具体实施方式DETAILED DESCRIPTION

下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与发明相关的部分。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

实施例1Example 1

请参考图1-2，本发明提供一种爬坡机器人，包括：Please refer to Figures 1-2, the present invention provides a climbing robot, including:

底板1；Bottom plate 1;

伸缩组件2，所述伸缩组件2安装在所述底板1上；A telescopic component 2, wherein the telescopic component 2 is mounted on the base plate 1;

平台3，所述平台3与所述伸缩组件2远离所述底板1的端部连接；所述伸缩组件2用于调节所述平台3与所述底板1之间的相对姿态，使所述平台3保持水平；A platform 3, wherein the platform 3 is connected to the end of the telescopic component 2 away from the bottom plate 1; the telescopic component 2 is used to adjust the relative posture between the platform 3 and the bottom plate 1 so that the platform 3 remains horizontal;

第一移动组件，所述第一移动组件安装在所述底板1上，用于带动所述底板1、伸缩组件2和平台3移动；A first moving component, which is installed on the base plate 1 and is used to drive the base plate 1, the telescopic component 2 and the platform 3 to move;

第一移动臂组件，所述第一移动臂组件转动安装在所述底板1上，用于在爬坡过程中与坡面抵接。The first movable arm assembly is rotatably mounted on the base plate 1 and is used for contacting the slope surface during climbing.

具体地，本发明提供的机器人可以适用于平面斜坡，以及楼梯、阶梯的情况。Specifically, the robot provided by the present invention can be applicable to flat slopes, as well as stairs and steps.

第一移动臂组件用于在爬坡时，相对底板1转动并与坡面抵接，以保持机器人整体的平稳性。底板1在爬坡过程中逐渐倾斜，伸缩组件2实时调整伸缩量，以保证平台始终维持水平。The first moving arm assembly is used to rotate relative to the bottom plate 1 and abut against the slope when climbing to maintain the stability of the robot as a whole. The bottom plate 1 gradually tilts during the climbing process, and the telescopic assembly 2 adjusts the telescopic amount in real time to ensure that the platform always remains level.

由此，可使机器人在爬坡时，兼顾稳定上行，以及保证负载的物品不受大幅度振动和冲击而损坏、掉落的两项功能，具有良好的适应性。As a result, the robot can achieve both stable upward movement and ensure that the loaded items are not damaged or dropped due to large vibrations and impacts when climbing a slope, and has good adaptability.

进一步地，所述伸缩组件2包括：Furthermore, the telescopic assembly 2 comprises:

姿态检测装置，所述姿态检测装置安装在所述平台3上，用于检测所述平台3相对地面的姿态和运动状态；A posture detection device, which is installed on the platform 3 and is used to detect the posture and motion state of the platform 3 relative to the ground;

多个伸缩装置4，所述伸缩装置4的一端与所述底板1转动连接，另一端与所述平台3转动连接，用于根据所述平台3相对地面的姿态和运动状态，调节多个所述伸缩装置4的伸缩量，使所述平台3保持水平。A plurality of telescopic devices 4 are provided, one end of the telescopic device 4 is rotatably connected to the base plate 1, and the other end is rotatably connected to the platform 3, and is used to adjust the telescopic amount of the plurality of telescopic devices 4 according to the posture and movement state of the platform 3 relative to the ground, so as to keep the platform 3 level.

具体地，伸缩装置4为电动推杆，简称RPS。本实施例中使用3个RPS,实现了以较少的RPS，稳定地支撑平台3的效果。在机器人启动后伸缩组件2即全程实时调节平台3，使之保持水平。Specifically, the telescopic device 4 is an electric push rod, referred to as RPS. In this embodiment, three RPS are used to achieve the effect of stably supporting the platform 3 with fewer RPS. After the robot is started, the telescopic component 2 adjusts the platform 3 in real time throughout the whole process to keep it level.

平台3上安装有姿态传感器，包括：陀螺仪和加速度计，分别用于检测当前姿态和运动状态。机器人的控制器可根据当前姿态和运动状态通过卡尔曼滤波解算出上平台的欧拉角，从而通过控制系统控制伸缩装置4的伸缩以实现上平台的自平衡。The platform 3 is equipped with a posture sensor, including a gyroscope and an accelerometer, which are used to detect the current posture and motion state respectively. The robot controller can calculate the Euler angle of the upper platform through Kalman filtering according to the current posture and motion state, and then control the extension and retraction of the telescopic device 4 through the control system to achieve self-balancing of the upper platform.

