and at the same time receive the detection result of the motion capture system, and determine whether to adjust and control the next slope value based on the detection result.

[0010] Preferably, the ramp test device comprises a base installed on a reference horizontal plane, a horizontal slope surface is installed on the base through a lifting mechanism, one side of the horizontal slope surface is hinged to the upper end of the slope surface, and the lower end of the slope surface contacts the reference horizontal plane.

[0011] Preferably, it also includes: a distance sensor, which is connected to the control system and is used to monitor the lifting height h of the horizontal slope in real time. i .

[0012] Preferably, the lifting mechanism comprises a first scissor-type structure and a second scissor-type structure, a hydraulic rod connecting rod and a hydraulic cylinder connecting rod are provided between the first scissor-type structure and the second scissor-type structure, and a hydraulic assembly is provided between the hydraulic rod connecting rod and the hydraulic cylinder connecting rod.

[0013] Preferably, the hydraulic assembly includes a first hydraulic assembly and a second hydraulic assembly, the hydraulic cylinder connecting rod is provided with a first hydraulic cylinder connecting piece and a second hydraulic cylinder connecting piece, the hydraulic rod connecting rod is provided with a first hydraulic rod connecting piece and a second hydraulic rod connecting piece, the two ends of the first hydraulic assembly are respectively hinged to the first hydraulic cylinder connecting piece and the first hydraulic rod connecting piece, and the two ends of the second hydraulic assembly are respectively hinged to the second hydraulic cylinder connecting piece and the second hydraulic rod connecting piece; the first hydraulic assembly includes a first hydraulic rod and a first hydraulic cylinder, and the second hydraulic assembly includes a second hydraulic rod and a second hydraulic cylinder; the first hydraulic cylinder and the second hydraulic cylinder are both connected to the hydraulic oil tank.

[0014] Preferably, a connecting plate is provided between the first hydraulic rod connecting member and the second hydraulic rod connecting member.

[0015] Preferably, the first scissors-type structure includes a first support rod, a second support rod and a first hinged rod, and the second scissors-type structure includes a third support rod, a fourth support rod and a second hinged rod; the top ends of the first support rod, the second support rod, the third support rod and the fourth support rod are respectively hinged to the horizontal slope, and their bottom ends are respectively hinged to the base, the first support rod and the second support rod are hinged through the first hinged rod, and the third support rod and the fourth support rod are hinged through the second hinged rod.

[0016] A method for testing the dynamic and static stability of a mobile robot on a slope, using the above-mentioned mobile robot on a slope dynamic and static stability testing system, comprises the following steps:

[0017] S1: Arrange the test equipment, install the distance sensor, arrange the motion capture system around the ramp test device, fix the target ball on the mobile robot to be tested, and calibrate the motion capture system;

[0018] S2: Set n slope values ​​α1, α2, α3, ..., α according to the test requirements. n , the slope values ​​increase in sequence according to an arithmetic progression, and a plurality of successively increasing slope values ​​are transmitted to the control system;

[0019] S3: The control system adjusts the slope value of the slope surface to α1, controls the mobile robot to start climbing from the bottom of the slope surface, and completes all preset motion trajectories according to the motion path;

[0020] S4: The motion capture system monitors the motion state of the mobile robot in step S3 in real time. If the robot does not slip or roll over, it is determined that the mobile robot can operate stably under the slope value α1. At this time, the motion capture system transmits the qualified detection result under the slope value α1 to the control system;

[0021] S5: After receiving the qualified monitoring result under the slope value of α1, the control system controls the ramp test device to further adjust the slope value to α2, and repeats steps S3 to S4;

[0022] S6: During the test, if at any slope value α i During the test, if the motion capture system detects that the mobile robot slips or rolls over, the test is considered to have failed and the test is terminated. The control system outputs the maximum climbing slope of the mobile robot as α i-1 ; If the motion capture system detects that the mobile robot slips or rolls over during the test at the slope value α1, the test fails, and the control system outputs that the mobile robot does not have the ability to climb. ... n During the test, if the motion capture system does not detect the mobile robot slipping, rolling over, etc., the test ends and the control system outputs the maximum climbing gradient of the mobile robot as α n .

