Star-nosed mole robot based on automatic sensing of mechanical star nose and its control method

Abstract

The present invention belongs to the technical field of micro-electromechanical integration, and specifically relates to a star-nosed mole-like robot based on automatic sensing of a mechanical star nose and a control method thereof; the robot comprises a robot body, a measuring device is connected to the front end of the robot body, a sensing device is connected to the rear end of the robot body, and a walking device is connected to the lower part of the robot body. The present invention provides a star-nosed mole-like robot based on automatic sensing of a mechanical star nose suitable for complex environments and a control method thereof.

Description

Technical Field

[0001] The invention belongs to the technical field of micro-electromechanical integration, and in particular relates to a star-nosed mole robot based on automatic sensing of a mechanical star nose and a control method thereof. Background Art

[0002] When robots detect apertures and cross obstacles in complex scenarios such as tiny and narrow spaces, they are prone to damage, difficulty in obtaining information in tiny spaces, and difficulty in flexible excavation and movement, which results in the robot being unable to complete tasks of sensitive perception, precise excavation, and accurate movement as needed. In addition, robots are often equipped with non-contact sensors such as cameras to obtain real-time information about the surrounding environment. However, when robots are equipped with only a single camera or other non-contact sensor working in a tiny and narrow space in special scenarios such as poor visibility in the surrounding environment, occlusion of visual imaging devices, and complex spatial obstacles, it is easy to cause problems such as difficulty in obtaining three-dimensional spatial information, difficulty in multi-directional movement, time-consuming and labor-intensive, and low efficiency. Summary of the invention

[0003] The object of the present invention is to provide a star-nosed mole robot based on mechanical star-nose automatic sensing and suitable for complex environments and a control method thereof.

[0004] Based on the above purpose, the present invention adopts the following technical solution:

[0005] A star-nosed mole robot based on automatic sensing of a mechanical star nose comprises a robot body, a measuring device is connected to the front end of the robot body, a sensing device is connected to the rear end of the robot body, and a walking device is connected to the lower part of the robot body.

[0006] Furthermore, the measuring device includes a rotatable pitch device installed at the front end of the robot body, and the rotatable pitch device is connected to a mechanical star nose unit; the mechanical star nose unit is a horizontally arranged triangular prism structure, and piezoelectric rods perpendicular to the sides are evenly distributed on the three sides of the mechanical star nose unit; the piezoelectric rods are all retractable structures.

[0007] Furthermore, the walking device includes a pair of multi-directional three-leaf front walking wheels connected to the front part of the robot body, and also includes a pair of three-leaf rear walking wheels connected to the rear part of the robot body; a telescopic auxiliary wheel connected to the robot body is arranged between the pair of multi-directional three-leaf front walking wheels, and the telescopic auxiliary wheel is arranged below the mechanical star nose unit.

[0008] Furthermore, the sensing device includes a flexible piezoelectric self-sensing rod arranged vertically upward, and the flexible piezoelectric self-sensing rod is a retractable structure.

[0009] Furthermore, each multi-directional three-lobed front running wheel comprises three three-lobed arc legs, and a first automatic ground-pulling replacement device is installed at the end of the three-lobed arc legs of each multi-directional three-lobed front running wheel, and each first automatic ground-pulling replacement device is evenly distributed with retractable saw teeth; each three-lobed rear running wheel comprises three three-lobed arc legs, and a second automatic ground-pulling replacement device is installed at the end of the three-lobed arc legs of each three-lobed rear running wheel, and each second automatic ground-pulling replacement device is evenly distributed with retractable saw teeth.

[0010] The control method of the star-nosed mole robot based on automatic sensing of a mechanical star nose comprises the following steps:

[0011] Step 1, the star-nosed mole robot performs initialization operation;

[0012] Step 2: The robot body remains stationary and uses a measuring device to measure the target aperture and obstacles in the front space;

[0013] Step 3, control the robot to move forward; upload the target aperture and obstacle data to the host computer, calculate the actual passable space of the aperture, if the actual passable space is larger than the cross section of the robot, control the robot to move forward directly; if the actual passable space is smaller than the cross section of the robot, control the robot to clear the obstacle and move;

[0014] Step 4, repeat steps 2-3, measure the target aperture and obstacle data at different positions, upload the data to the host computer, so as to establish a surrounding environment information database and draw a three-dimensional environment map.