本实施例中，伸缩组件2使平台3保持水平的控制过程大致包括：使用姿态检测装置检测机器人在世界坐标系下的当前姿态和运动状态，计算底板1与水平面之间的欧拉角；根据欧拉角、3个RPS各自的两端在机器人坐标系中的坐标，解算得到使平台3维持水平各自的伸缩量；控制3个RPS各自伸缩至对应的伸缩量，过程中RPS随伸缩量的变化自动相对底板1转动以适应伸缩量的变化。其中，详细的解算过程属于现有技术，在此不做赘述。In this embodiment, the control process of the telescopic component 2 to keep the platform 3 horizontal generally includes: using the posture detection device to detect the current posture and motion state of the robot in the world coordinate system, and calculating the Euler angle between the base plate 1 and the horizontal plane; according to the Euler angle and the coordinates of the two ends of each of the three RPS in the robot coordinate system, solving the telescopic amount of each platform 3 to maintain the horizontal; controlling the three RPS to each extend to the corresponding telescopic amount, and in the process, the RPS automatically rotates relative to the base plate 1 as the telescopic amount changes to adapt to the change of the telescopic amount. Among them, the detailed solution process belongs to the prior art and will not be repeated here.

进一步地，所述第一移动组件具有两组，且分别安装在所述底板1的两侧；Furthermore, the first moving assembly has two groups, and is respectively installed on both sides of the base plate 1;

所述第一移动组件包括：The first moving component comprises:

第一移动轮5和第二移动轮6，所述第一移动轮5和所述第二移动轮6分别转动安装在所述底板1上；A first moving wheel 5 and a second moving wheel 6, wherein the first moving wheel 5 and the second moving wheel 6 are rotatably mounted on the bottom plate 1 respectively;

第一驱动装置7，所述第一驱动装置7固定安装在所述底板1上，且驱动轴与所述第一移动轮5固定连接，用于带动所述第一移动轮5转动；A first driving device 7, wherein the first driving device 7 is fixedly mounted on the base plate 1, and a driving shaft is fixedly connected to the first moving wheel 5, and is used for driving the first moving wheel 5 to rotate;

第一履带8，所述第一履带8设置在所述第一移动轮5和所述第二移动轮6的外侧壁上，用于带动所述第二移动轮6与所述第一移动轮5同步转动。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 .

具体地，第一驱动装置7包括电机和行星减速器。Specifically, the first driving device 7 includes a motor and a planetary reducer.

具体地，使用履带式的设计能够使机器人在平地移动时，具有良好的抓地效果；在爬坡过程中履带能够有效地与阶梯边缘抵接，相比轮式结构在爬阶梯的情况下具有更好爬坡的效果。Specifically, the use of a tracked design enables the robot to have a good grip on the ground when moving on flat ground; during the climbing process, the tracks can effectively abut against the edge of the stairs, and compared with a wheeled structure, it has a better climbing effect when climbing stairs.

进一步地，所述第一移动臂组件包括：Furthermore, the first moving arm assembly comprises:

第一臂体9，所述第一臂体9转动安装在所述底板1上；A first arm body 9, wherein the first arm body 9 is rotatably mounted on the base plate 1;

第二驱动装置10，所述第二驱动装置10固定安装在所述底板1上，且驱动轴与所述第一臂体9固定连接，用于带动所述第一臂体9相对所述底板1转动。The second driving device 10 is fixedly mounted on the base plate 1 , and a driving shaft is fixedly connected to the first arm body 9 , so as to drive the first arm body 9 to rotate relative to the base plate 1 .

进一步地，所述第一移动臂组件还包括：Furthermore, the first moving arm assembly also includes:

第一传动轮11，所述第一传动轮11转动安装在所述第一臂体9远离所述底板1的端部；A first transmission wheel 11, wherein the first transmission wheel 11 is rotatably mounted on an end of the first arm 9 away from the base plate 1;

第二履带12，所述第二履带12设置在所述第一移动轮5与所述第一传动轮11的外侧壁上，用于带动所述第一传动轮11与所述第一移动轮5同步转动。The second crawler belt 12 is arranged on the outer side walls of the first moving wheel 5 and the first transmission wheel 11, and is used for driving the first transmission wheel 11 and the first moving wheel 5 to rotate synchronously.