[0023] Preferably, the movement path includes at least one or more combinations of climbing along the slope from the bottom of the slope to reach the horizontal slope, descending the slope from the horizontal slope, climbing along the slope from the bottom of the slope to reach the horizontal slope and then turning around and descending the slope, and moving along the slope from the bottom of the slope to the slope and then stabilizing on the slope.

[0024] Preferably, the slope value Where L is the length of the slope, h0 is the minimum height of the horizontal slope 1;

[0025] The control system can control the slope value and correct the slope value. The control system is controlled according to the hydraulic rod extension distance model. The distance model is constructed by the SP algorithm:

[0026] u(t)=K p ·(h′-L·sinα i +h0)

[0027] Build a scaled link model:

[0028] u(t)=e·K p

[0029] Assume that the angle setting value in a single test is α i , then corresponding to f(t) = h i The values ​​are:

[0030] f(t)=h i =L·sinα i -h0

[0031] For a single test, the distance sensor monitoring value is c(t) = h′, and the output is:

[0032] u(t)=e(t)·K p =K p (f(t)-c(t))=K p ·(h′-L·sinα i +h0);

[0033] Where u(t) is the output value of the hydraulic rod extension distance; K p is the proportional coefficient; h′ is the actual measured value of the lifting height of the horizontal slope 1; e is the error value of the hydraulic rod extension distance; f(t) is the error value of α in a single test i The extension and retraction distance of the hydraulic rod under the slope; e(t) is the error value of the extension and retraction distance of the hydraulic rod at time t; c(t) is the output value of the distance sensor.

[0034] The beneficial effects of the present invention are:

[0035] The mobile robot slope dynamic and static stability test system of the present invention can meet the climbing, staying and stability test requirements of mobile robots of different specifications and weights, can ensure accurate control of the test slope value, and adopts a hydraulic system to provide source power, so as to have higher slope retention performance;

[0036] The mobile robot slope dynamic and static stability testing method of the present invention can automatically determine whether to test the next slope value condition according to the test results under each slope value condition, and can complete automatic adjustment and control of different slope values ​​one by one. There is no need to manually adjust the corresponding slope value before each test, which simplifies the operation process and greatly improves work efficiency.

[0037] The present invention realizes intelligent testing of the climbing and staying-on-hill capabilities and stability of a mobile robot, and further improves the mobile robot testing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the mobile robot slope dynamic and static stability testing system of the present invention.

[0039] Figure 2 It is a schematic diagram of the ramp test device of the present invention.

[0040] Figure 3 It is a schematic diagram of the ramp test device of the present invention.

[0041] Figure 4 It is the algorithm control principle diagram of the present invention.

[0042] Figure 5 It is the algorithm control flow chart of the present invention.

[0043] Figure 6 The present invention is a flow chart of a method for testing the dynamic and static stability of a mobile robot on a slope. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention. The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations.

[0045] In the description of the embodiments of the present invention, it should be noted that the indicated orientation or position relationship is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0046] In the present invention, unless otherwise clearly stipulated and limited, terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements.

[0047] like Figure 1 and Figure 2 As shown, a mobile robot slope dynamic and static stability test system of this embodiment includes a ramp test device, a motion capture system, a distance sensor and a control system, wherein the ramp test device is used to provide a horizontal slope 1 and a slope 2 connected to the horizontal slope 1 and capable of adjusting different slope values, and the movement modes of the mobile robot on the ramp test device include lateral movement (forward, backward), climbing (uphill, downhill), turning around on the slope, turning at right angles on the slope, staying on the slope, etc.; the motion capture system is arranged around the ramp test device, and is used to monitor the movement state of the mobile robot on the ramp test device in real time, that is, whether slippage, rollover, etc. occurs; the control system is electrically connected to the ramp test device and the motion capture system respectively, and is used to control the slope value of the ramp test device in real time, and at the same time receives the detection results of the motion capture system, and determines whether to adjust and control the next slope value according to the detection results. The distance sensor is connected to the control system, and is used to monitor the lifting height h of the horizontal slope 1 in real time. i .

