A snake-like bionic robot and its control system

Abstract

The present invention discloses a serpentine bionic robot and its control system, and relates to the technical field of bionic robots. The present invention includes a head joint, a tail joint, and a universal joint connected between the head joint and the tail joint, wherein the head joint includes a first housing, a camera, a function module control circuit, a function module communication circuit, etc.; the tail joint includes a second housing, a snake body tail joint control circuit, a power supply circuit, a cable connector, etc.; the universal joint includes a third housing, a joint connector circuit, a servo, a joint control circuit, etc.; the tail of the tail joint is connected to a power controller through a control line, and is connected to a host computer console by a USB line and controls the serpentine bionic robot through a remote control handle. The present invention can be applied to application scenarios with narrow space, complex environment, and difficulty for people to reach, and can be applied to operations inside narrow pipelines, cable trenches, and large equipment cavities, and can also be applied to scenes such as earthquake rescue and military inspections, and has the characteristics of strong adaptability to complex environments.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic robots, and in particular relates to a snake-like bionic robot and a control system of the snake-like bionic robot. Background Art

[0002] The present invention belongs to snake robots, which are currently mainly involved in the field of academic research, including: 1. International research institutions: GMD-snake developed by the German National Center for Information Technology is equipped with pressure sensors, camera sensors, etc.; OmniTead OT series of the University of Michigan, using pneumatic multi-degree-of-freedom joints; Uncle Sam of Carnegie Mellon University, a modular robot; Anna Konda of the Norwegian University of Science and Technology, used for firefighting. 2. Main domestic research: the patrol series robot developed by the Shenyang Automation Research Institute; CSR robot suitable for crawling developed by Shanghai Jiaotong University; NUDTSR robot of the National University of Defense Technology and "Chinese Dragon" developed by Beijing Information Science and Technology University. The snake robots in the above academic fields have different forms and are mainly used for technical research, and some are only prototype products. The present invention is closest to the snake robot of Carnegie Mellon University. Both are modular joints, but they are different in terms of specifications, size, appearance, and internal components. The difference is very large. 3. Productized snake robots include: snake-shaped robotic arms of OC Robotics, BionicMotionRobot of Festo and snake-shaped robotic arms of Siasun. The robot products of these three companies are snake-like mechanical arms. The biggest difference between them and snake-like robots is that their ends are fixed and cannot move independently. They are only similar to the movements of snakes in terms of movement form, which is very different from the present invention.

[0003] The snake-like robots in the academic field are similar to the present invention in appearance and movement, but they are mainly used for technical research and are generally robot prototypes. They are not sufficiently commercialized and have poor reliability. In addition, robots used for academic research are often expensive and have poor replicability.

[0004] Although some companies have commercialized snake-like robotic arm products, such products are quite different from the present invention, and are only similar to the movements of snakes in terms of movement form. Their ends are generally fixed and cannot move independently. Their application scenarios and methods are different from the present invention. The robot's operating range is limited by the size of the robot, and its application scenarios are limited. Therefore, in view of the above problems, the present invention provides a snake-like bionic robot and its control system, which are of great significance. Summary of the invention

[0005] The present invention relates to a snake-shaped bionic robot and its control system, which belongs to an invention of bionic robot products. The robot is similar to a snake in terms of appearance and movement form, so it can be regarded as a snake-type robot. The robot can also be classified as a special robot and is suitable for application scenarios with narrow spaces, complex environments, and difficult for humans to reach. For example, it can operate inside narrow pipelines, cable trenches, and large equipment cavities, and can also be applied to scenarios such as earthquake rescue and military patrol, with strong adaptability to complex environments.

[0006] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0007] The present invention is a snake-shaped bionic robot and its control system, which includes at least eight universal joints movably connected between a head joint, a tail joint, and the head joint and the tail joint.