具体地，为了使机器人在爬坡过程中能够更加稳定，并且能够顺利跨越阶梯，机器人底板1上安装有第一臂体9，用于与坡面抵接，并抬高底板1靠近坡面一侧的高度，便于进行爬坡动作。Specifically, in order to make the robot more stable during climbing and able to smoothly cross the stairs, a first arm 9 is installed on the robot base plate 1 for contacting the slope and raising the height of the base plate 1 close to the slope to facilitate climbing.

第一臂体9上也安装有履带结构，与第一移动组件中的履带同步运动，能够在与第一臂体9坡面抵接时，避免滑动，以减少阻力。The first arm 9 is also provided with a crawler structure, which moves synchronously with the crawler in the first moving assembly, and can avoid sliding when contacting with the slope of the first arm 9, thereby reducing resistance.

进一步地，所述第一移动组件还包括：Furthermore, the first moving component also includes:

第一传感器，所述第一传感器设置在所述第一移动轮5的旋转轴处，用于检测所述第一移动轮5是否承力（意为承受作用力，作用力包括与其他结构抵接产生的作用力，以及与履带之间的作用力）；a first sensor, which is disposed at the rotation axis of the first moving wheel 5 and is used to detect whether the first moving wheel 5 is bearing force (meaning to withstand an action force, the action force including the action force generated by abutting against other structures and the action force between the first moving wheel 5 and the crawler);

第三传感器，所述第三传感器设置在所述第二移动轮6的旋转轴处，用于检测所述第二移动轮6是否承力；A third sensor, the third sensor is arranged at the rotation axis of the second moving wheel 6, and is used to detect whether the second moving wheel 6 is bearing force;

所述第一移动臂组件还包括：The first moving arm assembly also includes:

第二传感器，所述第二传感器设置在所述第一传动轮11的旋转轴处，用于检测所述第一传动轮11是否承力。The second sensor is arranged at the rotation axis of the first transmission wheel 11 and is used to detect whether the first transmission wheel 11 is under force.

具体地，为了在爬坡过程中，能够得知机器人当前所处的位置与状态，在第一移动轮5的旋转轴，以及第一传动轮11的旋转轴处安装压力传感器。Specifically, in order to know the current position and state of the robot during the climbing process, pressure sensors are installed at the rotation axis of the first moving wheel 5 and the rotation axis of the first transmission wheel 11.

当第一移动轮5和第一传动轮11之间连接的履带与坡面抵接时，作用力会传递至二者的旋转轴处，压力传感器可以通过检测作用力，判断是否承受外力。When the crawler track connected between the first moving wheel 5 and the first transmission wheel 11 contacts the slope, the force will be transmitted to the rotation axes of the two. The pressure sensor can determine whether it is subjected to external force by detecting the force.

具体而言，当检测到作用力为零时，表示未承受外力；否则，表示承受外力。实际情况下作用力较难完全为零，因此本实施例中，在各部位实际未受到外力时，检测自身结构之间的力（例如正常悬空时履带的张紧力）以及重力带来的作用力；并设定为作用力阈值，当实际运动过程中检测到的作用力小于或等于作用力阈值时，视为作用力等于零；当作用力大于作用力阈值时，表示受到外部的作用力。Specifically, when the force is detected to be zero, it means that no external force is applied; otherwise, it means that external force is applied. In actual situations, it is difficult for the force to be completely zero. Therefore, in this embodiment, when each part is actually not subjected to external force, the force between its own structure (for example, the tension of the track when normally suspended) and the force caused by gravity are detected; and set as the force threshold. When the force detected during the actual movement is less than or equal to the force threshold, it is considered to be zero; when the force is greater than the force threshold, it means that an external force is applied.

初始状态时，第一臂体9处于底板1靠近伸缩组件2的一侧。In the initial state, the first arm 9 is located on a side of the base plate 1 close to the telescopic assembly 2 .