[0048] The ramp test device includes a base 10 installed on a reference horizontal plane, a horizontal slope 1 is installed on the base 10 through a lifting mechanism, one side of the horizontal slope 1 is hinged to the upper end of a slope 2, a plurality of pulleys are installed at the lower end of the slope 2, the pulleys are in contact with the reference horizontal plane, and the pulleys are used to reduce friction during the slope adjustment process.

[0049] The lifting mechanism includes a first scissor structure and a second scissor structure, a hydraulic rod connecting rod 11 and a hydraulic cylinder connecting rod 15 are arranged between the first scissor structure and the second scissor structure, and a hydraulic assembly is arranged between the hydraulic rod connecting rod 11 and the hydraulic cylinder connecting rod 15. The hydraulic assembly includes a first hydraulic assembly and a second hydraulic assembly, a first hydraulic cylinder connecting member 12 and a second hydraulic cylinder connecting member 16 are arranged on the hydraulic cylinder connecting rod 15, a first hydraulic rod connecting member 4 and a second hydraulic rod connecting member 13 are arranged on the hydraulic rod connecting rod 11, two ends of the first hydraulic assembly are respectively hinged to the first hydraulic cylinder connecting member 12 and the first hydraulic rod connecting member 4, and two ends of the second hydraulic assembly are respectively hinged to the second hydraulic cylinder connecting member 16 and the second hydraulic rod connecting member 13; the first hydraulic assembly includes a first hydraulic rod 7 and a first hydraulic cylinder 9, and the second hydraulic assembly includes a second hydraulic rod 19 and a second hydraulic cylinder 17; the first hydraulic cylinder 9 and the second hydraulic cylinder 17 are both connected to the hydraulic oil tank. The control system controls the flow of hydraulic oil in the first hydraulic cylinder 9 and the second hydraulic cylinder 17 at the same time, and further pushes the first hydraulic rod connecting member 4 and the second hydraulic rod connecting member 13 by the first hydraulic rod 7 and the second hydraulic rod 19 to finally adjust the height of the horizontal slope 1. At the same time, since the slope surface 2 moves with the horizontal slope surface 1, the adjustment control of the slope value is realized.

[0050] The first scissors-type structure includes a first support rod 6, a second support rod 8 and a first hinged rod 3, and the second scissors-type structure includes a third support rod 18, a fourth support rod 20 and a second hinged rod 14; the top ends of the first support rod 6, the second support rod 8, the third support rod 18 and the fourth support rod 20 are respectively hinged to the horizontal slope 1, and the bottom ends thereof are respectively hinged to the base 10, the first support rod 6 and the second support rod 8 are hinged through the first hinged rod 3, and the third support rod 18 and the fourth support rod 20 are hinged through the second hinged rod 14.

[0051] A connecting plate 5 is provided between the first hydraulic rod connecting member 4 and the second hydraulic rod connecting member 13 .

[0052] In this embodiment, the ramp test device includes three sets of identical lifting mechanisms. In other specific embodiments, the number of lifting mechanisms and the models of hydraulic cylinders and hydraulic rods can be determined according to the test requirements and load requirements. In this embodiment, the horizontal slope 1 and the inclined slope 2 are made of steel plate materials and have reinforcing ribs at the bottom to increase their strength and stability. In other specific embodiments, other materials and structural features can be selected according to the test requirements; the surfaces of the horizontal slope 1 and the inclined slope 2 can be treated by surface treatment, and sandpaper with different friction coefficients can be installed to meet the requirements of different friction coefficients under different test requirements.

