Quadruped robot and method for operating a quadruped robot

Abstract

The application relates to the technical field of robots, and discloses a quadruped robot and a quadruped robot operation method. The quadruped robot comprises a trunk module, a vision module, a control module and four leg modules, the leg module comprises a three-joint driving assembly, a thigh assembly and a shank assembly which are drivingly connected with the three-joint driving assembly, a rigid claw portion is arranged on the inner side of a shank body of the shank assembly, a first stepping positioning area is formed between the rigid claw portion and the shank body, a flexible claw is arranged on the rigid claw portion and a second stepping positioning area is formed; the control module is configured to control the three-joint driving assembly to work according to information fed back by the vision module and torque information of the three-joint driving assembly. The application realizes ground walking, climbing a vertical ladder and the transition of walking and climbing of the quadruped robot, the climbing has high intelligentization and good passability, is suitable for an industrial inspection scene, effectively expands an inspection area, and more thoroughly eliminates safety hazards.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a quadruped robot and a method for operating the quadruped robot. Background Technology

[0002] With the rapid development of intelligent robot technology, quadruped robots are increasingly used in industrial inspection. Existing quadruped robots, through dynamic balance control algorithms, enable them to move stably in complex environments. Through multimodal intelligent perception technology, they can achieve autonomous planning and navigation in complex terrains, completing inspection work in complex industrial scenarios.

[0003] Currently, in industrial inspection scenarios, quadruped robots can walk on traditional stairs and industrial openwork stairs with an inclination angle of less than 45°. However, traditional quadruped robots cannot traverse vertical ladders. Therefore, existing technologies include quadruped robots specifically designed for vertical ladder climbing. These robots typically require manual placement on the vertical ladder before they can begin climbing and lack the ability to automatically transition to ground walking. Thus, both traditional quadruped robots and specialized ladder-climbing robots have certain functional limitations, leading to some overlooked areas during inspection operations and incomplete elimination of safety hazards. Summary of the Invention

[0004] The purpose of this application is to provide a quadruped robot and a quadruped robot operation method to solve the functional defects of existing quadruped robots that cannot climb vertical ladders and cannot automatically transition to walking on the ground, resulting in some omissions during inspection operations and incomplete elimination of safety hazards.

[0005] To achieve the above objectives, the first aspect of this application provides a quadruped robot, comprising: Torso module; Four leg modules are distributed on both sides of the torso module. Each leg module includes a three-joint drive assembly, a thigh assembly, and a calf assembly. The three-joint drive assembly is disposed on the torso module and drivenly connected to the thigh assembly. The calf assembly is pivotally disposed on the thigh assembly and drivenly connected to the three-joint drive assembly. Each calf assembly includes a calf body and a flexible claw. The calf body has an inner side and a relatively outer side. A rigid claw portion is provided on the inner side near the foot end of the calf body. A first stepping positioning area is formed between the side of the rigid claw portion near the foot end and the calf body. The flexible claw is disposed on the side of the rigid claw portion away from the foot end. A second stepping positioning area is formed between the flexible claw and the side of the rigid claw portion away from the foot end. A vision module, arranged on the torso module, is used to measure target distance information, identify environmental feature information, and plan navigation and positioning information; A control module is disposed on the torso module and configured to control the operation of the three-joint drive assembly based on target distance information, environmental feature information, navigation and positioning information, and torque information of the three-joint drive assembly.

[0006] As a further improvement to the above technical solution: In some embodiments, the visual module includes: The radar module is electrically connected to the control module and is used for planning the navigation and positioning information; The first camera module is electrically connected to the control module and is used to measure the distance information of the target object; The second camera module is electrically connected to the control module and is used for the identification of the environmental feature information.

[0007] In some embodiments, the angle formed between the side of the flexible claw near the lower leg body and the side of the rigid claw away from the foot end is an acute angle; And / or, the side of the flexible claw away from the lower leg body is inclined toward the lower leg body and the angle between the side of the flexible claw away from the lower leg body and the side of the flexible claw closer to the lower leg body is an acute angle; And / or, a first contact sensing element electrically connected to the control module is provided at the top of the angle formed by the side of the flexible claw near the lower leg body and the side of the rigid claw away from the foot end.

[0008] In some embodiments, the angle between the rigid claw portion near the foot end and the lower leg body is 80° to 92°; And / or, a second contact sensing element electrically connected to the control module is provided at the top of the angle formed between the side of the rigid claw near the foot end and the lower leg body.

[0009] In some embodiments, the four leg modules of the quadruped robot are arranged in an all-elbow configuration or an all-knee configuration.

[0010] To achieve the above objectives, a second aspect of this application provides a quadruped robot operation method, which utilizes the quadruped robot provided according to the first aspect above, the quadruped robot operation method comprising: The quadruped robot is controlled to move in ground walking mode to the first climbing waiting area below the ladder, and the quadruped robot is controlled to switch to upward climbing mode. At the same time, the position of the steps on the ladder and the distance between the steps are collected in real time. Based on the position of the steps on the ladder and the distance between the steps, the robot controls all its leg modules to climb from the ground to the ladder. Specifically, the second stepping positioning areas of the two leg modules located at the head hook onto the corresponding steps, and the first stepping positioning areas of the two leg modules located at the tail step onto the corresponding steps. Based on the position of the steps on the ladder and the distance between the steps, the four leg modules are controlled to climb alternately, ensuring that at least three leg modules remain in contact with the steps during the climbing process; Once the quadruped robot has passed the top of the ladder and all four leg modules have contacted the top platform located at the top of the ladder, the quadruped robot is controlled to switch to the ground walking mode for movement.