[0015] Furthermore, in step 1, the method of initializing the operation is: controlling the piezoelectric rod on the mechanical star nose unit to be in an initial closed state; controlling the multi-directional three-leaf front walking wheel to be in an initial vertical state with the ground; controlling the telescopic auxiliary wheel to be extended to the same height as the lowest point of the three-leaf rear walking wheel, so that the telescopic auxiliary wheel, the multi-directional three-leaf front walking wheel and the three-leaf rear walking wheel are in contact with the ground at the same height at the same time.

[0016] Furthermore, in step 2, the method for measuring the target aperture and the obstacle is:

[0017] Step (1), driving the rotatable pitch device to move forward to a set position, the rotatable pitch device drives the mechanical star nose unit to move forward; controlling the piezoelectric rod on the mechanical star nose unit to extend, driving the rotatable pitch device to rotate around its extension direction, the rotatable pitch device drives the mechanical star nose unit and the piezoelectric rod to rotate, the piezoelectric rod touches the obstacle and deforms, and the target aperture and the obstacle size are sensed according to the deformation amount;

[0018] Step (2), driving the rotatable pitch device to rotate up and down to generate pitch motions at different angles, so that the piezoelectric rod touches the obstacle and deforms, and automatically senses the target aperture and obstacle size in the space according to the deformation amount;

[0019] Step (3), driving the rotatable pitch device to drive the mechanical star nose unit to move to different positions in the left and right directions, repeating steps (1)-(2), and measuring the aperture and obstacle size at different left and right positions.

[0020] Furthermore, in step 3, the method of controlling the robot to clear obstacles and move is: controlling the multi-directional three-leaf front walking wheels to rotate to be inclined with the ground, at which time the three-leaf rear walking wheels and the telescopic auxiliary wheels support walking, and controlling the multi-directional three-leaf front walking wheels to rotate, thereby clearing obstacles and expanding the aperture; the robot moves forward to the next set position and then stops.

[0021] Furthermore, in step 3, the method for controlling the robot to move directly forward is: driving the multi-directional three-leaf front walking wheels, the three-leaf rear walking wheels and the telescopic auxiliary wheels to rotate forward at the same time, and the robot moves forward to the next set position and then stops.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. By driving the rotatable pitch device to generate a rotational motion around the X direction, the mechanical star nose unit is driven to rotate along the X direction, and the deformation of the piezoelectric rod installed on the mechanical star nose unit is used to automatically sense the size of the target aperture obstacle in the YZ plane; by driving the rotatable pitch device to generate a pitch motion at a different angle from the X direction, the deformation of the piezoelectric rod installed on the mechanical star nose unit is used to automatically sense the size of the target aperture obstacle in the space.

[0024] 2. By controlling the robot's flip adjustment device to drive the multi-directional three-leaf front walking wheels to produce a posture with an inclined angle relative to the ground, the multi-directional three-leaf front walking wheels can be used to dig holes to expand the aperture and clear obstacles, thereby realizing the combination of robot movement and obstacle crossing.

[0025] 3. Upload the data of the aperture obstacle sizes automatically sensed by the robot at different positions along the X direction and the aperture obstacle sizes automatically sensed at different positions along the Y direction to the host computer, so as to establish a surrounding environment information database and draw a surrounding environment obstacle map, so as to achieve the purpose of using the robot to realize three-dimensional obstacle sensing and mobile obstacle crossing in narrow and complex environments.

[0026] 4. When the robot moves backward, the flexible piezoelectric self-sensing rod can be used to automatically sense the position of the target aperture, and then the robot can be controlled to drive the mechanical star nose to rotate toward one side of the target aperture, thereby achieving the purpose of using the flexible piezoelectric self-sensing rod to automatically sense the position of the target aperture and then control the robot to drive the mechanical star nose to move backward.

[0027] In summary, the present invention solves the problems of poor visibility, easy obstruction, easy damage, easy failure, time-consuming and labor-intensive, low efficiency, difficulty in obtaining three-dimensional information in tiny spaces, and difficulty in flexible excavation and movement when robots detect apertures and overcome obstacles in existing tiny and narrow spaces. The present invention can realize the functions of accurate aperture detection, perception of complex apertures, multi-directional excavation, and mobile obstacle crossing by robots; it has the characteristics of bionics, automatic sensing of mechanical star nose, piezoelectric deformation perception, multi-directional excavation, and image coupling assisted imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of embodiment 1 of the present invention;

[0029] Figure 2 This is a flow chart of Embodiment 2 of the present invention;

[0030] Figure 3 This is a flow chart of the mechanical star nose unit sensing space obstacles according to Embodiment 2 of the present invention;

[0031] Figure 4 This is a flowchart of robot movement and obstacle crossing in Example 1 of the present invention.