[0053] like Figure 3As shown in the figure, L is the length of the slope, H is the total height of the horizontal slope 1, that is, the maximum height of the horizontal slope 1; h0 is the height value of the ramp test device when the hydraulic rod is fully retracted, that is, the minimum height value of the horizontal slope 1; h i is the height value after the hydraulic rod of the ramp test device is extended, that is, the lifting height range of the horizontal slope 1; during the test, h i The distance sensor is used to monitor in real time and i The measured value is transmitted to the control system in real time, so in the specific embodiment design, different slope length values ​​L and lifting range h can be designed. i To determine the adjustment range of the slope. i is the slope value, calculated using formula (1):

[0054]

[0055] L and h0 in formula (1) are ideal values ​​in the embodiment, which are determined by the parameters of the ramp test device in the specific embodiment. During the test, h i The value of h is used to obtain different slope values, and different h i The corresponding slope values ​​α can be obtained by calculation i , that is, different H values ​​correspond to different α i value.

[0056] The control system can control the slope value of the ramp and correct the slope value, including: adjusting the H value by controlling the extension and retraction distance of the hydraulic rod, thereby controlling the slope value α i The control system includes an SP controller, which is controlled according to the hydraulic rod extension distance model. The distance model is constructed by the SP algorithm, specifically:

[0057] u(t)=K p ·(h′-L·sinα i +h0) (2)

[0058] Build a scaled link model:

[0059] u(t)=e·K p (3)

[0060] Assume that the angle setting value in a single test is α i , then corresponding to f(t) = h i The values ​​are:

[0061] f(t)=h i =L·sinα i -h0 (4)

[0062] For a single test, the distance sensor monitoring value is c(t) = h′, so the output is:

[0063] u(t)=e(t)·K p =K p (f(t)-c(t))=K p ·(h′-L·sinα i +h0) (5)

[0064] Where u(t) is the output value of the hydraulic rod extension distance; K p is the proportional coefficient; h′ is the actual measured value of the lifting height of the horizontal slope 1; e is the error value of the hydraulic rod extension distance; f(t) is the error value of α in a single test i The extension and retraction distance of the hydraulic rod under the slope; e(t) is the error value of the extension and retraction distance of the hydraulic rod at time t; c(t) is the output value of the distance sensor.

[0065] The control algorithm principle and process are as follows: Figure 4 and Figure 5 shown.

[0066] like Figure 6 As shown, a mobile robot slope dynamic and static stability test method using a mobile robot slope dynamic and static stability test system is used to test the climbing, slope-staying ability and stability of the mobile robot under different slope values, and to test whether the mobile robot slips, rolls over, etc. under different slope values. The mobile robot slope dynamic and static stability test method includes the following steps:

[0067] S1: Arrange the test equipment, install the distance sensor, arrange the motion capture system around the ramp test device, fix the target ball on the mobile robot to be tested, and calibrate the motion capture system;

[0068] S2: Set n slope values ​​α1, α2, α3, ..., α according to the test requirements. n , the slope value increases in an arithmetic progression, the tolerance value d is determined by the test requirements, α1 is the minimum slope value of the mobile robot climbing, that is, the initial climbing slope value, and multiple increasing slope values ​​are transmitted to the control system, and the test is carried out successively according to the slope value from small to large;

[0069] S3: The control system adjusts the slope value of the slope surface 2 to α1, controls the mobile robot to start climbing from the bottom of the slope surface 2, and completes all preset motion trajectories according to the motion path. After completing the tasks of all preset motion trajectories, the mobile robot should return to the initial position; the number of tests m carried out at each slope value is at least 3 times, and any failure of the jth test is considered a failure of the test at that slope value;

[0070] S4: The motion capture system monitors the motion state of the mobile robot in step S3 in real time. If the robot does not slip or roll over, it is determined that the mobile robot can operate stably under the slope value α1. At this time, the motion capture system transmits the qualified detection result under the slope value α1 to the control system;

[0071] S5: After receiving the qualified monitoring result under the slope value of α1, the control system controls the ramp test device to further adjust the slope value to α2, and repeats steps S3 to S4;

[0072] S6: During the test, if at any slope value α i During the test, if the motion capture system detects that the mobile robot slips or rolls over, the test is considered to have failed and the test is terminated. The control system outputs the maximum climbing slope of the mobile robot as α i-1 ; If the motion capture system detects that the mobile robot slips or rolls over during the test at the slope value α1, the test fails, and the control system outputs that the mobile robot does not have the ability to climb. ... n During the test, if the motion capture system does not detect the mobile robot slipping, rolling over, etc., the test ends and the control system outputs the maximum climbing gradient of the mobile robot as α n .