在爬坡过程中，若机器人安装第一移动组件的一侧靠近坡面，则在第二传感器检测到作用力时，第二驱动装置10带动第一臂体9靠近坡面旋转（正转），使第一臂体9上的履带与坡面贴合，增加机器人与坡面的稳定性；During the climbing process, if the side of the robot on which the first moving assembly is installed is close to the slope, when the second sensor detects the force, the second driving device 10 drives the first arm 9 to rotate close to the slope (forward rotation), so that the crawler on the first arm 9 fits the slope, thereby increasing the stability of the robot and the slope;

其中，当第一传感器检测到第一移动轮5刚好未承力时，表示第一移动轮5已处于悬空的临界状态，此时控制第一臂体9停止转动，第一臂体9与坡面贴合。When the first sensor detects that the first moving wheel 5 is just not bearing any force, it indicates that the first moving wheel 5 is in a critical state of being suspended in the air. At this time, the first arm 9 is controlled to stop rotating, and the first arm 9 is in contact with the slope.

第一移动组件带动底板1移动，并使倾斜角度逐渐增大，过程中第一臂体9始终与坡面贴合，其控制过程与上述方式一致。由此，当底板1与坡面倾斜角度一致时，第一臂体9达到与底板1平行的状态。The first moving assembly drives the bottom plate 1 to move and gradually increases the inclination angle. During the process, the first arm 9 always fits with the slope surface, and the control process is consistent with the above method. Thus, when the bottom plate 1 and the slope surface have the same inclination angle, the first arm 9 reaches a state parallel to the bottom plate 1.

当第二传感器未检测到第一传动轮11承力，且第一传感器刚好未检测到第一移动轮5承力时，表示第一臂体9已经完全高于坡面，此时控制第一臂体9正转，直至第二传感器检测到第一传动轮11承力，表示第一传动轮11已与高于坡面的地面抵接，支撑底板1。When the second sensor does not detect that the first transmission wheel 11 is bearing force, and the first sensor just does not detect that the first movable wheel 5 is bearing force, it indicates that the first arm 9 is completely above the slope. At this time, the first arm 9 is controlled to rotate forward until the second sensor detects that the first transmission wheel 11 is bearing force, indicating that the first transmission wheel 11 has abutted against the ground above the slope to support the base plate 1.

当第三传感器刚好未检测到第二移动轮6承力（此时由第一臂体9和第二臂体13支撑底板1）时，表示第二移动轮6处于临界状态，底板1整体均高于坡面，可以控制第一臂体9恢复初始状态。When the third sensor just fails to detect that the second movable wheel 6 bears no force (the first arm 9 and the second arm 13 support the base plate 1 at this time), it indicates that the second movable wheel 6 is in a critical state, and the base plate 1 as a whole is higher than the slope, and the first arm 9 can be controlled to restore to its initial state.

进一步地，还包括：Furthermore, it also includes:

第二移动臂组件，所述第二移动臂组件转动安装在所述底板1远离所述第一移动臂组件的一侧，用于在爬坡过程中与坡面抵接。The second movable arm assembly is rotatably mounted on a side of the base plate 1 away from the first movable arm assembly, and is used for abutting against the slope surface during climbing.

进一步地，所述第二移动臂组件包括：Furthermore, the second moving arm assembly comprises:

第二臂体13，所述第二臂体13转动安装在所述底板1远离第一移动臂组件的一侧；A second arm body 13, the second arm body 13 is rotatably mounted on a side of the base plate 1 away from the first movable arm assembly;

第三驱动装置14，所述第三驱动装置14固定安装在所述底板1上，且驱动轴与所述第二臂体13固定连接，用于带动所述第二臂体13相对所述底板1转动；A third driving device 14, wherein the third driving device 14 is fixedly mounted on the base plate 1, and a driving shaft is fixedly connected to the second arm body 13, and is used for driving the second arm body 13 to rotate relative to the base plate 1;

第二传动轮15，所述第二传动轮15转动安装在所述第二臂体13远离所述底板1的端部；A second transmission wheel 15, the second transmission wheel 15 is rotatably mounted on the end of the second arm 13 away from the base plate 1;

第三履带16，所述第三履带16设置在所述第二移动轮6与所述第二传动轮15的外侧壁上，用于带动所述第二传动轮15与所述第二移动轮6同步转动。The third crawler belt 16 is arranged on the outer side walls of the second moving wheel 6 and the second transmission wheel 15, and is used to drive the second transmission wheel 15 and the second moving wheel 6 to rotate synchronously.

