A control method and device of a small reconnaissance robot and the robot

Abstract

This invention discloses a control method, device, and robot for a small reconnaissance robot. The control method includes acquiring the current state information of the small reconnaissance robot, including the frequency of operation commands, robot posture, and motor load; processing the acquired current state information to obtain a total load value; and dynamically adjusting the interval of the robot's current data acquisition task based on a pre-set positive correlation between the interval time of the robot's data acquisition task and the total load value. The control method employs an adaptive dynamic adjustment approach, where the interval time of the robot's current data acquisition task is dynamically adjusted based on the currently obtained total load value. This adaptive adjustment enables real-time adaptation to the robot's working state, ultimately achieving efficient and low-latency real-time robot control and ensuring the smooth implementation of reconnaissance tasks.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, specifically to a control method, device, and robot for a small reconnaissance robot. Background Technology

[0002] In the field of small robots, although robots are small in size, they still need to be equipped with a large number of sensors to sense themselves and their surrounding environment (such as slopes, flat roads, high-resistance surfaces, etc.) to complete reconnaissance tasks. In practical operation, due to the limitations of the processor, problems such as inefficient movements and high latency occur in robot control, making it impossible for the entire robot's reconnaissance function to be implemented smoothly. Summary of the Invention

[0003] The purpose of this invention is to provide a control method, device, and robot for a small reconnaissance robot. The control method adopts an adaptive dynamic adjustment method to achieve efficient and low-latency real-time control of the robot, ensuring the smooth implementation of reconnaissance missions.

[0004] To achieve the above objectives, the present invention adopts the following solution:

[0005] A control method for a small reconnaissance robot, the control method comprising:

[0006] Acquire the current status information of the small reconnaissance robot, including the frequency of operation commands, robot posture, and motor load;

[0007] The acquired current status information is processed to obtain the total load value;

[0008] Based on the pre-set positive correlation between the interval time of the robot's data acquisition task and the total load value, the interval time of the robot's current data acquisition task is dynamically adjusted.

[0009] Furthermore, the process of processing the acquired current status information to obtain the total load value includes:

[0010] The total load characteristics are determined to consist of three features: operation command frequency, robot posture, and motor load.

[0011] The total load characteristics of each of the three features are defined as the proportion of their respective current acquired values ​​to their respective total reference values.

[0012] Calculate the respective proportions of the three features and sum them according to the set weights to obtain the total load value.

[0013] Furthermore, the weights of the three features are set to be equal; the total load value of the total load feature is expressed by the formula: Wherein, the O C This represents the total load value.

[0014] The The expression of the total load characteristics corresponding to the frequency of operation commands is defined as follows: C1 is the number of control commands per unit time, C2 is the number of other commands per unit time, and α·C1+β·C2 is the total reference value of the frequency of operation commands.

[0015] The The I represents the expression of the characteristic part of the total load corresponding to the motor load. cur The I value represents the current current of the motor. max This is the rated value of the motor current, and also serves as the overall reference value for the motor load;

[0016] The The expression of the total load characteristic part corresponding to the robot's posture, the The value is the pitch angle of the robot body, and the range of the value is limited to -90 to 90. The 90 is the total reference value of the robot's attitude.

[0017] Furthermore, the step of dynamically adjusting the interval of the robot's current data acquisition task based on the pre-set positive correlation between the interval of the robot's data acquisition task and the total load value includes:

[0018] A positive correlation relationship is pre-set with the total load value as the independent variable and the interval time of the robot's current data acquisition task as the dependent variable;

[0019] A total load threshold is preset, and high load mode and low load mode are set accordingly based on the total load threshold;

[0020] The total load value is compared with a preset total load threshold: if the total load value is greater than or equal to the preset total load threshold, the robot system enters a high load mode, and the interval time of the robot data acquisition task is dynamically extended according to the correlation; if the total load value is less than the preset total load threshold, the robot system enters a low load mode, and the interval time of the robot data acquisition task is dynamically shortened according to the correlation.

[0021] Furthermore, the formula for calculating the positive correlation is: Wherein, the T task The task interval time is e; e is a natural constant, and the O C This represents the total load value.

[0022] Furthermore, the operation command frequency in the status information includes the robot's angular velocity and linear velocity commands, the robot's external module's switch, movement, and tracking commands, and the robot's flipping module's movement commands.

