Obstacle avoidance method for hexahedral frame soft robot

Abstract

The present invention discloses an obstacle avoidance method for a hexahedron-framed soft robot. The method includes dividing the hexahedron-framed soft robot into a moving component, a lifting component, a rolling component, and a traversing component along the forward direction; setting a perception mode for the hexahedron-framed soft robot and dividing the perception components on the hexahedron-framed soft robot according to the set perception mode; collecting obstacle information in real time through the perception components during the movement of the hexahedron-framed soft robot; and planning the movement paths of the moving component, the lifting component, the tumbling component, and the traversing component based on the collected obstacle information to achieve obstacle avoidance. By sensing the relative position of the obstacle and the robot, targeted avoidance actions are taken, facilitating the flexible movement and use of the hexahedron-framed soft robot in complex environments.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an obstacle avoidance method for a hexahedron frame soft robot. Background Art

[0002] With the continuous development of science and technology and the improvement of economic conditions, the use of robots is becoming increasingly widespread, with outstanding performance in fields such as earthquake search and rescue, exploration and adventure, military affairs, and aerospace. Among them, soft robots, due to their flexibility and agility, have great application prospects in slender pipes and tiny spaces.

[0003] However, existing soft robots have complex structures and are often flexible only along their axis, allowing them to move forward and backward. When faced with the diverse and complex environments encountered in real-world applications, they can only swing forward and backward in one direction, resulting in limited mobility. They often encounter obstacles that they cannot overcome, making it difficult for them to quickly climb over, turn, or retreat. Their lack of mobility results in poor performance.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide an obstacle avoidance method for a hexahedral frame soft robot, aiming to solve the problem that the existing soft robots lack flexibility when facing obstacles, which affects their actual movement and use effects.

[0006] The technical solutions of the present invention are as follows:

[0007] A method for avoiding obstacles of a hexahedral frame soft robot, comprising:

[0008] The hexahedral frame soft robot is divided into a moving part, a lifting part, a rolling part and a lateral moving part along the forward direction;

[0009] Setting a perception mode of the hexahedral frame soft robot, and dividing perception components on the hexahedral frame soft robot according to the set perception mode;

[0010] During the movement of the hexahedral frame soft robot, obstacle information is collected in real time through the sensing component;

[0011] Based on the collected obstacle information, the movement paths of the moving component, the lifting component, the rolling component and the transverse moving component are planned to achieve obstacle avoidance.

[0012] The obstacle avoidance method of the hexahedral frame soft robot, wherein the hexahedral frame soft robot includes eight spherical modules located at the vertices and twelve bar modules located at the edges; the spherical modules are expandable and the bar modules are retractable; the step of dividing the hexahedral frame soft robot into moving parts, lifting parts, rolling parts and lateral parts along the forward direction specifically includes:

[0013] Dividing the four strip modules arranged along the forward direction of the hexahedral frame soft robot into moving parts;

[0014] Dividing the four strip modules arranged along the height direction of the hexahedral frame soft robot into lifting components;

[0015] Dividing the four strip modules arranged along the width direction of the hexahedral frame soft robot into transverse movement components;

[0016] The two spherical modules below the rear end of the hexahedral frame soft robot are divided into rolling parts.

[0017] The obstacle avoidance method of the hexahedral frame soft robot, wherein the perception mode includes an up-down perception mode, a left-right perception mode and an omnidirectional perception mode.

[0018] The obstacle avoidance method of the hexahedral frame soft robot, wherein the step of setting the perception mode of the hexahedral frame soft robot and dividing the perception components on the hexahedral frame soft robot according to the set perception mode specifically includes:

[0019] When the up and down sensing mode is set, the strip modules on the upper and lower edges of the front end of the hexahedral frame soft robot are divided into sensing components, and the sensing components are used to sense the height of obstacles.

[0020] The obstacle avoidance method for the hexahedral frame soft robot, wherein the steps of planning the motion paths of the moving component, the lifting component, the tumbling component, and the lateral moving component based on the collected obstacle information, and achieving obstacle avoidance specifically include:

[0021] When the bar module on the upper edge of the front end of the hexahedral frame soft robot senses an obstacle, the lifting component is shortened according to the obstacle information, thereby lowering the height of the hexahedral frame soft robot to achieve obstacle avoidance;

[0022] When the strip module on the lower edge of the front end of the hexahedral frame soft robot senses an obstacle, the rolling component is planned to expand based on the obstacle information, lifting the hexahedral frame soft robot so that the hexahedral frame soft robot falls forward, completing the rolling action and achieving obstacle avoidance.

[0023] The obstacle avoidance method of the hexahedral frame soft robot, wherein the step of setting the perception mode of the hexahedral frame soft robot and dividing the perception components on the hexahedral frame soft robot according to the set perception mode specifically includes:

[0024] When the left and right perception mode is set, the two spherical modules above the front end of the hexahedral frame soft robot are divided into perception components, and the perception components are used to perceive obstacles on the left and right sides of the hexahedral frame soft robot.

