CN118850209A - Climbing robot and control method - Google Patents

Abstract

The invention provides a climbing robot and a control method, which belong to the technical field of climbing robots and comprise the following steps: a telescopic assembly, a first moving assembly and a first moving arm assembly are arranged on a bottom plate of the robot, the telescopic assembly is used for lifting a platform, and the platform is used for placing articles; the first movable component provides power for the bottom plate, and the first movable arm component is used for rotating relative to the bottom plate and abutting against the slope surface when climbing a slope so as to keep the overall stability of the robot. The bottom plate is gradually inclined in the climbing process, and the telescopic component adjusts the telescopic quantity in real time so as to ensure that the platform is always kept horizontal. Therefore, the robot can stably ascend and ensure that the loaded articles are not damaged or dropped due to large vibration and impact when climbing, and has good adaptability.

Description

Climbing robot and control method

Technical Field

The invention relates to the technical field of climbing robots, in particular to a climbing robot and a control method.

Background

A climbing robot is a special type of robot designed for operation on inclined or irregular surfaces. They have wide application in many fields such as mining, forestry, agriculture, archaeology, exploration and military reconnaissance. These robots typically integrate a variety of advanced technologies including, but not limited to, institutional design, drive systems, control systems, sensing technologies, and the like.

In recent years, researchers have conducted intensive research on key technologies of climbing robots, including structural design, control methods, crawling strategies, and the like. For example, research has been conducted into climbing robots such as robotic arms, magnetic attraction, claws, etc., and optimization methods and path planning have been explored to improve work accuracy. In addition, some research has focused on improving the climbing efficiency and accuracy of robots, as well as developing new structures to enhance this performance.

The most common function of the existing climbing robot is that the load articles climb stairs. When climbing stairs, the moving component of the robot drives the chassis to incline and move along the inclined upper part, and at the moment, the loaded articles are easy to fall off due to the inclination; the robot is easy to jolt in the ascending process to cause the objects to vibrate and slide down due to the concave-convex shape of the stairs; the serious articles such as instruments carried by the instruments and the like can be damaged due to vibration, and the precision of the instruments is damaged.

To sum up, the existing robot is difficult to overcome the influence of large-amplitude vibration and impact in the stair climbing process, and has two important functions of stably ascending and preventing articles from falling.

Disclosure of Invention

In view of the above-mentioned drawbacks or shortcomings of the prior art, it is desirable to provide a climbing robot and a control method.

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

A bottom plate;

The telescopic assembly is arranged on the bottom plate;

The platform is connected with the end part, far away from the bottom plate, of the telescopic component; the telescopic component is used for adjusting the relative posture between the platform and the bottom plate so as to keep the platform horizontal;

The first moving assembly is arranged on the bottom plate and used for driving the bottom plate, the telescopic assembly and the platform to move;

the first movable arm assembly is rotatably installed on the bottom plate and used for being abutted against the slope surface in the climbing process.

According to the technical scheme provided by the invention, the telescopic assembly comprises:

The gesture detection device is arranged on the platform and is used for detecting the gesture and the motion state of the platform relative to the ground;

The telescopic device comprises a bottom plate, a plurality of telescopic devices, a platform and a plurality of telescopic devices, wherein one end of each telescopic device is rotatably connected with the bottom plate, the other end of each telescopic device is rotatably connected with the platform, and the telescopic devices are used for adjusting the telescopic quantity of the telescopic devices according to the posture and the motion state of the platform relative to the ground so as to keep the platform horizontal.

According to the technical scheme provided by the invention, the first moving assembly is provided with two groups and is respectively arranged at two sides of the bottom plate;

The first moving assembly includes:

The first moving wheel and the second moving wheel are respectively rotatably arranged on the bottom plate;

the first driving device is fixedly arranged on the bottom plate, and a driving shaft is fixedly connected with the first moving wheel and used for driving the first moving wheel to rotate;

the first crawler belt is arranged on the outer side walls of the first moving wheel and the second moving wheel and used for driving the second moving wheel to rotate synchronously with the first moving wheel.

According to the technical scheme provided by the invention, the first movable arm assembly comprises:

The first arm body is rotatably arranged on the bottom plate;

the second driving device is fixedly arranged on the bottom plate, and the driving shaft is fixedly connected with the first arm body and is used for driving the first arm body to rotate relative to the bottom plate.

According to the technical scheme provided by the invention, the first movable arm assembly further comprises:

the first driving wheel is rotatably arranged at the end part of the first arm body, which is far away from the bottom plate;

the second crawler belt is arranged on the outer side walls of the first movable wheel and the first driving wheel and is used for driving the first driving wheel and the first movable wheel to synchronously rotate.