[0032] In the figure: robot body 1, rotatable pitch device 2, mechanical star nose unit 3, telescopic auxiliary wheel 4, multi-directional three-leaf front walking wheel 5, flip adjustment device 6, first automatic ground-pulling replacement device 7, three-leaf rear walking wheel 8, second automatic ground-pulling replacement device 9, flexible piezoelectric self-sensing rod 10, piezoelectric rod 11. DETAILED DESCRIPTION

[0033] Example 1

[0034] A star-nosed mole robot based on automatic sensing of a mechanical star nose, such as Figure 1 As shown, it includes a robot body 1, a measuring device is connected to the front end of the robot body 1, a sensing device is connected to the rear end of the robot body 1, and a walking device is connected to the lower part of the robot body 1.

[0035] Furthermore, the measuring device includes a rotatable pitch device 2 installed at the front end of the robot body 1, and a mechanical star nose unit 3 is fixedly connected to the rotatable pitch device 2; the rotatable pitch device 2 is installed at the upper side of the front end of the robot body 1, and the rotatable pitch device 2 can drive the mechanical star nose unit 3 to do pitch movement, rotation movement and left and right movement (movement along the Y direction). Figure 1 As shown; the centerline position of the mechanical star nose unit 3 along the X direction is fixedly connected to the rotatable pitch device 2, that is, the rotatable pitch device 2 can drive the mechanical star nose unit 3 to rotate around its centerline. A piezoelectric rod 11 is installed circumferentially on the mechanical star nose unit 3. The mechanical star nose unit 3 is a horizontally arranged triangular prism-shaped structure. The three sides of the mechanical star nose unit 3 are evenly distributed with piezoelectric rods 11 perpendicular to the side; the piezoelectric rods 11 are all retractable structures. The mechanical star nose unit 3 connects the piezoelectric rod 11 with the rotatable pitch device 2 to play the role of installing the piezoelectric rod 11.

[0036] Furthermore, the walking device includes a pair of multi-directional three-leaf front walking wheels 5 connected to the front of the robot body 1, and also includes a pair of three-leaf rear walking wheels 8 connected to the rear of the robot body 1. The pair of multi-directional three-leaf front walking wheels 5 are symmetrically arranged on both sides of the front end of the robot body 1 along the X direction, and the three-leaf arc legs of each multi-directional three-leaf front walking wheel 5 are evenly distributed in the circumferential direction around the central rotation axis of the multi-directional three-leaf front walking wheel 5. Each multi-directional three-leaf front walking wheel 5 includes three three-leaf arc legs, and the end of the three-leaf arc leg of each multi-directional three-leaf front walking wheel 5 is installed with a first automatic ground-pulling replacement device 7. By controlling the first automatic ground-pulling replacement device 7 to produce automatic replacement, the purpose of adjusting the ground-pulling force of the robot along the circumferential inclination of the X direction is achieved. Figure 1 As shown, each first automatic ground-pulling replacement device 7 is arc-shaped, and the outer peripheral surface of each first automatic ground-pulling replacement device 7 (that is, the surface of the first automatic ground-pulling replacement device 7 in contact with the ground) is evenly distributed with retractable saw teeth, and the ground-pulling force can be adjusted by adjusting the number of extended saw teeth.

