Mobile robot and obstacle crossing method

Abstract

The invention relates to a mobile robot and an obstacle crossing method.The mobile robot comprises a support, a wheel leg device and a lifting device, the wheel leg device comprises a plurality of leg assemblies, and the leg assemblies are rotationally connected with the support and ascend or descend relative to the support; and the lifting device is telescopically arranged on the bracket and is used for assisting any leg assembly in lifting or descending. According to the mobile robot, due to the fact that the mobile robot is provided with the telescopic auxiliary support of the lifting device, the leg assembly can cross various obstacles with different steep degrees, and the mobile robot can stably walk on various uneven road surfaces. The obstacle crossing method is applied to the mobile robot, and the robot can stably pass through a complex road surface.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a mobile robot and an obstacle surmounting method. Background Art

[0002] With the development of electromechanical technology, mobile robots are becoming more and more common in daily life and other special fields.

[0003] However, currently common mobile robots have poor obstacle-crossing capabilities, and their passability and stability are poor when traveling on complex roads. Summary of the invention

[0004] Based on this, it is necessary to provide a mobile robot and an obstacle surmounting method for the problem of how to improve the obstacle surmounting capability of the mobile robot.

[0005] The present application provides a mobile robot, the mobile robot comprising:

[0006] Bracket;

[0007] The wheel-leg device comprises a plurality of leg assemblies, wherein the plurality of leg assemblies are rotatably connected to the bracket and can be lifted or lowered relative to the bracket;

[0008] A lifting device is telescopically arranged on the bracket to assist in lifting or lowering any of the leg assemblies.

[0009] In one embodiment, the lifting device includes a telescopic assembly and a wheel assembly, the wheel assembly is used to roll with the surface to be moved, the telescopic assembly is connected between the bracket and the wheel assembly, and when the telescopic assembly is extended or retracted, the wheel assembly is used to support the surface to be moved or be suspended relative to the surface to be moved.

[0010] In one embodiment, the telescopic assembly includes a driver, a first arm and a second arm, the first arm and the second arm are located between the bracket and the wheel assembly, the first arm and the second arm cross each other and are rotatably connected at the intersection, and the driver is connected to both the first arm and the second arm for adjusting the angle between the first arm and the second arm.

[0011] In one embodiment, the lifting device also includes a connecting platform, the wheel assembly is arranged on the connecting platform, a limiting groove is provided on the connecting platform, one of the first arm and the second arm is rotatably connected to the connecting platform, and the other is slidably matched with the limiting groove.

[0012] In one embodiment, the wheel assembly includes a support, a support wheel and a retaining structure. The support wheel is rotatably disposed on the support and can change its heading. Part of the retaining structure is elastically connected between the support wheel and the support to pull the support wheel to restore to the expected heading relative to the support when the support wheel is suspended relative to the surface to be moved.

[0013] In one embodiment, the support wheel is rotatably connected to the support with the heading axis as the rotation axis, and the retaining structure includes a reset member and a connecting member, the connecting member is connected to the support wheel and is eccentrically arranged with respect to the heading axis, and the reset member is elastically connected between the connecting member and the support to pull the support wheel to return to the expected heading relative to the support.

[0014] In one embodiment, the mobile robot further comprises:

[0015] A control module is disposed on the bracket, the control module is connected to the plurality of leg assemblies to control the lifting or lowering of the plurality of leg assemblies, and the control module is also connected to the lifting device to control the extension and retraction of the lifting device; and / or

[0016] A laser radar module, disposed on the bracket, the laser radar module is used to detect the environment around the mobile robot; and / or

[0017] a vision module, disposed on the bracket, and used to detect obstacles around the mobile robot; and / or

[0018] The leg assembly further comprises a wheel structure, which is arranged at the free end of the leg assembly and is used for rolling cooperation with the surface to be moved.

[0019] In one of the embodiments, each of the leg assemblies is independently rotatably connected to the bracket to be independently lifted or lowered; and the lifting device is located in an area surrounded by a plurality of the leg assemblies.

[0020] The present application also provides an obstacle surmounting method, which is applied to the mobile robot described in any one of the embodiments, and the obstacle surmounting method includes:

[0021] Obtain obstacle information detected by a laser radar module and / or a visual module carried by the mobile robot and distance information between the mobile robot and the obstacle, and determine the auxiliary type of the lifting device based on the obstacle information;

[0022] If the auxiliary type is auxiliary support, controlling the movement of the lifting device so that the lifting device is supported on the surface to be moved;

[0023] According to the obstacle information and the distance information, the plurality of leg assemblies are controlled to move, and the plurality of leg assemblies are controlled to be lifted or lowered respectively in sequence, and the lifting device is controlled to be retracted or extended, so as to enable the mobile robot to cross obstacles;

[0024] If the auxiliary type is non-auxiliary support, the movement of the leg assembly is controlled according to the obstacle information and the distance information, and the multiple leg assemblies are controlled to be lifted or lowered in turn, so as to enable the mobile robot to overcome obstacles.

[0025] In one embodiment, the plurality of leg assemblies are divided into front legs and rear legs. When the auxiliary type is auxiliary support, the sequential control of the plurality of leg assemblies to be lifted or lowered and the control of the lifting device to be retracted or extended includes:

[0026] Determine a lifting position according to the obstacle information, wherein the lifting position is a height position of the front legs, the rear legs and the lifting device when they pass over the obstacle;

[0027] Control the front legs to move to the lifting position, and control the rear legs to move according to the obstacle information and the distance information, so that the front legs can cross the obstacle and move to the next surface to be moved;

[0028] Controlling the lifting device to retract or extend to the lifting position, and controlling the leg assembly to move according to the obstacle information and the distance information, so that the lifting device can pass the obstacle and move to the next surface to be moved;

[0029] The rear legs are controlled to move to the lifting position, and the front legs are controlled to move according to the obstacle information and the distance information, so that the rear legs can cross the obstacle and move to the next surface to be moved.

[0030] In the above-mentioned mobile robot, multiple leg assemblies are rotatably connected to the bracket and can be lifted and lowered relative to the bracket. When there is an obstacle on the path of the mobile robot, the multiple leg assemblies can be lifted and lowered accordingly to cross the obstacle. In addition, since the lifting device is used to assist in lifting any leg assembly when it is extended and retracted, when there is a steeper obstacle on the path of the mobile robot, the lifting device can actively support the moving surface so that the corresponding leg assembly is lifted above the obstacle. The above-mentioned mobile robot is configured in this way, and because it has the telescopic support of the lifting device, the leg assembly can cross various obstacles of different steepness, so that the mobile robot can walk smoothly on various uneven roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the axle side of a mobile robot provided by an embodiment of the present invention;

[0032] Figure 2 for Figure 1 An exploded schematic diagram of the mobile robot shown;

[0033] Figure 3 for Figure 1 A schematic diagram of the axle side of the lifting device in the mobile robot shown;

[0034] Figure 4 for Figure 3 A side view of the lifting device shown with it retracted;

[0035] Figure 5 for Figure 3 A side view of the lifting device shown with it extended;

[0036] Figure 6 for Figure 3 An exploded schematic diagram of a wheel assembly in the lifting device shown;

[0037] Figure 7 for Figure 3 A top view of the wheel assembly in the lifting device shown;

[0038] Figure 8 for Figure 3 A top view of the wheel assembly after the support wheel is reset;

[0039] Fig. 9 For along Figure 8 A cross-sectional view of line AA shown;

[0040] Fig.10 for Figure 2 An axle-side schematic diagram of a wheel-leg device in the mobile robot shown;

[0041] Fig.11 for Fig.10 An exploded schematic diagram of a portion of the wheel-leg assembly shown;

[0042] Fig.12a for Figure 1 A top view of the mobile robot when parked is shown;

[0043] Figure 12b for Figure 1 The shown mobile robot is shown in a top view when moving straight;

[0044] Fig.12c for Figure 1 The top view of the mobile robot shown is when it is moving obliquely;

[0045] Fig.12d for Figure 1 A top view of the mobile robot shown while rotating in place;

[0046] Fig.12e for Figure 1 The top view of the mobile robot shown during Ackerman rotation;

[0047] Fig.12f for Figure 1 The top view of the mobile robot during double Ackerman rotation is shown;

[0048] Fig.13a A flowchart of an obstacle surmounting method provided in one embodiment of the present application;

[0049] Fig.13b A flowchart of an obstacle surmounting method provided in another embodiment of the present application;

[0050] Fig.14 for Figure 1 The schematic diagram of the action of the mobile robot when climbing up an obstacle by the support obstacle crossing method is shown;

[0051] Fig.15 for Figure 1 The schematic diagram of the action of the mobile robot when climbing down an obstacle by the support obstacle crossing method is shown;

[0052] Fig.16a for Figure 1 The schematic diagram of the action of the mobile robot when crossing a certain type of obstacle using an adaptive obstacle crossing method;

[0053] Fig.16b for Figure 1 The schematic diagram of the action of the mobile robot when crossing another type of obstacle by using the adaptive obstacle crossing method;

[0054] Fig.17 for Figure 1 The figure shows a schematic diagram of the movements of each leg assembly of the mobile robot at a certain moment when the components overcome obstacles independently.

