A climbing robot and control method

Abstract

The present invention provides a climbing robot and a control method, which belongs to the technical field of climbing robots, and includes: a telescopic assembly, a first moving assembly and a first moving arm assembly are installed on the bottom plate of the robot, the telescopic assembly is used to lift a platform, and the platform is used to place objects; the first moving assembly provides power for the bottom plate, and the first moving arm assembly is used to rotate relative to the bottom plate and abut against the slope when climbing, so as to maintain the overall stability of the robot. The bottom plate gradually tilts during the climbing process, and the telescopic assembly adjusts the telescopic amount in real time to ensure that the platform always maintains a level surface. Therefore, this method can enable the robot to take into account the two functions of stable upward movement and ensuring that the loaded objects are not damaged or dropped due to large-scale vibration and impact when climbing, and has good adaptability.

Description

Technical Field

[0001] The present invention generally relates to the technical field of hill-climbing robots, and in particular to a hill-climbing robot and a control method thereof. Background Art

[0002] Climbing robots are a special type of robot designed to operate on inclined or irregular surfaces. They are widely used in many fields such as mining, forestry, agriculture, archeology, exploration, military reconnaissance, etc. These robots usually integrate a variety of advanced technologies, including but not limited to mechanism design, drive system, control system, sensor technology, etc.

[0003] In recent years, researchers have conducted in-depth research on the key technologies of climbing robots, including structural design, control methods, climbing strategies, etc. For example, some studies have analyzed climbing robots such as manipulators, magnets, and claws, and explored optimization methods and path planning to improve work accuracy. In addition, some studies focus on improving the climbing efficiency and accuracy of robots, as well as developing new structures to enhance this performance.

[0004] The most common function of existing climbing robots is to carry objects and climb stairs. When climbing stairs, the robot's moving components drive the chassis to tilt and move diagonally upward. At this time, the objects carried are easily dropped due to the tilt. Also, due to the uneven shape of the stairs, the robot is easily bumped during the ascent, causing the objects to vibrate and slide off. In serious cases, the objects carried by the robot may be damaged due to vibration, thus destroying the accuracy of the instruments.

[0005] In summary, existing robots find it difficult to overcome the effects of large-scale vibrations and impacts when climbing stairs, and have to balance the two important functions of climbing smoothly and preventing objects from falling. Summary of the invention

[0006] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a climbing robot and a control method.

[0007] In one aspect, the present invention provides a climbing robot, comprising:

[0008] Base plate;

[0009] A telescopic assembly, the telescopic assembly being mounted on the bottom plate;

[0010] A platform, the platform is connected to the end of the telescopic assembly away from the bottom plate; the telescopic assembly is used to adjust the relative posture between the platform and the bottom plate to keep the platform level;

[0011] A first moving assembly, which is mounted on the bottom plate and is used to drive the bottom plate, the telescopic assembly and the platform to move;

[0012] The first movable arm assembly is rotatably mounted on the base plate and is used for contacting with the slope surface during climbing.

[0013] According to the technical solution provided by the present invention, the telescopic assembly includes:

[0014] A posture detection device, which is installed on the platform and is used to detect the posture and motion state of the platform relative to the ground;

[0015] A plurality of telescopic devices, one end of which is rotatably connected to the base plate, and the other end of which is rotatably connected to the platform, are used to adjust the telescopic amount of the plurality of telescopic devices according to the posture and movement state of the platform relative to the ground so as to keep the platform level.

[0016] According to the technical solution provided by the present invention, the first moving assembly has two groups, and is respectively installed on both sides of the bottom plate;

[0017] The first moving component comprises:

[0018] a first moving wheel and a second moving wheel, wherein the first moving wheel and the second moving wheel are rotatably mounted on the bottom plate respectively;

[0019] A first driving device, wherein the first driving device is fixedly mounted on the bottom plate, and a driving shaft is fixedly connected to the first moving wheel, and is used to drive the first moving wheel to rotate;

[0020] A first crawler track is arranged on the outer side walls of the first moving wheel and the second moving wheel, and is used for driving the second moving wheel to rotate synchronously with the first moving wheel.

[0021] According to the technical solution provided by the present invention, the first moving arm assembly includes:

[0022] A first arm body, the first arm body being rotatably mounted on the bottom plate;

[0023] The second driving device is fixedly mounted on the base plate, and a driving shaft is fixedly connected to the first arm body, and is used for driving the first arm body to rotate relative to the base plate.

[0024] According to the technical solution provided by the present invention, the first moving arm assembly also includes:

[0025] A first transmission wheel, the first transmission wheel is rotatably mounted on an end of the first arm body away from the bottom plate;

[0026] The second crawler belt is arranged on the outer side walls of the first moving wheel and the first transmission wheel, and is used for driving the first transmission wheel and the first moving wheel to rotate synchronously.