[0037] Two flip-adjusting devices 6 are connected to the robot body 1, and the central rotating shaft of the multi-directional three-leaf front walking wheel 5 is fixedly connected to the flip-adjusting device 6. The flip-adjusting device 6 is fixedly connected to the lower side of the chassis of the robot body 1, and the flip-adjusting device 6 is located on the rear side of the retractable auxiliary wheel 4. By controlling the action of the flip-adjusting device 6, the multi-directional three-leaf front walking wheel 5 can be tilted at different angles relative to the ground, that is, tilted with the XY plane, thereby realizing different movement, walking and obstacle crossing combinations of the robot. A pair of three-leaf rear running wheels 8 are symmetrically arranged on both sides of the rear end of the robot body 1 along the X direction, and the three-leaf arc legs of the three-leaf rear running wheels 8 are evenly distributed along the circumferential direction around the rotating shaft of the three-leaf rear running wheels 8; each three-leaf rear running wheel 8 includes three three-leaf arc legs, and the end of the three-leaf arc legs of each three-leaf rear running wheel 8 is installed with a second automatic ground-pulling replacement device 9. By controlling the second automatic ground-pulling replacement device 9, the robot can generate different X-direction gripping forces when moving on different complex terrains, thereby improving the robot's obstacle-crossing ability, such as Figure 1 As shown, each second automatic ground-pulling replacement device 9 is arc-shaped, and the outer peripheral surface of each second automatic ground-pulling replacement device 9 (that is, the surface where the second automatic ground-pulling replacement device contacts the ground) is evenly distributed with retractable saw teeth, and the ground-pulling force can be adjusted by adjusting the number of extended saw teeth. A retractable auxiliary wheel 4 connected to the robot body 1 is arranged between a pair of multi-directional three-leaf front walking wheels 5, and the retractable auxiliary wheel 4 is arranged below the mechanical star nose unit 3. The retractable auxiliary wheel 4 is installed on the lower side of the front end of the robot body 1 to achieve the purpose of auxiliary support of the robot body 1. The outer surfaces of the first automatic ground-pulling replacement device 7 and the second automatic ground-pulling replacement device 9 are rough, which can prevent slipping and increase friction.

[0038] Furthermore, the sensing device includes a flexible piezoelectric self-sensing rod 10 arranged vertically upward, and the flexible piezoelectric self-sensing rod 10 is a retractable structure. The flexible piezoelectric self-sensing rod 10 is fixedly connected to the upper side of the tail of the robot body 1. By controlling the flexible piezoelectric self-sensing rod 10 to automatically extend, the flexible piezoelectric rod 11 will touch the upper obstacle and deform flexibly when the robot moves. The relative size of the aperture can be automatically sensed by using its flexible deformation, and the movement direction of the robot when it moves backward can be controlled.

[0039] Example 2

[0040] This embodiment is a control method of the robot in Embodiment 1. Figure 2 As shown, the following steps are included:

[0041] Step 1, the star-nosed mole robot performs initialization operation; reset the rotatable pitch device 2, control the mechanical star nose unit 3 to reset perpendicular to the X direction, at which time the piezoelectric rod 11 of the mechanical star nose unit 3 is in the initial closed state; reset the multi-directional three-leaf front running wheel 5 to the initial vertical state with the ground. Control the telescopic auxiliary wheel 4 to extend to the same height as the lowest point of the three-leaf rear running wheel 8, so that the telescopic auxiliary wheel 4, the multi-directional three-leaf front running wheel 5 and the three-leaf rear running wheel 8 are in contact with the ground at the same height at the same time. Thereby, the robot body 1 is controlled to be in a posture state parallel to the XY plane during the initialization operation.

[0042] Step 2, the mechanical star nose unit 3 automatically senses spatial obstacles, the robot body 1 remains stationary, and a measuring device is used to measure the target aperture and obstacles in the front space; the method comprises the following steps: step (1), driving the rotatable pitch device 2 to generate an X-direction forward linear movement to a set position, the rotatable pitch device 2 drives the mechanical star nose unit 3 to move forward along the X direction to position X1; controlling the piezoelectric rod 11 on the mechanical star nose unit 3 to extend and unfold, driving the rotatable pitch device 2 to rotate around the X direction, the rotatable pitch device 2 drives the mechanical star nose unit 3 and the piezoelectric rod 11 to rotate around the X direction, the piezoelectric rod 11 touches the obstacle and deforms, and the target aperture and obstacle size in the YZ plane are sensed according to the deformation amount of the piezoelectric rod 11.

[0043] Step (2) drives the rotatable pitch device 2 to rotate up and down to generate a pitch motion at different angles to the X direction, so that the piezoelectric rod 11 touches the obstacle and deforms, and automatically senses the target aperture and obstacle size in the space according to the deformation amount of the piezoelectric rod 11.

[0044] Step (3), driving the rotatable pitch device 2 to drive the mechanical star nose unit 3 to move along the Y direction to positions Y1, Y2, ..., Y n , in Y1, Y2, ..., Y n Repeat steps (1)-(2) at each position, so that the robot can automatically sense the aperture and obstacle size at different positions along the Y direction and move over the obstacle.