[0055] Figure numerals: 10, mobile robot; 100, bracket; 110, base plate; 111, guide groove; 120, bearing plate; 121, upper limit member; 122, lower limit member; 123, connecting block; 200, wheel-leg device; 2100, leg assembly; 2101, front leg; 2101a, left front leg; 2101b, right front leg; 2102, rear leg; 2102a, left rear leg; 2102b, right rear leg; 2110, second driving member; 2120, connecting rod structure; 2121, first connecting rod; 2121a, first rotating part; 2121b, second rotating part; 2122, second connecting rod; 2122a, third rotating part; 2122b, fourth rotating part; 2130, transmission member; 2131, body; 2132, positioning pin; 2140, wheel structure; 2141, third driving member; 2141a, flange shaft; 2142, driving wheel; 2143, first connecting seat; 2143a, rotation limiter; 2144, second connecting seat; 2145, third connecting rod; 2146, third connecting rod; 2147, third connecting rod; 2148, third connecting rod; 2149, third connecting rod; 2150, third connecting rod; 2151, third connecting rod; 2152, third connecting rod; 2153, third connecting rod; 2154, third connecting rod; 2155, third connecting rod; 2156, third connecting rod; 2157, third connecting rod; 2158, third connecting rod; 2159, third connecting rod; 2160, third connecting rod; 2161, third connecting rod; 2162, third connecting rod; 2163, third connecting rod; 2164, third connecting rod; 2165, third connecting rod; 2166, third connecting rod; 2167, third connecting rod; 2168, third connecting rod; 2169, third connecting rod; 2170, third connecting rod; 2171, third connecting rod; 2172, third connecting rod; 2173, third connecting rod; 2174, third connecting rod; 2175, third connecting rod; 2176, third connecting rod; 2177, third connecting rod; 2178, third connecting rod; 2179, third connecting rod; 2180, third connecting 2145a, rotating shaft; 2146, second bearing; 300, lifting device; 3100, telescopic assembly; 3110, driver; 3111, first driving member; 3111a, machine body; 3111b, output shaft; 3112, guide seat; 3112a, connector; 3112b, guide bearing; 3113, fixed seat; 3120, first arm; 3130, second arm; 3200, wheel assembly; 3210, support; 3211, positioning member; 3220, support Wheel; 3230, retaining structure; 3231, reset member; 3232, connecting member; 3240, adapter frame; 3250, first bearing; 3300, connecting platform; 3310, limit groove; 400, control module; 500, laser radar module; 600, visual module; 610, visual sensor; 620, slide rail; 630, slide table; 700, battery; 800, expansion board; 20, obstacle; 21, rising obstacle; 22, sinking obstacle; 30, surface to be moved. DETAILED DESCRIPTION

[0056] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "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, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0061] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0062] See also Figure 1 and Figure 2 , Figure 1 FIG. 1 shows an axle side schematic diagram of a mobile robot in one embodiment of the present invention, Figure 2 for Figure 1 An exploded schematic diagram of a mobile robot is shown. A mobile robot 10 provided in one embodiment of the present invention includes a support 100, a wheel-leg device 200, and a lifting device 300. The wheel-leg device 200 includes a plurality of leg assemblies 2100. The plurality of leg assemblies 2100 are all rotatably connected to the support 100 and are lifted or lowered relative to the support 100. The lifting device 300 is telescopically arranged on the support 100 to assist in lifting any leg assembly 2100.

[0063] In the above-mentioned mobile robot 10, the multiple leg assemblies 2100 are all rotatably connected to the bracket 100, and can be lifted and lowered relative to the bracket 100. When there is an obstacle on the path of the mobile robot 10, the multiple leg assemblies 2100 can be lifted and lowered accordingly to cross the obstacle. In addition, since the lifting device 300 can assist in lifting any leg assembly 2100 when it is extended and retracted, when there is a relatively steep obstacle on the path of the mobile robot 10, the lifting device 300 can actively support the moving surface so that the corresponding leg assembly 2100 is lifted above the obstacle. The above-mentioned mobile robot 10 is configured in this way. Due to the telescopic support of the lifting device 300, the leg assembly 2100 can cross various obstacles of different steepness, so that the mobile robot 10 can walk smoothly on various uneven roads.

[0064] The above-mentioned surface to be moved can specifically be a surface to be moved such as the ground that supports the mobile robot 10 to walk. When the mobile robot 10 climbs up or down an obstacle and continues to move or continue to cross the obstacle, the surface of the object on which the mobile robot 10 currently stands can also be the surface to be moved.

[0065] It is understandable that when the leg assembly 2100 needs to be lifted to a relatively high height, the support function of the lifting device 300 can support the mobile robot 10, so that the overall center of gravity of the mobile robot 10 does not shift after losing the support function of the lifted leg assembly 2100. In short, the support function of the lifting device 300 can ensure that the center of gravity of the mobile robot 10 is stable during the obstacle crossing process, so that the mobile robot 10 can walk smoothly on various complex road conditions.

[0066] In one embodiment, any leg assembly 2100 is rotatably connected to the bracket 100 independently of each other so as to be independently lifted or lowered. In other words, any leg assembly 2100 can be lifted independently to adapt to the ups and downs of the surface to be moved. It can be understood that for the ups and downs of the surface to be moved, obstacles sometimes only appear in the travel path of a single or a few leg assemblies 2100; or, the leg assemblies 2100 are not in contact with the obstacles at the same time. At this time, one or several corresponding leg assemblies 2100 blocked by the obstacles can be lifted to adapt to the ups and downs of the surface to be moved. In short, setting any leg assembly 2100 to be able to lift or lower independently of each other allows the mobile robot 10 to be lifted and lowered more flexibly according to the ups and downs of the surface to be moved, thereby ensuring the stability of the mobile robot 10 when walking on complex road conditions.

[0067] See also Figure 1 and Figure 2 In one embodiment, the lifting device 300 is located in the area surrounded by the plurality of leg assemblies 2100, so the lifting device 300 can be supported on the surface to be moved to lift or lower any leg assembly 2100. In this way, the lifting device 300 can improve the stability of the mobile robot 10 when any one or more leg assemblies 2100 are lifted or lowered.

[0068] See also Figures 2 to 5 In one embodiment, the lifting device 300 includes a telescopic assembly 3100 and a wheel assembly 3200, and the wheel assembly 3200 is used to roll with the surface to be moved. The telescopic assembly 3100 is connected between the bracket 100 and the wheel assembly 3200. When the telescopic assembly 3100 is extended, the wheel assembly 3200 is used to support the surface to be moved or to be suspended relative to the surface to be moved. In this way, when the telescopic assembly 3100 is extended, the wheel assembly 3200 can support the surface to be moved and roll with the surface to be moved. Thereby, it is possible to avoid the lifting device 300 directly supporting the surface to be moved and having a large friction resistance with the surface to be moved, that is, to avoid the lifting device 300 hindering the movement of the mobile robot 10. That is to say, in this embodiment, when the lifting device 300 plays a supporting role, the mobile robot 10 can also move without obstacles, so that the movement of the mobile robot 10 when moving over obstacles is smoother.

[0069] Similarly, when the telescopic assembly 3100 is retracted, the wheel assembly 3200 can be suspended in the air. This arrangement can prevent the wheel assembly 3200 from interfering with certain smaller raised obstacles on the surface to be moved and hindering the walking of the mobile robot 10. In short, for certain obstacles with a lower steepness, the leg assembly 2100 can actively cross them without the support of the lifting device 300. At this time, since the wheel assembly 3200 is in a suspended state, the wheel assembly 3200 will not interfere with the above-mentioned obstacles with a lower steepness and affect the walking of the mobile robot 10.

[0070] like Figure 4 The telescopic assembly 3100 is shown in a retracted state. Figure 5 The telescoping assembly 3100 is shown in an extended state.

[0071] Please continue reading Figures 3 to 5 In one embodiment, the telescopic assembly 3100 includes a driver 3110, a first arm 3120, and a second arm 3130. The first arm 3120 and the second arm 3130 are located between the bracket 100 and the wheel assembly 3200, and the first arm 3120 and the second arm 3130 intersect each other and are rotatably connected at the intersection. In other words, the first arm 3120 and the second arm 3130 are arranged in pairs and intersect each other to form a scissor-type structure. The driver 3110 is connected to both the first arm 3120 and the second arm 3130, and is used to adjust the angle between the first arm 3120 and the second arm 3130. It can be understood that for the scissor-type structure formed by the combination of the first arm 3120 and the second arm 3130, when the angle between the first arm 3120 and the second arm 3130 changes, the wheel assembly 3200 can be pushed to move so that the distance between it and the bracket 100 changes accordingly. In this way, by controlling the angle between the first arm 3120 and the second arm 3130 through the driver 3110, the extension and retraction of the wheel assembly 3200 can be controlled.

[0072] It should be understood that for the scissor-type telescopic assembly 3100, the process in which the angle between the first arm 3120 and the second arm 3130 decreases is the extension process of the telescopic assembly 3100, and the process in which the angle between the first arm 3120 and the second arm 3130 increases is the retraction process of the telescopic assembly 3100. Figure 4 and Figure 5 The middle label is β.

[0073] Specifically, the driver 3110 is disposed on the bracket 100, and the first arm 3120 and the second arm 3130 are both connected to the bracket through the driver 3110, so that the driver 3110 drives the first arm 3120 and the second arm 3130 to rotate relative to each other. Of course, in some embodiments, the first arm 3120 and the second arm 3130 can also be directly connected to the bracket 100, and the driver 3110 is disposed on the bracket 100 and drives the first arm 3120 and the second arm 3130 to rotate relative to each other.