进一步地，所述第二移动臂组件还包括：Furthermore, the second moving arm assembly also includes:

第四传感器，所述第四传感器设置在所述第二传动轮15的旋转轴处，用于检测所述第二传动轮15是否承力。A fourth sensor is disposed at the rotation axis of the second transmission wheel 15 and is used to detect whether the second transmission wheel 15 is bearing force.

在一些实施方式中，参考图2，底板1的上下两部分部件的布置位置沿中心对称设置，其中图左侧和右侧的第一臂体9与第二臂体13分别相互连接；In some embodiments, referring to FIG. 2 , the upper and lower parts of the bottom plate 1 are arranged symmetrically 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 to each other;

图2中左侧的第一臂体9与左侧的第二臂体13一同受到第三驱动装置14带动相对底板1旋转；In FIG. 2 , the first arm body 9 on the left and the second arm body 13 on the left are driven by the third driving device 14 to rotate relative to the base plate 1;

图2中右侧的第二臂体13与右侧的第一臂体9一同受到第二驱动装置10带动相对底板1旋转。In FIG. 2 , the second arm body 13 on the right side and the first arm body 9 on the right side are driven by the second driving device 10 to rotate relative to the base plate 1 .

因此，当机器人向图2中右侧移动并爬坡时，图2中右侧第一臂体9上的第一传动轮11承力，从而触发整个机器人的爬坡动作；爬坡过程中，机器人右侧的第二臂体13与第一臂体9一同动作；机器人左侧的第一臂体9与第二臂体13一同动作。Therefore, when the robot moves to the right side in Figure 2 and climbs the slope, the first transmission wheel 11 on the first arm 9 on the right side in Figure 2 bears the force, thereby triggering the climbing action of the entire robot; during the climbing process, the second arm 13 on the right side of the robot moves together with the first arm 9; the first arm 9 on the left side of the robot moves together with the second arm 13.

当机器人向图2中左侧移动并爬坡时，图2中左侧第一臂体9上的第一传动轮11承力，从而触发整个机器人的爬坡动作；爬坡过程中，机器人右侧的第一臂体9与第二臂体13一同动作；机器人左侧的第二臂体13与第一臂体9一同动作。When the robot moves to the left side in Figure 2 and climbs the slope, the first transmission wheel 11 on the first arm 9 on the left side in Figure 2 bears the force, thereby triggering the climbing action of the entire robot; during the climbing process, the first arm 9 on the right side of the robot moves together with the second arm 13; the second arm 13 on the left side of the robot moves together with the first arm 9.

由此，两组部件中心对称设置的方式，可以不进行转向即可实现从两个方向完成爬坡动作，缩短了搬运物品的时间消耗，提高了运输效率。Therefore, the two sets of components are arranged in a center-symmetrical manner, so that climbing can be completed from two directions without turning, which shortens the time consumed in moving items and improves transportation efficiency.

具体地，第二驱动装置10和第三驱动装置14包括电机和行星减速器。Specifically, the second driving device 10 and the third driving device 14 include a motor and a planetary reducer.

以下按照右侧爬坡进行描述，左侧爬坡同理：The following is a description of climbing on the right side. The same is true for climbing on the left side:

第一臂体9与坡面抵接，第一臂体9旋转并与坡面抵接，同时第二履带12随第一移动轮5运动，带动底板1倾斜角度增大，爬上坡面；The first arm 9 abuts against the slope, the first arm 9 rotates and abuts against the slope, and at the same time the second crawler 12 moves with the first moving wheel 5, driving the bottom plate 1 to increase its inclination angle and climb up the slope;

第二臂体13与低于坡面的地面抵接，从而支撑底板1；The second arm 13 abuts against the ground below the slope, thereby supporting the bottom plate 1;

底板1完全爬上坡面时，两臂体均与坡面平行；When the base plate 1 completely climbs onto the slope, both arms are parallel to the slope;

当第一臂体9高于坡面时，第一臂体9旋转，并与高于坡面的地面抵接，支撑底板1；When the first arm body 9 is higher than the slope surface, the first arm body 9 rotates and contacts the ground higher than the slope surface to support the bottom plate 1;

底板1完全高于坡面时，第一臂体9逐渐旋转至水平，以降低底板1的倾斜角度；When the bottom plate 1 is completely above the slope, the first arm 9 gradually rotates to a horizontal position to reduce the inclination angle of the bottom plate 1;

第一臂体9与第二臂体13旋转至靠近伸缩组件2一侧。The first arm 9 and the second arm 13 rotate to a side close to the telescopic assembly 2 .