[0045] Step 3, robot movement and walking control; upload the spatial obstacle data of the target aperture X direction to the host computer, calculate the actual passable space D in the aperture X direction, if the actual passable space D in the aperture X direction is larger than the structural size of the robot (the size of the robot's orthographic projection on the YZ plane), drive the multi-directional three-leaf front walking wheel 5 and the three-leaf rear walking wheel 8 to move, and rotate forward at the same time as the retractable auxiliary wheel 4, and control the robot to move forward along the X direction to position X2; if the actual passable space is smaller than the cross section of the robot, control the robot to clear obstacles and move.

[0046] Step 4, robot movement obstacle crossing control; if the actual passable space D in the aperture X direction is smaller than the structural size of the robot (the size of the robot's positive projection on the YZ plane), the multi-directional three-leaf front walking wheel 5 is driven to produce a posture with an inclined angle relative to the ground by controlling the flip adjustment device 6. At this time, the robot's three-leaf rear walking wheel 8 and the retractable auxiliary wheel 4 simultaneously play the function of supporting walking. At this time, the multi-directional three-leaf front walking wheel 5 is controlled to rotate to dig holes in the ground and achieve the purpose of expanding the aperture. The serrations on the multi-directional three-leaf front walking wheel 5 can improve the digging efficiency. At the same time, the rotation of the multi-directional three-leaf front walking wheel 5 can also remove obstacles, thereby realizing the combination of robot movement and obstacle crossing; by respectively controlling the number of extended serrations on the first automatic ground pulling replacement device 7 and the second automatic ground pulling replacement device 9, the size of the robot's ground pulling force can be adjusted, thereby improving the ability to move and cross obstacles.

[0047] Step 5: The robot automatically senses three-dimensional obstacles and moves over them; the robot is controlled to repeat steps 2 to 4 along the X direction, and the rotatable pitch device 2 drives the mechanical star nose unit 3 to move forward along the X direction to positions X1, X2, ..., X n , so that the robot can automatically sense the aperture and obstacle size at different positions along the X direction and move over the obstacle; upload the data of the aperture and obstacle size automatically sensed by the robot at different positions along the X direction and the aperture and obstacle size automatically sensed at different positions along the Y direction to the host computer, so as to establish a surrounding environment information database and draw a surrounding environment obstacle map, so as to use the robot to realize three-dimensional obstacle sensing and mobile obstacle crossing in narrow and complex environments.

[0048] Step 6, after the detection is completed, the robot moves backward to exit the hole; when the robot moves backward, the flexible piezoelectric self-sensing rod 10 extends, and the flexible piezoelectric self-sensing rod 10 contacts the upper hole wall to generate deformation, and the space size of the hole is sensed according to the deformation tilt direction of the flexible piezoelectric self-sensing rod 10; if the flexible piezoelectric self-sensing rod 10 tilts to the lower left or upper right, the space on the right is larger than the space on the left, and if the flexible piezoelectric self-sensing rod 10 tilts to the lower right or upper left, the space on the left is larger than the space on the right; the orientation of the target aperture is automatically sensed through the deformation of the flexible piezoelectric self-sensing rod 10, and then the robot is controlled to drive the mechanical star nose unit 3 to rotate toward one side of the target aperture, that is, the robot is controlled to turn to the side with a larger space to facilitate the robot's passage, thereby achieving the purpose of automatically sensing the orientation of the target aperture using the flexible piezoelectric self-sensing rod 10 and then controlling the robot to drive the mechanical star nose to move backward.

Claims

1. A star-nosed mole robot based on automatic sensing of a mechanical star nose, characterized in that: It comprises a robot body, a measuring device is connected to the front end of the robot body, a sensing device is connected to the rear end of the robot body, and a walking device is connected to the lower part of the robot body; the measuring device comprises a rotatable pitch device installed at the front end of the robot body, and a mechanical star nose unit is connected to the rotatable pitch device; the walking device comprises a pair of multi-directional three-leaf front walking wheels connected to the front of the robot body, and also comprises a pair of three-leaf rear walking wheels connected to the rear of the robot body; a telescopic auxiliary wheel connected to the robot body is arranged between the pair of multi-directional three-leaf front walking wheels, and the telescopic auxiliary wheel is arranged below the mechanical star nose unit; Each of the multi-directional three-leaf front walking wheels includes three three-leaf arc legs, and a first automatic ground-pulling replacement device is installed at the end of the three-leaf arc legs of each of the multi-directional three-leaf front walking wheels, and each of the first automatic ground-pulling replacement devices is evenly distributed with retractable saw teeth; each of the three-leaf rear walking wheels includes three three-leaf arc legs, and a second automatic ground-pulling replacement device is installed at the end of the three-leaf arc legs of each of the three-leaf rear walking wheels, and each of the second automatic ground-pulling replacement devices is evenly distributed with retractable saw teeth.