[0074] See also Figures 3 to 5 In one embodiment, the telescopic assembly 3100 may include multiple pairs of first arms 3120 and second arms 3130, and the multiple pairs of first arms 3120 and second arms 3130 are connected end to end between the bracket 100 and the wheel assembly 3200, so that the telescopic assembly 3100 has a larger telescopic range.

[0075] Please continue reading Figures 3 to 5 In one embodiment, the lifting device 300 further includes a connecting platform 3300, and the wheel assembly 3200 is disposed on the connecting platform 3300. A limiting groove 3310 is disposed on the connecting platform 3300, and one of the first arm 3120 or the second arm 3130 is rotatably connected to the connecting platform 3300, and the other is slidably matched with the limiting groove 3310. Taking the first arm 3120 and the connecting platform 3300 as an example, the second arm 3130 is rotatably connected, and the second arm 3130 is inserted into the limiting groove 3310 and slidably matched with the groove wall of the limiting groove 3310, when the driver 3110 drives the first arm 3120 and the second arm 3130 to rotate relative to each other, that is, when the angle between the first arm 3120 and the second arm 3130 changes, the second arm 3130 pushes against the groove wall of the limiting groove 3310, so as to cooperate with the first arm 3120 to push the connecting platform 3300 in a direction away from the bracket 100, or pull the connecting platform 3300 in a direction close to the bracket 100. In this way, the distance between the bracket 100 and the wheel assembly 3200 can be adjusted to achieve telescopic movement.

[0076] In the lifting device 300, the position of the first arm 3120 or the second arm 3130 can be limited by the limiting groove 3310 to improve the stability of the telescopic movement of the connecting platform 3300, so that the connecting platform 3300 can be stably telescoped in the expected direction. Of course, the telescopic assembly 3100 can be telescoped in the expected direction by reasonably adjusting the length of the first arm 3120 and the second arm 3130, the position of the cross-rotation connection between the first arm 3120 and the second arm 3130, and other specific structural details.

[0077] It should be understood that in some embodiments, the telescopic assembly 3100 can also be a linear actuator, such as a cylinder, a hydraulic cylinder, or an electric push rod, which are telescopic components with linear driving capabilities. Compared with other linear actuators, the above-mentioned scissor-type telescopic assembly 3100 occupies less space in the telescopic direction after retracting, which can make the overall structural layout of the lifting device 300 more uniform. Taking the cylinder as an example, the cylinder needs to be provided with at least a piston rod equivalent to the telescopic range of the telescopic assembly 3100 as an actuator, which results in that even after the telescopic assembly 3100 is retracted, it will still occupy a space equivalent to the length of the above-mentioned piston rod in the telescopic direction. Such a setting is not conducive to the structural layout of the mobile robot 10 in the telescopic direction.

[0078] Please refer again Figures 3 to 5 In one embodiment, the driver 3110 includes a first driving member 3111, a guide seat 3112 and a fixed seat 3113. The first driving member 3111 includes a body 3111a and an output shaft 3111b. The body 3111a can drive the output shaft 3111b to extend and retract. The fixed seat 3113 is fixed to the body 3111a. The guide seat 3112 is connected to the output shaft 3111b to reciprocate under the drive of the body 3111a. One of the first arm 3120 and the second arm 3130 is rotatably connected to the guide seat 3112, and the other is rotatably connected to the fixed seat 3113. In this way, when the guide seat 3112 moves relative to the fixed seat 3113 with the output shaft 3111b, the angle between the first arm 3120 and the second arm 3130 can be adjusted, and the extension or retraction of the telescopic assembly 3100 as a whole can be controlled by controlling the direction of the force movement of the guide seat 3112.

[0079] See also Figure 2 and Figure 3 In one embodiment, a guide groove 111 is provided on one side of the bracket 100 facing the lifting device 300, and the guide seat 3112 includes a connecting body 3112a and a guide bearing 3112b rotatably provided on the connecting body 3112a, the connecting body 3112a is connected to the output shaft 3111b, and one of the first arm 3120 and the second arm 3130 is rotatably connected to the connecting body 3112a. The guide bearing 3112b is slidably matched or rolled with the groove wall of the guide groove 111. The groove wall of the guide groove 111 supports and limits the guide bearing 3112b, so that the stability of the reciprocating motion of the guide seat 3112 can be improved, that is, the stability of the telescopic motion of the telescopic assembly 3100 can be improved.

[0080] Specifically, the first arm 3120 can be rotatably connected to the connecting body 3112a, and the second arm 3130 can be rotatably connected to the fixing seat 3113. When the guide seat 3112 moves relative to the fixing seat 3113, the connecting body 3112a drives the first arm 3120 to rotate relative to the second arm 3130.

[0081] See also Figures 5 to 8In one embodiment, the wheel assembly 3200 includes a support 3210, a support wheel 3220 and a retaining structure 3230. The support wheel 3220 rolls with the surface to be moved when the wheel assembly 3200 supports the surface to be moved, so as to ensure that the mobile robot 10 can move smoothly when crossing obstacles. In addition, the support wheel 3220 is rotatably arranged on the support 3210 and can change the heading to adapt to the heading of the mobile robot 10. Part of the structure of the retaining structure 3230 is elastically connected between the support wheel 3220 and the support 3210 to pull the support wheel 3220 relative to the support 3210 to restore the expected heading. It can be understood that when the wheel assembly 3200 supports the surface to be moved, the mobile robot 10 may have different walking actions, such as straight walking, turning, etc. The support wheel 3220 is rotatably arranged on the support 3210. When the support wheel 3220 is subjected to the reaction of the surface to be moved, its heading can passively adapt to the walking action of the mobile robot 10, that is, under different walking actions of the mobile robot 10, the support wheel 3220 has different headings. If the retaining structure 3230 is not provided, the heading of the support wheel 3220 after supporting the surface to be moved is uncertain, so it is difficult to locate the landing point of the support wheel 3220 when supporting the surface to be moved again, so that the influence of the support wheel 3220 on the heading during the walking of the mobile robot 10 is uncertain. In this embodiment, by providing the retaining structure 3230, the support wheel 3220 can be restored to the expected heading when it is not subjected to the reaction of the surface to be moved, that is, the landing point of the support wheel 3220 when it is repeatedly lifted and lowered has a certain position relative to the bracket 100, thereby reducing the uncertainty factors in the process of the mobile robot 10 moving, and facilitating the mobile robot 10 to accurately walk along the expected trajectory. The above heading refers to the direction in which the support wheel 3220 rolls forward.

[0082] The supporting wheel 3220 may specifically be a universal wheel.

[0083] It is understandable that the holding structure 3230 is elastically connected between the support wheel 3220 and the support 3210. When the support wheel 3220 rolls with the surface to be moved, part of the structure of the holding structure 3230 can be elastically deformed so that the heading of the support wheel 3220 can be suitable for the walking action of the mobile robot 10. When the support wheel 3220 is suspended in the air, the support wheel 3220 is not subject to the reaction force of the surface to be moved, and the holding structure 3230 can pull the support wheel 3220 to return to the expected heading.

[0084] See also Figures 5 to 8In one embodiment, the wheel assembly 3200 includes a plurality of supports 3210, a plurality of support wheels 3220 and a plurality of retaining structures 3230. The plurality of supports 3210 are all connected to the connecting platform 3300, and each retaining structure 3230 is correspondingly connected between the support wheel 3220 and the support 3210 so that the plurality of support wheels 3220 can be restored to the expected heading relative to the support 3210.

[0085] Please continue reading Figures 6 to 8 In one embodiment, the support wheel 3220 is rotatably connected to the support 3210 around the heading axis. The retaining structure 3230 includes a reset member 3231 and a connector 3232. The connector 3232 is connected to the support wheel 3220 and is eccentrically arranged with the heading axis. The reset member 3231 is elastically connected between the connector 3232 and the support 3210 to pull the support wheel 3220 to restore or maintain the expected heading relative to the support 3210. It can be understood that, since the connector 3232 is eccentrically arranged with the heading axis, when the support wheel 3220 is adapted to the overall walking action of the mobile robot 10 and the heading is adjusted accordingly around the heading axis, the reset member 3231 is stretched and deformed. When the telescopic assembly 3100 is retracted and the support wheel 3220 is suspended, based on the elastic restoring force of the reset member 3231, the support wheel 3220 can be pulled to the position before the reset member 3231 is deformed. In this way, the support wheel 3220 can be reset by the reset function of the reset member 3231 to restore and maintain the expected heading. Figure 6 and Fig. 9 The middle number is Q, Figure 7 The reset member 3231 shown is in a stretched and deformed state; Figure 8 The reset member 3231 is shown in the initial state, that is, Figure 8 Support wheel 3220 is shown with an intended heading.

[0086] See also Figure 6 and Fig. 9In one embodiment, the wheel assembly 3200 further includes an adapter frame 3240 and a first bearing 3250. The first bearing 3250 is embedded in the support 3210. The adapter frame 3240 is connected to the inner ring of the first bearing 3250. The adapter frame 3240 is rotatably connected to the support 3210 around the heading axis through the first bearing 3250. The first bearing 3250 can improve the smoothness of the rotation of the adapter frame 3240 relative to the support 3210. The support wheel 3220 is rotatably connected to the adapter frame 3240 so that the support wheel 3220 can roll on the surface 30 to be moved. Part of the structure of the adapter frame 3240 and the support wheel 3220 are located on the same side of the support 3210, and the other part of the structure passes through the first bearing 3250 and the support 3210 to the other side of the support 3210. The connecting member 3232 may be specifically connected to the adapter frame 3240 , and the connecting member 3232 is connected to the supporting wheel 3220 via the adapter frame 3240 to adjust the heading of the supporting wheel 3220 .