According to the technical scheme provided by the invention, the first moving assembly further comprises:

the first sensor is arranged at the rotating shaft of the first moving wheel and is used for detecting whether the first moving wheel bears force or not;

The third sensor is arranged at the rotating shaft of the second moving wheel and is used for detecting whether the second moving wheel bears force or not;

The first mobile arm assembly further includes:

The second sensor is arranged at the rotating shaft of the first driving wheel and used for detecting whether the first driving wheel bears force or not.

According to the technical scheme provided by the invention, the method further comprises the following steps:

The second movable arm assembly is rotatably arranged on one side, away from the first movable arm assembly, of the bottom plate and is used for abutting against the slope surface in the climbing process.

According to the technical scheme provided by the invention, the second movable arm assembly comprises:

the second arm body is rotatably arranged on one side, far away from the first movable arm assembly, of the bottom plate;

The third driving device is fixedly arranged on the bottom plate, and the driving shaft is fixedly connected with the second arm body and is used for driving the second arm body to rotate relative to the bottom plate;

The second driving wheel is rotatably arranged at the end part of the second arm body, which is far away from the bottom plate;

the third crawler belt is arranged on the outer side walls of the second movable wheel and the second driving wheel and is used for driving the second driving wheel and the second movable wheel to synchronously rotate.

According to the technical scheme provided by the invention, the second movable arm assembly further comprises:

and the fourth sensor is arranged at the rotating shaft of the second driving wheel and is used for detecting whether the second driving wheel bears force or not.

On the other hand, the invention also provides a control method of the climbing robot, which is applied to the climbing robot and comprises the following steps:

the first moving component continuously drives the bottom plate to move; the telescopic component keeps the platform horizontal;

when the second sensor detects the bearing force of the first driving wheel, the second driving device drives the first arm body to rotate close to the slope surface until the first sensor does not detect the bearing force of the first moving wheel, and the second driving device is used for enabling the second crawler belt on the first arm body to be abutted to the slope surface and moving one side of the bottom plate to the slope surface;

the third driving device drives the second arm body to rotate near the ground lower than the slope surface until the fourth sensor detects the bearing force of the second driving wheel, and the third driving device is used for enabling the third crawler belt on the second arm body to be in abutting connection with the ground lower than the slope surface and supporting the bottom plate;

the first moving assembly continuously drives the bottom plate to move above the slope, and the inclination angle of the bottom plate is gradually increased; the telescopic component adjusts the relative posture between the telescopic component and the bottom plate in real time according to the posture and the motion state of the platform relative to the ground, which are currently detected by the posture detection device, so that the platform is kept horizontal;

When the second sensor does not detect the bearing force of the first driving wheel, the second driving device drives the first arm body to rotate close to the slope surface until the second sensor detects the bearing force of the first driving wheel, and the second driving device is used for enabling the second crawler belt on the first arm body to be always abutted against the slope surface in the process of increasing the inclination angle of the bottom plate;

The third driving device drives the second arm body to rotate in the opposite direction when the second arm body rotates near the ground lower than the slope surface until the third sensor detects the bearing force of the second moving wheel, and the second driving device is used for enabling the second arm body to be always parallel to the ground lower than the slope surface in the process of increasing the inclination angle of the bottom plate;

when the fourth sensor does not detect the bearing force of the second driving wheel, the third driving device drives the second arm body to rotate close to the slope surface until the fourth sensor detects the bearing force of the second driving wheel, and the third driving device is used for enabling the second arm body to be abutted against the slope surface;

The first moving assembly drives the bottom plate to move upwards along the slope;

When the second sensor does not detect the bearing force of the first driving wheel, the second driving device drives the first arm body to rotate close to the ground higher than the slope surface until the second sensor detects the bearing force of the first driving wheel, and the second driving device is used for enabling the first driving wheel to be in abutting connection with the ground higher than the slope surface and supporting the bottom plate;

when the fourth sensor does not detect the bearing force of the second driving wheel, the second driving device drives the first arm body to rotate towards one side close to the telescopic assembly, so that the inclination angle of the bottom plate is gradually reduced until the first arm body rotates to one side close to the telescopic assembly;

the telescopic component adjusts the relative posture between the telescopic component and the bottom plate in real time according to the posture and the motion state of the platform relative to the ground, which are currently detected by the posture detection device, so that the platform is kept horizontal;

When the second sensor does not detect the bearing force of the first driving wheel and the fourth sensor does not detect the bearing force of the second driving wheel, the third driving device drives the second arm body to rotate to the side close to the telescopic assembly.