[0025] The obstacle avoidance method for the hexahedral frame soft robot, wherein the steps of planning the motion paths of the moving component, the lifting component, the tumbling component, and the lateral moving component based on the collected obstacle information, and achieving obstacle avoidance specifically include:

[0026] When the spherical module on the upper left of the front end of the hexahedral frame soft robot senses an obstacle, the lateral movement component is planned to move laterally to the right according to the obstacle information to change the movement path of the hexahedral frame soft robot to achieve obstacle avoidance;

[0027] When the spherical module on the upper right side of the front end of the hexahedral frame soft robot senses an obstacle, the lateral movement component is planned to move laterally to the left based on the obstacle information to change the moving path of the hexahedral frame soft robot and achieve obstacle avoidance.

[0028] The obstacle avoidance method of the hexahedral frame soft robot, wherein the step of setting the perception mode of the hexahedral frame soft robot and dividing the perception components on the hexahedral frame soft robot according to the set perception mode specifically includes:

[0029] When the full perception mode is set, the strip modules on the upper and lower edges of the front end of the hexahedral frame soft robot and the two spherical modules above the front end of the hexahedral frame soft robot are divided into perception components, which are used to perceive obstacles on the left and right sides and in front of the hexahedral frame soft robot.

[0030] The obstacle avoidance method for the hexahedral frame soft robot, wherein the steps of planning the motion paths of the moving component, the lifting component, the tumbling component, and the lateral moving component based on the collected obstacle information, and achieving obstacle avoidance specifically include:

[0031] When the spherical module and the strip module at the front end of the hexahedral frame soft robot simultaneously sense an obstacle, the moving part is planned to move in the opposite direction based on the obstacle information, and the hexahedral frame soft robot is controlled to retreat to avoid the obstacle.

[0032] The obstacle avoidance method for the hexahedral frame soft robot is as follows: the spherical module includes a base, an inflatable balloon disposed on the base, and a first inflatable tube connected to the inflatable balloon; the bar module includes a bar-shaped telescopic airbag, a sponge block disposed within the bar-shaped telescopic airbag, and a second inflatable tube connected to the bar-shaped telescopic airbag; and the step of collecting obstacle information in real time through the sensing component during the movement of the hexahedral frame soft robot specifically includes:

[0033] Inflate the inflatable balloon through the first inflatable tube, and / or inflate the strip-shaped telescopic airbag through the second inflatable tube, thereby imparting pre-inflated pressure to the sensing component;

[0034] During the movement of the hexahedral frame soft robot, the position of the obstacle in front of the hexahedral frame soft robot is sensed and the obstacle information is collected by collecting the change data of the air pressure on the sensing component.

[0035] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0036] The obstacle avoidance method of the hexahedral frame soft robot disclosed in the present invention pre-plans different functional components and then selects the perception mode. During the movement process, different components are selectively used to change the robot's posture by real-time perception of the obstacle position, so that the robot changes its shape, or by changing the robot's movement path to automatically avoid or cross obstacles. The control method is simple, the flexibility is high, the functions are diverse, and it is conducive to adapting to complex usage environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 Flowchart of the obstacle avoidance method of the hexahedral frame soft robot in the present invention;

[0039] Figure 2 Schematic diagram of the structure of the hexahedral frame soft robot in the present invention;

[0040] Figure 3 This is a control flow chart of the obstacle avoidance method of the hexahedral frame soft robot in the present invention;

[0041] Figure 4 A diagram of the obstacle avoidance steps in one embodiment of the hexahedral frame soft robot of the present invention;

[0042] Figure 5 A diagram of the obstacle avoidance steps in one embodiment of the hexahedral frame soft robot of the present invention;

[0043] Figure 6 A diagram of the obstacle avoidance steps in one embodiment of the hexahedral frame soft robot of the present invention;

[0044] Figure 7 A diagram of the obstacle avoidance steps in one embodiment of the hexahedral frame soft robot of the present invention;

[0045] Figure 8 Schematic diagram of the obstacle avoidance steps in one embodiment of the hexahedral frame soft robot of the present invention.

[0046] Among them, 100 is a hexahedral frame soft robot; 110 is a spherical module; 120 is a strip module. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts shall fall within the scope of protection of the present invention.

[0048] See Figure 1 In one embodiment of the present invention, a method for avoiding obstacles of a hexahedral frame soft robot 100 is disclosed, which includes:

[0049] S100, dividing the hexahedral frame soft robot 100 into a moving part, a lifting part, a rolling part, and a lateral moving part along the forward direction;

[0050] S200, setting a perception mode of the hexahedral frame soft robot 100, and dividing perception components on the hexahedral frame soft robot 100 according to the set perception mode;

[0051] S300, during the movement of the hexahedral frame soft robot 100, obstacle information is collected in real time through the sensing component;

[0052] S400 , planning the motion paths of the moving component, the lifting component, the rolling component, and the transverse moving component based on the collected obstacle information to achieve obstacle avoidance.

