Hilly slope full-posture stable walking system and its center of mass adjusting method

Abstract

The present application relates to the technical field of agricultural machinery equipment, and discloses a hillside full-posture stable walking system and a barycenter adjusting method thereof, which comprises a chassis provided with a moving mechanism below; and a double-shaft moving platform arranged on the chassis and provided with a battery. The moving mechanism adopts a plurality of triangular track driving structures and is provided with an independent and separate steering design, so that the turning radius is smaller. Compared with a traditional pure track chassis, the steering is more agile and flexible, and the control flexibility is greatly improved. The present application has a barycenter position adjusting function, can dynamically adjust the barycenter position of the whole machine in real time, greatly improves the passing stability of hillside driving and complex terrain, adopts a battery integrated adjusting layout, directly changes the barycenter distribution of the whole vehicle by adjusting the position of the battery, fully utilizes the space of the whole machine, and makes the overall structure layout more compact and reasonable. Under the premise of ensuring the hillside anti-tilting and stable driving performance, the self-weight of the whole machine is reduced, the maneuverability and operation adaptability are improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, and in particular to a stable walking system for all postures on hilly slopes and a method for adjusting the center of gravity thereon. Background Technology

[0002] With the increasing application of agricultural equipment in hilly and sloping environments, the stability of machinery under complex terrain conditions has become a key factor restricting its operational efficiency and safety. Compared to flat roads, hilly and sloping terrain typically features significant gradient changes, alternating longitudinal and transverse slopes, uneven ground, and complex adhesion conditions. During operation, the machinery chassis is prone to noticeable pitch and roll changes, leading to a shift in the machine's center of gravity and increasing the risk of tipping over, forward or backward, and other instability issues that severely impact operational safety.

[0003] Existing agricultural machinery chassis for hilly terrain are mainly divided into two categories: wheeled and tracked. Tracked chassis offer slightly better stability, but they still have the following technical drawbacks: 1. Limited steering performance, large turning radius, poor maneuverability, and the tracks are prone to shearing and compacting the soil during turning, damaging the field structure; 2. Insufficient slope stability and fixed center of gravity position make it easy for the center of gravity to shift downhill when working on cross slopes, longitudinal slopes, and combined slopes. This leads to uneven track ground pressure and reduced adhesion, and in severe cases, it can cause rollovers and other safety accidents, limiting the working slope and safety.

[0004] Therefore, how to provide a tracked chassis with excellent steering performance and sufficient slope stability is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a stable walking system for all postures on hilly slopes and a method for adjusting the center of gravity thereon, so as to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides an all-posture stable walking system for hilly slopes, comprising: The chassis has a moving mechanism installed underneath it; A dual-axis mobile platform is mounted on the chassis, and a battery is installed on the dual-axis mobile platform. The battery is used to drive the mobile mechanism and the dual-axis mobile platform.

[0007] Furthermore, the dual-axis mobile platform includes: A longitudinal linear guide rail is provided on both sides of the chassis. A longitudinal ball screw is provided in the middle of the chassis along the length direction. A longitudinal servo motor is provided on the outer side of the chassis and is drivenly connected to the longitudinal ball screw. The longitudinal slider is slidably connected to the longitudinal linear guide rail and is also connected to the longitudinal ball screw drive. A transverse linear guide is provided on both sides of a transverse mounting bracket. The transverse mounting bracket is provided on a longitudinal slider. A transverse ball screw is provided in the middle along the length direction. A transverse servo motor that is connected to the transverse ball screw is provided on the outer side of the transverse mounting bracket. The horizontal slider is slidably connected to the horizontal linear guide rail and is also connected to the horizontal ball screw drive. The battery is mounted on the horizontal slider, and both the vertical servo motor and the horizontal servo motor are electrically connected to the battery.

[0008] Furthermore, the moving mechanism includes: Multiple gantry frames are installed below the chassis; A triangular track is rotatably mounted inside the gantry frame, and a drive motor is mounted on the outside of the gantry frame, the drive motor being connected to the triangular track for transmission. A rotary motor is disposed above the chassis, with its output end passing through the chassis and connected to the gantry frame. The rotary motor is used to drive the gantry frame to rotate. Both the rotary motor and the drive motor are electrically connected to the battery.