[0011] As a further improvement to the above technical solution: In some embodiments, the quadruped robot operation method further includes: During the climbing of the ladder, when the lower leg assembly of the quadruped robot is not hooked onto or stepped on the step bar, the driving torque M provided by the three-joint drive assembly to the lower leg assembly is... a1 The driving torque given to the thigh assembly is M b1 When the lower leg assembly hooks onto or steps on the pedal, the three-joint drive assembly provides a drive torque M to the lower leg assembly. a2 The driving torque given to the thigh assembly is M b2 The critical torques of the lower leg assembly and the thigh assembly are set to M respectively. a0 and M b0 Satisfy, M a0 >M a1 M b0 >M b1 ; When the lower leg assembly hooks onto the pedal and / or steps on the pedal, determine M. a2 Is it greater than M? a0 , and M b2 Is it greater than M? b0 ; In satisfying M a2 Greater than M a0 , and M b2 Greater than M b0 In this case, begin climbing; otherwise, adjust the posture of the leg module (100) so that the lower leg assembly (110) is in reliable contact with the step bar (11) until M is satisfied. a2 >M a0 , and Mb2 >M b0 .

[0012] In some embodiments, controlling all the leg modules of the quadruped robot to climb from the ground to the ladder based on the position of the steps on the ladder and the distance information between the steps includes: The two leg modules located at the head are controlled to perform leg lifting actions in sequence. By controlling the thigh component and the calf component to rotate to the corresponding angle, the second step positioning area hooks the corresponding pedal. The two leg modules located at the tail end are controlled to move closer to the ladder. When the two leg modules located at the tail end move to the predetermined position, the two leg modules located at the tail end are controlled to perform a leg lifting action in sequence. By controlling the thigh component and the calf component to rotate to the corresponding angle, the first step positioning area steps on the corresponding foot bar.

[0013] In some embodiments, controlling the four leg modules to climb alternately based on the position of the steps on the ladder and the distance information between the steps, while ensuring that at least three of the leg modules remain in contact with the steps during the climbing process, further includes: When the vision module detects an obstacle on the ladder, it acquires the position information of the obstacle on the ladder and the parameter information of the obstacle itself, including the width data, height data and length data of the obstacle. The height and length data of the obstacle are compared with the maximum crossing distance of the quadruped robot and the distance between the torso module and the ladder when crossing the current obstacle. If the maximum crossing distance of the quadruped robot is greater than the length data of the obstacle, and the distance between the torso module and the ladder when crossing the current obstacle is greater than the height data of the obstacle, the rotation angle of the thigh component and the lower leg component in the leg module is adjusted to overcome the obstacle. And / or, based on the location information and width data of the obstacle, determine the maximum passage distance from the obstacle to the side of the ladder, compare the passage distance with the width of the quadruped robot, and if the maximum passage distance is greater than the width of the quadruped robot, adjust the lateral swing angle of the hip joint by controlling the three-joint drive assembly to perform lateral movement to avoid the obstacle.

[0014] In some embodiments, the quadruped robot operation method further includes: The quadruped robot is controlled to move backward in ground walking mode to the second climbing waiting area at the top of the ladder, and the quadruped robot is controlled to switch to downward climbing mode. At the same time, the position of the steps on the ladder and the distance between the steps are collected in real time. The quadruped robot is controlled to return to the first climbing waiting area by moving backward along the original route of the upward climbing mode.

[0015] Compared with the prior art, the quadruped robot and its operation method provided in this application have at least the following beneficial effects: The quadruped robot provided in this application includes a torso module, a vision module, a control module, and four leg modules. The vision module is arranged on the torso module and is used to measure the distance information of target objects, identify environmental feature information, and plan navigation and positioning information. In each leg module, the rigid claw portion near the foot forms a first stepping positioning area between itself and the leg body. A flexible claw is provided on the side of the rigid claw portion away from the foot, and a second stepping positioning area is formed between the flexible claw and the side of the rigid claw portion away from the foot. During the quadruped robot's climbing of a vertical ladder, the second stepping positioning area in the leg module located at the head of the quadruped robot can hook onto the ladder's steps, and the first stepping positioning area in the leg module located at the tail of the quadruped robot can step onto the ladder's steps. When the pedal is "hooked" by the second foot positioning area, it engages between the flexible claw and the rigid claw. The elastic deformation of the flexible claw allows the second foot positioning area to adaptively conform to the pedal, increasing the contact area. The flexibility of the claw itself greatly enhances the friction between the pedal and the flexible claw, thereby improving contact stability, effectively preventing disengagement, and avoiding the risk of tipping over. When the pedal is "stepped" by the first foot positioning area, it is positioned between the rigid claw and the lower leg body. On the one hand, the pedal provides the support required for climbing the ladder for the entire leg module; on the other hand, the pedal positions the lower leg body, preventing it from slipping and coming off.

[0016] Thus, the quadruped robot provided in this application, through its control module, controls the rotation of the thigh and lower leg components in each leg module based on target distance information, environmental feature information, navigation and positioning information, and torque information of the three-joint drive components. This coordinates the quadruped robot's walking on the ground (foot contact with the ground), climbing vertical ladders, and the transition between walking and climbing, improving the intelligence of the climbing process and eliminating the need for manual remote control. Furthermore, the design of the first and second stepping positioning areas on the lower leg ensures the quadruped robot remains stably on the vertical ladder during climbing, thereby improving its mobility and suitability for industrial inspection scenarios. The quadruped robot's ladder-climbing ability effectively expands the inspection area, allowing for more thorough elimination of safety hazards.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 A three-dimensional structural diagram of a quadruped robot in a ground walking state, provided for an embodiment of this application; Figure 2 A schematic diagram of the control system modules in the quadruped robot provided in this application embodiment; Figure 3 A three-dimensional structural diagram of the leg module in a quadruped robot provided in an embodiment of this application; Figure 4 for Figure 3 A schematic diagram of the structure of a lower leg component in the leg module shown; Figure 5 for Figure 4 A schematic diagram of the lower leg component stepping on the pedal in the leg module shown; Figure 6 A schematic diagram of a quadruped robot climbing a vertical ladder, as provided in an embodiment of this application; Figure 7 for Figure 4 The diagram shows the structure of the lower leg component hooking onto the circular footrest in the leg module. Figure 8 for Figure 4 The diagram shows the structure of the lower leg component hooking onto the square foot bar in the leg module shown. Figure 9 A flowchart illustrating a quadruped robot operation method provided in this application embodiment; Figure 10 A schematic diagram illustrating a state in which a quadruped robot begins to climb a vertical ladder, as provided in an embodiment of this application. Figure 11 A schematic diagram of force analysis of a quadruped robot climbing a ladder, provided in an embodiment of this application; Figure 12 This is a schematic diagram illustrating a state of a quadruped robot climbing over the top of a ladder, as provided in an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures 10. Ladder; 11. Step; 20. Top platform; 100. Leg module; 110. Lower leg assembly; 110a. First pedal positioning area; 110b. Second pedal positioning area; 111. Lower leg body; 111a. Inner side; 111b. Outer side; 1111. Rigid claw part; 1112. Foot end; 112. Flexible claw; 120. Three-joint drive assembly; 130. Thigh assembly; 200. Torso module; 210. Head; 220. Tail; 300. Vision module; 310. Radar module; 320. First camera module; 330. Second camera module; 400. Control module. Detailed Implementation