[0073] The movement path in step S3 at least includes one or more combinations of climbing along slope surface 2 from the bottom of slope surface 2 to reach horizontal slope surface 1, descending from horizontal slope surface 1 through slope surface 2, climbing along slope surface 2 from the bottom of slope surface 2 to reach horizontal slope surface 1 and then turning around and descending through slope surface 2, and moving along slope surface 2 from the bottom of slope surface 2 to the top of slope surface 2 and then stabilizing on the slope.

[0074] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A mobile robot slope dynamic and static stability test system, characterized in that: include: A ramp test device is used to provide a horizontal slope surface (1) and a slope surface (2) connected to the horizontal slope surface (1) and capable of adjusting different slope values; Motion capture system, used to monitor the motion status of the mobile robot on the ramp test device in real time; The control system is electrically connected to the ramp test device and the motion capture system respectively, and is used to control the slope value of the ramp test device in real time, and at the same time receive the detection result of the motion capture system, and determine whether to adjust and control the next slope value based on the detection result.

2. The mobile robot slope dynamic and static stability testing system according to claim 1 is characterized by: The ramp test device comprises a base (10) mounted on a reference horizontal plane, a horizontal slope surface (1) being mounted on the base (10) via a lifting mechanism, one side of the horizontal slope surface (1) being hinged to the upper end of a slope surface (2), and the lower end of the slope surface (2) being in contact with the reference horizontal plane.

3. The mobile robot slope dynamic and static stability testing system according to claim 2 is characterized in that: Also includes: A distance sensor is connected to the control system and is used to monitor the lifting height h of the horizontal slope (1) in real time. i .

4. The mobile robot slope dynamic and static stability testing system according to claim 2 or 3, characterized in that: The lifting mechanism comprises a first scissor-type structure and a second scissor-type structure, a hydraulic rod connecting rod (11) and a hydraulic cylinder connecting rod (15) are arranged between the first scissor-type structure and the second scissor-type structure, and a hydraulic assembly is arranged between the hydraulic rod connecting rod (11) and the hydraulic cylinder connecting rod (15).

5. The mobile robot slope dynamic and static stability testing system according to claim 4, characterized in that: The hydraulic assembly comprises a first hydraulic assembly and a second hydraulic assembly, a hydraulic cylinder connecting rod (15) is provided with a first hydraulic cylinder connecting piece (12) and a second hydraulic cylinder connecting piece (16), a hydraulic rod connecting rod (11) is provided with a first hydraulic rod connecting piece (4) and a second hydraulic rod connecting piece (13), two ends of the first hydraulic assembly are respectively hinged to the first hydraulic cylinder connecting piece (12) and the first hydraulic rod connecting piece (4), and two ends of the second hydraulic assembly are respectively hinged to the second hydraulic cylinder connecting piece (16) and the second hydraulic rod connecting piece (13); the first hydraulic assembly comprises a first hydraulic rod (7) and a first hydraulic cylinder (9), and the second hydraulic assembly comprises a second hydraulic rod (19) and a second hydraulic cylinder (17); the first hydraulic cylinder (9) and the second hydraulic cylinder (17) are both connected to a hydraulic oil tank.

6. The mobile robot slope dynamic and static stability testing system according to claim 4, characterized in that: The first scissor-type structure comprises a first support rod (6), a second support rod (8) and a first hinged rod (3), and the second scissor-type structure comprises a third support rod (18), a fourth support rod (20) and a second hinged rod (14); the top ends of the first support rod (6), the second support rod (8), the third support rod (18) and the fourth support rod (20) are respectively hinged to the horizontal slope surface (1), and the bottom ends thereof are respectively hinged to the base (10); the first support rod (6) and the second support rod (8) are hinged via the first hinged rod (3), and the third support rod (18) and the fourth support rod (20) are hinged via the second hinged rod (14).