[0009] Furthermore, it also includes: A wheel-mounted sensor is installed at the connection between the triangular track and the gantry frame to detect the normal load information of the triangular track; An IMU inertial navigation sensor is located at the center of the chassis and is used to collect information on the chassis's pitch angle, roll angle, angular velocity, and longitudinal and lateral acceleration. A slide position encoder is respectively installed at the end of the longitudinal ball screw and the end of the transverse ball screw to collect battery position information; The drive motor is connected to the triangular track via a drive wheel. The wheel speed sensor is mounted on the drive wheel to collect the speed of the triangular track, and the steering sensor is mounted on the rotary motor to collect the steering information of the triangular track. The control system is electrically connected to the wheel-mounted sensor, IMU inertial navigation sensor, slide position encoder, wheel speed sensor and steering sensor respectively.

[0010] Furthermore, the battery is disposed on a battery tray, and the battery tray is disposed on the horizontal slider.

[0011] This invention also provides a method for adjusting the center of gravity of a hilly slope all-posture stable walking system. The method, applied to a hilly slope all-posture stable walking system, includes the following steps: S1: The information collected by the wheel-mounted sensor, IMU inertial navigation sensor, slide table position encoder, wheel speed sensor and steering sensor together constitute the working condition information. The control system constructs a mathematical model of the hilly slope all-attitude stable walking system based on the working condition information and determines the centroid position of the hilly slope all-attitude stable walking system. S2: The hilly slope all-attitude stable walking system is divided into a safe zone, a warning zone and a danger zone from the inside out. When the center of gravity is in the warning zone or danger zone, the control system drives the battery to move laterally and / or longitudinally until the center of gravity enters the safe zone.

[0012] Furthermore, when the battery moves to its limit position in the lateral and / or longitudinal direction and the center of gravity is still in the warning zone, the rotational speed of the triangular track is reduced.

[0013] Furthermore, when the battery moves to its limit position in the lateral and / or longitudinal direction and the center of gravity is still in the danger zone, the triangular track stops.

[0014] The present invention discloses the following technical effects: 1. It adopts a multi-triangular track drive structure and is equipped with an independent steering design, resulting in a smaller turning radius. Compared with traditional pure track chassis, the steering is more agile and flexible, and the handling flexibility is greatly improved. Compared with ordinary wheeled chassis, it has the outstanding advantages of low ground pressure, strong traction, and high driving stability. It has excellent climbing performance and is especially suitable for complex terrain conditions such as slopes of more than 10° and undulating fields. It is more adaptable to off-road travel and slope operation.

[0015] 2. It has a center of gravity adjustment function, which can dynamically adjust the center of gravity of the whole machine in real time, greatly improving the stability of driving on slopes and passing through complex terrains; and adopts an integrated battery center of gravity layout, which directly changes the distribution of the center of gravity of the whole vehicle by moving the position of the battery, making full use of the space of the whole machine, making the overall structural layout more compact and reasonable, realizing the lightweight design of the equipment, and further reducing the weight of the whole machine while ensuring anti-tipping and stable performance on slopes, and improving maneuverability and operational adaptability.

[0016] 3. The control system can sense working condition information in real time and make precise adjustments, maintaining the vehicle's stable posture throughout the process, greatly reducing the risk of roll and instability, significantly improving driving control and operational safety, and adapting to stable passage in complex field conditions such as slopes, ditches, and field ridges. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the longitudinal linear guide rail fitting of the present invention; Figure 3 This is a diagram showing the movement trajectory of the battery when the machine turns around while operating on a slope. The components are as follows: 1. Chassis; 2. Battery; 3. Longitudinal linear guide; 4. Battery tray; 5. Longitudinal ball screw; 6. Longitudinal servo motor; 7. Longitudinal slider; 8. Transverse linear guide; 9. Transverse mounting bracket; 10. Transverse slider; 11. Gantry frame; 12. Triangular track; 13. Drive motor; 14. Rotary motor; 15. Transverse ball screw; 16. Transverse servo motor. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Those skilled in the art will understand that the term "comprising" as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 3 As shown, this embodiment of the invention provides an all-attitude stable walking system for hilly slopes, comprising: Chassis 1, with a moving mechanism installed underneath it; A dual-axis mobile platform is mounted on chassis 1. A battery 2 is mounted on the dual-axis mobile platform, which is used to drive the mobile mechanism and the dual-axis mobile platform.