[0087] Furthermore, a positioning member 3211 is provided on the support 3210, and the reset member 3231 can be specifically a tension spring. One end of the reset member 3231 is connected to the connecting member 3232, and the other end of the reset member 3231 is connected to the positioning member 3211. In this way, the reset member 3231 can drive the support wheel 3220 to rotate around the heading axis to a determined position relative to the positioning member 3211, so that the support wheel 3220 returns to the expected heading.

[0088] See also Figure 1 and Figure 2 In one embodiment, the number of the leg assemblies 2100 may be four, and the four leg assemblies 2100 are distributed on the bracket 100 at four corners.

[0089] See also Fig.10 and Fig.11 In one embodiment, the leg assembly 2100 includes a second driving member 2110, a connecting rod structure 2120 and a wheel structure 2140. The wheel structure 2140 is disposed at the free end of the connecting rod structure 2120, and the wheel structure 2140 is used to roll with the surface to be moved 30. Each leg assembly 2100 includes a wheel structure 2140, and a plurality of wheel structures 2140 are respectively disposed at the free ends of a plurality of connecting rod structures 2120, and the plurality of wheel structures 2140 can rotate independently. It can be understood that the wheel structure 2140 is used to realize the movement function of the mobile robot 10, that is, the mobile robot 10 can perform parking, straight driving, oblique movement, rotation and other movements through the cooperation of the various wheel structures 2140.

[0090] Combination Figure 1The second driving member 2110 is disposed on the bracket 100. One end of the connecting rod structure 2120 is rotatably connected to the bracket 100, and the other end of the connecting rod structure 2120 is rotatably connected to the wheel structure 2140. The second driving member 2110 is connected to the connecting rod structure 2120 to drive the connecting rod structure 2120 to rotate, and the connecting rod structure 2120 can lift or lower the wheel structure 2140 when rotating.

[0091] It should be understood that when the mobile robot 10 moves only on a horizontal surface 30 to be moved without undulations, or a surface 30 to be moved with simple undulations (such as uphill or downhill), the mobile robot 10 can be directly rolled over the surface 30 to be moved with simple undulations through the wheel structure 2140. However, when the mobile robot 10 moves on a surface 30 to be moved with complex undulations, the leg assembly 2100 and the lifting device 300 can cooperate with each other to cross different obstacles. This arrangement makes the passage of the mobile robot 10 more flexible and more diverse.

[0092] Please continue reading Fig.10 and Fig.11 In one embodiment, the link structure 2120 includes a first link 2121 and a second link 2122. The first link 2121 includes a first rotating portion 2121a and a second rotating portion 2121b, the first rotating portion 2121a is connected to the bracket 100, and the second rotating portion 2121b is connected to the wheel structure 2140. The second link 2122 includes a third rotating portion 2122a and a fourth rotating portion 2122b, the third rotating portion 2122a is connected to the bracket 100, and the fourth rotating portion 2122b is connected to the wheel structure 2140.

[0093] Among them, the line connecting the first rotating part 2121a and the second rotating part 2121b is the first transmission section, and the line connecting the third rotating part 2122a and the fourth rotating part 2122b is the second transmission section. The first transmission section and the second transmission section are arranged in parallel and have equal lengths. It can be understood that a quadrilateral with a group of parallel and equal opposite sides is a parallelogram. In a parallelogram, as long as the lengths of the four sides remain unchanged, the two short sides can always remain parallel no matter how the two long sides rotate. In this way, by connecting the connecting rod structure 2120 in the shape of a parallelogram between the wheel structure 2140 and the bracket 100, the wheel structure 2140 has the same posture at any position during the lifting or lowering process of the leg assembly 2100. See the first transmission section mentioned above. Fig.11 The second transmission section mentioned above participates in Fig.11 The middle label is M.

[0094] Please combine Fig.10 and Fig.11Specifically, since the first rotating portion 2121a and the third rotating portion 2122a are both rotatably connected to the bracket 100, the distance between the two does not change during the rotation of the connecting rod structure 2120. Similarly, the second rotating portion 2121b and the fourth rotating portion 2122b are both rotatably connected to the wheel structure 2140, so the distance between the two does not change during the rotation of the connecting rod structure 2120. The first rotating portion 2121a and the second rotating portion 2121b are both located on the first connecting rod 2121, and it is obvious that the distance between the two does not change during the rotation of the first connecting rod 2121; similarly, the third rotating portion 2122a and the fourth rotating portion 2122b are both located on the second connecting rod 2122, and the distance between the two does not change during the rotation of the second connecting rod 2122. In this way, during the rotation of the connecting rod, the line connecting the first rotating portion 2121a and the third rotating portion 2122a is always parallel to the line connecting the second rotating portion 2121b and the fourth rotating portion 2122b. That is, the posture of the wheel structure 2140 is associated with the relative position between the first rotating part 2121a and the third rotating part 2122a, and is not affected by the rotation angle of the connecting rod structure 2120, that is, the posture of the wheel structure 2140 does not change at any position during the rotation of the leg assembly 2100. Therefore, when the leg assembly 2100 is lifted or lowered to cross an obstacle, the part of the wheel structure 2140 that is used to contact the surface to be moved remains unchanged, thereby preventing the wheel structure 2140 from losing its position. It can be understood that this embodiment is configured in this way to facilitate more accurate control of the movement of the mobile robot 10.

[0095] Please refer again Fig.11 In one embodiment, the leg assembly 2100 further includes a transmission member 2130, which includes a body 2131 and two positioning pins 2132 protruding from the body 2131, and the two positioning pins 2132 are arranged at intervals. Two transmission holes (not shown in the figure, the same below) are provided on the first connecting rod 2121 or the second connecting rod 2122, and the two positioning pins 2132 are adapted to be inserted into the two transmission holes and abut against the hole walls of the transmission holes. The second driving member 2110 is connected to the body 2131 to drive the body 2131 to rotate. When the body 2131 rotates, it can drive the first connecting rod 2121 or the second connecting rod 2122 to rotate.

[0096] It should be noted that the transmission member 2130 only needs to be connected to one of the first connecting rod 2121 and the second connecting rod 2122 to drive the other to rotate together, that is, one of the first connecting rod 2121 and the second connecting rod 2122 is an active member, and the other is a driven member, and the connecting rod as the driven member is used to cooperate with the connecting rod as the active member to jointly limit the posture of the wheel structure 2140. The number of the above-mentioned positioning pins 2132 and transmission holes can also be multiple.

[0097] Please continue reading Fig.10 , Fig.11Combined with Figure 2 In one embodiment, the bracket 100 includes a base plate 110 and a carrier plate 120 connected to each other, and the leg assembly 2100 is rotatably connected to the carrier plate 120. Specifically, the second driving member 2110 and the connecting rod structure 2120 are arranged on the carrier plate 120. The upper limit member 121, the lower limit member 122 and the connecting block 123 are provided on the carrier plate 120. The two extreme positions of the connecting rod structure 2120 during the rotation process are respectively abutted against the upper limit member 121 and the lower limit member 122. The upper limit member 121 and the lower limit member 122 can make the connecting rod structure 2120 rotate only within a preset range. The connecting block 123 is provided at the connection between the base plate 110 and the carrier plate 120, and is used to improve the stability of the connection between the base plate 110 and the carrier plate 120.

[0098] The telescopic assembly 3100 may be specifically connected to the base plate 110 , that is, the guide groove 111 is disposed on a side of the base plate 110 close to the telescopic assembly 3100 .

[0099] Please refer again Fig.10 Combined with Fig.11 In one embodiment, the wheel structure 2140 includes a third driving member 2141 and a driving wheel 2142. The third driving member 2141 is connected to the driving wheel 2142 to adjust the heading of the driving wheel 2142. The heading refers to the direction in which the driving wheel 2142 rolls forward.

[0100] See also Fig.11 In one embodiment, the wheel structure 2140 also includes a first connecting seat 2143, a second connecting seat 2144, a third connecting seat 2145, a second bearing 2146 and a rotation limiter 2143a. The second bearing 2146 is embedded in the first connecting seat 2143, and the second connecting seat 2144 is connected to the inner ring of the second bearing 2146 so as to be rotationally connected to the first connecting seat 2143 through the second bearing 2146. The third driving member 2141 is disposed on the first connecting seat 2143, and is connected to the second connecting seat 2144 through the first connecting seat 2143 and the second bearing 2146. The third driving member 2141 is used to drive the second connecting seat 2144 to rotate around its heading axis. The driving wheel 2142 is disposed on the second connecting seat 2144. Under the drive of the third driving member 2141, the driving wheel 2142 will follow the second connecting seat 2144 to adjust the heading. The heading axis of the second connecting seat 2144 and the driving wheel 2142 can be seen in Fig.11 The middle label is R.

[0101] The third connection seat 2145 is connected between the connecting rod structure 2120 and the first connecting rod 2143, so that the connecting rod structure 2120 can drive the wheel structure 2140 to rise or fall. The third connection seat 2145 is movably provided with two rotating shafts 2145a, and the first connecting rod 2121 and the second connecting rod 2122 are rotatably connected to the first connecting seat 2143 through the two rotating shafts 2145a.