[0020] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0021] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0022] On the one hand, please refer to Figure 1 and Figure 2 This embodiment provides a quadruped robot that can climb a vertically arranged ladder 10 (hereinafter also referred to as ladder 10), and the quadruped robot also has the ability to walk on the ground.

[0023] The quadruped robot provided in this embodiment includes a torso module 200, a vision module 300, a control module 400, and four leg modules 100. Two leg modules 100 are distributed on each side of the torso module 200. Specifically, there is one leg module 100 on each side of the head 210 position of the torso module 200, which can be defined as the left foreleg (LF) and right foreleg (RF), respectively; and one leg module 100 on each side of the tail 220 position of the torso module 200, which can be defined as the left hind leg (LH) and right hind leg (RH), respectively.

[0024] The four leg modules 100 in the quadruped robot adopt either an elbow-type or knee-type layout, thus ensuring that the structure and arrangement of the four leg modules 100 are consistent.

[0025] Please see Figure 3 , Figure 4 and Figure 5To more clearly describe the technical solution of this application, this embodiment describes one of the four leg modules 100. Each leg module 100 includes a three-joint drive assembly 120, a thigh assembly 130, and a lower leg assembly 110. The three-joint drive assembly 120 is disposed on the torso module 200 and drivenly connected to the thigh assembly 130. The lower leg assembly 110 is pivotally disposed on the thigh assembly 130 and drivenly connected to the three-joint drive assembly 120. The lower leg assembly 110 includes a lower leg body 111 and a flexible claw 112. The lower leg body 111 has an inner side 111a and a corresponding outer side 111b (e.g., ...). Figure 4 As shown), a rigid claw portion 1111 is provided on the inner side 111a near the foot end 1112 of the lower leg body 111. A first stepping positioning area 110a is formed between the side of the rigid claw portion 1111 near the foot end 1112 and the lower leg body 111. A flexible claw 112 is provided on the side of the rigid claw portion 1111 away from the foot end 1112. A second stepping positioning area 110b is formed between the flexible claw 112 and the side of the rigid claw portion 1111 away from the foot end 1112.

[0026] Please see Figure 1 and Figure 2 A vision module 300 is mounted on the torso module 200. The vision module 300 is used to measure target distance information, identify environmental feature information, and plan navigation and positioning information. A control module 400 is mounted on the torso module 200 and configured to control the operation of the three-joint drive assembly 120 based on the target distance information, environmental feature information, navigation and positioning information, and torque information of the three-joint drive assembly 120.

[0027] Specifically, when the three-joint drive assembly 120 is working, it can drive the quadruped robot's thigh assembly 130 and lower leg assembly 110 to rotate relative to each other, and it can also drive the quadruped robot's hip joint to swing laterally (e.g., Figure 3 (as described).

[0028] Please see Figures 1 to 6 It is understood that when the quadruped robot provided in this embodiment walks on the ground, it does so through the foot tips 1112 of its four leg modules 100 contacting the ground (e.g., Figure 1As shown), the corresponding leg module 100 is then driven by the three-joint drive assembly 120 to move forward, backward, and laterally. During the process of the quadruped robot climbing the vertical ladder 10, the second stepping positioning area 110b in the leg module 100 located at the head 210 of the quadruped robot can hook onto the step bar 11 of the ladder 10, which is equivalent to the "grabbing" action when a person climbs the ladder 10; the first stepping positioning area 110a in the leg module 100 located at the tail 220 of the quadruped robot can step on the step bar 11 of the ladder 10. When the pedal 11 is "hooked" by the second foot positioning area 110b, the pedal 11 is engaged between the flexible claw 112 and the rigid claw part 1111. The elastic deformation of the flexible claw 112 allows the second foot positioning area 110b to adaptively conform to the pedal 11, increasing the contact area. The flexibility of the flexible claw 112 itself greatly increases the friction between it and the pedal 11, thereby improving the stability of the contact, effectively preventing disengagement, and avoiding the risk of tipping over. When the pedal 11 is "stepped" by the first foot positioning area 110a, the pedal 11 is positioned between the rigid claw part 1111 and the lower leg body 111. On the one hand, the pedal 11 provides the support force required by the ladder 10 for the entire leg module 100. On the other hand, the pedal 11 positions the lower leg body 111 to prevent it from slipping and coming off.

[0029] Thus, the quadruped robot provided in this embodiment, through the control module 400, controls the three-joint drive component 120 in each leg module 100 to drive the thigh component 130 and the lower leg component 110 to rotate based on the target distance information, environmental feature information, navigation and positioning information, and torque information of the three-joint drive component 120. This coordinates the quadruped robot's walking on the ground (foot tip 1112 contacts the ground), climbing the vertical ladder 10, and the transition between walking on the ground and climbing, improving the intelligence level of the climbing process and eliminating the need for manual remote control.

[0030] In addition, the design of the first stepping positioning area 110a and the second stepping positioning area 110b on the lower leg body 111 during the climbing process can ensure that the quadruped robot can stably stay on the vertical ladder 10 for climbing, thereby improving the quadruped robot's passability and making it suitable for industrial inspection scenarios. The climbing ability of the quadruped robot can effectively expand the inspection area and eliminate safety hazards more thoroughly.