[0023] To achieve the above objectives, another solution adopted by the present invention is:

[0024] A control device for a small reconnaissance robot, the control device comprising:

[0025] The acquisition module is used to acquire the current status information of the small reconnaissance robot, including the frequency of operation commands, robot posture, and motor load.

[0026] The processing module is used to process the acquired current status information to obtain the total load value;

[0027] The control module is used to dynamically adjust the interval of the robot's current data acquisition task based on the pre-set positive correlation between the interval of the robot's data acquisition task and the total load value.

[0028] To achieve the above objectives, another solution adopted by the present invention is:

[0029] A small reconnaissance robot includes a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to implement the control method for the small reconnaissance robot as described above when the computer program is executed.

[0030] To achieve the above objectives, another solution adopted by the present invention is:

[0031] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method for a small reconnaissance robot described above.

[0032] By adopting the above scheme, the control method, device, and robot for a small reconnaissance robot of the present invention have the following advantages over the prior art: The present invention first acquires the current state information of the small reconnaissance robot (operation command frequency, robot posture, and motor load), then processes it to obtain the total load value, and uses this total load value as feedback to determine the robot's current operating environment and state; then, based on the pre-set positive correlation between the interval time of the robot's current data acquisition task and the total load value, the interval time of the robot's current data acquisition task is dynamically adjusted. The interval time of the robot's current data acquisition task is dynamically adjusted according to the currently obtained total load value. This adaptive adjustment enables real-time adaptation to the robot's working state, ultimately achieving efficient and low-latency real-time robot control and ensuring the smooth implementation of reconnaissance tasks. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0034] Figure 1 A flowchart of a control method for a small reconnaissance robot provided in an embodiment of the present invention;

[0035] Figure 2 A flowchart illustrating a control method for a small reconnaissance robot according to another embodiment of the present invention;

[0036] Figure 3 A flowchart illustrating a control method for a small reconnaissance robot provided in another embodiment of the present invention;

[0037] Figure 4 This is a structural block diagram of the control device for a small reconnaissance robot provided in an embodiment of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms "a," "the," and "the" as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise; "multiple" generally includes at least two, but does not exclude the inclusion of at least one.

[0040] It should also be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such product or system.

[0041] The timing sequence of steps in the following method embodiments is merely an example and not a strict limitation.

[0042] Before introducing the control method for the small reconnaissance robot provided in the embodiments of the present invention, a solution is introduced. This solution uses a multiprocessor for information processing to ensure the robot's operational efficiency. However, this method not only increases the complexity of the control method but also increases the equipment cost.

[0043] This invention provides another solution that enables the use of a single-core processor to collect and process information from multiple sensors. By adaptively and dynamically adjusting the frequency of the robot's data collection tasks according to different usage environments and stages of the reconnaissance robot, the overall reconnaissance function of the robot is smooth, efficient, and has low latency, ensuring the implementation of the mission.

[0044] The following examples illustrate this solution in detail.

[0045] See Figure 1 The flowchart shown illustrates an embodiment of the present invention that provides a control method for a small reconnaissance robot, the control method comprising steps S200, S210, and S220.

[0046] Step S200: Obtain the current status information of the small reconnaissance robot, including the frequency of operation commands, robot posture, and motor load.

[0047] It should be noted that the operation command frequency in the status information refers to the distinction between operation commands and other commands in the control system. Operation commands may include the robot's angular velocity and linear velocity commands, the switching, movement, and tracking commands of the robot's external modules, the movement commands of the robot's flipping module, and so on. The operation command frequency refers to the number of operation commands per unit time.

[0048] It is understood that the robot posture in the state information is set to 0 when the robot is in a horizontal state, and the tilt angle of the robot when climbing or going downhill is the calculated value of the robot posture. The motor load in the state information refers to the motor current value collected by the control system when the robot is moving.

[0049] Step S210: Process the acquired current status information to obtain the total load value.

[0050] Step S220: Based on the pre-set positive correlation between the interval time of the robot data acquisition task and the total load value, dynamically adjust the interval time of the current data acquisition task of the robot.