[0008] The head joint includes a cylindrical first housing, a circle of LED lighting lamps installed around the front end of the first housing, a camera located in the middle, a function module control circuit installed inside the first housing for controlling the LED lighting lamps and the camera, a function module communication circuit installed inside the first housing, a first joint installation mechanical interface and a first bearing respectively located on both sides of the "U"-shaped connection base of the head joint. The function module communication circuit is provided with a first indicator for displaying the working state of the head joint, a function module communication interface connecting the LED lighting lamps and the camera, a first analog communication interface for conducting joint control signals to achieve base connection control communication and for transmitting data.

[0009] The tail joint includes a cylindrical second housing, a snake body tail joint control circuit installed inside the second housing, a power supply circuit connected to the tail joint control circuit at the tail of the second housing, a cable socket connected to the snake body tail joint control circuit at the end of the second housing, a second indicator for displaying the power supply state of the tail joint provided on the power supply circuit, a third indicator for displaying the overall communication state of the snake-shaped robot joints provided on the snake body tail joint control circuit, a second bearing and a second joint installation mechanical interface symmetrically arranged on both sides of the "U"-shaped connection base at the top of the second housing, a second bearing for limiting the control line corresponding to the cable socket at the end of the tail joint, and a slip ring structure arranged between the second bearing and the snake body tail joint control circuit.

[0010] The universal joint includes a cylindrical third housing, a joint plug-in circuit installed inside the third housing, a servo motor installed at the top inside the third housing with steering wheels and third bearings symmetrically protruding from both outer sides respectively, a connection between the joint plug-in circuit and the servo motor for conducting joint control signals to achieve connection control communication of the servo motor, a joint control circuit plugged on the joint plug-in circuit and electrically connected to the servo motor, a second communication interface arranged on the joint plug-in circuit for transmitting data, third joint mounting mechanical interfaces and fourth bearings symmetrically arranged on the "U"-shaped connection base at the bottom end of the universal joint, and a fourth indicator light installed on the joint plug-in circuit;

[0011] The tail of the tail joint is electrically connected to the snake body tail joint control circuit through a control line via a slip ring structure and then connected to a power controller. The power controller is powered by a battery power supply, connected to a host computer console through a USB cable, and used to control the snake-shaped bionic robot through a remote control handle; The adjacent head joint and the universal joint are rotationally connected through a steering wheel and a first joint mounting mechanical interface, and a first bearing and a third joint mounting mechanical interface. The adjacent two universal joints are rotationally connected through crossed third joint mounting mechanical interfaces and steering wheels. The adjacent universal joint and the tail joint are rotationally connected through a steering wheel and a second joint mounting mechanical interface, and a second bearing and a third joint mounting mechanical interface.

[0012] Further, the adjacent head joints, universal joints, and tail joints are installed in a mutually 90° staggered series.

[0013] Further, the camera uses a visible light camera or an infrared camera.

[0014] Further, the maximum rotation angle between the adjacent tail joints, universal joints, and head joints is 180°.

[0015] Further, customized copper pins are arranged on the joint plug-in circuit, and copper pin cylinders opposite to and in plug-in cooperation with the customized copper pins are arranged on the joint control circuit, and communication is realized through the series connection of the plug-in circuits.

[0016] A control system of a snake-shaped bionic robot includes:

[0017] A head circuit, which is composed of a functional module communication circuit and a functional module control circuit electrically connected to an LED lighting lamp and a camera;

[0018] A universal joint circuit, which is composed of a joint control circuit electrically connected to a servo motor and a joint plug-in circuit plugged and electrically connected to the joint control circuit;

[0019] A tail circuit, which is composed of a power supply circuit and a snake body tail joint control circuit electrically connected to the power supply circuit;

[0020] The connection between the head circuit and the general joint circuit is realized through the rotation shaft holes of the "凵"-shaped connection base and the wire grooves inside the first housing and the third housing;

[0021] The connection between two adjacent general joint circuits is realized through the rotation shaft holes of the "凵"-shaped connection base and the wire grooves inside the third housing;

[0022] The connection between the tail circuit and the general joint circuit is realized through the rotation shaft holes of the "凵"-shaped connection base and the wire grooves inside the second housing and the third housing, and the wire is connected to the snake body tail joint control circuit;

[0023] The head circuit, the general joint circuit, and the tail circuit are connected in sequence by wires, and then output through the control wire via the tail joint control circuit to be connected to the power controller. The power controller is powered by a battery power supply and is connected to the upper computer console by a USB cable and controls the snake-shaped bionic robot through a remote control handle.