The invention has the beneficial effects that:

A telescopic assembly, a first moving assembly and a first moving arm assembly are arranged on a bottom plate of the robot, the telescopic assembly is used for lifting a platform, and the platform is used for placing articles; the first movable component provides power for the bottom plate, and the first movable arm component is used for rotating relative to the bottom plate and abutting against the slope surface when climbing a slope so as to keep the overall stability of the robot. The bottom plate is gradually inclined in the climbing process, and the telescopic component adjusts the telescopic quantity in real time so as to ensure that the platform is always kept horizontal. Therefore, the robot can stably ascend and ensure that the loaded articles are not damaged or dropped due to large vibration and impact when climbing, and has good adaptability.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:

FIG. 1 is a front view of a climbing robot;

FIG. 2 is a top view of a climbing robot;

FIG. 3 is a schematic illustration of a robot moving to state 1;

FIG. 4 is a schematic illustration of the robot moving to state 2;

FIG. 5 is a schematic illustration of the robot moving to state 3;

FIG. 6 is a schematic illustration of the robot moving to state 4;

FIG. 7 is a schematic illustration of the robot moving to state 5;

FIG. 8 is a schematic illustration of the robot moving to state 6;

FIG. 9 is a schematic illustration of the robot moving to state 7;

FIG. 10 is a schematic illustration of the robot moving to state 8;

FIG. 11 is a schematic illustration of the robot moving to state 9;

FIG. 12 is a schematic illustration of a robot moving to state 10;

Wherein: 1. a bottom plate; 2. a telescoping assembly; 3. a platform; 4. a telescoping device; 5. a first moving wheel; 6. a second moving wheel; 7. a first driving device; 8. a first track; 9. a first arm body; 10. a second driving device; 11. a first driving wheel; 12. a second track; 13. a second arm body; 14. a third driving device; 15. a second driving wheel; 16. and a third track.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

Example 1

Referring to fig. 1-2, the present invention provides a climbing robot, comprising:

a base plate 1;

A telescopic assembly 2, wherein the telescopic assembly 2 is arranged on the bottom plate 1;

a platform 3, the platform 3 being connected to the end of the telescopic assembly 2 remote from the base plate 1; the telescopic assembly 2 is used for adjusting the relative posture between the platform 3 and the bottom plate 1 so as to keep the platform 3 horizontal;

The first moving assembly is arranged on the bottom plate 1 and is used for driving the bottom plate 1, the telescopic assembly 2 and the platform 3 to move;

The first movable arm assembly is rotatably mounted on the bottom plate 1 and used for abutting against a slope surface in the climbing process.

In particular, the robot provided by the invention can be suitable for planar slopes, stairs and steps.

The first movable arm component is used for rotating relative to the bottom plate 1 and abutting against the slope surface when climbing a slope so as to keep the overall stability of the robot. The bottom plate 1 is gradually inclined in the climbing process, and the telescopic component 2 adjusts the telescopic quantity in real time so as to ensure that the platform is always kept horizontal.

Therefore, the robot can stably ascend and ensure that the loaded articles are not damaged and fall off due to large-amplitude vibration and impact when climbing, and has good adaptability.

Further, the telescopic assembly 2 comprises:

the gesture detection device is arranged on the platform 3 and is used for detecting the gesture and the motion state of the platform 3 relative to the ground;

The telescopic devices 4 are arranged, one ends of the telescopic devices 4 are rotatably connected with the bottom plate 1, the other ends of the telescopic devices 4 are rotatably connected with the platform 3, and the telescopic devices are used for adjusting the telescopic amounts of the telescopic devices 4 according to the posture and the motion state of the platform 3 relative to the ground, so that the platform 3 is kept horizontal.

Specifically, the telescopic device 4 is an electric push rod, and is called RPS for short. In this embodiment, 3 RPSs are used, and the effect of stably supporting the platform 3 with fewer RPSs is achieved. After the robot is started, the telescopic assembly 2 adjusts the platform 3 in real time in the whole process so as to keep the platform horizontal.

Mounted on the platform 3 is an attitude sensor comprising: and the gyroscope and the accelerometer are respectively used for detecting the current gesture and the motion state. The controller of the robot can calculate the Euler angle of the upper platform through Kalman filtering according to the current gesture and the motion state, and accordingly the control system controls the expansion and contraction of the expansion device 4 to achieve self-balancing of the upper platform.

In this embodiment, the control process of the telescopic assembly 2 to keep the platform 3 horizontal generally comprises: detecting the current gesture and motion state of the robot under a world coordinate system by using a gesture detection device, and calculating the Euler angle between the bottom plate 1 and the horizontal plane; according to Euler angles and coordinates of the two ends of each of the 3 RPS in a robot coordinate system, resolving to obtain respective expansion and contraction amounts for enabling the platform 3 to maintain the level; and 3 RPSs are controlled to stretch to the corresponding stretching amount respectively, and the RPSs automatically rotate relative to the bottom plate 1 along with the change of the stretching amount in the process so as to adapt to the change of the stretching amount. The detailed resolving process belongs to the prior art, and is not described herein.