[0027] According to the technical solution provided by the present invention, the first moving component also includes:

[0028] a first sensor, the first sensor being disposed at the rotation axis of the first moving wheel and being used to detect whether the first moving wheel bears force;

[0029] a third sensor, the third sensor being disposed at the rotation axis of the second moving wheel and being used for detecting whether the second moving wheel bears force;

[0030] The first moving arm assembly also includes:

[0031] A second sensor is disposed at the rotation axis of the first transmission wheel and is used to detect whether the first transmission wheel is bearing force.

[0032] The technical solution provided by the present invention also includes:

[0033] The second movable arm assembly is rotatably mounted on a side of the base plate away from the first movable arm assembly, and is used for abutting against the slope surface during climbing.

[0034] According to the technical solution provided by the present invention, the second moving arm assembly includes:

[0035] A second arm body, the second arm body is rotatably mounted on a side of the base plate away from the first movable arm assembly;

[0036] A third driving device, wherein the third driving device is fixedly mounted on the bottom plate, and a driving shaft is fixedly connected to the second arm body, and is used for driving the second arm body to rotate relative to the bottom plate;

[0037] a second transmission wheel, the second transmission wheel being rotatably mounted on an end of the second arm body away from the bottom plate;

[0038] The third crawler belt is arranged on the outer side walls of the second moving wheel and the second transmission wheel, and is used for driving the second transmission wheel and the second moving wheel to rotate synchronously.

[0039] According to the technical solution provided by the present invention, the second moving arm assembly also includes:

[0040] A fourth sensor is arranged at the rotation axis of the second transmission wheel, and is used to detect whether the second transmission wheel is bearing force.

[0041] On the other hand, the present invention further provides a control method for a hill-climbing robot, which is applied to the above-mentioned hill-climbing robot, comprising:

[0042] The first moving component continuously drives the bottom plate to move; the telescopic component keeps the platform level;

[0043] When the second sensor detects that the first transmission wheel bears force, the second driving device drives the first arm body to rotate close to the slope surface until the first sensor no longer detects that the first moving wheel bears force, so as to make the second crawler on the first arm body contact the slope surface and move one side of the bottom plate onto the slope surface;

[0044] The third driving device drives the second arm body to rotate close to the ground below the slope until the fourth sensor detects that the second transmission wheel is bearing force and stops rotating, so as to make the third crawler on the second arm body contact the ground below the slope to support the bottom plate;

[0045] The first moving component continuously drives the bottom plate to move upwards on the slope, and the inclination angle of the bottom plate gradually increases; the telescopic component adjusts the relative posture between the telescopic component and the bottom plate in real time according to the posture and motion state of the platform relative to the ground currently detected by the posture detection device to keep the platform level;

[0046] When the second sensor does not detect the force of the first transmission wheel, the second driving device drives the first arm body to rotate close to the slope until the second sensor detects the force of the first transmission wheel, so as to make the second crawler on the first arm body always contact with the slope surface during the process of increasing the inclination angle of the bottom plate;

[0047] The third driving device drives the second arm body to rotate in the opposite direction when the second arm body rotates close to the ground below the slope until the third sensor detects the force of the second moving wheel, so as to make the second arm body always parallel to the ground below the slope when the inclination angle of the bottom plate increases;

[0048] When the fourth sensor does not detect the force bearing on the second transmission wheel, the third driving device drives the second arm body to rotate close to the slope surface until the fourth sensor detects the force bearing on the second transmission wheel, so as to make the second arm body contact the slope surface;

[0049] The first moving assembly drives the bottom plate to move upward along the slope;

[0050] When the second sensor does not detect the first transmission wheel bearing force, the second driving device drives the first arm body to rotate close to the ground above the slope until the second sensor detects the first transmission wheel bearing force, so as to make the first transmission wheel contact with the ground above the slope to support the bottom plate;

[0051] When the fourth sensor does not detect the force on the second transmission wheel, the second driving device drives the first arm body to rotate toward the side close to the telescopic assembly, so that the inclination angle of the bottom plate gradually decreases until the first arm body rotates to the side close to the telescopic assembly;

[0052] The telescopic component adjusts the relative posture between the telescopic component and the bottom plate in real time to keep the platform level according to the posture and motion state of the platform relative to the ground currently detected by the posture detection device;

[0053] When the second sensor does not detect the force bearing on the first transmission wheel, and the fourth sensor does not detect the force bearing on the second transmission wheel, the third driving device drives the second arm body to rotate to a side close to the telescopic assembly.