[0024] Further, the control wire connected to the snake body tail joint control circuit in the tail joint is electrically connected to the power controller by using the 485 communication method, and the power controller is powered by a 24 - 60V power supply.

[0025] Further, on the UI interface of the upper computer console side, there are set a camera front - end video image display area, status indicator lights for each joint of the snake - shaped bionic robot, and a running status indication area for the snake - shaped bionic robot.

[0026] The present invention has the following beneficial effects:

[0027] 1. Based on its own size, it can drill into narrow spaces for movement, and at the same time can carry a visible - light camera or an infrared camera to capture images or videos in real time, which is an ability that other robots do not have;

[0028] 2. The movement characteristics of this robot can adapt to complex terrains, which is an ability that traditional wheeled robots do not have. Its simple structure, large - range movement ability, and low cost are advantages that multi - legged robots do not have;

[0029] 3. This product adopts a modular design, which can conveniently add, reduce, or replace modules, and can adjust the length of the robot according to the application scenario to meet different application requirements;

[0030] 4. This product adopts an extremely simplified design with fewer components, and has a greater price advantage compared with other robot products with similar applications;

[0031] 5. The connection and control between each joint of this product are accurate, efficient, the structural design is flexible and delicate, and the control communication efficiency is high.

[0032] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0034] Figure 1 This is a schematic diagram of the overall structure of a snake-like bionic robot according to an embodiment of the present invention;

[0035] Figure 2 for Figure 1 The right side view of the structure;

[0036] Figure 3 It is a schematic structural diagram of the head joint of the present invention;

[0037] Figure 4 for Figure 3 The right side view of the structure;

[0038] Figure 5 for Figure 3 The main view of the structure;

[0039] Figure 6 It is a schematic diagram of the structure connected with the head joint, two universal joints and the tail joint;

[0040] Figure 7 It is a schematic diagram of the structure of the universal joint of the present invention;

[0041] Figure 8 It is a schematic diagram of the connection structure of two adjacent universal joints;

[0042] Fig. 9 Figure 8 The right side view of the structure;

[0043] Fig.10 It is a schematic diagram of the connection structure between the joint plug circuit and the joint control circuit;

[0044] Fig.11 It is a structural schematic diagram of the tail joint of the present invention;

[0045] Fig.12 A schematic diagram of a control system of a snake-like bionic robot according to the present invention;

[0046] Fig.13 It is a structural schematic diagram of a snake-like bionic robot control system of the present invention;

[0047] Fig.14 This is a UI interface diagram on the console of the present invention;

[0048] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0049] 1-head joint, 101-LED lighting, 102-camera, 103-first joint installation mechanical interface, 104-first shell, 105-functional module communication circuit, 106-functional module control circuit, 107-first indicator light, 108-functional module communication interface, 109-first analog communication interface, 111-first bearing, 2-tail joint, 201-second shell, 202-second indicator light, 203-power supply circuit, 204-cable connector, 205-second bearing, 206-snake Body tail joint control circuit, 207-tail joint control circuit, 208-slip ring structure, 209-second bearing, 210-second joint installation mechanical interface, 3-universal joint, 301-third shell, 302-steering plate, 303-joint control circuit, 3031-copper pin tube, 304-third bearing, 306-fourth indicator light, 307-joint plug-in circuit, 3071-copper customized pin, 308-second communication interface, 309-third joint installation mechanical interface, 310-third and fourth bearings. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] In the description of the present invention, it should be understood that the terms "front end", "inside", "both sides", "tail" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0052] See also Figure 1-11 As shown, the present invention is a snake-like bionic robot and its control system, which is composed of a head joint 1, a tail joint 2 and fourteen universal joints 3 movably connected between the head joint 1 and the tail joint 2;