[0031] It should be noted that in the same leg module 100, the first pedal positioning area 110a and the second pedal positioning area 110b do not contact the pedal 11 at the same time.

[0032] To more clearly describe the technical solution of this application, the quadruped robot provided in this embodiment will be described in detail below. Specifically: Please see Figure 1 and Figure 2 In this embodiment, the vision module 300 includes a radar module 310, a first camera module 320, and a second camera module 330. Specifically, the radar module 310, the first camera module 320, and the second camera module 330, electrically connected to the control module 400, are respectively arranged at the head 210 position of the torso module 200. The radar module 310 is used for planning navigation and positioning information, such as long-distance positioning navigation and obstacle avoidance, to achieve rapid arrival at a designated location during inspection. The first camera module 320 is used for measuring target distance information, such as for fine terrain perception and close-range obstacle avoidance, determining the accurate position of the steps 11 on the ladder 10, the distance between the steps 11, and the position of obstacles. The second camera module 330 is used for identifying environmental feature information, such as for large-scale environmental feature assisted identification, to locate the ladder 10 during inspection operations.

[0033] Furthermore, a first camera module 320 and a second camera module 330 can be arranged at the tail 220 position of the torso module 200 to facilitate the quadruped robot walking backward.

[0034] In some embodiments, the radar module 310 is selected as a lidar module 310; the first camera module 320 is a depth camera; and the second camera module 330 is an optical camera, wherein the optical camera may be selected as a fisheye camera.

[0035] Please see Figure 4 and Figure 7 In this embodiment, the second foot positioning area 110b has a "V" shaped structure, with its opening side facing the lower leg body 111. Specifically, the angle formed between the side of the flexible claw 112 near the lower leg body 111 and the side of the rigid claw portion 1111 away from the foot end 1112 (e.g., Figure 7 (C1 is used as an example) is an acute angle.

[0036] In some embodiments, the angle formed between the side of the flexible claw 112 near the lower leg body 111 and the side of the rigid claw portion 1111 away from the foot end 1112 is 60° to 90° (excluding 90°).

[0037] Optionally, the angle formed between the side of the flexible claw 112 near the lower leg body 111 and the side of the rigid claw portion 1111 away from the foot end 1112 can also be designed to be 61.5°, 64.5°, 66.2°, 69°, 70.8°, 74.5°, 75.9°, 77.7°, 78.5°, 81.4°, 84.6°, 86.4°, 87.8°, 88.1°, 89.1°, etc. It should be understood that the above are merely illustrative examples and should not be construed as limiting the scope of protection of this application.

[0038] Please see Figure 7Furthermore, the angle formed by the side of the flexible claw 112 near the lower leg body 111 and the side of the rigid claw portion 1111 away from the foot end 1112 is defined as follows: The diameter of the climbing pole 11 is D, and the side length of the flexible claw 112 near the lower leg body 111 is L, where L satisfies: This ensures that the side length of the flexible claw 112 closest to the lower leg body 111 is sufficient to limit the contact with the step bar 11, preventing it from coming off and thus ensuring stability during climbing.

[0039] It should be noted that the maximum diameter D of the step bar in the ladder design standard GB4053.1-2009 is... max The diameter is 35mm. Therefore, to ensure that the second foot positioning area 110b can reliably engage the pedal 11, the diameter D of the climbing pedal 11 in the above formula is taken as D... max ,in, .

[0040] Of course, please refer to the following as well. Figure 7 and Figure 8 The cross-sectional shape of the pedal 11 is not limited to a circle; it can also be rectangular. When the pedal 11 is a rectangular bar and does not fit tightly against the two sides of the second pedal positioning area 110b, the flexible claw 112 can deform under the action of force, making the pedal 11 fit more firmly into the second pedal positioning area 110b.

[0041] In this embodiment, the side of the flexible claw 112 away from the lower leg body 111 is inclined toward the lower leg body 111, and the angle between the side of the flexible claw 112 away from the lower leg body 111 and the side of the flexible claw 112 closer to the lower leg body 111 is an acute angle. This ensures that the flexible claw 112 avoids contact and interference with the step bar 11 on the ladder 10 during the movement of the lower leg body 111.

[0042] In some embodiments, a first contact sensing element electrically connected to the control module 400 is provided at the top of the angle formed by the side of the flexible claw 112 near the lower leg body 111 and the side of the rigid claw portion 1111 away from the foot end 1112. Thus, when the first contact sensing element contacts the pedal 11, the first contact sensing element will feed back a sensing signal to the control module 400. The control module 400 can determine from the feedback signal that the second pedal positioning area 110b "hooks" the pedal 11 (i.e., the lower leg body 111 is in contact with the pedal 11). When the lower leg body 111 is lifted and separated from the pedal 11, the first contact sensing element feeds back an empty signal to the control module 400.

[0043] In some embodiments, the flexible claw 112 is made entirely of hard rubber material, but other colloidal materials with a certain degree of hardness and good wear resistance can also be selected.

[0044] In other embodiments, the flexible claw 112 includes a skeleton body and a soft layer attached to the skeleton body. For example, the soft layer is attached to the skeleton body by secondary casting, or it is subsequently bonded or clamped onto the skeleton body. The soft layer is made of hard rubber, and the skeleton body can be a metal skeleton or a plastic skeleton.

[0045] In some embodiments, the flexible claw 112 and the rigid claw portion 1111 are integrally formed or detachably connected. The integral formation can be achieved using a secondary casting process, while the detachable connection can be achieved through screw connection, bolt connection, riveting, or snap-fit, among other methods.

[0046] Please see Figure 4 , Figure 5 and Figure 7 The aforementioned first foot positioning area 110a is also constructed in a "V" shape. The rigid claw portion 1111 has a smooth transition surface between its side near the foot end 1112 and the lower leg body 111. This allows for two main benefits: firstly, it enables the first foot positioning area 110a to quickly engage the pedal 11, positioning the pedal 11 at the apex of the "V"-shaped structure of the first foot positioning area 110a, thus achieving rapid positioning; secondly, it reduces stress concentration at the corner, enhancing the structural strength between the rigid claw portion 1111 and the lower leg body 111.