[0054] The beneficial effects of the present invention are:

[0055] The telescopic assembly, the first moving assembly and the first moving arm assembly are installed on the bottom plate of the robot. The telescopic assembly is used to lift the platform, and the platform is used to place items. The first moving assembly provides power for the bottom plate, and the first moving arm assembly is used to rotate relative to the bottom plate and abut against the slope when climbing a slope to maintain the overall stability of the robot. The bottom plate gradually tilts during the climbing process, and the telescopic assembly adjusts the telescopic amount in real time to ensure that the platform always remains horizontal. As a result, this method allows the robot to take into account the two functions of stable upward movement and ensuring that the loaded items are not damaged or dropped due to large vibrations and impacts when climbing a slope, and has good adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0057] Figure 1 This is a front view of a climbing robot;

[0058] Figure 2 A top view of a climbing robot;

[0059] Figure 3 This is a schematic diagram of the robot moving to state 1;

[0060] Figure 4 This is a schematic diagram of the robot moving to state 2;

[0061] Figure 5 This is a schematic diagram of the robot moving to state 3;

[0062] Figure 6 This is a schematic diagram of the robot moving to state 4;

[0063] Figure 7 This is a schematic diagram of the robot moving to state 5;

[0064] Figure 8 This is a schematic diagram of the robot moving to state 6;

[0065] Fig. 9 It is a schematic diagram of the robot moving to state 7;

[0066] Fig.10 It is a schematic diagram of the robot moving to state 8;

[0067] Fig.11 This is a schematic diagram of the robot moving to state 9;

[0068] Fig.12 It is a schematic diagram of the robot moving to state 10;

[0069] Among them: 1. bottom plate; 2. telescopic assembly; 3. platform; 4. telescopic device; 5. first moving wheel; 6. second moving wheel; 7. first driving device; 8. first crawler track; 9. first arm body; 10. second driving device; 11. first transmission wheel; 12. second crawler track; 13. second arm body; 14. third driving device; 15. second transmission wheel; 16. third crawler track. DETAILED DESCRIPTION

[0070] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0071] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0072] Example 1

[0073] Please refer to Figure 1-2 The present invention provides a climbing robot, comprising:

[0074] Bottom plate 1;

[0075] A telescopic component 2, wherein the telescopic component 2 is mounted on the base plate 1;

[0076] A platform 3, wherein the platform 3 is connected to the end of the telescopic component 2 away from the bottom plate 1; the telescopic component 2 is used to adjust the relative posture between the platform 3 and the bottom plate 1 so that the platform 3 remains horizontal;

[0077] A first moving component, which is installed on the base plate 1 and is used to drive the base plate 1, the telescopic component 2 and the platform 3 to move;

[0078] The first movable arm assembly is rotatably mounted on the base plate 1 and is used for contacting the slope surface during climbing.

[0079] Specifically, the robot provided by the present invention can be applicable to flat slopes, as well as stairs and steps.

[0080] The first moving arm assembly is used to rotate relative to the bottom plate 1 and abut against the slope when climbing to maintain the stability of the robot as a whole. The bottom plate 1 gradually tilts during the climbing process, and the telescopic assembly 2 adjusts the telescopic amount in real time to ensure that the platform always remains level.

[0081] As a result, the robot can achieve both stable upward movement and ensure that the loaded items are not damaged or dropped due to large vibrations and impacts when climbing a slope, and has good adaptability.

[0082] Furthermore, the telescopic assembly 2 comprises:

[0083] A posture detection device, which is installed on the platform 3 and is used to detect the posture and motion state of the platform 3 relative to the ground;

[0084] A plurality of telescopic devices 4 are provided, one end of the telescopic device 4 is rotatably connected to the base plate 1, and the other end is rotatably connected to the platform 3, and is used to adjust the telescopic amount of the plurality of telescopic devices 4 according to the posture and movement state of the platform 3 relative to the ground, so as to keep the platform 3 level.

[0085] Specifically, the telescopic device 4 is an electric push rod, referred to as RPS. In this embodiment, three RPS are used to achieve the effect of stably supporting the platform 3 with fewer RPS. After the robot is started, the telescopic component 2 adjusts the platform 3 in real time throughout the whole process to keep it level.

[0086] The platform 3 is equipped with a posture sensor, including a gyroscope and an accelerometer, which are used to detect the current posture and motion state respectively. The robot controller can calculate the Euler angle of the upper platform through Kalman filtering according to the current posture and motion state, and then control the extension and retraction of the telescopic device 4 through the control system to achieve self-balancing of the upper platform.

[0087] In this embodiment, the control process of the telescopic component 2 to keep the platform 3 horizontal generally includes: using the posture detection device to detect the current posture and motion state of the robot in the world coordinate system, and calculating the Euler angle between the base plate 1 and the horizontal plane; according to the Euler angle and the coordinates of the two ends of each of the three RPS in the robot coordinate system, solving the telescopic amount of each platform 3 to maintain the horizontal; controlling the three RPS to each extend to the corresponding telescopic amount, and in the process, the RPS automatically rotates relative to the base plate 1 as the telescopic amount changes to adapt to the change of the telescopic amount. Among them, the detailed solution process belongs to the prior art and will not be repeated here.