实施例2Example 2

本发明提供一种爬坡机器人的控制方法，应用于上述实施例的一种爬坡机器人，其中，坡面为倾斜的斜面或阶梯，其较低一侧具有低于坡面的地面，较高一侧具有高于坡面的地面；The present invention provides a control method for a hill-climbing robot, which is applied to a hill-climbing robot of the above embodiment, wherein the slope is an inclined slope or a staircase, the lower side of which has a ground lower than the slope, and the higher side of which has a ground higher than the slope;

方法包括：Methods include:

状态1：参考图3，第一移动组件持续带动底板1移动；底板1初始处于低于坡面的地面上，且保持水平状态；伸缩组件2使平台3保持水平；第一臂体9和第二臂体13均处于底板1靠近伸缩组件2的一侧。State 1: Referring to Figure 3, the first moving component continuously drives the base plate 1 to move; the base plate 1 is initially on the ground below the slope and remains horizontal; the telescopic component 2 keeps the platform 3 horizontal; the first arm 9 and the second arm 13 are both on the side of the base plate 1 close to the telescopic component 2.

状态2：参考图4，当第一臂体9上的第二履带12与坡面抵接，第二传感器检测到第一传动轮11承力时，第二驱动装置10带动第一臂体9靠近坡面旋转（图4中为顺时针），直至第一传感器未检测到第一移动轮5承力（一瞬间第一移动轮5处于刚好未承力的临界状态，而后继续承力），且第二传感器检测到第一传动轮11承力，用于使第一臂体9上的第二履带12与坡面抵接，将底板1的一侧移动至坡面上。State 2: Referring to Figure 4, when the second crawler 12 on the first arm 9 abuts against the slope and the second sensor detects that the first transmission wheel 11 is bearing force, the second drive device 10 drives the first arm 9 to rotate close to the slope (clockwise in Figure 4) until the first sensor does not detect that the first moving wheel 5 is bearing force (for a moment the first moving wheel 5 is in a critical state of just not bearing force, and then continues to bear force), and the second sensor detects that the first transmission wheel 11 is bearing force, which is used to make the second crawler 12 on the first arm 9 abut against the slope and move one side of the base plate 1 onto the slope.

第三驱动装置14带动第二臂体13靠近低于坡面的地面旋转（图4中为逆时针），直至第四传感器检测到第二传动轮15承力时，停止转动，用于使第二臂体13上的第三履带16与低于坡面的地面抵接，支撑底板1。The third driving device 14 drives the second arm 13 to rotate close to the ground below the slope (counterclockwise in Figure 4) until the fourth sensor detects that the second transmission wheel 15 is bearing force, and then stops rotating, so that the third crawler 16 on the second arm 13 abuts against the ground below the slope to support the base plate 1.

其中，坡面与第一臂体9的中部抵接时，通过履带将作用力传递至第一传动轮11，再经传感器检测到第一传动轮11是否承力。When the slope abuts against the middle of the first arm 9, the force is transmitted to the first transmission wheel 11 through the crawler, and then the sensor detects whether the first transmission wheel 11 bears the force.

状态3：参考图5，第一移动组件持续带动底板1向坡面上方移动，底板1的倾斜角度逐渐增大；伸缩组件2根据姿态检测装置当前检测到的平台3相对地面的姿态和运动状态，实时调节伸缩组件2与底板1之间的相对姿态使平台3保持水平；State 3: Referring to FIG5 , the first moving assembly continuously drives the bottom plate 1 to move upward on the slope, and the inclination angle of the bottom plate 1 gradually increases; the telescopic assembly 2 adjusts the relative posture between the telescopic assembly 2 and the bottom plate 1 in real time to keep the platform 3 level according to the posture and motion state of the platform 3 relative to the ground currently detected by the posture detection device;