Further, the first moving components are provided with two groups and are respectively arranged at two sides of the bottom plate 1;

The first moving assembly includes:

a first moving wheel 5 and a second moving wheel 6, wherein the first moving wheel 5 and the second moving wheel 6 are respectively rotatably installed on the bottom plate 1;

the first driving device 7 is fixedly arranged on the bottom plate 1, and a driving shaft is fixedly connected with the first moving wheel 5 and is used for driving the first moving wheel 5 to rotate;

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

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

Specifically, the crawler-type design can enable the robot to have good ground grabbing effect when moving on the flat ground; the crawler belt can be effectively abutted with the edge of the ladder in the climbing process, and compared with the wheel type structure, the crawler belt has a better climbing effect under the circumstance of climbing the ladder.

Further, the first moving arm assembly includes:

A first arm 9, wherein the first arm 9 is rotatably installed on the bottom plate 1;

the second driving device 10 is fixedly arranged on the bottom plate 1, and a driving shaft is fixedly connected with the first arm body 9 and is used for driving the first arm body 9 to rotate relative to the bottom plate 1.

Further, the first moving arm assembly further comprises:

a first driving wheel 11, wherein the first driving wheel 11 is rotatably installed at the end part of the first arm body 9, which is far away from the bottom plate 1;

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

Specifically, in order to make the robot can be more stable in climbing the in-process to can stride across the ladder smoothly, install first arm 9 on the robot bottom plate 1 for with domatic butt, and raise the bottom plate 1 and be close to the height of domatic one side, be convenient for carry out the action of climbing.

The first arm body 9 is also provided with a crawler belt structure, and the crawler belt structure moves synchronously with the crawler belt in the first moving assembly, so that sliding can be avoided when the crawler belt structure is in slope abutting connection with the first arm body 9, and resistance is reduced.

Further, the first moving assembly further comprises:

A first sensor, disposed at a rotation axis of the first moving wheel 5, for detecting whether the first moving wheel 5 is bearing force (meaning bearing force, the force includes force generated by abutting with other structures and force between the crawler belt);

A third sensor, which is disposed at the rotation axis of the second moving wheel 6 and is used for detecting whether the second moving wheel 6 bears force;

The first mobile arm assembly further includes:

and the second sensor is arranged at the rotating shaft of the first driving wheel 11 and is used for detecting whether the first driving wheel 11 bears force or not.

Specifically, in order to know the current position and state of the robot during climbing, pressure sensors are installed at the rotation shaft of the first moving wheel 5 and the rotation shaft of the first driving wheel 11.

When the caterpillar band connected between the first moving wheel 5 and the first driving wheel 11 is abutted against the slope, the acting force can be transmitted to the rotating shafts of the first moving wheel and the second driving wheel, and the pressure sensor can judge whether the external force is born or not by detecting the acting force.

Specifically, when the applied force is detected to be zero, it indicates that the external force is not received; otherwise, it means that the external force is applied. In the embodiment, when the parts are not subjected to external force, the force between the structures (such as the tension of the crawler in normal suspension) and the acting force caused by gravity are detected; and set as the acting force threshold, when the acting force detected in the actual movement process is smaller than or equal to the acting force threshold, the acting force is regarded as zero; when the applied force is greater than the force threshold, it indicates that an external force is applied.

In the initial state, the first arm 9 is positioned on one side of the base plate 1 close to the telescopic assembly 2.

In the climbing process, if one side of the robot, on which the first moving component is mounted, is close to the slope, when the second sensor detects acting force, the second driving device 10 drives the first arm body 9 to rotate (rotate forward) close to the slope, so that the crawler belt on the first arm body 9 is attached to the slope, and the stability of the robot and the slope is improved;

When the first sensor detects that the first moving wheel 5 is just not stressed, the first moving wheel 5 is in a suspended critical state, and the first arm 9 is controlled to stop rotating, and the first arm 9 is attached to the slope.

The first moving component drives the bottom plate 1 to move, the inclination angle is gradually increased, the first arm body 9 is always attached to the slope in the process, and the control process is consistent with the mode. Thus, when the inclination angle of the bottom plate 1 is equal to the slope, the first arm 9 is parallel to the bottom plate 1.

When the second sensor does not detect the bearing force of the first driving wheel 11 and the first sensor does not detect the bearing force of the first moving wheel 5, the first arm body 9 is completely higher than the slope, and the first arm body 9 is controlled to rotate positively until the second sensor detects the bearing force of the first driving wheel 11, the first driving wheel 11 is abutted with the ground higher than the slope, and the bottom plate 1 is supported.