[0102] In one embodiment, the third driving member 2141 includes a flange shaft 2141 a , and the flange shaft 2141 a passes through the first connecting seat 2143 and the second bearing 2146 and is connected to the second connecting seat 2144 to drive the second connecting seat 2144 to rotate.

[0103] In one embodiment, the first connecting seat 2143 is provided with two rotation limiters 2143a, and the two rotation limiters 2143a are respectively distributed at different positions on the rotation trajectory of the second connecting seat 2144 to limit two extreme positions of the second connecting seat 2144 during rotation.

[0104] In one embodiment, the plurality of driving wheels 2142 each include a hub motor and a wheel body, and the hub motor is correspondingly disposed in the wheel body for driving the corresponding wheel body to independently roll along the heading on the surface to be moved.

[0105] See also Figure 12a-12f Specifically, the headings of the driving wheels 2142 included in the multiple wheel structures 2140 can be adjusted so that the mobile robot 10 as a whole has different movement modes.

[0106] For example, Fig.12a As shown, the headings of the four driving wheels 2142 cooperate with each other, so that the mobile robot 10 as a whole is in a parking state, that is, at this time, the mobile robot 10 can be fixed on the surface to be moved 30 through the cooperation of the four wheels.

[0107] like Figure 12b As shown, the headings of the four driving wheels 2142 are the same and face forward, so that the mobile robot 10 can move straight forward.

[0108] like Fig.12c As shown, the headings of the four driving wheels 2142 are all the same and face the right front, so that the mobile robot 10 can be moved obliquely to the right front. Alternatively, it can also be understood that the headings of the four driving wheels 2142 are all the same and face the left rear, so that the mobile robot 10 can be moved obliquely to the left rear.

[0109] like Fig.12d As shown, the headings of the four driving wheels 2142 cooperate with each other, enabling the mobile robot 10 to rotate in place.

[0110] like Fig.12e As shown, the heading of the driving wheels 2142 included in the multiple wheel structures 2140 can be adjusted to enable the mobile robot 10 to perform Ackerman rotation.

[0111] like Fig.12f As shown, the heading of the driving wheels 2142 included in the multiple wheel structures 2140 can be adjusted to enable the mobile robot 10 to perform a double Ackermann rotation.

[0112] Of course, the headings of the driving wheels 2142 may be coordinated in other ways so that the mobile robot 10 has other movement modes, which will not be elaborated here.

[0113] Please refer again Figure 1 and Figure 2 In one embodiment, the mobile robot 10 further includes a control module 400, a laser radar module 500, a vision module 600, and a battery 700. The control module 400 is disposed on the bracket 100, and the control module 400 is electrically connected to the leg assembly 2100 to control the lifting and lowering actions of each leg assembly 2100. The control module 400 is also connected to the lifting device 300 to control the extension and retraction of the lifting device 300. The control module 400 is also connected to the wheel structure 2140 to control the heading and start and stop of each driving wheel 2142.

[0114] The laser radar module 500 and the vision module 600 are both disposed on the bracket 100, and are used to detect the environment around the mobile robot 10. The laser radar module 500 and the vision module 600 are electrically connected to the control module 400 to transmit the detected environmental data as map data to the control module 400, and the control module 400 can construct a map according to the map data and plan the travel path of the mobile robot 10.

[0115] The vision module 600 is disposed on the support 100, and is used to detect the environment around the mobile robot 10. The vision module 600 can identify obstacles on the surface to be moved, so as to assist the lifting and lowering of the leg assembly 2100 and achieve obstacle avoidance.

[0116] The battery 700 is disposed on the bracket 100 , and the battery 700 is used to be electrically connected to various electrical devices and components included in the mobile robot 10 to provide energy to the electrical devices and components.

[0117] In one embodiment, the control module 400 is provided with a gyroscope (not shown in the figure, the same below), which can detect various data of the mobile robot 10 itself, such as the angle data and angle change data of the mobile robot 10, the shaking of the mobile robot 10, etc.

[0118] Please continue reading Figure 1 and Figure 2 In one embodiment, the vision module 600 includes a vision sensor 610, a slide rail 620, and a slide platform 630. The vision sensor 610 is disposed on the slide platform 630, and the slide platform 630 can slide relative to the slide rail 620 to adjust the shooting position of the vision sensor 610 to ensure that the shape and size of the obstacle are fully photographed, so as to facilitate the leg assembly 2100 to cross the obstacle.

[0119] See also Figure 1 and Figure 2 In one embodiment, the mobile robot 10 further includes an expansion board 800, which is disposed on the bracket 100. Various devices and structures can be installed on the expansion board 800 according to different requirements of the mobile robot 10. For example, when the mobile robot 10 is used as a delivery robot, expansion components such as a storage bin can be installed on the expansion board 800.

[0120] See also Fig.13a The present application also provides an obstacle crossing method, which is applied to the mobile robot 10 described in each embodiment. The obstacle crossing method includes the following steps:

[0121] Step S10, obtaining obstacle information detected by the laser radar module 500 and / or the vision module 600 carried by the mobile robot 10 and the distance information between the mobile robot 10 and the obstacle, and determining the auxiliary type of the lifting device 300 based on the obstacle information.

[0122] Among them, the obstacle information refers to the obstacle information located on the walking trajectory of the mobile robot 10. The obstacle information includes whether the obstacle protrudes from the surface to be moved 30 or is recessed in the surface to be moved 30, the height of the obstacle protruding from the surface to be moved 30, and the depth of the obstacle recessed in the surface to be moved 30, etc. In the obstacle crossing method, the mobile robot 10 can be controlled to adopt different assistance types according to different obstacles.

[0123] It is understandable that for some obstacles with large horizontal fluctuations, the mobile robot 10 is usually unable to walk directly to the surface of the obstacle, or the mobile robot 10 shakes greatly when walking on the surface of the obstacle. Fig.14 The step-shaped object shown in the figure needs auxiliary support from the lifting device 300.

[0124] It is understandable that if Fig.16a and Fig.16b As shown, for some obstacles with smaller horizontal fluctuations, the obstacles can be overcome independently by each leg assembly 2100 without the support of the lifting device 300.

[0125] Step S21, if the assistance type is auxiliary support, the lifting device 300 is controlled to move so that the lifting device 300 is supported on the surface to be moved 30. That is, it can be determined whether the mobile robot 10 needs to be assisted by the lifting device 300 to overcome obstacles according to the obstacle information. If necessary, the lifting device 300 is controlled to move so as to be supported on the surface to be moved 30.

[0126] When the auxiliary type is determined to be auxiliary support, since the lifting device 300 may have been supported on the surface to be moved 30 at this time, it can be determined whether to skip the step of controlling the lifting device 300 to move so that the lifting device 300 is supported on the surface to be moved 30 according to the current support state of the lifting device 300. Fig.14 and Fig.15 As shown, when the mobile robot 10 needs to continuously use auxiliary support to cross obstacles and has crossed the first obstacle, since the lifting device 300 has been supported on the surface to be moved 30 during the first obstacle crossing, the lifting device 300 can be directly used to continue crossing the next obstacle. Of course, if the lifting device 300 is in a suspended state before the mobile robot 10 crosses the obstacle, and it is determined that auxiliary support is needed to cross the obstacle, the lifting device 300 can be controlled to move so that the lifting device 300 is supported on the surface to be moved 30 to achieve auxiliary obstacle crossing.

[0127] Step S22, according to the obstacle information and the distance information, the movement of the multiple leg assemblies 2100 is controlled, and the multiple leg assemblies 2100 are controlled to be lifted or lowered respectively in turn, and the lifting device 300 is controlled to be retracted or extended, so as to enable the mobile robot 10 to overcome obstacles.

[0128] When the multiple leg assemblies 2100 are lifted or lowered, they are supported on the moving surface 30 by the lifting device; when the lifting device 300 is retracted or extended, the leg assemblies 2100 are supported on the moving surface 30. In this way, the center of gravity of the mobile robot 10 is stabilized during the obstacle crossing process. That is to say, in step S22, the lifting device 300 and some of the leg assemblies 2100 can be alternately supported on the working surface, so that the center of gravity of the mobile robot 10 is stable when they are suspended from each other.

[0129] Step S30, if the auxiliary type is non-auxiliary support, the leg assembly 2100 is controlled to move according to the obstacle information and the distance information, and the multiple leg assemblies 2100 are controlled to be lifted or lowered in sequence, so as to enable the mobile robot 10 to cross the obstacle. For some obstacles with small horizontal fluctuations, since each leg assembly 2100 can be lifted or lowered, the leg assembly 2100 can be controlled to be gradually lifted or lowered as the mobile robot 10 walks according to the obstacle information and the distance information, so as to adapt to and walk over the undulating surface of the obstacle, so as to achieve crossing the obstacle.

[0130] In order to facilitate understanding of the various steps in the obstacle crossing process of the mobile robot 10, the types of obstacles are described below. The obstacles described in each embodiment include a rising obstacle 21 that is higher than the moving surface 30 on which the mobile robot 10 moves smoothly, and a sinking obstacle 22 that is lower than the moving surface 30. The sinking obstacle 22 may cause the mobile robot 10 to tip over, so it can hinder the smooth walking of the mobile robot 10 like the rising obstacle 21. Fig.14 As shown, an object (hereinafter referred to as an obstacle 20) protruding from the surface 30 to be moved includes both a rising obstacle 21 and a sinking obstacle 22. The mobile robot 10 needs to cross the two obstacles in order to cross the obstacle 20. When the auxiliary type is auxiliary support, the surface of the obstacle 20 can also be used as the surface 30 to be moved, that is, the mobile robot 10 can move to the surface of the obstacle 20 after crossing the first obstacle using the auxiliary support, and further use the support of the lifting device 300 on the surface of the obstacle 20 to cross the second obstacle, so as to move to the next surface 30 to be moved. The obstacle 20 can also be an object recessed in the surface 30 to be moved. In this case, the obstacle 20 includes both a sinking obstacle 22 and a rising obstacle 21. Of course, not all objects that block the movement of the mobile robot 10 include both a rising obstacle 21 and a sinking obstacle 22, such as climbing stairs or descending stairs and the like.