[0088] Furthermore, the first moving assembly has two groups, and is respectively installed on both sides of the base plate 1;

[0089] The first moving component comprises:

[0090] A first moving wheel 5 and a second moving wheel 6, wherein the first moving wheel 5 and the second moving wheel 6 are rotatably mounted on the bottom plate 1 respectively;

[0091] A first driving device 7, wherein the first driving device 7 is fixedly mounted on the bottom plate 1, and a driving shaft is fixedly connected to the first moving wheel 5, and is used for driving the first moving wheel 5 to rotate;

[0092] The first crawler belt 8 is arranged on the outer side walls of the first moving wheel 5 and the second moving wheel 6 , and is used for driving the second moving wheel 6 to rotate synchronously with the first moving wheel 5 .

[0093] Specifically, the first driving device 7 includes a motor and a planetary reducer.

[0094] Specifically, the use of a tracked design enables the robot to have a good grip on the ground when moving on flat ground; during the climbing process, the tracks can effectively abut against the edge of the stairs, and compared with a wheeled structure, it has a better climbing effect when climbing stairs.

[0095] Furthermore, the first moving arm assembly comprises:

[0096] A first arm body 9, wherein the first arm body 9 is rotatably mounted on the base plate 1;

[0097] The second driving device 10 is fixedly mounted on the base plate 1 , and a driving shaft is fixedly connected to the first arm body 9 , so as to drive the first arm body 9 to rotate relative to the base plate 1 .

[0098] Furthermore, the first moving arm assembly also includes:

[0099] A first transmission wheel 11, wherein the first transmission wheel 11 is rotatably mounted on an end of the first arm 9 away from the base plate 1;

[0100] The second crawler belt 12 is arranged on the outer side walls of the first moving wheel 5 and the first transmission wheel 11, and is used for driving the first transmission wheel 11 and the first moving wheel 5 to rotate synchronously.

[0101] Specifically, in order to make the robot more stable during climbing and able to smoothly cross the stairs, a first arm 9 is installed on the robot base plate 1 for contacting the slope and raising the height of the base plate 1 close to the slope to facilitate climbing.

[0102] The first arm 9 is also provided with a crawler structure, which moves synchronously with the crawler in the first moving assembly, and can avoid sliding when contacting with the slope of the first arm 9, thereby reducing resistance.

[0103] Furthermore, the first moving component also includes:

[0104] a first sensor, which is disposed at the rotation axis of the first moving wheel 5 and is used to detect whether the first moving wheel 5 is bearing force (meaning to withstand an action force, the action force including the action force generated by abutting against other structures and the action force between the first moving wheel 5 and the crawler);

[0105] A third sensor, the third sensor is arranged at the rotation axis of the second moving wheel 6, and is used to detect whether the second moving wheel 6 is bearing force;

[0106] The first moving arm assembly also includes:

[0107] The second sensor is arranged at the rotation axis of the first transmission wheel 11 and is used to detect whether the first transmission wheel 11 is under force.

[0108] Specifically, in order to know the current position and state of the robot during the climbing process, pressure sensors are installed at the rotation axis of the first moving wheel 5 and the rotation axis of the first transmission wheel 11.

[0109] When the crawler track connected between the first moving wheel 5 and the first transmission wheel 11 contacts the slope, the force will be transmitted to the rotation axes of the two. The pressure sensor can determine whether it is subjected to external force by detecting the force.

[0110] Specifically, when the force is detected to be zero, it means that no external force is applied; otherwise, it means that external force is applied. In actual situations, it is difficult for the force to be completely zero. Therefore, in this embodiment, when each part is actually not subjected to external force, the force between its own structure (for example, the tension of the track when normally suspended) and the force caused by gravity are detected; and set as the force threshold. When the force detected during the actual movement is less than or equal to the force threshold, it is considered to be zero; when the force is greater than the force threshold, it means that an external force is applied.

[0111] In the initial state, the first arm 9 is located on a side of the base plate 1 close to the telescopic assembly 2 .

[0112] During the climbing process, if the side of the robot on which the first moving assembly is installed is close to the slope, when the second sensor detects the force, the second driving device 10 drives the first arm 9 to rotate close to the slope (forward rotation), so that the crawler on the first arm 9 fits the slope, thereby increasing the stability of the robot and the slope;

[0113] When the first sensor detects that the first moving wheel 5 is just not bearing any force, it indicates that the first moving wheel 5 is in a critical state of being suspended in the air. At this time, the first arm 9 is controlled to stop rotating, and the first arm 9 is in contact with the slope.

[0114] The first moving assembly drives the bottom plate 1 to move and gradually increases the inclination angle. During the process, the first arm 9 always fits with the slope surface, and the control process is consistent with the above method. Thus, when the bottom plate 1 and the slope surface have the same inclination angle, the first arm 9 reaches a state parallel to the bottom plate 1.