When the third sensor does not detect the bearing force of the second moving wheel 6 (the first arm body 9 and the second arm body 13 support the bottom plate 1 at this time), the second moving wheel 6 is in a critical state, the whole bottom plate 1 is higher than the slope, and the first arm body 9 can be controlled to recover the initial state.

Further, the method further comprises the following steps:

The second movable arm assembly is rotatably arranged on one side, away from the first movable arm assembly, of the bottom plate 1 and is used for abutting against a slope surface in the climbing process.

Further, the second moving arm assembly includes:

the second arm body 13 is rotatably arranged on one side, far away from the first movable arm assembly, of the bottom plate 1;

The third driving device 14 is fixedly arranged on the bottom plate 1, and a driving shaft is fixedly connected with the second arm body 13 and is used for driving the second arm body 13 to rotate relative to the bottom plate 1;

a second driving wheel 15, wherein the second driving wheel 15 is rotatably installed at the end part of the second arm body 13 far away from the bottom plate 1;

and the third caterpillar 16 is arranged on the outer side walls of the second moving wheel 6 and the second driving wheel 15 and is used for driving the second driving wheel 15 and the second moving wheel 6 to synchronously rotate.

Further, the second moving arm assembly further includes:

And a fourth sensor, which is disposed at the rotation axis of the second driving wheel 15 and is used for detecting whether the second driving wheel 15 bears force.

In some embodiments, referring to fig. 2, the arrangement positions of the upper and lower parts of the base plate 1 are symmetrically arranged along the center, wherein the first arm 9 and the second arm 13 on the left and right sides of the figure are respectively connected with each other;

the first arm 9 on the left side and the second arm 13 on the left side in fig. 2 are driven by the third driving device 14 to rotate relative to the bottom plate 1;

the second arm 13 on the right in fig. 2 is rotated relative to the base plate 1 together with the first arm 9 on the right by the second drive means 10.

Therefore, when the robot moves to the right in fig. 2 and climbs a slope, the first driving wheel 11 on the first arm body 9 on the right in fig. 2 bears force, so as to trigger the climbing action of the whole robot; in the climbing process, the second arm body 13 on the right side of the robot acts together with the first arm body 9; the first arm 9 on the left side of the robot operates together with the second arm 13.

When the robot moves to the left side in fig. 2 and climbs a slope, the first driving wheel 11 on the first arm body 9 at the left side in fig. 2 bears force, so that the climbing action of the whole robot is triggered; in the climbing process, the first arm body 9 and the second arm body 13 on the right side of the robot act together; the second arm 13 on the left side of the robot operates together with the first arm 9.

Therefore, the two groups of parts are arranged in a central symmetry mode, climbing actions can be completed from two directions without steering, the time consumption for carrying articles is shortened, and the transportation efficiency is improved.

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

The following is described according to the right side climbing, and the left side climbing is the same:

The first arm body 9 is abutted with the slope, the first arm body 9 rotates and is abutted with the slope, and meanwhile, the second crawler belt 12 moves along with the first moving wheel 5 to drive the inclination angle of the bottom plate 1 to increase and climb the slope;

the second arm body 13 is abutted with the ground lower than the slope surface, so as to support the bottom plate 1;

when the bottom plate 1 completely climbs the slope, the two arm bodies are parallel to the slope;

when the first arm body 9 is higher than the slope, the first arm body 9 rotates and is abutted with the ground higher than the slope to support the bottom plate 1;

When the bottom plate 1 is completely higher than the slope, the first arm body 9 gradually rotates to be horizontal so as to reduce the inclination angle of the bottom plate 1;

the first arm 9 and the second arm 13 are rotated to the side close to the telescopic assembly 2.

Example 2

The invention provides a control method of a climbing robot, which is applied to the climbing robot in the embodiment, wherein the slope surface is an inclined slope or a ladder, the lower side of the slope surface is provided with a ground lower than the slope surface, and the higher side of the slope surface is provided with a ground higher than the slope surface;

The method comprises the following steps:

State 1: referring to fig. 3, the first moving component continuously drives the bottom plate 1 to move; the bottom plate 1 is initially positioned on the ground below the slope and is kept in a horizontal state; the telescopic assembly 2 keeps the platform 3 horizontal; the first arm 9 and the second arm 13 are both located on the side of the base plate 1 close to the telescopic assembly 2.