[0131] The following combination Fig.14 and Fig.15 The obstacle surmounting method of the mobile robot 10 when the assistance type is auxiliary support is described in detail.

[0132] See also Fig.13b Combined with Fig.14 and Fig.15 In one embodiment, the leg assembly 2100 located in the front of the mobile robot 10 in the walking direction is recorded as the front leg 2101, and the leg assembly 2100 located in the rear of the mobile robot 10 in the walking direction is recorded as the rear leg 2102, that is, the leg assembly 2100 is divided into the front leg 2101 and the rear leg 2102. The obstacle surmounting method also includes:

[0133] Step S221, determining the lifting position according to the obstacle information, the lifting position being the height position of the front legs 2101, the rear legs 2102 and the lifting device 300 when they pass over the obstacle. Thus, preparations are made for the front legs 2101, the rear legs 2102 and the lifting device 300 to pass over the obstacle respectively.

[0134] The lifting position refers to the position where the leg assembly 2100 and the lifting device 300 need to be lifted or lowered when crossing an obstacle, and the lifting position is determined by the obstacle information. It should be noted that the height position here matches the obstacle, that is, the height position includes not only the position above the surface to be moved 30, but also the position below the surface to be moved 30. When the obstacle is higher than the surface to be moved 30, each leg assembly 2100 needs to be lifted to cross the obstacle, and the lifting device 300 needs to be retracted to cross the obstacle; when the obstacle is lower than the surface to be moved 30, each leg assembly 2100 needs to be lowered to cross the obstacle, and the lifting device 300 needs to be extended to cross the obstacle.

[0135] Step S222, controlling the front legs 2101 to move to the lifting position, and controlling the rear legs 2102 to move according to the obstacle information and the distance information, so that the front legs 2101 can overcome the obstacle and move to the next surface 30 to be moved.

[0136] According to the obstacle information and the distance information, the front legs 2101 are lifted or lowered to a height position matching the obstacle. Since the front legs 2101 are suspended in the air and the rear legs 2102 are supported on the surface to be moved 30, the mobile robot 10 can move forward as a whole through the driving of the rear legs 2102, so that the front legs 2101 can pass over the obstacle and move to another surface to be moved 30. As mentioned above, the other surface to be moved 30 can be the surface of the obstacle 20, or it can be the next surface to be moved 30 after passing over the obstacle for the front legs 2101 to walk smoothly.

[0137] It should be noted that, for an obstacle 20 including both a rising obstacle 21 and a sinking obstacle 22, when the length of the obstacle 20 on the walking track of the mobile robot 10 is relatively long, the front leg 2101 can move and support on the surface to be moved 30 on the obstacle 20, so as to facilitate the obstacle crossing of the lifting device 300 and the rear leg 2102. When the length of the obstacle on the walking track of the mobile robot 10 is relatively short, and the surface to be moved 30 on the obstacle 20 is difficult to provide support force when the lifting device 300 or the rear leg 2102 is suspended in the air, the front leg 2101 can directly cross the obstacle 20 and support on the surface to be moved 30 after crossing the obstacle 20, that is, when the length of the obstacle 20 on the walking track of the mobile robot 10 is relatively short, the moving front leg 2101 can simultaneously cross the rising obstacle 21 and the sinking obstacle 22 included in the obstacle 20, so as to facilitate the obstacle crossing of the lifting device 300 and the rear leg 2102.

[0138] The size of the obstacle 20 on the walking track of the mobile robot 10 is referred to as the obstacle length. When the obstacle length is greater than a first preset value, the obstacle can be considered to be relatively long; conversely, when the obstacle length is less than the first preset value, the obstacle 20 can be considered to be relatively short. The first preset value can be determined comprehensively based on specific parameters such as the overall size of the mobile robot 10 and the size of the wheel structure 2140.

[0139] Step S223, controlling the lifting device 300 to retract or extend to the lifting position, and controlling the leg assembly 2100 to move according to the obstacle information and the distance information, so that the lifting device 300 can overcome the obstacle and move to the next moving surface 30.

[0140] At this time, since the front legs 2101 and the rear legs 2102 are both supported on the surface to be moved 30, the front legs 2101 and the rear legs 2102 can both drive the mobile robot 10 forward. It can be understood that the overall obstacle crossing of the mobile robot 10 also includes the obstacle crossing of the lifting device 300. The obstacle crossing method adopts the form of alternate support of the lifting device 300 and part of the leg assembly 2100, which can make the center of gravity of the mobile robot 10 stable during the obstacle crossing process.

[0141] Similar to the front leg 2101, when the length of the obstacle is greater than the first preset value, the lifting device 300 can be supported on the surface 30 to be moved on the obstacle 20; when the length of the obstacle is less than the first preset value, the lifting device 300 can pass over the obstacle 20 and be supported on another surface 30 to be moved after passing over the obstacle 20.

[0142] Step S224, controlling the rear legs 2102 to move to the lifting position, and controlling the front legs 2101 to move according to the obstacle information and the distance information, so that the rear legs 2102 can overcome the obstacle and move to the next surface 30 to be moved.

[0143] At this time, since the front legs 2101 are supported on the surface to be moved 30, the front legs 2101 can drive the mobile robot 10 forward.

[0144] Similarly, when the length of the obstacle is greater than the first preset value, the rear leg 2102 can be supported on the surface 30 to be moved on the obstacle 20; when the length of the obstacle is less than the first preset value, the rear leg 2102 can pass over the obstacle 20 and be supported on another surface 30 to be moved after passing over the obstacle 20.

[0145] It should be noted that when the auxiliary type is auxiliary support, the order of the leg components 2100 of the mobile robot 10 in the obstacle crossing process can be the front leg 2101, the lifting device 300 and the rear leg 2102, that is, the steps S222, S223 and S224 are executed in sequence. However, in each embodiment, the mobile robot 10 is not limited to executing the steps S222, S223 and S224 in sequence when crossing an obstacle.

[0146] For example, when the length of some obstacles is greater than the first preset value but less than the second preset value, that is, at this time, the obstacle 20 can be supported by two of the front legs 2101, the lifting device 300 and the rear legs 2102 at the same time on the surface 30 to be moved on the obstacle 20, but it is difficult for the front legs 2101, the lifting device 300 and the rear legs 2102 to support the surface 30 to be moved on the obstacle 20 at the same time. At this time, step S222 can be performed again before executing step S224. That is to say, for obstacles 20 whose length is less than the second preset value, before the rear legs 2102 cross the first obstacle, the front legs 2101 can be controlled to cross the second obstacle and move to another surface 30 to be moved, so that the rear legs 2102 can cross the first obstacle and support the surface of the obstacle 20.

[0147] It should be understood that the execution order of steps S222, S223 and S224 is not limited in each embodiment. S222, S223 and S224 can be executed accordingly based on the detected obstacle information and distance information, so that when the mobile robot 10 walks and crosses obstacles, at least two of the front legs 2101, the lifting device 300 and the rear legs 2102 are supported on the moving surface 30 to meet the requirement of a stable center of gravity of the mobile robot 10.

[0148] The drawings referred to in the description of the above embodiments all take the blocking object 20 protruding from the to-be-moved surface 30 as an example. It is understandable that the blocking object 20 is also the same when it is recessed in the to-be-moved surface 30, and will not be described in detail here.

[0149] Please refer again Fig.14 and Fig.15 In one embodiment, the angle between the first arm 3120 and the second arm 3130 in the telescopic direction of the lifting device 300 is a telescopic angle. Figure 4 and Figure 5 In the middle label β, the control of the lifting device 300 to move so that the lifting device 300 is supported on the surface to be moved 30 includes:

[0150] In step S211 , the guide seat 3112 is controlled to move toward the fixed seat 3113 , and the first arm 3120 and the second arm 3130 are driven to rotate relative to each other, so that the wheel assembly 3200 is extended to be supported on the moving surface 30 .

[0151] When the guide seat 3112 moves toward the direction approaching the fixed seat 3113, the telescopic angle between the first arm 3120 and the second arm 3130 decreases, thereby pushing the wheel assembly 3200 to extend to support on the work surface.

[0152] When the auxiliary support is no longer needed, the guide seat 3112 can be controlled to move away from the fixed seat 3113, and the first arm 3120 and the second arm 3130 can be driven to rotate relative to each other, so that the wheel assembly 3200 can be retracted to a suspended state.

[0153] In one embodiment, controlling the lifting device 300 to retract or extend to the lifting position includes:

[0154] Step S2231, controlling the guide seat 3112 to move in a direction away from the fixed seat 3113, and driving the first arm 3120 and the second arm 3130 to rotate relative to each other, so that the wheel assembly 3200 retracts to the lifting position.

[0155] Step S2232, controlling the guide seat 3112 to move toward the direction approaching the fixed seat 3113, and driving the first arm 3120 and the second arm 3130 to rotate relative to each other, so that the wheel assembly 3200 extends to the lifting position.