[0115] When the second sensor does not detect that the first transmission wheel 11 is bearing force, and the first sensor just does not detect that the first movable wheel 5 is bearing force, it indicates that the first arm 9 is completely above the slope. At this time, the first arm 9 is controlled to rotate forward until the second sensor detects that the first transmission wheel 11 is bearing force, indicating that the first transmission wheel 11 has abutted against the ground above the slope to support the base plate 1.

[0116] When the third sensor just fails to detect that the second movable wheel 6 bears no force (the first arm 9 and the second arm 13 support the base plate 1 at this time), it indicates that the second movable wheel 6 is in a critical state, the base plate 1 as a whole is higher than the slope, and the first arm 9 can be controlled to restore to its initial state.

[0117] Furthermore, it also includes:

[0118] The second movable arm assembly is rotatably mounted on a side of the base plate 1 away from the first movable arm assembly, and is used for abutting against the slope surface during climbing.

[0119] Furthermore, the second moving arm assembly comprises:

[0120] A second arm body 13, the second arm body 13 is rotatably mounted on a side of the base plate 1 away from the first movable arm assembly;

[0121] A third driving device 14, wherein the third driving device 14 is fixedly mounted on the base plate 1, and a driving shaft is fixedly connected to the second arm body 13, and is used for driving the second arm body 13 to rotate relative to the base plate 1;

[0122] A second transmission wheel 15, the second transmission wheel 15 is rotatably mounted on the end of the second arm 13 away from the base plate 1;

[0123] The third crawler belt 16 is arranged on the outer side walls of the second moving wheel 6 and the second transmission wheel 15, and is used for driving the second transmission wheel 15 and the second moving wheel 6 to rotate synchronously.

[0124] Furthermore, the second moving arm assembly also includes:

[0125] A fourth sensor is disposed at the rotation axis of the second transmission wheel 15 and is used to detect whether the second transmission wheel 15 is bearing force.

[0126] In some embodiments, reference Figure 2 , the upper and lower parts of the bottom plate 1 are arranged symmetrically along the center, wherein the first arm body 9 and the second arm body 13 on the left and right sides of the figure are respectively connected to each other;

[0127] Figure 2 The first arm body 9 on the left side and the second arm body 13 on the left side are driven by the third driving device 14 to rotate relative to the bottom plate 1;

[0128] Figure 2 The second arm body 13 on the middle right side and the first arm body 9 on the right side are driven by the second driving device 10 to rotate relative to the base plate 1 .

[0129] Therefore, when the robot Figure 2 When moving to the right and climbing the slope, Figure 2 The first transmission wheel 11 on the first arm body 9 on the middle right side bears the force, thereby triggering the climbing action of the entire robot; during the climbing process, the second arm body 13 on the right side of the robot moves together with the first arm body 9; the first arm body 9 on the left side of the robot moves together with the second arm body 13.

[0130] When the robot Figure 2 When moving to the left and climbing a slope, Figure 2 The first transmission wheel 11 on the first arm body 9 on the left side bears the force, thereby triggering the climbing action of the entire robot; during the climbing process, the first arm body 9 and the second arm body 13 on the right side of the robot move together; the second arm body 13 and the first arm body 9 on the left side of the robot move together.

[0131] Therefore, the two groups of components are arranged in a center-symmetrical manner, so that climbing can be completed from two directions without turning, which shortens the time consumed in moving items and improves transportation efficiency.

[0132] Specifically, the second driving device 10 and the third driving device 14 include a motor and a planetary reducer.

[0133] The following is a description of climbing on the right side. The same is true for climbing on the left side:

[0134] The first arm 9 abuts against the slope, the first arm 9 rotates and abuts against the slope, and at the same time the second crawler 12 moves with the first moving wheel 5, driving the bottom plate 1 to increase its inclination angle and climb up the slope;

[0135] The second arm 13 abuts against the ground below the slope, thereby supporting the bottom plate 1;

[0136] When the base plate 1 completely climbs onto the slope, both arms are parallel to the slope;

[0137] When the first arm body 9 is higher than the slope surface, the first arm body 9 rotates and contacts the ground higher than the slope surface to support the bottom plate 1;

[0138] When the bottom plate 1 is completely above the slope, the first arm 9 gradually rotates to a horizontal position to reduce the inclination angle of the bottom plate 1;

[0139] The first arm 9 and the second arm 13 rotate to a side close to the telescopic assembly 2 .

[0140] Example 2

[0141] The present invention provides a control method for a hill-climbing robot, which is applied to a hill-climbing robot of the above embodiment, wherein the slope is an inclined slope or a staircase, the lower side of which has a ground lower than the slope, and the higher side of which has a ground higher than the slope;

[0142] Methods include:

[0143] Status 1: Reference Figure 3 , the first moving assembly continuously drives the base plate 1 to move; the base plate 1 is initially located on the ground below the slope and remains horizontal; the telescopic assembly 2 keeps the platform 3 horizontal; the first arm 9 and the second arm 13 are both located on the side of the base plate 1 close to the telescopic assembly 2.