State 2: referring to fig. 4, when the second crawler 12 on the first arm 9 abuts against the slope, and the second sensor detects that the first driving wheel 11 abuts against the slope, the second driving device 10 drives the first arm 9 to rotate near the slope (clockwise in fig. 4) until the first sensor does not detect that the first moving wheel 5 abuts against the slope (the first moving wheel 5 is in a critical state of just not bearing force for a moment and then continues to bear force), and the second sensor detects that the first driving wheel 11 abuts against the slope, so as to move one side of the bottom plate 1 onto the slope.

The third driving device 14 drives the second arm 13 to rotate (anticlockwise in fig. 4) near the ground below the slope surface until the fourth sensor detects the bearing force of the second driving wheel 15, and the rotation is stopped, so that the third crawler 16 on the second arm 13 is abutted with the ground below the slope surface to support the bottom plate 1.

When the slope surface is abutted with the middle part of the first arm body 9, acting force is transmitted to the first driving wheel 11 through the crawler belt, and whether the first driving wheel 11 bears force or not is detected through the sensor.

State 3: referring to fig. 5, the first moving assembly continuously drives the bottom plate 1 to move above the slope, and the inclination angle of the bottom plate 1 is gradually increased; the telescopic assembly 2 adjusts the relative posture between the telescopic assembly 2 and the bottom plate 1 in real time according to the posture and the motion state of the platform 3 relative to the ground, which are currently detected by the posture detection device, so that the platform 3 is kept horizontal;

In the process of increasing the inclination angle of the bottom plate 1, the first driving wheel 11 on the first arm body 9 is separated from the slope surface if not rotated relative to the bottom plate 1, so that the second sensor does not detect the bearing force of the first driving wheel 11; the second driving device 10 drives the first arm 9 to rotate (clockwise in fig. 5) near the slope until the second sensor detects the bearing force of the first driving wheel 11, so that the second crawler 12 on the first arm 9 is always abutted against the slope in the process of increasing the inclination angle of the bottom plate 1;

In the process of increasing the inclination angle of the bottom plate 1, the supporting action of the second arm body 13 can separate the second movable wheel 6 from the ground below the slope; the third driving device 14 drives the second arm 13 to rotate in the opposite direction (clockwise in fig. 5) when the second arm 13 rotates near the ground below the slope until the third sensor detects the bearing force of the second moving wheel 6, so that the second arm 13 is always parallel to the ground below the slope.

State 4: referring to fig. 6, when the bottom plate 1 is parallel to the slope and continues to move upwards along the slope, the third crawler 16 on the second arm 13 is separated from the ground below the slope, and the fourth sensor does not detect the bearing force of the second driving wheel 15, the third driving device 14 drives the second arm 13 to rotate near the slope (anticlockwise in fig. 6) until the fourth sensor detects the bearing force of the second driving wheel 15, so as to make the second arm 13 abut against the slope.

State 5: referring to fig. 7, the first moving component drives the bottom plate 1 to move upwards along the slope;

State 6: referring to fig. 8, when the first driving wheel 11 on the first arm 9 just moves to be higher than the slope, the second sensor does not detect the bearing force of the first driving wheel 11 (the first driving wheel 11 is in a critical state just not bearing force for a moment and then continues bearing force), the second driving device 10 drives the first arm 9 to rotate near the ground higher than the slope (clockwise in fig. 8) for making the first driving wheel 11 abut against the ground higher than the slope and supporting the bottom plate 1.

State 7: referring to fig. 9, in the process that the first moving component drives the bottom plate 1 to move upwards along the slope, the first driving wheel 11 is separated from the ground above the slope, so that the second sensor does not detect the bearing force of the first driving wheel 11, and at this time, the second driving device 10 continuously drives the first arm 9 to rotate near the ground above the slope (clockwise in fig. 9) until the second sensor detects the bearing force of the first driving wheel 11.

State 8: referring to fig. 10, when the center of gravity of the base plate 1 moves to the same height as the ground above the slope, the second driving wheel 15 is separated from the slope, and the fourth sensor does not detect the bearing force of the second driving wheel 15, the second driving device 10 drives the first arm 9 to rotate toward the side close to the telescopic assembly 2 (the side far from the ground above the slope) (anticlockwise in fig. 10) for gradually reducing the inclination angle of the base plate 1.

State 9: referring to fig. 11, the second driving device 10 drives the first arm 9 to rotate toward a side close to the telescopic assembly 2 (anticlockwise in fig. 11), and in the process that the inclination angle of the bottom plate 1 gradually decreases, the telescopic assembly 2 adjusts the relative posture between the telescopic assembly 2 and the bottom plate 1 in real time according to the posture and the motion state of the platform 3 relative to the ground currently detected by the posture detecting device, so that the platform 3 is kept horizontal.