[0053] The head joint 1 includes a cylindrical first housing 104, a ring of LED lighting lamps 101 mounted around the front end of the first housing 104, a camera 102 located at the middle position, a function module control circuit 106 installed inside the first housing 104 for controlling the LED lighting lamps 101 and the camera 102, a function module communication circuit 105 installed inside the first housing 104, a first joint mounting mechanical interface 103 and a first bearing 111 respectively arranged on both sides of the "U"-shaped connection base of the head joint 1; a first indicator light 107 for displaying the working state of the head joint 1, a function module communication interface 108 connecting the LED lighting lamps 101 and the camera 102, a base connection control communication interface 110 for conducting joint control signals, and a first analog communication interface 109 for transmitting data are arranged on the function module communication circuit 105, and the function module control circuit 106 is inside the first housing 104;

[0054] The tail joint 2 includes a cylindrical second housing 201, a snake body tail joint control circuit 206 installed inside the second housing 201, a power supply circuit 203 arranged at the tail of the second housing 201 and connected to the tail joint control circuit 207, a cable socket 204 arranged at the tail end of the second housing 201 and connected to the snake body tail joint control circuit 206, a second indicator light 202 arranged on the power supply circuit 203 for displaying the power supply state of the tail joint 2, a third indicator light arranged on the snake body tail joint control circuit 206 for displaying the overall communication state of the snake-shaped robot joints, a second bearing 205 and a second joint mounting mechanical interface 210 symmetrically arranged on both sides of the "U"-shaped connection base at the top of the second housing 201, a second bearing 205 for limiting the control line arranged at the end of the tail joint 2 corresponding to the cable socket 204, and a slip ring structure 208 arranged between the second bearing 205 and the snake body tail joint control circuit 206;

[0055] The universal joint 3 includes a cylindrical third housing 301, a joint plug circuit 307 installed inside the third housing 301, a servo motor installed at the top inside the third housing 301 with steering wheels 302 and third bearings 304 symmetrically protruding from the outer sides respectively, a joint control circuit 303 inserted into the joint plug circuit 307 and electrically connected to the servo motor, a second communication interface 308 arranged on the joint plug circuit 307 for transmitting data, a third joint mounting mechanical interface 309 and a fourth bearing 310 symmetrically arranged on the "U"-shaped connection base at the bottom of the universal joint 3, and a fourth indicator light 306 arranged on the joint plug circuit 307;

[0056] The tail of the tail joint 2 is electrically connected to the snake tail joint control circuit 206 through a control line via a slip ring structure 208 and then connected to a power controller. The power controller is powered by a battery power supply and is connected to the host computer console by a USB cable and controls the snake-like bionic robot through a remote control handle; the adjacent head joints 1 and universal joints 3 are rotationally connected through the steering wheel 302 and the first joint mounting mechanical interface 103 and the first bearing 111 and the third joint mounting mechanical interface 309, the adjacent two universal joints 3 are rotationally connected through the crossed third joint mounting mechanical interface 309 and the steering wheel 302, and the adjacent universal joints 3 and the tail joint 2 are rotationally connected through the steering wheel 302 and the second joint mounting mechanical interface 210 and the second bearing 205 and the third joint mounting mechanical interface 309.

[0057] The adjacent head joints 1, universal joints 3 and tail joints 2 are installed in series at an angle of 90° to each other.

[0058] The camera 102 is a visible light camera or an infrared camera for image capture and video recording.

[0059] Among them, the maximum rotation angle between adjacent tail joints 2, universal joints 3, and head joints 1 is 180°.

[0060] Among them, the joint connection circuit 307 is provided with a copper custom pin 3071, and the joint control circuit 303 is provided with a copper pin tube 3031 which is opposite to and plugged with the copper custom pin 3071. Communication is achieved by connecting the circuits in series. This communication structure design can effectively solve the problems of wire entanglement caused by relative movement between joints, possible pulling, wear caused by relative movement, loose connection caused by movement, etc.