[0051] The robot's data acquisition task collects data including ambient temperature and humidity, ambient brightness, ambient sound, magnetic field data, reconnaissance images, gimbal attitude, and other peripheral module data.

[0052] A higher total load value indicates a higher demand on processor computing resources. By dynamically adjusting and extending the execution interval of data acquisition tasks, the processor's processing frequency for control commands and motor drive tasks is increased. Conversely, a lower total load value indicates a lower demand on processor computing resources. By dynamically adjusting and shortening the execution interval of data acquisition tasks, the processor's computing resources are evenly distributed between control and acquisition tasks, thus improving the robot's perception of the surrounding environment and itself. The interval of the robot's current data acquisition task is dynamically adjusted in real time based on the current total load value. This adaptive adjustment allows the robot to adapt to its working state in real time, ultimately achieving efficient and low-latency real-time robot control and ensuring the smooth implementation of reconnaissance missions.

[0053] The control method for the small reconnaissance robot described above is particularly suitable for scenarios where a single-core processor collects and processes information from multiple sensors. This single-core processor collects and processes information from multiple sensors, such as temperature, robot posture, magnetic field information, battery information, rotational speed, and current. The processor's information processing logic is adjusted according to the robot's operating status to solve the problem of multi-task collaboration in the reconnaissance robot control system. This allows for efficient operation of the system under different environments, achieving low-latency control and ensuring the smooth implementation of reconnaissance missions.

[0054] Optionally, step S210 may include:

[0055] The total load characteristics are determined to be composed of three features: operation command frequency, robot posture, and motor load.

[0056] The total load characteristics of each of the three features are defined as the proportion of their respective current acquired values ​​to their respective total reference values.

[0057] Calculate the respective proportions of the three features and sum them according to the set weights to obtain the total load value.

[0058] The current acquired values ​​of the three features refer to the respective relevant values ​​of the current state information acquired in step S200, and the total reference values ​​of the three features can be set by the user. Therefore, the specific expression of the total load characteristic part corresponding to the operation command frequency is the proportion of the current acquired value of the operation command frequency to the total command reference value. Similarly, the specific expression of the total load characteristic part corresponding to the robot posture is the proportion of the current acquired value of the robot posture to the total posture reference value. The specific expression of the total load characteristic part corresponding to the motor load is the proportion of the current acquired value of the motor load to the total motor load reference value. The total command reference value, total posture reference value, and total load reference value can be set by the user.

[0059] In an alternative approach, the weights of the three features are set to be equal. The total load value of the total load feature is expressed by the following formula: Wherein, the O C This is the total load value; This is a specific expression of the total load characteristic part corresponding to the operation command frequency. C1 is the number of control commands per unit time, C2 is the number of other commands per unit time, and α·C1+β·C2 is the total reference value of the operation command frequency, where α and β are the system adjustment coefficients, with α ranging from 1 to 2 and β ranging from 0 to 0.5. The I represents the total load characteristics of the corresponding part of the motor load. cur The I value represents the current current of the motor. max This is the rated current of the motor, and also serves as the overall reference value for the motor load. The expression of the total load characteristics for the corresponding part of the robot's posture, the This represents the robot's pitch angle, with a value range limited to -90° to 90°, where 90° is the overall reference value for the robot's attitude. This is derived from the above total load value O. C As can be seen from the calculation formula, the total load value O C The numerical range is between 0 and 3.

[0060] Optionally, step S220 may include:

[0061] A positive correlation relationship is pre-set with the total load value as the independent variable and the interval time of the robot's current data acquisition task as the dependent variable;

[0062] A total load threshold is preset, and a high load mode S2201 and a low load mode S2202 are set based on the total load threshold.

[0063] See Figure 2 As shown, the total load value is compared with a preset total load threshold: when the total load value is greater than or equal to the preset total load threshold, the robot system enters a high load mode S2201, and the interval time of the robot data acquisition task is dynamically extended according to the correlation relationship; when the total load value is less than the preset total load threshold, the robot system enters a low load mode S2202, and the interval time of the robot data acquisition task is dynamically shortened according to the correlation relationship.