State 10: referring to fig. 12, the bottom plate 1 is restored to be horizontal, the first moving wheel 5 is in contact with the ground higher than the slope, the second sensor does not detect the bearing force of the first driving wheel 11, and when the fourth sensor does not detect the bearing force of the second driving wheel 15, the second driving device 10 drives the first arm 9 to rotate (anticlockwise in fig. 12) to a side close to the telescopic assembly 2; the third driving device 14 drives the second arm 13 to rotate (clockwise in fig. 12) to a side close to the telescopic assembly 2.

Specifically, in the climbing process, two arm bodies are used for being abutted with the ground and the slope surface and used for supporting the bottom plate 1, so that the effect of improving stability is achieved.

In some embodiments, the telescoping assembly 2 adjusts the relative attitude between the platform 3 and the base plate 1 in real time only as the angle of inclination of the base plate 1 changes.

In other embodiments, the telescopic assembly 2 adjusts the relative attitude between the platform 3 and the base plate 1 in real time throughout.

In the process that the inclination angle of the bottom plate 1 is gradually increased or reduced, the inclination angle of the bottom plate 1 is detected in real time, and the respective expansion and contraction amounts of 3 RPS are calculated and regulated, so that the platform 3 is kept horizontal in the whole climbing process. The mode ensures the stability during climbing, and avoids articles falling caused by shaking and tilting of the platform 3; it is also possible to avoid the damage of the object due to vibration caused by the large vibration of the platform 3.

Specifically, when the robot climbs a slope to the left, the same is true as described above.

The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the invention referred to in the present invention is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.

Claims (10)

1. A climbing robot, comprising:

A bottom plate (1);

The telescopic assembly (2) is arranged on the bottom plate (1);

The platform (3) is connected with the end part, far away from the bottom plate (1), of the telescopic assembly (2); the telescopic component (2) is used for adjusting the relative posture between the platform (3) and the bottom plate (1) so as to keep the platform (3) horizontal;

The first moving assembly is arranged on the bottom plate (1) and is used for driving the bottom plate (1), the telescopic assembly (2) and the platform (3) to move;

The first movable arm assembly is rotatably mounted on the bottom plate (1) and used for abutting against the slope surface in the climbing process.

2. A climbing robot according to claim 1, characterized in that the telescopic assembly (2) comprises:

the gesture detection device is arranged on the platform (3) and is used for detecting the gesture and the motion state of the platform (3) relative to the ground;

The telescopic device comprises a plurality of telescopic devices (4), wherein one end of each telescopic device (4) is rotationally connected with the bottom plate (1), the other end of each telescopic device is rotationally connected with the platform (3), and the telescopic devices are used for adjusting the telescopic quantity of the telescopic devices (4) according to the posture and the motion state of the platform (3) relative to the ground, so that the platform (3) is kept horizontal.

3. A climbing robot according to claim 2, characterized in that the first moving assembly has two groups and is mounted on both sides of the base plate (1), respectively;

The first moving assembly includes:

A first moving wheel (5) and a second moving wheel (6), wherein the first moving wheel (5) and the second moving wheel (6) are respectively rotatably arranged on the bottom plate (1);

The first driving device (7), the first driving device (7) is fixedly arranged on the bottom plate (1), and the driving shaft is fixedly connected with the first moving wheel (5) and is used for driving the first moving wheel (5) to rotate;

The first crawler belt (8), the first crawler belt (8) is arranged on the outer side wall of the first moving wheel (5) and the second moving wheel (6), and is used for driving the second moving wheel (6) to rotate synchronously with the first moving wheel (5).

4. A climbing robot according to claim 3, wherein the first moving arm assembly comprises:

The first arm body (9), the said first arm body (9) is installed on said bottom plate (1) rotatably;

The second driving device (10), the second driving device (10) is fixedly installed on the bottom plate (1), and the driving shaft is fixedly connected with the first arm body (9) and used for driving the first arm body (9) to rotate relative to the bottom plate (1).

5. The climbing robot of claim 4, wherein the first moving arm assembly further comprises:

The first driving wheel (11) is rotatably arranged at the end part of the first arm body (9) far away from the bottom plate (1);

The second crawler belt (12) is arranged on the outer side walls of the first moving wheel (5) and the first driving wheel (11) and is used for driving the first driving wheel (11) to synchronously rotate with the first moving wheel (5).

6. The climbing robot of claim 5, wherein the first moving assembly further comprises:

the first sensor is arranged at the rotating shaft of the first moving wheel (5) and is used for detecting whether the first moving wheel (5) bears force or not;

The third sensor is arranged at the rotating shaft of the second moving wheel (6) and is used for detecting whether the second moving wheel (6) bears force or not;

The first mobile arm assembly further includes:

The second sensor is arranged at the rotating shaft of the first driving wheel (11) and is used for detecting whether the first driving wheel (11) bears force or not.