[0023] In this embodiment, the dual-axis mobile platform includes: Longitudinal linear guide rails 3 are provided on both sides of the chassis 1. A longitudinal ball screw 5 is provided in the middle of the chassis 1 along the length direction. A longitudinal servo motor 6 is provided on the outer side of the chassis 1 and is connected to the longitudinal ball screw 5 for transmission. The longitudinal slider 7 is slidably connected to the longitudinal linear guide rail 3 and is also driven by the longitudinal ball screw 5. A transverse linear guide rail 8 is provided on both sides of a transverse mounting bracket 9. The transverse mounting bracket 9 is provided on a longitudinal slider 7. A transverse ball screw 15 is provided in the middle along the length direction. A transverse servo motor 16 is provided on the outer side of the transverse mounting bracket 9 and is connected to the transverse ball screw 15 for transmission. The horizontal slider 10 is slidably connected to the horizontal linear guide rail 8 and is also driven by the horizontal ball screw 15. Battery 2 is mounted on horizontal slider 10, and both vertical servo motor 6 and horizontal servo motor 16 are electrically connected to battery 2.

[0024] Driven by the longitudinal servo motor 6 and the transverse servo motor 16, the battery 2 can move in the transverse and / or longitudinal direction, thereby adjusting the center of gravity of the whole machine. The advantage of using a ball screw structure is that it has stroke protection and anti-slip function in case of power failure. It can also be equipped with a drag chain and a highly flexible cable. The drag chain is used to arrange the high-voltage cable and communication cable connected to the battery 2 to avoid repeated bending and fatigue damage of the cable. The bending radius of the cable is not less than the preset threshold.

[0025] In this embodiment, the moving mechanism includes: Multiple gantry frames 11 are installed below the chassis 1; The triangular track 12 is rotatably mounted inside the gantry frame 11. A drive motor 13 is mounted on the outside of the gantry frame 11, and the drive motor 13 is connected to the triangular track 12 for transmission. A rotary motor 14 is located above the chassis 1, and its output end passes through the chassis 1 and is connected to the gantry 11. The rotary motor 14 is used to drive the gantry 11 to rotate. Both the rotary motor 14 and the drive motor 13 are electrically connected to the battery 2.

[0026] In this embodiment, the moving mechanism includes four sets of gantry frames 11, triangular tracks 12, and corresponding drive mechanisms. The four sets of triangular tracks 12 can operate independently, enabling small-radius or on-the-spot turning compared to traditional wheeled or dual-track chassis 1. They can also form a larger supporting polygon, increasing the vehicle's contact area with the ground and improving stability. In hilly terrain, this structure allows for multi-point ground contact; even if some tracks are not fully grounded, the remaining tracks can still provide stable support, significantly improving the vehicle's adaptability to complex terrain. Simultaneously, the triangular track 12 structure has excellent obstacle-crossing and slope-adhering capabilities, maintaining good ground contact under both longitudinal and transverse slope conditions, enhancing the vehicle's resistance to rollover and forward / reverse rollovers.

[0027] In this embodiment, it also includes: A wheel-mounted sensor is installed at the connection between the triangular track 12 and the gantry 11 to detect the normal load information of the triangular track 12. An IMU inertial navigation sensor is located at the center of chassis 1 and is used to collect pitch angle, roll angle, angular velocity and longitudinal and lateral acceleration information of chassis 1. The slide position encoder is installed at the end of the longitudinal ball screw 5 and the end of the transverse ball screw 15, respectively, to collect the position information of the battery 2. Wheel speed sensor and steering sensor, drive motor 13 is connected to triangular track 12 through drive wheel, wheel speed sensor is set on drive wheel to collect speed of triangular track 12, steering sensor is set on rotary motor 14 to collect steering information of triangular track 12; The control system is electrically connected to the wheel-mounted sensors, IMU inertial navigation sensors, slide position encoders, wheel speed sensors, and steering sensors, respectively.

[0028] In this embodiment, the battery 2 is placed on the battery tray 4, which is placed on the horizontal slider 10. The battery tray 4 is subjected to high-rigidity constraint treatment to prevent the battery 2 from swinging when the ground is bumpy.