[0156] In the obstacle surmounting methods described in the above embodiments, the obstacle surmounting methods of the mobile robot 10 are the same for both the rising obstacle 21 and the sinking obstacle 22. Figure 1 , the angle between the leg assembly 2100 and the vertical direction is the deflection angle, and the deflection angle is Figure 1 Shown is α.

[0157] For example, combined with Fig.14 For an ascending obstacle, step S22 includes:

[0158] Step S221a, determining the lifting position according to the obstacle information, the lifting position is the height position of the front legs 2101 and the rear legs 2102 when they are lifted up when they cross the obstacle, and the height position of the lifting device 300 when they are retracted when they cross the obstacle. After determining the height position required for the front legs 2101, the rear legs 2102 and the lifting device 300 to cross the obstacle, it is convenient to move each leg assembly 2100 and the lifting device 300 to the corresponding height position in turn during the walking process of the mobile robot 10 to cross the obstacle.

[0159] Step S222a, controlling the front legs 2101 to be lifted to the lifting position, and controlling the rear legs 2102 to move according to the obstacle information and the distance information, so that the front legs 2101 can overcome the obstacle and move to another surface 30 to be moved.

[0160] As the mobile robot 10 approaches the obstacle, the deflection angle of the front leg 2101 is gradually increased, so that the front leg 2101 is in the lifting position required for it to cross the obstacle. At this time, the lifting device 300 and the rear leg 2102 are both supported on the surface to be moved 30, so the mobile robot 10 can still be stable after the front leg 2101 is lifted. It can be understood that the angular velocity of the front leg 2101 during rotation can be controlled according to the speed of the mobile robot 10, the obstacle information and the distance information, so that the front leg 2101 can be lifted to the lifting position corresponding to the front leg 2101 at least when it reaches the obstacle.

[0161] Step S223a, controlling the lifting device 300 to retract to the lifting position, and controlling the leg assembly 2100 to move according to the obstacle information and the distance information, so that the lifting device 300 can overcome the obstacle and move to the next surface 30 to be moved.

[0162] The displacement of the guide seat 3112 can be controlled to adjust the angle between the first arm 3120 and the second arm 3130 so that the lifting device 300 can be retracted to the lifting position.

[0163] Similar to step S222a, the movement speed of the guide seat 3112 can be controlled according to the speed of the mobile robot 10, obstacle information and distance information to control the lifting speed of the lifting device 300, so that the lifting device 300 can at least retract to support the moving surface 30 when reaching the obstacle.

[0164] Step S224a, controls the rear legs 2102 to be lifted to the lifting position, and controls the front legs 2101 to move according to the obstacle information and the distance information, so that the rear legs 2102 can overcome the obstacle and move to the next surface 30 to be moved.

[0165] As the hind legs 2102 approach the obstacle, the deflection angle of the hind legs 2102 is gradually increased, so that the hind legs 2102 are in the lifting position required for crossing the obstacle. At this time, the front legs 2101 and the lifting device 300 are both supported on the surface to be moved 30, so the mobile robot 10 can still be stable after the hind legs 2102 are lifted. It can be understood that the angular velocity of the hind legs 2102 during rotation can be controlled according to the speed of the mobile robot 10, the obstacle information and the distance information, so that the hind legs 2102 can be lifted to their corresponding lifting position at least when reaching the obstacle.

[0166] Combination Fig.15 For a sinking obstacle, step S22 includes:

[0167] Step S221b, determining the lifting position according to the obstacle information, the lifting position is the height position at which the front legs 2101 and the rear legs 2102 descend when crossing the obstacle, and the height position at which the lifting device 300 extends when crossing the obstacle. After determining the height position required for the front legs 2101, the rear legs 2102 and the lifting device 300 to cross the obstacle, it is convenient to move each leg assembly 2100 and the lifting device 300 to the corresponding height position in turn during the walking process of the mobile robot 10 to cross the obstacle.

[0168] Step S222b, controlling the front legs 2101 to descend to the lifting position, and controlling the rear legs 2102 to move according to the obstacle information and the distance information, so that the front legs 2101 can overcome the obstacle and move to another surface 30 to be moved.

[0169] Among them, as the mobile robot 10 approaches the sunken obstacle 22, when the front leg 2101 has not yet reached the obstacle, the front leg 2101 can remain supported on the surface to be moved 30. After the front leg 2101 reaches the obstacle, the deflection angle of the front leg 2101 is gradually reduced, so that the front leg 2101 drops to the lifting position required for its obstacle crossing. At this time, the lifting device 300 and the rear leg 2102 are both supported on the surface to be moved 30, so the mobile robot 10 can still be stable when the front leg 2101 drops. It can be understood that the angular velocity of the front leg 2101 during rotation can be controlled according to the speed of the mobile robot 10, the obstacle information and the distance information, so that the front leg 2101 can at least drop to the lifting position corresponding to the front leg 2101 before the lifting device 300 reaches the obstacle, so as to support the surface to be moved 30, and avoid the front leg 2101 and the lifting device 300 from being suspended at the same time.

[0170] Step S223b, controlling the lifting device 300 to extend to the lifting position, and controlling the leg assembly 2100 to move according to the obstacle information and the distance information, so that the lifting device 300 can overcome the obstacle and move to the next surface 30 to be moved.

[0171] The displacement of the guide seat 3112 can be controlled to adjust the angle between the first arm 3120 and the second arm 3130 so that the lifting device 300 can be extended to the lifting position.

[0172] Similar to step S222b, the angular velocity of the guide seat 3112 can be controlled according to the speed of the mobile robot 10, obstacle information and distance information to control the lifting speed of the lifting device 300, so that the lifting device 300 can be extended to support the moving surface 30 at least before the hind legs 2102 reach the obstacle, thereby avoiding the hind legs 2102 and the lifting device 300 being suspended in the air at the same time.

[0173] Step S224b, controlling the rear legs 2102 to descend to the lifting position, and controlling the front legs 2101 to move according to the obstacle information and the distance information, so that the rear legs 2102 can overcome the obstacle and move to another surface 30 to be moved.

[0174] As the mobile robot 10 approaches the obstacle, when the rear legs 2102 have not yet reached the obstacle, the rear legs 2102 can remain supported on the surface to be moved 30. When the rear legs 2102 reach the obstacle, the deflection angle of the rear legs 2102 is gradually reduced, so that the rear legs 2102 are lowered to the lifting position required for the obstacle to be overcome. At this time, the lifting device 300 and the front legs 2101 are both supported on the surface to be moved 30, so the mobile robot 10 can still be stable when the rear legs 2102 are lowered.

[0175] It can be understood that, no matter it is a rising obstacle 21 or a sinking obstacle 22, each leg assembly 2100 of the mobile robot 10 always has to go through a suspended stage and climb up or down the obstacle during the obstacle surmounting process. Therefore, in the obstacle surmounting method, the mutual support between the leg assembly 2100 and the lifting device 300 can always enable the mobile robot 10 to walk smoothly at each stage of the obstacle surmounting process.

[0176] See also Fig.16a and Fig.16b In one embodiment, when the auxiliary support type is non-auxiliary support, the obstacle surmounting method includes:

[0177] In step S31, according to the obstacle information and the distance information, any leg assembly 2100 is controlled to be lifted or lowered so as to walk on the obstacle surface, while maintaining the distance from any part of the support 100 to the moving surface 30 unchanged.

[0178] As mentioned above, the auxiliary type of non-auxiliary support is usually used for certain obstacles with small horizontal fluctuations. That is, by controlling any leg assembly 2100 to rise or fall to match the horizontal position of the obstacle protruding from the surface to be moved 30, or matching the horizontal position of the obstacle recessed in the surface to be moved 30. As a result, the center of gravity of the mobile robot 10 remains almost unchanged during the obstacle crossing process, thereby improving the stability of the movement of the mobile robot 10. In addition, at this time, any leg assembly 2100 can support the surface of the obstacle during the obstacle crossing process, so the center of gravity is stable.

[0179] like Fig.16a As shown, for example, for the obstacles 20 in which the rising obstacle 21 and the sinking obstacle 22 are sequentially arranged along the motion trajectory of the mobile robot 10, step S31 includes:

[0180] Step S311 , according to the obstacle information and the distance information, the deflection angle of the front leg 2101 is controlled to gradually increase and roll over the surface of the rising obstacle 21 to move to the next surface 30 to be moved.

[0181] Step S312, according to the obstacle information and the distance information, the deflection angle of the front leg 2101 is controlled to gradually decrease and roll over the surface of the sinking obstacle 22 to move to the next surface 30 to be moved.

[0182] Step S313, according to the obstacle information and the distance information, the deflection angle of the rear leg 2102 is controlled to gradually increase and roll over the surface of the rising obstacle 21 to move to the next surface 30 to be moved.

[0183] Step S314 , according to the obstacle information and the distance information, the deflection angle of the rear leg 2102 is controlled to gradually decrease and roll over the surface of the sunken obstacle 22 to move to the next surface 30 to be moved.

[0184] It should be understood that the order of step S312 and step S313 can be determined according to the first preset value and the second preset value, similar to when the auxiliary type is auxiliary support. Fig.16b As shown, the mobile robot 10 can execute steps S311, S313, S312 and S314 in sequence.