[0047] In some embodiments, the angle between the rigid claw portion 1111 near the foot end 1112 and the lower leg body 111 (e.g.) Figure 7 (As shown in the diagram via C2) The angle is 80° to 92°. This setting ensures that the first step positioning area 110a formed between the rigid gripper and the lower leg body 111 can stably "step" on the pedal 11. If the angle is too large, the pedal 11 is likely to slip out of the first step positioning area 110a, failing to stably hold the pedal 11, causing the lower leg body 111 to miss the step; if the angle is too small, the lower leg body 111 is likely to interfere with the pedal 11 during movement, thereby increasing the probability of collision.

[0048] In other embodiments, the angle between the rigid claw portion 1111 near the foot end 1112 and the lower leg body 111 can be selected as 80.5°, 81.7°, 82.8°, 83.6°, 84.5°, 85.6°, 86.7°, 86.9°, 87°, 87.2°, 88°, 88.4°, 90.5°, 90.7°, 91.2°, 91.5°, 91.9°, etc. It should be understood that the above are merely illustrative examples and should not be construed as limiting the scope of protection of this application.

[0049] In this embodiment, the angle between the rigid claw portion 1111 near the foot end 1112 and the lower leg body 111 is set to a right angle. When the lower leg body 111 "steps" on the pedal 11, the pedal 11 is located at a right angle to the first stepping positioning area 110a.

[0050] Furthermore, a smooth transition surface is provided between the rigid claw portion 1111 on the side away from the foot end 1112 and the lower leg body 111 to reduce stress distribution and improve the structural strength of the entire lower leg body 111.

[0051] In some embodiments, a second contact sensing element electrically connected to the control module 400 is provided at the top of the angle formed between the rigid claw portion 1111 near the foot end 1112 and the lower leg body 111. Thus, when the second contact sensing element contacts the pedal 11, it sends a sensing signal to the control module 400. Based on this feedback signal, the control module 400 can determine that the first pedal positioning area 110a is "stepping" on the pedal 11 (i.e., the lower leg body 111 is in contact with the pedal 11). When the lower leg body 111 is lifted and separated from the pedal 11, the second contact sensing element sends an empty signal to the control module 400.

[0052] Optionally, the first and second contact sensing elements may be pressure sensors, pressure strain gauges, micro switches, or contact switches, etc. It should be understood that the above are merely illustrative examples and should not be construed as limiting the scope of protection of this application.

[0053] In this embodiment, the leg module 100 also includes a thigh assembly 130, the knee joint of which is hinged to the end of the lower leg body 111 away from the foot end 1112.

[0054] Furthermore, the leg module 100 also includes a three-joint module, which is typically mounted on the torso of the quadruped robot. The three-joint module is driven and connected to the thigh assembly 130 and the lower leg assembly 110, respectively. Thus, the three-joint module directly drives the thigh assembly 130 to rotate via a motor, and drives the lower leg assembly 110 to rotate via a motor and linkage mechanism. The three-joint module can also drive the lateral movement of the quadruped robot's hip joint. By coordinating the work of the three-joint module, the quadruped robot's walking or climbing of the vertical ladder 10 can be controlled.

[0055] Please see Figure 1 , Figure 9 , Figure 10 , Figure 11 and Figure 12 On the other hand, this embodiment also provides a quadruped robot, which utilizes the quadruped robot provided according to the above embodiment. The quadruped robot includes the following steps: S100: Control the quadruped robot to move in ground walking mode to the first climbing waiting area below the ladder 10, and control the quadruped robot to switch to upward climbing mode. At the same time, collect the position of the steps 11 on the ladder 10 and the distance between the steps 11 in real time.

[0056] Specifically, before starting the operation, the quadruped robot is guided and positioned by LiDAR, and then walks along the planned route to identify the equipment that needs to be inspected and identified, such as the pressure gauge on the top of the rooftop water tank. The fisheye camera and depth camera determine the position and route of the rooftop ladder 10, and feed it back to the control module 400. The control module 400 then drives the quadruped robot to walk to the first climbing waiting area below the ladder 10, and waits for the ladder 10.

[0057] While waiting for the ladder 10, the depth camera located on the head 210 of the quadruped robot determines the position of the step bar 11 on the ladder 10 and the distance information between the step bars 11, and feeds it back to the control module 400.

[0058] S200: Based on the position of the step bar 11 on the ladder 10 and the distance between the step bars 11, control all the leg modules 100 of the quadruped robot to climb from the ground to the ladder 10. Among them, the second stepping positioning area 110b of the two leg modules 100 located at the head 210 hooks the corresponding step bar 11, and the first stepping positioning area 110a of the two leg modules 100 located at the tail 220 steps on the corresponding step bar 11.

[0059] S300: Based on the position of the steps 11 on the ladder 10 and the distance between the steps 11, control the four leg modules 100 to climb alternately, ensuring that at least three leg modules 100 remain in contact with the steps 11 during the climbing process.

[0060] S400: When the quadruped robot passes the top of the ladder 10 and all four leg modules 100 are in contact with the top platform 20 located at the top of the ladder 10, control the quadruped robot to switch to ground walking mode for movement.

[0061] Please refer to the following: Figure 12 In step S400, the two leg modules 100 (left front leg and right front leg) of the quadruped robot located at the head 210 contact the ground of the top platform 20 one after another. The three-joint drive module drives the left front leg and right front leg to move forward continuously. Using the friction and reaction force of the ground on the foot end 1112, the whole machine moves forward. When the center of gravity passes the step bar 11 at the top of the ladder 10 in the horizontal direction, the two hind legs (left hind leg and right hind leg) then climb onto the roof in turn.