[0029] This invention also provides a method for adjusting the center of gravity of a hilly slope all-posture stable walking system. The method, applied to a hilly slope all-posture stable walking system, includes the following steps: S1: The information collected by wheel-mounted sensors, IMU inertial navigation sensors, slide position encoders, wheel speed sensors, and steering sensors together constitute the operating condition information. The control system includes an information processing unit that can filter and process the operating condition information. Then, based on the operating condition information, a mathematical model of the hilly slope all-attitude stable walking system is constructed, and the center of gravity position of the hilly slope all-attitude stable walking system is determined. The calculation of the center of gravity position can be based on the mathematical model to calculate the longitudinal and lateral rollover risk or stability margin of the vehicle. According to the main instability direction under different operating conditions, the target position of the battery 2 in the lateral and / or longitudinal directions is solved in real time; so that the center of gravity of the vehicle is shifted towards the anti-rollover direction and kept within the safe zone as much as possible. For longitudinal slope conditions, the front and rear center of gravity are adjusted first; for cross slope and turning conditions, the left and right center of gravity are adjusted first; for obstacle crossing conditions, the center of gravity is comprehensively optimized based on the changes in the center of gravity position and the obstacle crossing stage. The center of gravity position is smoothly tracked through trajectory planning and servo control, thereby completing the active adjustment of the vehicle's center of gravity and improving the anti-rollover stability under complex terrain. At the same time, the center of gravity position is continuously adjusted in a cyclic manner through real-time feedback from various sensors, so that the center of gravity is always in a safe position.

[0030] S2: The hilly slope all-attitude stable walking system is divided into a safe zone, a warning zone and a danger zone from the inside out. When the center of gravity is in the warning zone or danger zone, the control system drives the battery 2 to move laterally and / or longitudinally until the center of gravity enters the safe zone.

[0031] In this embodiment, when the battery 2 moves to its limit position in the lateral and / or longitudinal direction and the center of gravity is still in the warning zone, the rotational speed of the triangular track 12 is reduced.

[0032] In this embodiment, when the battery 2 moves to its limit position in the lateral and / or longitudinal direction and the center of gravity is still in the danger zone, the triangular track 12 stops.

[0033] In this embodiment, the control system may also include a remote control system, which receives remote control commands through a remote communication unit to remotely control walking actions such as moving forward, backward, and turning.

[0034] The following describes the specific work process using actual sloping terrain as an example: When the slope is ≤10°, the machine is operating laterally and needs to travel laterally along the contour lines of the slope. At this time, chassis 1 is always in a lateral tilt state. When the system detects no steering operation, the roll angle of chassis 1 exceeds the set threshold, and the pitch angle is basically flat, it automatically determines that it has entered the straight-ahead working condition on the cross slope. The system prioritizes adjusting the lateral center of gravity to resist the risk of lateral rollover.

[0035] If the lateral slope is small and the center of gravity is in the safe zone, the system maintains the current driving state and does not initiate center of gravity adjustment; chassis 1 maintains normal operating speed. If the lateral slope in the field continues to increase and the center of gravity enters the warning zone, battery 2 is adjusted to move laterally uphill to stabilize the center of gravity within the safe zone. As the lateral slope continues to increase, battery 2 gradually moves towards its travel limit uphill to maintain center of gravity balance. If battery 2 has reached its limit position and the lateral slope continues to increase, causing the center of gravity to fall into the warning zone, the triangular track 12 automatically slows down. Once the slope decreases and the center of gravity returns to the safe zone, the normal speed is resumed. Once the center of gravity enters the danger zone and battery 2 can no longer adjust its position, the system immediately stops and locks to ensure the safety of the equipment operating on the lateral slope.

[0036] When the slope is less than 25°, the machine operates longitudinally. The machine travels perpendicular to the contour line along the slope direction. The chassis pitch angle exceeds the set threshold, the roll angle is basically flat, and the system detects no steering operation. The roll angle is always maintained within a small range. The system automatically determines that it has entered the longitudinal slope straight-line working condition. The system prioritizes the adjustment of the longitudinal center of gravity to prevent longitudinal overturning risk.

[0037] If the initial slope is relatively gentle and the machine's center of gravity remains stable within the safe zone, the control system will not output any adjustment commands, and chassis 1 will maintain a steady, normal operating speed. If the slope continues to increase during travel, and the center of gravity enters the warning zone, battery 2 will be adjusted to move longitudinally along chassis 1, pulling the machine's center of gravity back to the safe zone. As the slope continues to increase, battery 2 will gradually move towards the travel limit along the front-rear direction of chassis 1, always keeping the machine's center of gravity firmly locked within the safe zone, effectively avoiding the risk of forward or backward tipping. If battery 2 has reached its limit position, but the slope continues to increase, causing the center of gravity to fall back into the warning zone, the system will automatically control the triangular track 12 to slow down, preventing chassis 1 from becoming unstable due to excessive speed. Chassis 1 will only resume normal travel speed after the slope decreases and the center of gravity returns to the edge of the safe zone. If the slope further increases, the center of gravity enters the danger zone, and battery 2 has no more adjustment space, the system will immediately control chassis 1 to stop and lock, preventing tipping accidents.