[0061] like Figure 11-14 As shown, a control system of a snake-like bionic robot comprises:

[0062] The head circuit is composed of a function module communication circuit 105 and a function module control circuit 106 electrically connected to the LED lighting lamp 101 and the camera 102;

[0063] The universal joint circuit is composed of a joint control circuit 303 electrically connected to the steering gear and a joint plug-in circuit 307 electrically connected to the joint control circuit 303;

[0064] The tail circuit is composed of a power supply circuit 203 and a snake tail joint control circuit 206 electrically connected to the power supply circuit 203;

[0065] The head circuit and the general joint circuit are connected by wires passing through the rotating shaft holes of the "凵"-shaped connection base and the wire grooves inside the first housing 104 and the third housing 301. The wires connect the joint control circuit 303 of the previous joint and the joint plug-in circuit 307 of the next joint.

[0066] The adjacent two general joint circuits are connected by wires passing through the rotating shaft holes of the "凵"-shaped connection base and the wire grooves inside the third housing 301. The tail circuit and the general joint circuit are connected by wires passing through the rotating shaft holes of the "凵"-shaped connection base and the wire grooves inside the second housing 201 and the third housing 301.

[0067] The head circuit, the general joint circuit, and the tail circuit are sequentially connected by wires and then output through the control line via the tail joint control circuit 206 to be connected to the power controller. The power controller is powered by a battery power supply and is connected to the upper computer console through a USB cable and controls the snake-shaped bionic robot through a remote control handle.

[0068] Among them, the control line connected to the snake body tail joint control circuit 206 in the tail joint 2 is electrically connected to the power controller in a 485 communication mode, and the power controller is powered by a 24 - 60V power supply.

[0069] Among them, on the UI interface of the upper computer console, there are set a camera front video image display area, status indicator lights for each joint of the snake-shaped bionic robot, and a running status indication area for the snake-shaped bionic robot.

[0070] The present invention belongs to an invention of a bionic robot product. This robot is similar to a snake in appearance and movement form, so it can be considered a snake-type robot. This robot can also be classified as a special robot and is suitable for application scenarios with narrow spaces, complex environments, and difficult human access. For example, it can operate inside narrow pipes, cable trenches, and large equipment cavities, and can also be applied to scenarios such as earthquake rescue and military patrol. It has the characteristic of strong adaptability to complex environments. The key point of the present invention is to productize this type of robot product, combine with actual application scenarios, and develop practical functions. The design and research and development of this product comprehensively consider various factors such as technical difficulties, industrial design, BOM cost, and product reliability. While achieving high performance and high reliability, it greatly simplifies the system structure, reduces costs, and improves the productization level of the product.

[0071] The composition of the snake-shaped robot product of the present invention includes:

[0072] 1. Robot mechanical hardware structure (including control circuit); 2. Robot host computer control system and interactive interface; 3. Accessories (power controller, communication line); Main dimensions and specifications of the snake-like robot of the present invention: working voltage: 24~60V; peak power: 240 W; envelope diameter: 70mm; length: greater than 300mm (depending on the number of installed joints, the length varies); material: metal;

[0073] Product features:

[0074] 1. Movement functions: crawling forward and backward, moving sideways, turning on the spot, climbing vertically, crawling in pipes; 2. Supporting visible light video shooting; 3. Supporting infrared video shooting; 4. With fill light, the brightness is adjustable; 5. Wireless remote control.

[0075] How to use it: Fig.12 As shown:

[0076] 1. The robot is connected to the power controller through the control line. The power controller supports DC battery or voltage regulator to provide 24-60V voltage; 2. Connect the power controller and the host computer console (computer) through the USB data cable; 3. Open the host computer console and insert the remote control; 4. Enter the robot system and the application interface pops up, such as Fig.14 5. Turn on the battery controller switch, the robot is powered on, and the robot can be remotely controlled by the handle;

[0077] The control system design of the present invention is introduced as follows:

[0078] 1. System framework: Figure 12-13 As shown in the figure. In the body of the robot snake, the CAN bus is used to control the servos of the universal joints, and the video information of the head joints is obtained by analog signal transmission. The tail circuit uses 485 communication with the power controller and the host computer console. Therefore, the control signal of the handle is analyzed by the computer and then sent to the tail joint of the snake through 485 communication. The tail joint is further decomposed into the motion parameters of each joint according to the control signal to control the rotation of the servos of each universal joint.