7. The climbing robot of claim 6, further comprising:

The second movable arm assembly is rotatably arranged on one side, far away from the first movable arm assembly, of the bottom plate (1) and is used for abutting against a slope surface in the climbing process.

8. The climbing robot of claim 7, wherein the second moving arm assembly comprises:

The second arm body (13) is rotatably arranged on one side, far away from the first movable arm assembly, of the bottom plate (1);

the third driving device (14), the said third driving device (14) is fixedly installed on said bottom plate (1), and the drive shaft is fixedly connected with said second arm body (13), is used for driving the said second arm body (13) to rotate relative to said bottom plate (1);

the second driving wheel (15) is rotatably arranged at the end part of the second arm body (13) far away from the bottom plate (1);

the third caterpillar band (16), the third caterpillar band (16) is arranged on the outer side walls of the second movable wheel (6) and the second driving wheel (15), and is used for driving the second driving wheel (15) to synchronously rotate with the second movable wheel (6).

9. The climbing robot of claim 8, wherein the second moving arm assembly further comprises:

and the fourth sensor is arranged at the rotating shaft of the second driving wheel (15) and is used for detecting whether the second driving wheel (15) bears force or not.

10. A control method of a climbing robot, applied to the climbing robot according to claim 9, comprising:

the first moving component continuously drives the bottom plate (1) to move; the telescopic component (2) keeps the platform (3) horizontal;

When the second sensor detects the bearing force of the first driving wheel (11), the second driving device (10) drives the first arm body (9) to rotate close to the slope until the first sensor does not detect the bearing force of the first moving wheel (5), and the second driving device is used for enabling the second crawler belt (12) on the first arm body (9) to be abutted against the slope and moving one side of the bottom plate (1) to the slope;

The third driving device (14) drives the second arm body (13) to rotate near the ground lower than the slope surface until the fourth sensor detects the bearing force of the second driving wheel (15), and the third driving device is used for enabling a third crawler belt (16) on the second arm body (13) to be in abutting connection with the ground lower than the slope surface and supporting the bottom plate (1);

the first moving assembly continuously drives the bottom plate (1) to move above the slope, and the inclination angle of the bottom plate (1) is gradually increased; the telescopic component (2) adjusts the relative posture between the telescopic component (2) and the bottom plate (1) in real time according to the posture and the motion state of the platform (3) relative to the ground detected by the posture detection device at present so as to keep the platform (3) horizontal;

when the second sensor does not detect the bearing force of the first driving wheel (11), the second driving device (10) drives the first arm body (9) to rotate close to the slope until the second sensor detects the bearing force of the first driving wheel (11), and the second driving device is used for enabling the second crawler belt (12) on the first arm body (9) to be always abutted against the slope in the process of increasing the inclination angle of the bottom plate (1);

the third driving device (14) drives the second arm body (13) to rotate in the opposite direction when the second arm body (13) rotates close to the ground lower than the slope surface until the third sensor detects the bearing force of the second moving wheel (6), and the third driving device is used for enabling the second arm body (13) to be always parallel to the ground lower than the slope surface in the process of increasing the inclination angle of the bottom plate (1);

When the fourth sensor does not detect the bearing force of the second driving wheel (15), the third driving device (14) drives the second arm body (13) to rotate close to the slope until the fourth sensor detects the bearing force of the second driving wheel (15), and the third driving device is used for enabling the second arm body (13) to be abutted against the slope;

The first moving assembly drives the bottom plate (1) to move upwards along the slope;

when the second sensor does not detect the bearing force of the first driving wheel (11), the second driving device (10) drives the first arm body (9) to rotate close to the ground higher than the slope until the second sensor detects the bearing force of the first driving wheel (11), and the second sensor is used for enabling the first driving wheel (11) to be abutted with the ground higher than the slope and supporting the bottom plate (1);

when the fourth sensor does not detect the bearing force of the second driving wheel (15), the second driving device (10) drives the first arm body (9) to rotate towards one side close to the telescopic assembly (2), so that the inclination angle of the bottom plate (1) is gradually reduced until the first arm body (9) rotates to one side close to the telescopic assembly (2);

the telescopic component (2) adjusts the relative posture between the telescopic component (2) and the bottom plate (1) in real time according to the posture and the motion state of the platform (3) relative to the ground detected by the posture detection device at present so as to keep the platform (3) horizontal;

When the second sensor does not detect the bearing force of the first driving wheel (11) and the fourth sensor does not detect the bearing force of the second driving wheel (15), the third driving device (14) drives the second arm body (13) to rotate to the side close to the telescopic assembly (2).