[0038] When a work implement reaches the end of a slope and needs to turn around to proceed to the next stage of work, this is one of the scenarios with the highest risk of rollover in slope operations. At this time, if the sensors and control system detect a turning signal and the turning angle exceeds the set threshold, it will immediately determine that it is a slope turning condition and control the triangular track 12 to actively decelerate, preventing the risk of rollover caused by the combination of the slope and centrifugal force.

[0039] At this point, the steering risk consists of two superimposed components: the rollover tendency caused by the slope itself and the rollover tendency caused by the centrifugal force of the turn. There are two possible states: either the two risks superimpose in the same direction, significantly increasing the rollover risk, or they superimpose in opposite directions, canceling each other out and reducing the risk. The system comprehensively judges the situation by considering the center of gravity location during slope driving and the remaining adjustment travel of battery 2. Since the chassis 1's trajectory is a semicircle during the turn, the lateral and longitudinal axis attitude angles of chassis 1 are interchanged. The control system automatically reconstructs the mathematical model and recalculates the target adjustment position of the center of gravity after the angle interchange: when the two rollover risks superimpose in the same direction, the control system drives battery 2 to quickly move inward towards the inside of the turning radius to maximize the offset of the rollover moment; when the risks are offset in opposite directions, a small adjustment of battery 2 towards the inside of the turn is sufficient to balance the attitude. Simultaneously, the system drives battery 2 to slightly shift laterally and / or longitudinally towards the center of gravity of the entire machine; throughout the adjustment process, the trajectory of battery 2 is approximately a semi-ellipse, keeping battery 2 in a position on the slope during the turn. The system provides real-time feedback on the vehicle's attitude and the position information of battery 2 throughout the steering process, dynamically correcting the adjustment amount in a closed-loop manner. After the steering maneuver is completed, the triangular track 12 automatically resumes normal travel speed. If the battery 2 reaches its limit position and the center of gravity falls into the danger zone during the steering process, the system will immediately stop to avoid a rollover accident when steering on a slope.

[0040] When the machine reaches the boundary of the field, the front wheel suddenly contacts the obstacle on the ridge, causing a sudden change in the vehicle's pitch angle, exceeding the set threshold. The system immediately determines that it has entered obstacle-crossing mode. The system identifies the current center of gravity distribution area and the position of battery 2 in real time, and immediately controls the machine to slow down. Simultaneously, it drives the longitudinal rolling screw to move battery 2 in the direction of the machine's movement, and monitors the center of gravity in real time to keep it within the safe and warning zones, preventing the front of the machine from tilting up and the rear wheels from lifting off the side and becoming unstable when the front wheels cross the obstacle. Until the pitch angle and roll angle of the vehicle return to the initial state before the obstacle crossing, and the front wheels smoothly pass the ridge, battery 2 does not reset immediately, waiting for the rear wheels to contact the obstacle. After the front wheels successfully pass the ridge, the rear wheels immediately contact the obstacle. At this time, the system immediately reverses and drives battery 2 to move towards the rear of the vehicle, balancing the downward posture of the front of the vehicle when the rear wheels cross the obstacle, and preventing the front of the vehicle from hitting the ground. After the rear wheels have completely passed the obstacle, battery 2 automatically resets to the position before the obstacle crossing, and the machine resumes normal driving speed. If battery 2 reaches its limit position and the center of gravity enters the danger zone during obstacle crossing, the system will immediately stop moving forward to prevent the machine from becoming unstable and overturning.

[0041] In the description of this invention, it should be understood that 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" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0042] Furthermore, 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In this invention, unless otherwise explicitly 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 or an electrical connection; 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 explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A hilly slope all-posture stable walking system, characterized in that, include: The chassis (1) has a moving mechanism installed underneath it; A dual-axis mobile platform is mounted on the chassis (1). A battery (2) is mounted on the dual-axis mobile platform. The battery (2) is used to drive the mobile mechanism and the dual-axis mobile platform.