[0079] 2. Power system: The power unit of the snake-like robot is a servo, which is located inside the joint and drives the next joint connected in series to move. The servo is controlled by CAN communication.

[0080] 3. Video acquisition system: The sensor uses an infrared camera or a visible light camera; the video signal is transmitted using an analog signal. The analog video signal is received by the snake head circuit, transmitted through the intermediate communication line, passes through each joint, and finally transmitted to the host computer system to display the picture on the UI end.

[0081] 4. Communication system: 485 communication protocol is used for communication with the host computer, and CAN communication is used for joint control to control the movement of the servo.

[0082] 5. Fault indication: Each joint has a status indicator light, which is blue when working normally and red when the joint fails. It will not light up if the power supply is not successfully started. At the same time, the UI interface also provides status indications for each joint (this indicates whether the main joint is working normally, green for normal operation and red for abnormal operation). When a fault occurs, the joint changes from green to gray.

[0083] 6. Motion indication: Considering that people cannot directly see the movement of the robot in a small space, the current movement status of the robot, such as forward and backward, is displayed on the UI interface.

[0084] The product of the present invention has the following characteristics and advantages:

[0085] 1. Based on its own size, it can move into a small space and can be equipped with a visible light camera or infrared camera to take images or videos in real time, which is a capability that other robots do not have;

[0086] 2. The robot's movement characteristics can adapt to complex terrain, which is a capability that traditional wheeled robots do not have. Its simple structure, large-range movement capability, and low cost are advantages that multi-legged robots do not have;

[0087] 3. This product adopts modular design, which can easily add, reduce and replace modules. The length of the robot can be adjusted according to the application scenario to meet different application requirements;

[0088] 4. This product adopts a very simplified design with fewer parts, and has a greater price advantage compared to other robot products with similar applications;

[0089] 5. The connection control between the joints of this product is accurate and efficient, the structural design is flexible and exquisite, and the control communication efficiency is high.