[0062] Please see Figure 3 , Figure 4 , Figure 5 and Figure 6 Furthermore, during the climbing of the ladder 10, when the lower leg assembly 110 of the quadruped robot fails to hook onto or step on the step bar 11, the three-joint drive assembly 120 provides a driving torque M to the lower leg assembly 110. a1 The thigh assembly is given a drive torque of M130. b1 When the lower leg assembly 110 hooks onto or steps on the pedal 11, the three-joint drive assembly 120 provides a drive torque M to the lower leg assembly 110. a2 The drive torque given to the thigh assembly is 130 M. b2 In this embodiment, the critical torques (maximum torque of the leg module 100 under no load) for the lower leg assembly 110 and the thigh assembly 130 are set to M respectively. a0 and M b0 Where M satisfies: a0 >M a1 M b0 >M b1 .

[0063] Thus, in steps S200 and / or S300 above, the quadruped robot further includes: When the lower leg assembly 110 hooks onto the pedal 11 and / or steps on the pedal 11, determine M. a2 Is it greater than M? a0 , and M b2 Is it greater than M? b0 ; in satisfying M a2 Greater than M a0 , and M b2 Greater than M b0 In the case of (i.e. M) a2 >M a0 M b2 >M b0 (If both conditions are met), begin climbing.

[0064] It should be noted that when the lower leg assembly 110 initially rests on the pedal 11, it does not establish substantial and reliable contact with the pedal 11. In other words, there is no load on the lower leg assembly 110, and the aforementioned M cannot be satisfied at this time. a2 >M a0 M b2 >M b0 conditions.

[0065] Thus, if the above M is not satisfied... a2 >M a0 M b2 >M b0 Under certain conditions, the posture of the leg module 100 needs to be adjusted to ensure reliable contact between the lower leg assembly 110 and the pedal 11, until M is satisfied. a2 >Ma0 M b2 >M b0 This is to ensure that the quadruped robot maintains a stable stress state during climbing, preventing it from tipping over or making ineffective contact.

[0066] It is understood that the posture adjustment of the leg module 100 can be achieved by controlling the rotation angle of the thigh component 130 and the lower leg component 110 through the three-joint drive component 120. When the lower leg component 110 hooks onto and / or steps on the pedal 11, i.e., when a substantial and reliable contact is established, the lower leg component 110 will experience resistance from the pedal 11 (i.e., a load exists). The displacement, speed, and current of the leg module 100 will all change, with the feedback current increasing and the output torque increasing. In this embodiment, the torque is used to determine whether a reliable contact has been established between the lower leg component 110 and the pedal 11, which can effectively compensate for the errors in the detection of the vision module 300 and improve the reliability of climbing.

[0067] Please see Figure 3 , Figure 4 , Figure 9 and Figure 10 The above step S200: Based on the position of the steps 11 on the ladder 10 and the distance information between the steps 11, controlling all the leg modules 100 of the quadruped robot to climb from the ground to the ladder 10 includes: S210: Control the two leg modules 100 located at the head 210 to sequentially perform leg lifting actions. By controlling the thigh component 130 and the calf component 110 to rotate to the corresponding angle, the second pedal positioning area 110b hooks onto the corresponding pedal 11. The two leg modules 100 located at the head 210 can hook onto the same level pedal 11 or hook onto two adjacent pedals 11, and there needs to be reserved space below for the two leg modules 100 located at the tail 220 to step on the pedals 11.

[0068] S220: Control the two leg modules 100 located at the tail 220 to move closer to the ladder 10. When the two leg modules 100 located at the tail 220 move to the predetermined position, control the two leg modules 100 located at the tail 220 to sequentially perform leg lifting actions. By controlling the thigh component 130 and the lower leg component 110 to rotate to the corresponding angle, the first stepping positioning area 110a steps on the corresponding foot bar 11. The designated position can be set according to the maximum span of the leg module 100, which can be characterized by the distance between the leg module 100 and the ladder 10. Of course, the two leg modules 100 located at the tail 220 can hook onto the same level foot bar 11, or they can hook onto two adjacent foot bars 11.

[0069] In step S300 above, during the climbing process of ladder 10, the control module 400 controls the four leg modules 100 to move upward in the order of left hind leg (LH), left front leg (LF), right hind leg (RH), and right front leg (RF). During the climbing process, all three legs must maintain contact with the steps 11 on ladder 10. Please refer to the gait cycle diagram of ladder 10. The horizontal axis in the diagram represents four cycles: 0-25% is one cycle, during which RF, LF, and RH are in contact with the steps 11; 25%-50% is another cycle, during which RF, RH, and LH are in contact with the steps 11.

[0070] Please refer to the following: Figure 10 and Figure 11 Furthermore, force analysis is performed on any state during the quadruped robot's vertical climbing process on ladder 10. In this state: both the left front leg (LF) and the right front leg (RF) are in contact with the step bar 11, with the left front leg (LF) positioned above the right front leg (RF); the left hind leg (LH) is positioned above the right hind leg (RH), with the right hind leg (RH) in contact with the step bar 11, while the left hind leg (LH) is not in contact with the step bar 11. The force exerted by pedal 11 on the left front leg (LF) can be decomposed into an upward vertical force F1 and a horizontal force F4. The force exerted by pedal 11 on the right front leg (RF) can be decomposed into an upward vertical force F2 and a horizontal force F5. The force exerted by pedal 11 on the right hind leg (RH) is a supporting force, upward vertically, F3. The distance between pedals 11 that contact the left front leg (LF) and the right hind leg (RH) is L1. The distance between pedals 11 that contact the right front leg (RF) and the right hind leg (RH) is L2. The weight of the entire quadruped robot on the ladder 10 is G, and the vertical distance from the center of the quadruped robot's torso to the ladder 10 in this state is L3. Detailed analysis follows: Based on the state described above, calculating the moment when the bottom of the right hind leg (RH) touches the step bar 11 of ladder 10, we can obtain the following from the equilibrium equation: G·L3-F4·L1- F5·L2=0(1); G = F1 + F2 + F3 (2); According to the above formulas (1) and (2), it can be concluded that the reaction force of the flexible claw 112 of the step bar 11 on the front leg (left front leg or right front leg) is balanced with the overturning torque generated by gravity, so that the quadruped robot will not fall over and can climb upwards smoothly.