2. The star-nosed mole robot based on automatic sensing of a mechanical star nose as claimed in claim 1, characterized in that: The mechanical star nose unit is a horizontally arranged triangular prism-shaped structure, and piezoelectric rods perpendicular to the three sides of the mechanical star nose unit are evenly distributed; the piezoelectric rods are all retractable structures.

3. The star-nosed mole robot based on automatic sensing of a mechanical star nose as claimed in claim 2, characterized in that: The sensing device comprises a flexible piezoelectric self-sensing rod arranged vertically upward, and the flexible piezoelectric self-sensing rod is a retractable structure.

4. The control method of the star-nosed mole robot based on automatic sensing of a mechanical star nose as described in any one of claims 1 to 3, characterized in that: The following steps are involved: Step 1, the star-nosed mole robot performs initialization operation; Step 2: The robot body remains stationary and uses a measuring device to measure the target aperture and obstacles in the front space; Step 3, control the robot to move forward; upload the target aperture and obstacle data to the host computer, calculate the actual passable space of the aperture, if the actual passable space is larger than the cross section of the robot, control the robot to move forward directly; if the actual passable space is smaller than the cross section of the robot, control the robot to clear the obstacle and move; Step 4, repeat steps 2-3, measure the target aperture and obstacle data at different positions, upload the data to the host computer, so as to establish a surrounding environment information database and draw a three-dimensional environment map.

5. The control method of the star-nosed mole robot based on automatic sensing of a mechanical star nose as claimed in claim 4, characterized in that: In step 1, the method of initializing the operation is: controlling the piezoelectric rod on the mechanical star nose unit to be in an initial closed state; controlling the multi-directional three-leaf front walking wheel to be in an initial vertical state with the ground; controlling the telescopic auxiliary wheel to be extended to the same height as the lowest point of the three-leaf rear walking wheel, so that the telescopic auxiliary wheel, the multi-directional three-leaf front walking wheel and the three-leaf rear walking wheel are in contact with the ground at the same height at the same time.

6. The control method of the star-nosed mole robot based on automatic sensing of a mechanical star nose as claimed in claim 5, characterized in that: In step 2, the method for measuring the target aperture and obstacles is: Step (1), driving the rotatable pitch device to move forward to a set position, the rotatable pitch device drives the mechanical star nose unit to move forward; controlling the piezoelectric rod on the mechanical star nose unit to extend, driving the rotatable pitch device to rotate around its extension direction, the rotatable pitch device drives the mechanical star nose unit and the piezoelectric rod to rotate, the piezoelectric rod touches the obstacle and deforms, and the target aperture and the obstacle size are sensed according to the deformation amount; Step (2), driving the rotatable pitch device to rotate up and down to generate pitch motions at different angles, so that the piezoelectric rod touches the obstacle and deforms, and automatically senses the target aperture and obstacle size in the space according to the deformation amount; Step (3), driving the rotatable pitch device to drive the mechanical star nose unit to move to different positions in the left and right directions, repeating steps (1)-(2), and measuring the aperture and obstacle size at different left and right positions.

7. The control method of the star-nosed mole robot based on automatic sensing of a mechanical star nose as claimed in claim 6, characterized in that: In step 3, the method of controlling the robot to clear obstacles and move is: controlling the multi-directional three-leaf front walking wheels to rotate to be inclined with the ground, at which time the three-leaf rear walking wheels and the telescopic auxiliary wheels support walking, and controlling the multi-directional three-leaf front walking wheels to rotate, thereby clearing obstacles and expanding the aperture; the robot moves forward to the next set position and then stops.

8. The control method of the star-nosed mole robot based on automatic sensing of a mechanical star nose as claimed in claim 7, characterized in that: In step 3, the method of controlling the robot to move directly forward is: driving the multi-directional three-leaf front running wheels, the three-leaf rear running wheels and the telescopic auxiliary wheels to rotate forward at the same time, and the robot moves forward to the next set position and then stops.

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