[0064] In the high-load mode, the robot is in a high-load environment, which refers to uneven surfaces such as rugged roads, grass, and waterways. During the high-load operation phase corresponding to the high-load mode, the control system continuously performs simultaneous dynamic control of multiple robot modules (e.g., robot body movement, reconnaissance module movement, and flipping system movement). This requires the control system to make highly sensitive adjustments to the motor power, resulting in dense operation commands and high motor load.

[0065] In the low-load mode, the robot operates in a low-load environment, which is a flat road. During the low-load operation phase corresponding to this mode, the robot is primarily stationary for reconnaissance. The main control information for the robot is the motion commands from the reconnaissance module, and the control system does not require altitude adjustments to the power system.

[0066] Thus, when the robot navigates in complex environments (grassland, swamp), with dense control commands, significant changes in motor movement, and a large volume of data collected by sensors, the system experiences a high computational load, placing high demands on the processor's computing resources. By acquiring and processing state information, the system enters a high-load mode in real time, dynamically adjusting the task interval to extend it. This reduces the data acquisition frequency, thereby increasing the processor's processing frequency for remote control commands and motor drive tasks. The CPU's computing power is primarily focused on control information processing, achieving low-latency control.

[0067] When the robot is in a stationary reconnaissance (covert surveillance) situation, there are fewer control commands, the motors are stationary, and the frequency of sensor data acquisition is appropriately increased. After acquiring and processing the status information, the system enters a low-load mode in real time, dynamically adjusting the task interval to shorten it. This increases the data acquisition frequency, thereby achieving a balanced distribution of CPU computing power to control and acquisition tasks, reducing system power consumption, and improving the perception of the surrounding environment and the vehicle body.

[0068] The high-load mode S2201 and the low-load mode S2202 can be dynamically switched in real time to adapt to the robot's working state.

[0069] In one alternative approach, the formula for calculating the positive correlation is: Wherein, the T task The task interval is in milliseconds (ms); e is a natural constant, and the O... C This represents the total load value.

[0070] In one specific embodiment, the total load threshold is set to 1.85, and when the obtained total load value is 0... CWhen the value is greater than or equal to 1.85, the system is forced into a high-load mode, and the task interval T is determined according to the positive correlation calculation formula. task The task interval is extended, thereby reducing the acquisition frequency of the robot module and consequently increasing the processor's processing frequency for remote control commands and motor drive tasks. In the experiment, the CPU utilization rate reached as high as 86% in the unadjusted mode. Using the control method of this application, the CPU utilization rate is only 36% in low-load mode and 57% in high-load mode, improving control command processing efficiency by 30%, and keeping the overall system CPU utilization below 60%. Regarding the response latency of control commands, the response speed is 30+ ms in the unadjusted mode, 15 ms in low-load mode, and maintains 22-25 ms in high-load mode, thus reducing the control command response latency by 7-10 ms compared to the unadjusted mode.

[0071] Optionally, see Figure 3 As shown, the control method for the small reconnaissance robot includes a robot entry control step S104 before starting robot control, i.e., before step S200. Step S104 includes anomaly detection, speed detection, signal verification, and fault reset. Further, before robot entry control step S104, a power-on self-test step S101, a task start step S102, and a remote unlock step S103 are performed. The power-on self-test step S101 includes port initialization, protocol initialization, motor detection, IMU (attitude sensor) startup and configuration, communication link detection, and data reporting for abnormal modules. The task start step S102 includes starting various branch tasks, such as starting monitoring tasks, motor control tasks, communication tasks, and data acquisition and processing tasks. The remote unlock step S103 detects remote control data and completes remote unlocking. During robot control, the robot switches between high-load mode S2201 and low-load mode S2202 to adapt to the robot's working state in real time. After completing the task, the robot enters standby mode.

[0072] The control device for one or more embodiments of the present invention will be described in detail below. Those skilled in the art will understand that the control devices for these small reconnaissance robots can be configured using commercially available hardware components through the steps taught in this invention.

[0073] Based on a unified inventive concept, this invention provides a control device for a small reconnaissance robot, see [link]. Figure 4 As shown, the control device includes: an acquisition module 300, a processing module 310, and a control module 320.

[0074] The acquisition module 300 is used to acquire the current status information of the small reconnaissance robot, including the frequency of operation commands, robot posture, and motor load.