[0144] Status 2: Reference Figure 4 When the second crawler 12 on the first arm 9 contacts the slope and the second sensor detects that the first transmission wheel 11 is bearing force, the second driving device 10 drives the first arm 9 to rotate close to the slope ( Figure 4 The first sensor detects that the first movable wheel 5 is not bearing any force (for a moment the first movable wheel 5 is in a critical state of just not bearing any force, and then continues to bear any force), and the second sensor detects that the first transmission wheel 11 is bearing any force, so as to make the second crawler 12 on the first arm 9 contact with the slope surface, thereby moving one side of the base plate 1 onto the slope surface.

[0145] The third driving device 14 drives the second arm 13 to rotate close to the ground below the slope ( Figure 4 The rotation of the second arm 13 is counterclockwise (in the figure), until the fourth sensor detects that the second transmission wheel 15 is bearing force, and then stops rotating, so as to make the third crawler 16 on the second arm 13 contact the ground below the slope to support the bottom plate 1.

[0146] When the slope abuts against the middle of the first arm 9, the force is transmitted to the first transmission wheel 11 through the crawler, and then the sensor detects whether the first transmission wheel 11 bears the force.

[0147] Status 3: Reference Figure 5The first moving assembly continuously drives the bottom plate 1 to move upward on the slope, and the inclination angle of the bottom plate 1 gradually increases; the telescopic assembly 2 adjusts the relative posture between the telescopic assembly 2 and the bottom plate 1 in real time according to the posture and motion state of the platform 3 relative to the ground currently detected by the posture detection device, so that the platform 3 remains horizontal;

[0148] During the process of increasing the inclination angle of the bottom plate 1, if the first transmission wheel 11 on the first arm body 9 does not rotate relative to the bottom plate 1, it will separate from the slope surface, so that the second sensor does not detect the force of the first transmission wheel 11; therefore, the second driving device 10 drives the first arm body 9 to rotate close to the slope surface ( Figure 5 In the figure, the first arm 9 is rotated clockwise until the second sensor detects that the first transmission wheel 11 bears force, so that the second crawler 12 on the first arm 9 always contacts the slope surface during the process of increasing the inclination angle of the bottom plate 1;

[0149] As the inclination angle of the bottom plate 1 increases, the supporting effect of the second arm 13 causes the second moving wheel 6 to separate from the ground below the slope; therefore, the third driving device 14 drives the second arm 13 to rotate in the opposite direction when the second arm 13 rotates close to the ground below the slope ( Figure 5 The second arm 13 is rotated clockwise in the middle) until the third sensor detects that the second moving wheel 6 bears force, so as to make the second arm 13 always parallel to the ground below the slope.

[0150] Status 4: Reference Figure 6 When the bottom plate 1 is parallel to the slope and continues to move upward along the slope, the third crawler 16 on the second arm 13 separates from the ground below the slope, and the fourth sensor does not detect that the second transmission wheel 15 bears force, the third driving device 14 drives the second arm 13 to rotate close to the slope ( Figure 6 counterclockwise) until the fourth sensor detects that the second transmission wheel 15 bears force, which is used to make the second arm body 13 abut against the slope.

[0151] Status 5: Reference Figure 7 , the first moving assembly drives the bottom plate 1 to move upward along the slope;

[0152] Status 6: Reference Figure 8 When the first transmission wheel 11 on the first arm body 9 just moves to a position higher than the slope surface, and the second sensor does not detect that the first transmission wheel 11 bears force (the first transmission wheel 11 is in a critical state of just not bearing force for a moment, and then continues to bear force), the second driving device 10 drives the first arm body 9 to rotate close to the ground higher than the slope surface ( Figure 8 Clockwise in the middle), used to make the first transmission wheel 11 abut against the ground higher than the slope to support the base plate 1.

[0153] Status 7: Reference Fig. 9, when the first moving assembly drives the bottom plate 1 to continue to move upward along the slope, the first transmission wheel 11 will separate from the ground above the slope, so that the second sensor does not detect the force of the first transmission wheel 11. At this time, the second driving device 10 continues to drive the first arm 9 to rotate close to the ground above the slope ( Fig. 9 clockwise in the middle), until the second sensor detects that the first transmission wheel 11 is bearing force.

[0154] Status 8: Reference Fig.10 When the center of gravity of the bottom plate 1 moves to the same height as the ground above the slope, the second transmission wheel 15 separates from the slope, and the fourth sensor does not detect that the second transmission wheel 15 bears force, the second driving device 10 drives the first arm 9 to rotate toward the side close to the telescopic component 2 (away from the side above the slope). Fig.10 counterclockwise) to gradually reduce the inclination angle of the base plate 1.