底板1倾斜角度增大过程中，第一臂体9上的第一传动轮11若不相对底板1转动则会与坡面分离，使第二传感器未检测到第一传动轮11承力；因此第二驱动装置10带动第一臂体9靠近坡面旋转（图5中为顺时针），直至第二传感器检测到第一传动轮11承力，用于在底板1倾斜角度增大的过程中，使第一臂体9上的第二履带12始终与坡面抵接；During the process of increasing the inclination angle of the bottom plate 1, if the first transmission wheel 11 on the first arm body 9 does not rotate relative to the bottom plate 1, it will separate from the slope surface, so that the second sensor does not detect the force of the first transmission wheel 11; therefore, the second driving device 10 drives the first arm body 9 to rotate close to the slope surface (clockwise in FIG. 5) until the second sensor detects the force of the first transmission wheel 11, so as to ensure that the second crawler 12 on the first arm body 9 always contacts the slope surface during the process of increasing the inclination angle of the bottom plate 1;

在底板1倾斜角度增大的过程中，第二臂体13的支撑作用，会使第二移动轮6与低于坡面的地面分离；因此第三驱动装置14带动第二臂体13沿第二臂体13靠近低于坡面的地面旋转时相反的方向旋转（图5中顺时针），直至第三传感器检测到第二移动轮6承力，用于使第二臂体13始终与低于坡面的地面平行。As the inclination angle of the base plate 1 increases, the supporting effect of the second arm body 13 will cause the second movable wheel 6 to separate from the ground below the slope; therefore, the third driving device 14 drives the second arm body 13 to rotate in the opposite direction when the second arm body 13 rotates close to the ground below the slope (clockwise in Figure 5) until the third sensor detects that the second movable wheel 6 bears force, so as to ensure that the second arm body 13 is always parallel to the ground below the slope.

状态4：参考图6，当底板1与坡面平行并继续沿坡面向上移动，第二臂体13上的第三履带16与低于坡面的地面相互分离，第四传感器未检测到第二传动轮15承力时，第三驱动装置14带动第二臂体13靠近坡面旋转（图6中逆时针），直至第四传感器检测到第二传动轮15承力，用于使第二臂体13与坡面抵接。State 4: Referring to Figure 6, when the base plate 1 is parallel to the slope and continues to move upward along the slope, the third track 16 on the second arm 13 is separated from the ground below the slope, and the fourth sensor does not detect that the second transmission wheel 15 is bearing force, the third driving device 14 drives the second arm 13 to rotate close to the slope (counterclockwise in Figure 6) until the fourth sensor detects that the second transmission wheel 15 is bearing force, so as to make the second arm 13 abut against the slope.

状态5：参考图7，第一移动组件带动所述底板1沿坡面向上移动；State 5: Referring to FIG. 7 , the first moving assembly drives the bottom plate 1 to move upward along the slope;

状态6：参考图8，当第一臂体9上的第一传动轮11刚好运动至高于坡面，第二传感器未检测到第一传动轮11承力（一瞬间第一传动轮11处于刚好未承力的临界状态，而后继续承力）时，第二驱动装置10带动第一臂体9靠近高于坡面的地面旋转（图8中顺时针），用于使第一传动轮11与高于坡面的地面抵接，支撑所述底板1。State 6: Referring to FIG8 , when the first transmission wheel 11 on the first arm body 9 just moves to a position above the slope surface and the second sensor does not detect that the first transmission wheel 11 is bearing no force (for a moment the first transmission wheel 11 is in a critical state of just not bearing any force, and then continues to bear the force), the second driving device 10 drives the first arm body 9 to rotate close to the ground above the slope surface (clockwise in FIG8 ), so as to make the first transmission wheel 11 contact the ground above the slope surface and support the base plate 1.

状态7：参考图9，第一移动组件带动底板1继续沿坡面向上移动的过程中，第一传动轮11会与高于坡面的地面分离，使第二传感器未检测到第一传动轮11承力，此时第二驱动装置10继续带动第一臂体9靠近高于坡面的地面旋转（图9中顺时针），直至第二传感器检测到第一传动轮11承力。State 7: Referring to Figure 9, when the first moving component drives the base plate 1 to continue to move upward along the slope, the first transmission wheel 11 will separate from the ground above the slope, so that the second sensor does not detect that the first transmission wheel 11 is bearing force. At this time, the second driving device 10 continues to drive the first arm 9 to rotate close to the ground above the slope (clockwise in Figure 9) until the second sensor detects that the first transmission wheel 11 is bearing force.