2. The hilly slope all-attitude stable walking system according to claim 1, characterized in that, The dual-axis mobile platform includes: A longitudinal linear guide (3) is provided on both sides of the chassis (1). A longitudinal ball screw (5) is provided in the middle of the chassis (1) along the length direction. A longitudinal servo motor (6) is provided on the outer side of the chassis (1) and is connected to the longitudinal ball screw (5) for transmission. The longitudinal slider (7) is slidably connected to the longitudinal linear guide (3) and is also connected to the longitudinal ball screw (5) for transmission. A transverse linear guide (8) is provided on both sides of a transverse mounting bracket (9). The transverse mounting bracket (9) is provided on a longitudinal slider (7). A transverse ball screw (15) is provided in the middle along the length direction. A transverse servo motor (16) is provided on the outer side of the transverse mounting bracket (9) and is connected to the transverse ball screw (15) for transmission. The transverse slider (10) is slidably connected to the transverse linear guide (8) and is also connected to the transverse ball screw (15) in a transmission manner. The battery (2) is mounted on the horizontal slider (10), and both the vertical servo motor (6) and the horizontal servo motor (16) are electrically connected to the battery (2).

3. The hilly slope all-posture stable walking system according to claim 2, characterized in that, The moving mechanism includes: Multiple gantry frames (11) are disposed below the chassis (1); A triangular track (12) is rotatably mounted inside the gantry frame (11). A drive motor (13) is mounted on the outside of the gantry frame (11), and the drive motor (13) is connected to the triangular track (12) in a transmission connection. A rotary motor (14) is located above the chassis (1), and its output end passes through the chassis (1) and is connected to the gantry (11). The rotary motor (14) is used to drive the gantry (11) to rotate. Both the rotary motor (14) and the drive motor (13) are electrically connected to the battery (2).

4. The hilly slope all-posture stable walking system according to claim 3, characterized in that, Also includes: A wheel-mounted sensor is installed at the connection between the triangular track (12) and the gantry (11) to detect the normal load information of the triangular track (12); An IMU inertial navigation sensor is set at the center of the chassis (1) to collect pitch angle, roll angle, angular velocity and longitudinal and lateral acceleration information of the chassis (1); The slide position encoder is respectively set at the end of the longitudinal ball screw (5) and the end of the transverse ball screw (15) to collect the position information of the battery (2); Wheel speed sensor and steering sensor, the drive motor (13) is connected to the triangular track (12) through the drive wheel, the wheel speed sensor is set on the drive wheel to collect the speed of the triangular track (12), and the steering sensor is set on the rotary motor (14) to collect the steering information of the triangular track (12); The control system is electrically connected to the wheel-mounted sensor, IMU inertial navigation sensor, slide position encoder, wheel speed sensor and steering sensor respectively.

5. The hilly slope all-posture stable walking system according to claim 4, characterized in that, The battery (2) is disposed on the battery tray (4), and the battery tray (4) is disposed on the horizontal slider (10).

6. A method for adjusting the center of mass of a hilly slope all-posture stable walking system, characterized in that, The application of the hilly slope all-posture stable walking system as described in claim 4 or 5 includes the following steps: S1: The information collected by the wheel-mounted sensor, IMU inertial navigation sensor, slide table position encoder, wheel speed sensor and steering sensor together constitute the working condition information. The control system constructs a mathematical model of the hilly slope all-attitude stable walking system based on the working condition information and determines the centroid position of the hilly slope all-attitude stable walking system. S2: The hilly slope all-attitude stable walking system is divided into a safe zone, a warning zone and a danger zone from the inside out. When the center of gravity is in the warning zone or danger zone, the control system drives the battery (2) to move laterally and / or longitudinally until the center of gravity enters the safe zone.

7. The method for adjusting the center of mass of a hilly slope all-posture stable walking system according to claim 6, characterized in that, When the battery (2) moves to its limit position in the lateral and / or longitudinal direction and the center of gravity is still in the warning zone, reduce the rotation speed of the triangular track (12).

8. The method for adjusting the center of mass of a hilly slope all-posture stable walking system according to claim 6, characterized in that, When the battery (2) moves to its limit position in the lateral and / or longitudinal direction and the center of gravity is still in the danger zone, stop the triangular track (12).

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