[0155] Status 9: Reference Fig.11 The second driving device 10 drives the first arm 9 to rotate toward the side close to the telescopic component 2 ( Fig.11 In the process that the inclination angle of the bottom plate 1 gradually decreases, the telescopic component 2 adjusts the relative posture between the telescopic component 2 and the bottom plate 1 in real time according to the posture and movement state of the platform 3 relative to the ground currently detected by the posture detection device to keep the platform 3 level.

[0156] State 10: Reference Fig.12 , the bottom plate 1 returns to the horizontal level, the first moving wheel 5 contacts the ground above the slope, the second sensor does not detect that the first transmission wheel 11 bears force, and the fourth sensor does not detect that the second transmission wheel 15 bears force, the second driving device 10 drives the first arm 9 to rotate ( Fig.12 The third driving device 14 drives the second arm body 13 to rotate ( Fig.12 clockwise) to the side close to telescopic component 2.

[0157] Specifically, during the climbing process, the two arms are used to abut against the ground and the slope to support the base plate 1, thereby achieving the effect of improving stability.

[0158] In some embodiments, the telescopic assembly 2 adjusts the relative posture between the platform 3 and the base plate 1 in real time only when the tilt angle of the base plate 1 changes.

[0159] In other embodiments, the telescopic assembly 2 adjusts the relative posture between the platform 3 and the base plate 1 in real time throughout the entire process.

[0160] When the inclination angle of the bottom plate 1 gradually increases or decreases, the inclination angle of the bottom plate 1 is detected in real time, and the extension and contraction of the three RPS are calculated and adjusted to keep the platform 3 level during the whole process of climbing. This method not only ensures the stability during climbing, but also prevents the shaking and tilting of the platform 3 from causing the objects to fall; it can also prevent the platform 3 from vibrating greatly and causing the objects to be damaged due to vibration.

[0161] Specifically, when the robot climbs the slope to the left, the above method is the same.