[0075] The processing module 310 is used to process the acquired current status information to obtain the total load value;

[0076] The control module 320 is used to dynamically control the interval of the robot's current data acquisition task based on the positive correlation between the interval of the robot's data acquisition task and the total load value, as set in advance.

[0077] Using the above-mentioned device, the interval of the robot's current data acquisition task is dynamically adjusted according to the current total load value. This adaptive adjustment enables the robot to adapt to its working state in real time, ultimately achieving efficient and low-latency real-time robot control and ensuring the smooth implementation of reconnaissance missions.

[0078] Optionally, the processing module 310 can be used to: determine the total load characteristics composed of three features: operation command frequency, robot posture, and motor load; set the total load characteristics of each corresponding part to be characterized by the proportion of the current acquired value of each of the three features to their respective total reference value; calculate the proportion of each of the three features and sum them according to the set weights to obtain the total load value.

[0079] Furthermore, the processing module 310 can specifically be used to: set the weights of the three features to be three equal weights; and express the total load value of the total load feature using the following calculation formula: Wherein, the O C The total load value; C1 is the number of control commands per unit time, C2 is the number of other commands per unit time, and α·C1+β·C2 is the total reference value of the operation command frequency, where α and β are the system adjustment coefficients, with α ranging from 1 to 2 and β ranging from 0 to 0.5; the I cur The I value represents the current current of the motor. max This is the rated current of the motor, and also serves as the overall reference value for the motor load; the aforementioned The value is the pitch angle of the robot body, and the range of the value is limited to -90° to 90°, where 90° is the total reference value of the robot's attitude.

[0080] Optionally, the control module 320 can be used to: pre-set a positive correlation relationship with the total load value as the independent variable and the interval time of the robot's current data acquisition task as the dependent variable; pre-set a total load threshold, and set a high load mode and a low load mode based on the total load threshold; compare the total load value with the preset total load threshold: when the total load value is greater than or equal to the preset total load threshold, the robot system enters the high load mode, and the interval time of the robot data acquisition task is dynamically extended according to the correlation relationship; when the total load value is less than the preset total load threshold, the robot system enters the low load mode, and the interval time of the robot data acquisition task is dynamically shortened according to the correlation relationship.

[0081] Figure 4 The apparatus shown, wherein each module can perform the aforementioned... Figure 1-3 The control method for the small reconnaissance robot provided in the illustrated embodiment, for parts not described in detail in this embodiment, can be referred to the [example / reference]. Figure 1-3 The relevant descriptions of the embodiments shown will not be repeated here.

[0082] Based on the same inventive concept, embodiments of the present invention also provide a small reconnaissance robot, which includes a memory and a processor; wherein, the memory is used to store a computer program, which may include instructions for any application or method for operating on the small reconnaissance robot, as well as application-related data; the memory may be implemented by any type of volatile or non-volatile storage device or a combination thereof. The processor is used to perform all or part of the steps in the control method of the small reconnaissance robot described above when the computer program is executed.

[0083] The processor, serving as the central control unit, features low power consumption, small size, and high integration, which is beneficial for the miniaturization and intelligentization of the control system. The communication protocol can employ custom frame header and tail communication. The initial information segment contains the frame length, protocol version, and frame function word; the middle segment carries the message information; and the tail uses checksums. The protocol is 28 bytes long, making full use of the middle segment data, reducing communication bandwidth consumption, increasing communication frequency, and improving response speed. The small reconnaissance robot also includes a terminal unit, which, in addition to a motor drive unit and attitude sensors, includes a flipping unit, a monitoring unit, and so on.

[0084] The small reconnaissance robot is remotely controlled by a host computer, and the corresponding lower-level system includes a power system, a control system, a data receiving and packaging system, and a parsing system. The power system includes local power management and module power management. The control system includes motion control and onboard module control. The data receiving and packaging system includes local status and module data. The parsing system includes host computer / remote control command parsing, motion system data parsing, and module data parsing.

[0085] In another embodiment, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method for a small reconnaissance robot described above.

[0086] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0087] The specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this application will not describe the various possible combinations separately. Furthermore, different embodiments of this application can also be combined arbitrarily, as long as they do not violate the spirit of this application, and should also be considered as the content disclosed in this application.