7. The mobile robot slope dynamic and static stability testing system according to claim 1, characterized in that: A plurality of pulleys are installed at the lower end of the slope surface (2).

8. A method for testing the dynamic and static stability of a mobile robot on a slope, using the mobile robot on a slope dynamic and static stability testing system as claimed in any one of claims 1 to 8, characterized in that: Includes steps: S1: Arrange the test equipment, install the distance sensor, arrange the motion capture system around the ramp test device, fix the target ball on the mobile robot to be tested, and calibrate the motion capture system; S2: Set n slope values ​​α1, α2, α3, ..., α according to the test requirements. n , the slope values ​​increase in sequence according to an arithmetic progression, and a plurality of successively increasing slope values ​​are transmitted to the control system; S3: The control system adjusts the slope value of the slope surface (2) to α1, controls the mobile robot to start climbing from the bottom of the slope surface (2), and completes all preset motion trajectories according to the motion path; S4: The motion capture system monitors the motion state of the mobile robot in step S3 in real time. If the robot does not slip or roll over, it is determined that the mobile robot can operate stably under the slope value α1. At this time, the motion capture system transmits the qualified detection result under the slope value α1 to the control system; S5: After receiving the qualified monitoring result under the slope value of α1, the control system controls the ramp test device to further adjust the slope value to α2, and repeats steps S3 to S4; S6: During the test, if at any slope value α i During the test, if the motion capture system detects that the mobile robot slips or rolls over, the test is considered to have failed and the test is terminated. The control system outputs the maximum climbing slope of the mobile robot as α i-1 ; If the motion capture system detects that the mobile robot slips or rolls over during the test at the slope value α1, the test fails, and the control system outputs that the mobile robot does not have the ability to climb; if the motion capture system detects that the mobile robot slips or rolls over during the test at the slope value α1, the test fails, and the control system outputs that the mobile robot does not have the ability to climb; n During the test, if the motion capture system does not detect the mobile robot slipping or rolling over, the test ends and the control system outputs the maximum climbing gradient of the mobile robot as α. n .

9. The method for testing the dynamic and static stability of a mobile robot on a slope according to claim 8, characterized in that: The movement path at least comprises one or more combinations of starting from the bottom of the slope surface (2) and climbing along the slope surface (2) to reach the horizontal slope surface (1), starting from the horizontal slope surface (1) and going downhill via the slope surface (2), starting from the bottom of the slope surface (2) and climbing along the slope surface (2) to reach the horizontal slope surface (1) and then turning around and going downhill via the slope surface (2), and starting from the bottom of the slope surface (2) and moving along the slope surface (2) to the top of the slope surface (2) and then stabilizing on the slope.

10. The method for testing the dynamic and static stability of a mobile robot on a slope according to claim 8, characterized in that: Slope value Where L is the length of the slope, h0 is the minimum height of the horizontal slope 1; The control system can control the slope value and correct the slope value. The control system is controlled according to the hydraulic rod extension distance model. The distance model is constructed by the SP algorithm: u(t)=K p ·(h′-L·sinα i +h0) Build a scaled link model: u(t)=e·K p Assume that the angle setting value in a single test is α i , then corresponding to f(t) = h i The values ​​are: f(t)=h i =L·sinα i -h0 For a single test, the distance sensor monitoring value is c(t) = h′, and the output is: u(t)=e(t)·K p =K p ·(f(t)-c(t))=K p ·(h′-L·sinα i +h0); Where u(t) is the output value of the hydraulic rod extension distance; K p is the proportional coefficient; h′ is the actual measured value of the lifting height of the horizontal slope 1; e is the error value of the hydraulic rod extension distance; f(t) is the error value of α in a single test i The extension and retraction distance of the hydraulic rod under the slope; e(t) is the error value of the extension and retraction distance of the hydraulic rod at time t; c(t) is the output value of the distance sensor.

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