[0162] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

Claims

1. A control method for a hill-climbing robot, characterized in that: The climbing robot includes: Bottom plate (1); A telescopic component (2), the telescopic component (2) being mounted on the base plate (1); A platform (3), the platform (3) being connected to an end of the telescopic assembly (2) away from the base plate (1); the telescopic assembly (2) being used to adjust the relative posture between the platform (3) and the base plate (1) so that the platform (3) remains horizontal; A first moving component, the first moving component is mounted on the base plate (1) and is used to drive the base plate (1), the telescopic component (2) and the platform (3) to move; A first movable arm assembly, the first movable arm assembly being rotatably mounted on the base plate (1) and being used for contacting the slope surface during the climbing process; The telescopic assembly (2) comprises: A posture detection device, the posture detection device is installed on the platform (3) and is used to detect the posture and movement state of the platform (3) relative to the ground; a plurality of telescopic devices (4), one end of the telescopic device (4) being rotatably connected to the base plate (1), and the other end of the telescopic device (4) being rotatably connected to the platform (3), and being used to adjust the telescopic amounts of the plurality of telescopic devices (4) according to the posture and motion state of the platform (3) relative to the ground, so that the platform (3) remains horizontal; The first moving components have two groups, and are respectively installed on two sides of the base plate (1); The first moving component comprises: A first moving wheel (5) and a second moving wheel (6), wherein the first moving wheel (5) and the second moving wheel (6) are respectively rotatably mounted on the bottom plate (1); A first driving device (7), wherein the first driving device (7) is fixedly mounted on the base plate (1), and a driving shaft is fixedly connected to the first moving wheel (5), and is used to drive the first moving wheel (5) to rotate; a first crawler belt (8), the first crawler belt (8) being arranged on the outer side walls of the first moving wheel (5) and the second moving wheel (6), and being used for driving the second moving wheel (6) to rotate synchronously with the first moving wheel (5); The first moving arm assembly comprises: A first arm body (9), the first arm body (9) being rotatably mounted on the base plate (1); a second driving device (10), the second driving device (10) being fixedly mounted on the base plate (1), and having a driving shaft fixedly connected to the first arm body (9), and being used for driving the first arm body (9) to rotate relative to the base plate (1); The first moving arm assembly also includes: A first transmission wheel (11), the first transmission wheel (11) being rotatably mounted on an end of the first arm (9) away from the base plate (1); a second crawler belt (12), the second crawler belt (12) being arranged on the outer side walls of the first moving wheel (5) and the first transmission wheel (11), and being used for driving the first transmission wheel (11) and the first moving wheel (5) to rotate synchronously; The first moving component also includes: a first sensor, the first sensor being arranged at the rotation axis of the first moving wheel (5) and being used to detect whether the first moving wheel (5) is bearing force; a third sensor, the third sensor being arranged at the rotation axis of the second moving wheel (6) and being used to detect whether the second moving wheel (6) is bearing force; The first moving arm assembly also includes: a second sensor, the second sensor being arranged at the rotation axis of the first transmission wheel (11) and being used to detect whether the first transmission wheel (11) is bearing force; A second movable arm assembly, the second movable arm assembly being rotatably mounted on a side of the base plate (1) away from the first movable arm assembly and being used for contacting the slope surface during the climbing process; Wherein, the second moving arm assembly comprises: A second arm body (13), the second arm body (13) being rotatably mounted on a side of the base plate (1) away from the first movable arm assembly; a third driving device (14), the third driving device (14) being fixedly mounted on the base plate (1), and having a driving shaft fixedly connected to the second arm body (13), and being used for driving the second arm body (13) to rotate relative to the base plate (1); a second transmission wheel (15), the second transmission wheel (15) being rotatably mounted on an end of the second arm (13) away from the base plate (1); a third crawler belt (16), the third crawler belt (16) being arranged on the outer side walls of the second moving wheel (6) and the second transmission wheel (15), and being used for driving the second transmission wheel (15) and the second moving wheel (6) to rotate synchronously; a fourth sensor, the fourth sensor being arranged at the rotation axis of the second transmission wheel (15) and being used to detect whether the second transmission wheel (15) is bearing force; Methods include: When the various parts of the climbing robot are not actually subjected to external forces, the forces between the climbing robot's own structures and the forces caused by gravity are detected and set as the force threshold; when the force detected during the actual movement of the climbing robot is less than or equal to the force threshold, it is regarded as zero, that is, a state of no force; when the force detected during the actual movement is greater than the force threshold, it indicates that an external force is applied, that is, a state of force; The first moving component continuously drives the bottom plate (1) to move; the telescopic component (2) keeps the platform (3) level; When the second sensor detects that the first transmission wheel (11) is bearing force, the second driving device (10) drives the first arm body (9) to rotate close to the slope surface until the first sensor no longer detects that the first moving wheel (5) is bearing force, so that the second crawler (12) on the first arm body (9) abuts against the slope surface, thereby moving one side of the bottom plate (1) onto the slope surface; The third driving device (14) drives the second arm body (13) to rotate close to the ground below the slope until the fourth sensor detects that the second transmission wheel (15) stops rotating when bearing force, so as to make the third crawler (16) on the second arm body (13) contact the ground below the slope to support the bottom plate (1); The first moving component continuously drives the bottom plate (1) to move upwards on the slope, and the inclination angle of the bottom plate (1) gradually increases; the telescopic component (2) adjusts the relative posture between the telescopic component (2) and the bottom plate (1) in real time according to the posture and motion state of the platform (3) relative to the ground currently detected by the posture detection device, so that the platform (3) remains horizontal; When the second sensor does not detect that the first transmission wheel (11) bears force, the second driving device (10) drives the first arm body (9) to rotate close to the slope surface until the second sensor detects that the first transmission wheel (11) bears force, so that the second crawler (12) on the first arm body (9) always contacts the slope surface during the process of increasing the inclination angle of the bottom plate (1); The third driving device (14) drives the second arm body (13) to rotate in the opposite direction when the second arm body (13) rotates close to the ground below the slope until the third sensor detects that the second moving wheel (6) bears force, so as to keep the second arm body (13) parallel to the ground below the slope at all times when the inclination angle of the bottom plate (1) increases; When the fourth sensor does not detect that the second transmission wheel (15) bears force, the third driving device (14) drives the second arm body (13) to rotate close to the slope surface until the fourth sensor detects that the second transmission wheel (15) bears force, so as to make the second arm body (13) abut against the slope surface; The first moving assembly drives the bottom plate (1) to move upward along the slope; When the second sensor does not detect that the first transmission wheel (11) bears force, the second driving device (10) drives the first arm body (9) to rotate close to the ground above the slope until the second sensor detects that the first transmission wheel (11) bears force, so that the first transmission wheel (11) abuts against the ground above the slope to support the bottom plate (1); When the fourth sensor does not detect that the second transmission wheel (15) is bearing force, the second driving device (10) drives the first arm body (9) to rotate toward a side close to the telescopic assembly (2), so that the inclination angle of the bottom plate (1) gradually decreases until the first arm body (9) rotates to a side close to the telescopic assembly (2); The telescopic component (2) adjusts the relative posture between the telescopic component (2) and the bottom plate (1) in real time according to the posture and motion state of the platform (3) relative to the ground currently detected by the posture detection device so as to keep the platform (3) level; When the second sensor does not detect that the first transmission wheel (11) bears no force, and the fourth sensor does not detect that the second transmission wheel (15) bears no force, the third driving device (14) drives the second arm body (13) to rotate to a side close to the telescopic assembly (2).

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