[0185] See also Fig.17 In one embodiment, the front legs 2101 include a left front leg 2101a and a right front leg 2101b, and the rear legs 2102 include a left rear leg 2102a and a right rear leg 2102b. When the road surface condition of the moving surface 30 is relatively complex, there will be different obstacles on the walking paths of the left front leg 2101a, the right front leg 2101b, the left rear leg 2102a, and the right rear leg 2102b. Since each leg assembly 2100 can be independently raised or lowered, each leg assembly 2100 can be raised or lowered accordingly according to the obstacle information on its corresponding track to cross the obstacle.

[0186] In one embodiment, the obstacle surmounting method further comprises:

[0187] Step S40, according to the obstacle information and the distance information, the heading of the wheel structure 2140 is controlled. Thus, the heading of the mobile robot 10 can be synchronously adjusted during the movement and obstacle crossing process of the mobile robot 10, so that the mobile robot 10 moves and crosses obstacles along the expected heading.

[0188] It can be understood that in each leg assembly 2100, the free end of the connecting rod structure 2120 is correspondingly connected to the wheel structure 2140, so each leg assembly 2100 such as the front leg 2101 and the rear leg 2102 can change the heading through the wheel structure 2140, and the heading of the wheel structure 2140 is the heading of the leg assembly 2100 corresponding to the wheel structure 2140.

[0189] For example, in step S222, i.e., during the obstacle crossing process of the front legs 2101, since the rear legs 2102 are in contact with the surface to be moved 30 at this time, the heading of the rear legs 2102 can be adjusted to adjust the overall heading of the mobile robot 10, so that the front legs 2101 can accurately move to the expected position on the surface of the obstacle 20 or the expected position on another surface to be moved 30. In addition, the heading of the front legs 2101 can also be adjusted synchronously when the front legs 2101 are suspended in the air, so that after the front legs 2101 contact the surface to be moved 30, they can cooperate with the rear legs 2102 to adjust the overall heading of the mobile robot 10.

[0190] In step S223, i.e., during the auxiliary support obstacle crossing process of the lifting device 300, when controlling the front legs 2101 and the rear legs 2102 to be lifted or lowered, the headings of the front legs 2101 and the rear legs 2102 can be synchronously adjusted, so that the lifting device 300 can accurately move to the expected position on the surface of the obstacle 20 or the expected position on another surface to be moved 30. It can be understood that when the wheel assembly 3200 of the lifting device 300 contacts the surface to be moved 30, the wheel assembly 3200 can adapt to the overall heading of the mobile robot 10 and change its own heading when subjected to the reaction of the surface to be moved 30.

[0191] In step S224, i.e., during the obstacle crossing process of the hind legs 2102, the heading of the front legs 2101 can be adjusted to adjust the overall heading of the mobile robot 10, so that the hind legs 2102 can accurately move to the expected position on the surface of the obstacle 20 or the expected position on another surface to be moved 30. Similarly, the heading of the hind legs 2102 can be synchronously adjusted when the hind legs 2102 are suspended in the air, so that after the obstacle crossing is completed, the front legs 2101 and the hind legs 2102 can cooperate with each other to jointly drive the mobile robot 10 to walk along the expected trajectory.

[0192] Of course, the same is true for non-auxiliary support. Since each leg assembly 2100 in the non-auxiliary support can contact the surface to be moved 30, each leg assembly 2100 can adjust the heading of the wheel structure 2140 of each leg assembly 2100 according to the obstacle information and distance information while adapting to lifting or adapting to lowering, so that the mobile robot 10 can walk along the expected trajectory.

[0193] In one embodiment, the obstacle surmounting method further comprises:

[0194] S50, when the lifting device 300 is suspended in the air, the wheel assembly 3200 elastically returns to the expected heading.

[0195] Therefore, after the wheel assembly 3200 is suspended in the air, its heading can be reset to the expected heading. Therefore, when the wheel assembly 3200 descends from the suspended state to be supported on the moving surface 30, the landing point of the wheel assembly 3200 is certain, which can facilitate improving the position accuracy of the mobile robot 10 during its movement.

[0196] The expected heading of the wheel assembly 3200 refers to the expected heading of the support wheel 3220. When the lifting device 300 is suspended, the support wheel 3220 is no longer in contact with the surface to be moved 30. At this time, the reset member 3231 can pull the support wheel 3220 to return to the expected heading. This arrangement makes the landing point of the support wheel 3220 after the descent certain, so as to facilitate improving the position accuracy of the mobile robot 10 during the travel process.

[0197] In one embodiment, when the mobile robot 10 normally passes on the surface to be moved 30, the lifting device 300 can be suspended to avoid interference with slight undulations on the surface to be moved 30 and hindering the normal movement of the mobile robot 10. When the mobile robot 10 is parked, the lifting device 300 can be lowered to assist in supporting the overall structure of the mobile robot 10.

[0198] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0199] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A mobile robot, characterized in that: The mobile robot comprises: Bracket; The wheel-leg device comprises a plurality of leg assemblies, wherein the plurality of leg assemblies are rotatably connected to the bracket and can be lifted or lowered relative to the bracket; A lifting device is telescopically arranged on the bracket to assist in lifting or lowering any of the leg assemblies.

2. The mobile robot according to claim 1, characterized in that: The lifting device includes a telescopic assembly and a wheel assembly, the wheel assembly is used to roll with the surface to be moved, the telescopic assembly is connected between the bracket and the wheel assembly, and when the telescopic assembly is extended or retracted, the wheel assembly is used to support the surface to be moved or be suspended relative to the surface to be moved.

3. The mobile robot according to claim 2, characterized in that: The telescopic assembly includes a driver, a first arm and a second arm, the first arm and the second arm are located between the bracket and the wheel assembly, the first arm and the second arm intersect each other and are rotatably connected at the intersection, and the driver is connected to both the first arm and the second arm for adjusting the angle between the first arm and the second arm.

4. The mobile robot according to claim 3, characterized in that: The lifting device also includes a connecting platform, the wheel assembly is arranged on the connecting platform, a limiting groove is arranged on the connecting platform, one of the first arm and the second arm is rotatably connected to the connecting platform, and the other is slidably matched with the limiting groove.

5. The mobile robot according to claim 2, characterized in that: The wheel assembly includes a support, a support wheel and a retaining structure. The support wheel is rotatably disposed on the support and can change its heading. Part of the retaining structure is elastically connected between the support wheel and the support to pull the support wheel to restore to the expected heading relative to the support when the support wheel is suspended relative to the surface to be moved.

6. The mobile robot according to claim 5, characterized in that: The support wheel is rotatably connected to the support with the heading axis as the rotation axis. The retaining structure includes a reset member and a connecting member. The connecting member is connected to the support wheel and is eccentrically arranged with respect to the heading axis. The reset member is elastically connected between the connecting member and the support to pull the support wheel to return to the expected heading relative to the support.

7. The mobile robot according to claim 1, characterized in that: The mobile robot also includes: A control module is disposed on the bracket, the control module is connected to the plurality of leg assemblies to control the lifting or lowering of the plurality of leg assemblies, and the control module is also connected to the lifting device to control the extension and retraction of the lifting device; and / or A laser radar module, disposed on the bracket, the laser radar module is used to detect the environment around the mobile robot; and / or a vision module, disposed on the bracket, and used to detect obstacles around the mobile robot; and / or The leg assembly further comprises a wheel structure, which is arranged at the free end of the leg assembly and is used for rolling cooperation with the surface to be moved.

8. The mobile robot according to claim 1, characterized in that: Any of the leg assemblies are independently connected to the bracket for rotation so as to be independently lifted or lowered; the lifting device is located in the area surrounded by a plurality of the leg assemblies.

9. An obstacle surmounting method, characterized in that: The obstacle surmounting method is applied to the mobile robot according to any one of claims 1 to 8, and the obstacle surmounting method comprises: Obtain obstacle information detected by a laser radar module and / or a visual module carried by the mobile robot and distance information between the mobile robot and the obstacle, and determine the auxiliary type of the lifting device based on the obstacle information; If the auxiliary type is auxiliary support, controlling the movement of the lifting device so that the lifting device is supported on the surface to be moved; According to the obstacle information and the distance information, the plurality of leg assemblies are controlled to move, and the plurality of leg assemblies are controlled to be lifted or lowered respectively in sequence, and the lifting device is controlled to be retracted or extended, so as to enable the mobile robot to cross obstacles; If the auxiliary type is non-auxiliary support, the movement of the leg assembly is controlled according to the obstacle information and the distance information, and the multiple leg assemblies are controlled to be lifted or lowered in turn, so as to enable the mobile robot to overcome obstacles.

10. The obstacle surmounting method according to claim 9, characterized in that: The plurality of leg assemblies are divided into front legs and rear legs. When the auxiliary type is auxiliary support, the plurality of leg assemblies are sequentially controlled to be lifted or lowered respectively and the lifting device is controlled to be retracted or extended, including: Determine a lifting position according to the obstacle information, wherein the lifting position is a height position of the front legs, the rear legs and the lifting device when they pass over the obstacle; Control the front legs to move to the lifting position, and control the rear legs to move according to the obstacle information and the distance information, so that the front legs can cross the obstacle and move to the next surface to be moved; Controlling the lifting device to retract or extend to the lifting position, and controlling the leg assembly to move according to the obstacle information and the distance information, so that the lifting device can pass the obstacle and move to the next surface to be moved; The rear legs are controlled to move to the lifting position, and the front legs are controlled to move according to the obstacle information and the distance information, so that the rear legs can cross the obstacle and move to the next surface to be moved.

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