[0071] In step S300 above: based on the position of the steps 11 on the ladder 10 and the distance information between the steps 11, controlling the four leg modules 100 to climb alternately, and ensuring that at least three leg modules 100 remain in contact with the steps 11 during the climbing process also includes: S310: When the vision module 300 detects an obstacle on the ladder 10, it acquires the position information of the obstacle on the ladder 10 and the parameter information of the obstacle itself, including the width data, height data and length data of the obstacle.

[0072] S320: Compare the height and length data of the obstacle with the maximum crossing distance of the quadruped robot and the distance between the torso module 200 and the ladder 10 when crossing the current obstacle. If the maximum crossing distance of the quadruped robot is greater than the length data of the obstacle, and the distance between the torso module 200 and the ladder 10 when crossing the current obstacle is greater than the height data of the obstacle, adjust the rotation angle of the thigh component 130 and the lower leg component 110 in the leg module 100 to overcome the obstacle. And / or, based on the obstacle's location information and width data, determine the maximum passage distance from the obstacle to the side of the ladder 10, compare the passage distance with the width of the quadruped robot, and if the maximum passage distance is greater than the width of the quadruped robot, adjust the lateral swing angle of the hip joint by controlling the three-joint drive assembly 120 to perform lateral movement to avoid the obstacle.

[0073] It should be noted that the above describes two obstacle avoidance methods: obstacle crossing and lateral movement. Both methods are used in this embodiment. When obstacle crossing is not possible, the robot switches to lateral movement. When lateral movement is also not possible, the robot can switch to obstacle crossing. In this embodiment, the two methods do not have a priority distinction; the specific method can be set according to the actual situation. Of course, if neither method can avoid the obstacle, the quadruped robot will issue an alarm signal, indicating that obstacle avoidance is impossible, to inform the operator to clear the obstacle or change the route.

[0074] In this embodiment, the quadruped robot also possesses the ability to move backward and return along the same path. Thus, the quadruped robot further includes the following steps: S500: Control the quadruped robot to move backward in ground walking mode to the second climbing waiting area at the top of the ladder 10, and control the quadruped robot to switch to downward climbing mode. At the same time, collect the position information of the steps 11 on the ladder 10 and the distance information between the steps 11 in real time. At this time, the first camera module 320 and the second camera module 330 located at the tail 220 can collect the position information of the steps 11 on the ladder 10 and the distance information between the steps 11 in real time.

[0075] S600: Controls the quadruped robot to return to the first climbing waiting area by moving backward along the original route of the upward climbing mode.

[0076] Compared with the prior art, this embodiment also has the following advantages: (1) This embodiment combines the multi-degree-of-freedom and flexibility of the quadruped robot's legs, solving the problem that traditional inspection robots can only walk on the ground and cannot climb the ladder 10 vertically, eliminating blind spots in inspection and increasing the inspection range.

[0077] (2) The specific structure of the lower leg assembly 110 provided in this embodiment, by combining rigid claws and flexible claws 112, enables the quadruped robot to complete the climbing action of "hooking" and "stepping" on the vertical ladder 10, thereby improving the working performance of the legs; by changing the output torque of the motor in the three-joint drive module, the state of the lower leg assembly 110 and the step bar 11 can be quickly determined, making the operation more reliable.

[0078] (3) In this embodiment, through the coordinated operation of the vision module 300 and the control module 400, the legs can be accurately positioned on the step bar 11, and the distance information between the step bars 11 can be determined, thereby improving the intelligence level of the climbing process of the ladder 10 and eliminating the need for manual remote control operation. At the same time, it has an obstacle avoidance function, which can achieve accurate obstacle avoidance during the climbing process of the ladder 10, thus improving safety performance.

[0079] It should be noted that, in this application, unless otherwise stated, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" used to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0080] The three-joint module and the driving methods of the three-joint module with the thigh assembly 130 and the calf assembly 110 described above are well known to those skilled in the art and are not part of the core improvements of this application, so they will not be described again here. The control module 400 can be a PLC controller.

[0081] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0082] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0084] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A quadruped robot, characterized in that, include: Torso module (200); Four leg modules (100) are distributed on both sides of the torso module (200). Each leg module (100) includes a three-joint drive assembly (120), a thigh assembly (130), and a lower leg assembly (110). The three-joint drive assembly (120) is disposed on the torso module (200) and drivenly connected to the thigh assembly (130). The lower leg assembly (110) is pivotally disposed on the thigh assembly (130) and drivenly connected to the three-joint drive assembly (120). The lower leg assembly (110) includes a lower leg body (111) and a flexible claw (112). The lower leg body (111) has an inner side ( 111a) and the opposite outer side (111b), the inner side (111a) is provided with a rigid claw part (1111) near the foot end (1112) of the lower leg body (111), the side of the rigid claw part (1111) near the foot end (1112) and the lower leg body (111) form a first stepping positioning area (110a), the flexible claw (112) is provided on the side of the rigid claw part (1111) away from the foot end (1112), the flexible claw (112) and the side of the rigid claw part (1111) away from the foot end (1112) form a second stepping positioning area (110b). A vision module (300) is arranged on the torso module (200) and is used to measure target distance information, identify environmental feature information and plan navigation and positioning information; A control module (400) is disposed on the torso module (200) and configured to control the operation of the three-joint drive assembly (120) based on target distance information, environmental feature information, navigation and positioning information, and torque information of the three-joint drive assembly (120).

2. The quadruped robot according to claim 1, characterized in that, The visual module (300) includes: The radar module (310) is electrically connected to the control module (400) and is used for planning the navigation and positioning information; The first camera module (320) is electrically connected to the control module (400) and is used to measure the distance information of the target object; The second camera module (330) is electrically connected to the control module (400) and is used for the identification of the environmental feature information.