状态8：参考图10，当底板1的重心运动至与高于坡面的地面等高，第二传动轮15与坡面分离，第四传感器未检测到第二传动轮15承力时，第二驱动装置10带动第一臂体9向靠近伸缩组件2的一侧（远离高于坡面的地面一侧）旋转（图10中逆时针），用于使底板1的倾斜角度逐渐减小。State 8: Referring to Figure 10, when the center of gravity of the base plate 1 moves to the same height as the ground above the slope, the second transmission wheel 15 is separated from the slope, and the fourth sensor does not detect that the second transmission wheel 15 bears no force, the second driving device 10 drives the first arm 9 to rotate toward the side close to the telescopic component 2 (away from the side of the ground above the slope) (counterclockwise in Figure 10), so as to gradually reduce the inclination angle of the base plate 1.

状态9：参考图11，第二驱动装置10带动第一臂体9向靠近伸缩组件2的一侧旋转（图11中逆时针），底板1的倾斜角度逐渐减小的过程中，伸缩组件2根据姿态检测装置当前检测到的平台3相对地面的姿态和运动状态，实时调节伸缩组件2与底板1之间的相对姿态使平台3保持水平。State 9: Referring to FIG11 , the second driving device 10 drives the first arm 9 to rotate toward the side close to the telescopic component 2 (counterclockwise in FIG11 ). As the inclination angle of the base plate 1 gradually decreases, the telescopic component 2 adjusts the relative posture between the telescopic component 2 and the base plate 1 in real time to keep the platform 3 level according to the posture and motion state of the platform 3 relative to the ground currently detected by the posture detection device.

状态10：参考图12，底板1恢复水平，第一移动轮5与高于坡面的地面接触，第二传感器未检测到第一传动轮11承力，且第四传感器未检测到第二传动轮15承力时，第二驱动装置10带动第一臂体9旋转（图12中逆时针）至靠近伸缩组件2的一侧；第三驱动装置14带动第二臂体13旋转（图12中顺时针）至靠近伸缩组件2的一侧。State 10: Referring to Figure 12, the base plate 1 returns to the horizontal state, the first movable wheel 5 contacts the ground above the slope, the second sensor does not detect that the first transmission wheel 11 bears no force, and the fourth sensor does not detect that the second transmission wheel 15 bears no force, the second driving device 10 drives the first arm 9 to rotate (counterclockwise in Figure 12) to the side close to the telescopic component 2; the third driving device 14 drives the second arm 13 to rotate (clockwise in Figure 12) to the side close to the telescopic component 2.

具体地，在爬坡过程中，使用两臂体与地面和坡面抵接，用于支撑底板1，实现了提高稳定性的效果。Specifically, during the climbing process, the two arms are used to abut against the ground and the slope to support the base plate 1, thereby achieving the effect of improving stability.

在一些实施方式中，伸缩组件2仅在底板1倾斜角度变化时，实时调节平台3与底板1之间的相对姿态。In some embodiments, the telescopic assembly 2 adjusts the relative posture between the platform 3 and the base plate 1 in real time only when the tilt angle of the base plate 1 changes.

在另一些实施方式中，伸缩组件2全程实时调节平台3与底板1之间的相对姿态。In other embodiments, the telescopic assembly 2 adjusts the relative posture between the platform 3 and the base plate 1 in real time throughout the entire process.

在底板1倾斜角度逐渐增大或减小的过程中，实时检测底板1的倾斜角度，计算并调节3个RPS各自的伸缩量，使平台3在爬坡全程保持水平。这种方式既保证了爬坡时的稳定性，又避免平台3的晃动、倾斜导致物品掉落；还可以避免平台3大幅度振动导致物品因振动而损坏。When the inclination angle of the bottom plate 1 gradually increases or decreases, the inclination angle of the bottom plate 1 is detected in real time, and the extension and contraction of the three RPS are calculated and adjusted to keep the platform 3 level during the whole process of climbing. This method not only ensures the stability during climbing, but also prevents the shaking and tilting of the platform 3 from causing the objects to fall; it can also prevent the platform 3 from vibrating greatly and causing the objects to be damaged due to vibration.

具体地，当机器人向左侧爬坡时，与上述方式同理。Specifically, when the robot climbs the slope to the left, the above method is the same.

以上描述仅为本发明的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本发明中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离所述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本发明中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.