Claims

1. A control method of a small-sized reconnaissance robot, characterized by, The control method includes: Acquire the current status information of the small reconnaissance robot, including the frequency of operation commands, robot posture, and motor load; The acquired current status information is processed to obtain the total load value; Based on the pre-set positive correlation between the interval time of the robot's data acquisition task and the total load value, the interval time of the robot's current data acquisition task is dynamically adjusted. The process of processing the acquired current status information to obtain the total load value includes: The total load characteristics are determined to consist of three features: operation command frequency, robot posture, and motor load. The total load characteristics of each of the three features are defined as the proportion of their respective current acquired values ​​to their respective total reference values. Calculate the proportion of each of the three features and sum them according to the set weights to obtain the total load value; The weights of the three features are set as equal weights; the total load value of the total load feature is expressed by a formula as: ; wherein the is the total load value; The is an expression of the total load characteristic part corresponding to the operation instruction frequency, the is the number of operation instructions per unit time, the is the number of other instructions per unit time, and the is a total reference value of the operation instruction frequency. said is an expression corresponding to a representation of a total load characteristic part of the motor load, said is a current motor current value, said is a motor current rating value, also as a total reference value of the motor load; The is the expression of the corresponding representation of the total load feature part of the robot posture, and the is the value of the pitch angle of the robot body, and the value range is limited between -90 and 90, and the 90 is the total reference value of the robot posture.

2. The control method for a small reconnaissance robot as described in claim 1, characterized in that, The step of dynamically adjusting the interval of the robot's current data acquisition task based on the pre-set positive correlation between the interval of the robot's data acquisition task and the total load value includes: A positive correlation relationship is pre-set with the total load value as the independent variable and the interval time of the robot's current data acquisition task as the dependent variable; A total load threshold is preset, and high load mode and low load mode are set accordingly based on the total load threshold; The total load value is compared with a preset total load threshold: if the total load value is greater than or equal to the preset total load threshold, the robot system enters a high load mode, and the interval time of the robot data acquisition task is dynamically extended according to the correlation; if the total load value is less than the preset total load threshold, the robot system enters a low load mode, and the interval time of the robot data acquisition task is dynamically shortened according to the correlation.

3. The control method for a small reconnaissance robot as described in claim 2, characterized in that, The formula for calculating the positive correlation is: , wherein This refers to the task interval time. The natural constant, the This represents the total load value.

4. The control method for a small reconnaissance robot as described in claim 1, characterized in that, The operation command frequency in the status information includes the robot's angular velocity and linear velocity commands, the robot's external module's switch, movement, and tracking commands, and the robot's flipping module's movement commands.

5. A control device for a small reconnaissance robot, characterized in that, The control device includes: The acquisition module is used to acquire the current status information of the small reconnaissance robot, including the frequency of operation commands, robot posture, and motor load. The processing module is used to process the acquired current status information to obtain the total load value; The control module is used to dynamically adjust the interval of the robot's current data acquisition task based on the pre-set positive correlation between the interval of the robot's data acquisition task and the total load value. The process of processing the acquired current status information to obtain the total load value includes: The total load characteristics are determined to consist of three features: operation command frequency, robot posture, and motor load. The total load characteristics of each of the three features are defined as the proportion of their respective current acquired values ​​to their respective total reference values. Calculate the proportion of each of the three features and sum them according to the set weights to obtain the total load value; The weights of the three features are set to be equal; the total load value of the total load feature is expressed by the formula: ; wherein, the This represents the total load value. The The expression of the total load characteristic part corresponding to the operation command frequency, the The number of control commands per unit time, the The number of other instructions per unit time, the This serves as the overall reference value for the frequency of operation commands; The This is an expression representing the characteristic part of the total load corresponding to the motor load. The current value of the motor, the This is the rated value of the motor current, and also serves as the overall reference value for the motor load; The The expression of the total load characteristic part corresponding to the robot's posture, the The value is the pitch angle of the robot body, and the range of the value is limited to -90 to 90. The 90 is the total reference value of the robot's attitude.

6. A small reconnaissance robot, characterized in that, It includes a memory and a processor, the memory being used to store a computer program; the processor being used to implement, when executing the computer program, a control method for a small reconnaissance robot as described in any one of claims 1-4 above.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the control method for a small reconnaissance robot as described in any one of claims 1-4.

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