3. The quadruped robot according to claim 1, characterized in that, The angle formed by the side of the flexible claw (112) near the lower leg body (111) and the side of the rigid claw (1111) away from the foot end (1112) is an acute angle. And / or, the side of the flexible claw (112) away from the lower leg body (111) is inclined toward the lower leg body (111) and the angle between the flexible claw (112) and the side of the flexible claw (112) close to the lower leg body (111) is an acute angle; And / or, the top of the angle formed by the flexible claw (112) near the lower leg body (111) and the rigid claw (1111) away from the foot end (1112) is provided with a first contact sensing element electrically connected to the control module (400).

4. The quadruped robot according to claim 1, characterized in that, The angle between the rigid claw part (1111) near the foot end (1112) and the lower leg body (111) is 80°~92°; And / or, the top of the angle formed between the rigid claw portion (1111) near the foot end (1112) and the lower leg body (111) is provided with a second contact sensing element electrically connected to the control module (400).

5. The quadruped robot according to any one of claims 1-4, characterized in that, The four leg modules (100) in the quadruped robot adopt an all-elbow layout or an all-knee layout.

6. A method for a quadruped robot to perform tasks, characterized in that, The quadruped robot according to any one of claims 1-5 is used, and the quadruped robot operation method includes: Control the quadruped robot to move to the first climbing waiting area below the ladder (10) in ground walking mode, and control the quadruped robot to switch to climbing ladder (10) mode. At the same time, collect the position of the step bar (11) on the ladder (10) and the distance information between the step bars (11) in real time. Based on the position of the step bar (11) on the ladder (10) and the distance information between the step bars (11), the quadruped robot controls all the leg modules (100) to climb from the ground to the ladder (10). The second stepping positioning area (110b) of the two leg modules (100) located at the head (210) hooks the corresponding step bar (11), and the first stepping positioning area (110a) of the two leg modules (100) located at the tail (220) steps on the corresponding step bar (11). Based on the position of the step bar (11) on the ladder (10) and the distance information between the step bars (11), the four leg modules (100) are controlled to climb alternately, and at least three leg modules (100) are kept in contact with the step bar (11) during the climbing process; When the quadruped robot passes over the top of the ladder (10) and all four leg modules (100) are in contact with the top platform (20) located at the top of the ladder (10), the quadruped robot is controlled to switch to the ground walking mode for movement.

7. The quadruped robot operation method according to claim 6, characterized in that, The quadruped robot operation method also includes: During the climbing of the ladder (10), when the lower leg assembly (110) of the quadruped robot is not hooked on the step bar (11) or is not stepped on the step bar (11), the driving torque given to the lower leg assembly (110) by the three-joint drive assembly (120) is M. a1 The driving torque given to the thigh assembly (130) is M b1 When the lower leg assembly (110) hooks onto or steps on the pedal (11), the three-joint drive assembly (120) applies a driving torque of M to the lower leg assembly (110). a2 The driving torque given to the thigh assembly (130) is M b2 The critical torques of the lower leg assembly (110) and the thigh assembly (130) are set to M respectively. a0 and M b0 Satisfy, M a0 >M a1 M b0 >M b1 ; When the lower leg assembly (110) hooks onto the pedal (11) and / or steps on the pedal (11), it is determined that M a2 Is it greater than M? a0 , and M b2 Is it greater than M? b0 ; In satisfying M a2 Greater than M a0 , and M b2 Greater than M b0 In this case, begin climbing; otherwise, adjust the posture of the leg module (100) so that the lower leg assembly (110) is in reliable contact with the step bar (11) until M is satisfied. a2 >M a0 M b2 >M b0 .

8. The quadruped robot operation method according to claim 6, characterized in that, The step of controlling all the leg modules (100) of the quadruped robot to climb from the ground to the ladder (10) based on the position of the steps (11) on the ladder (10) and the distance information between the steps (11) includes: The two leg modules (100) located at the head (210) are controlled to perform leg lifting actions in sequence. By controlling the thigh assembly (130) and the calf assembly (110) to rotate to the corresponding angle, the second pedal positioning area (110b) hooks the corresponding pedal (11). The two leg modules (100) located at the tail (220) are controlled to move closer to the ladder (10). When the two leg modules (100) located at the tail (220) move to the predetermined position, the two leg modules (100) located at the tail (220) are controlled to perform leg lifting actions in sequence. By controlling the thigh assembly (130) and the calf assembly (110) to rotate to the corresponding angle, the first stepping positioning area (110a) steps on the corresponding step bar (11).

9. The quadruped robot operation method according to claim 6, characterized in that, The step of controlling the four leg modules (100) to climb alternately based on the position of the steps (11) on the ladder (10) and the distance information between the steps (11), and ensuring that at least three of the leg modules (100) remain in contact with the steps (11) during the climbing process, further includes: When the vision module (300) detects an obstacle on the ladder (10), it acquires the position information of the obstacle on the ladder (10) and the parameter information of the obstacle itself, including the width data, height data and length data of the obstacle; The height and length data of the obstacle are compared with the maximum crossing distance of the quadruped robot and the distance between the torso module (200) and the ladder (10) when crossing the current obstacle. If the maximum crossing distance of the quadruped robot is greater than the length data of the obstacle, and the distance between the torso module (200) and the ladder (10) when crossing the current obstacle is greater than the height data of the obstacle, the rotation angle of the thigh component (130) and the lower leg component (110) in the leg module (100) is adjusted to overcome the obstacle. And / or, based on the location information and width data of the obstacle, determine the maximum passage distance from the obstacle to the side of the ladder (10), and compare the passage distance with the width of the quadruped robot. If the maximum passage distance is greater than the width of the quadruped robot, adjust the lateral swing angle of the hip joint by controlling the three-joint drive assembly (120) to perform lateral movement to avoid the obstacle.

10. The quadruped robot operation method according to any one of claims 7-9, characterized in that, The quadruped robot operation method also includes: Control the quadruped robot to move backward in ground walking mode to the second climbing waiting area at the top of the ladder (10), and control the quadruped robot to switch to the downward ladder (10) climbing mode. At the same time, collect the position of the step bar (11) on the ladder (10) and the distance information between the step bars (11) in real time. Control the quadruped robot to return to the first climbing waiting area by moving backward along the original route of the upward climbing ladder (10) mode.

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