[0090] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A snake-shaped bionic robot, which is composed of a head joint (1), a tail joint (2) and at least eight universal joints (3) movably connected between the head joint (1) and the tail joint (2), and is characterized in that: The head joint (1) includes a cylindrical first housing (104), a circle of LED lighting lamps (101) installed around the front end of the first housing (104), a camera (102) located in the middle position, a function module control circuit (106) installed inside the first housing (104) for controlling the LED lighting lamps (101) and the camera (102), a function module communication circuit (105) installed inside the first housing (104), a first joint mounting mechanical interface (103) and a first bearing (111) respectively arranged on both sides of the "U"-shaped connection base of the head joint (1); on the function module communication circuit (105), there are a first indicator light (107) for displaying the working state of the head joint (1), a function module communication interface (108) connecting the LED lighting lamps (101) and the camera (102), a communication interface (110) for conducting joint control signals to realize base connection control, and a first analog communication interface (109) for transmitting data; The tail joint (2) includes a cylindrical second housing (201), a snake body tail joint control circuit (206) installed inside the second housing (201), a power supply circuit (203) arranged at the tail of the second housing (201) and connected to the tail joint control circuit (207), a cable socket (204) arranged at the tail end of the second housing (201) and connected to the snake body tail joint control circuit (206), a second indicator light (202) arranged on the power supply circuit (203) for displaying the power supply state of the tail joint (2), a third indicator light arranged on the snake body tail joint control circuit (206) for displaying the overall communication state of the snake-shaped robot joints, a second bearing (205) and a second joint mounting mechanical interface (210) symmetrically arranged on both sides of the "U"-shaped connection base at the top of the second housing (201), a second bearing (205) arranged at the end of the tail joint (2) corresponding to the cable socket (204) for limiting the control line, and a slip ring structure (208) arranged between the second bearing (205) and the snake body tail joint control circuit (206); The general joint (3) includes a cylindrical third housing (301), a joint plug-in circuit (307) installed in the third housing (301), a servo motor installed at the top inside the third housing (301) with steering wheels (302) and third bearings (304) symmetrically protruding from both outer sides, a joint control circuit (303) plugged into the joint plug-in circuit (307) and electrically connected to the servo motor, a second communication interface (308) provided on the joint plug-in circuit (307) for data transmission, third joint installation mechanical interfaces (309) and fourth bearings (310) symmetrically arranged on the "U"-shaped connection base at the bottom end of the general joint (3), and a fourth indicator light (306) installed on the joint plug-in circuit (307); The tail of the tail joint (2) is electrically connected to the snake body tail joint control circuit (206) through a control line via a slip ring structure (208) and then connected to a power controller. The power controller is powered by a battery power supply, connected to a host console through a USB cable, and used to control the snake-shaped bionic robot through a remote control handle; The adjacent head joint (1) and the general joint (3) are rotationally connected through the steering wheel (302) and the first joint installation mechanical interface (103), and the first bearing (111) and the third joint installation mechanical interface (309). The adjacent two general joints (3) are rotationally connected through the crossed third joint installation mechanical interfaces (309) and the steering wheel (302). The adjacent general joint (3) and the tail joint (2) are rotationally connected through the steering wheel (302) and the second joint installation mechanical interface (210), and the second bearing (205) and the third joint installation mechanical interface (309); The camera (102) uses a visible light camera or an infrared camera; The joint plug-in circuit (307) is provided with copper customized pins (3071), and the joint control circuit (303) is provided with copper pin cylinders (3031) opposite to and in plug-in cooperation with the copper customized pins (3071), and CAN communication is realized through the series connection of the plug-in circuits; 2. A snake-like bionic robot according to claim 1, characterized in that: The adjacent head joints (1), general joints (3) and tail joints (2) are installed in a mutually 90° staggered series; 3. The snake-like bionic robot according to claim 1, characterized in that: The maximum rotation angle between the adjacent tail joints (2), general joints (3) and head joints (1) is 180°; 4. A control system for a snake-like bionic robot as claimed in any one of claims 1 to 3, characterized in that: Including: A head circuit composed of a functional module communication circuit (105) and a functional module control circuit (106) electrically connected to the LED lighting lamp (101) and the camera (102); A general joint circuit composed of a joint control circuit (303) electrically connected to the servo motor and a joint plug-in circuit (307) plugged and electrically connected to the joint control circuit (303); A tail circuit composed of a power supply circuit (203) and a snake body tail joint control circuit (206) electrically connected to the power supply circuit (203); The head circuit and the general joint circuit are connected by lines through the rotating shaft holes of the "U"-shaped connection base and the wire grooves inside the first housing (104) and the third housing (301); The circuits between two adjacent general joint circuits are connected by wires passing through the rotation shaft holes of the "凵"-shaped connection base and the wire grooves in the third housing (301). The circuit between the tail circuit and the general joint circuit is connected by wires passing through the rotation shaft holes of the "凵"-shaped connection base and the wire grooves in the second housing (201) and the third housing (301), and the wires are connected to the snake body tail joint control circuit (206). The head circuit, the general joint circuit, and the tail circuit are sequentially connected by wires, and then output through the tail joint control circuit (207) by a control wire to be connected to the power controller. The power controller is powered by a battery power supply, connected to the host computer console by a USB cable, and used to control the snake-shaped bionic robot through a remote control handle.

5. A snake tail joint control system according to claim 4, characterized in that: The control wire connected to the snake body tail joint control circuit (206) in the tail joint (2) is electrically connected to the power controller in a 485 communication mode, and the power controller is powered by a 24 - 60V power supply.

6. A snake-like bionic robot and its control system according to claim 5, characterized in that: The UI interface at the host computer console end is provided with a camera front video image display area, status indicator lights for each joint of the snake-shaped bionic robot, and a running status indicator area for the snake-shaped bionic robot.

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