[0053] The obstacle avoidance method of the hexahedral frame soft robot 100 disclosed in this embodiment pre-plans different functional components and then selects a sensing mode. During the movement, different components are selectively used to change the robot's posture by sensing the position of obstacles in real time, so that the robot changes its shape to automatically avoid or cross obstacles. The control method is simple, the flexibility is high, and the functions are diverse, which is conducive to adapting to complex usage environments.

[0054] like Figure 2 As shown, as an implementation of this embodiment, the hexahedral frame soft robot 100 is disclosed to include eight spherical modules 110 located at the vertices and twelve bar modules 120 located on the edges; the spherical modules 110 are expandable and the bar modules 120 are retractable.

[0055] In this embodiment, the hexahedral frame soft robot 100 is in the shape of a cube or a cuboid, and its frame is a highly symmetrical three-dimensional structure. That is, each surface of the hexahedral frame soft robot 100 can contact the contact surface and become a support surface. In particular, a spherical module 110 and a bar module 120 are set at the edge of each surface. By expanding the spherical module 110, the robot can be lifted, tilted, and the center of gravity of the hexahedral frame soft robot 100 can be changed; by extending and retracting the bar module 120, the length, width, and height of the hexahedral frame soft robot 100 can be adjusted. It can be seen that through the coordinated work of the spherical module 110 and the bar module 120, the hexahedral frame soft robot 100 can be controlled to deform to avoid obstacles.

[0056] Specifically, regardless of which surface of the hexahedral frame soft robot 100 becomes the support surface during movement, the robot's shape and center of gravity can be controlled by controlling the deformation of the spherical module 110 or the bar module 120, allowing it to avoid or overcome obstacles and continue moving. Unlike conventional robots, this eliminates the need for various adjustment steps, such as returning the robot to its original position or turning it over, facilitating flexible movement in complex environments.

[0057] In summary, the control components of the hexahedral frame soft robot 100 in this embodiment are evenly distributed on the entire surface, so it has high flexibility during use and can maintain a high degree of control over itself in complex environments.

[0058] Specifically, in this embodiment, step S100 specifically includes:

[0059] The four bar-shaped modules 120 arranged along the forward direction of the hexahedral frame soft robot 100 are divided into moving parts;

[0060] Divide the four bar modules 120 arranged along the height direction of the hexahedral frame soft robot 100 into lifting components;

[0061] Divide the four strip modules 120 arranged along the width direction of the hexahedral frame soft robot 100 into transverse movement components;

[0062] The two spherical modules 110 below the rear end of the hexahedral frame soft robot 100 are divided into rolling parts.

[0063] After determining the direction of movement, the hexahedral frame soft robot 100 disclosed in this embodiment classifies the spherical modules 110 and bar modules 120 at various positions according to the direction of movement. This allows for integrated control after sensing an obstacle, reduces the difficulty of manipulation, and maintains the robot's center of gravity stable during deformation. For example, when the robot needs to be lowered, the four bar modules 120 within the lifting component can be simultaneously controlled to shorten, and the shortening amplitude is consistent, so that the four corners of the hexahedral frame soft robot 100 are lowered simultaneously, and the center of gravity remains in the middle position, which is conducive to maintaining stability.

[0064] like Figure 3 As shown, as one implementation of this embodiment, the disclosed sensing modes include a top-bottom sensing mode, a left-right sensing mode, and an omnidirectional sensing mode. In actual use, each robot deformation requires work and consumes energy. Therefore, to reduce unnecessary work and simplify the control process of the hexahedral frame soft robot 100, this embodiment discloses three sensing modes.

[0065] Specifically, when the hexahedron frame soft robot 100 passes through a narrow passage, for example: when the hexahedron frame soft robot 100 moves in a low space, it only needs to be careful about the risk of up and down collisions, so the up and down perception mode can be set; for example, when the hexahedron frame soft robot 100 is moving between buildings or in a deep ditch, it only needs to be careful about the risk of collisions on the left and right sides, and the left and right perception mode can be set at this time; for example, when the hexahedron frame soft robot 100 moves in ventilation ducts, sewers and other pipes, there may be obstacles in any direction around it, and at this time it can be set to an all-round perception mode.

[0066] In summary, in this embodiment, by setting a variety of perception modes, the hexahedral frame soft robot 100 can adapt to local conditions and flexibly select working modes when working, thereby achieving energy-saving and high-efficiency effects.

[0067] Specifically, as an implementation of this embodiment, step S200 is disclosed to include:

[0068] S210. When the up and down sensing mode is set, the strip modules 120 on the upper and lower edges of the front end of the hexahedral frame soft robot 100 are divided into sensing components, which are used to sense the height of obstacles.

[0069] When the hexahedral frame soft robot 100 is in up-down sensing mode, it senses possible obstacles in the up-down direction. Therefore, the bar modules 120 on the upper and lower edges of the front end are the most accurate. If the upper and lower bar modules 120 can move smoothly, the entire structure can also pass. If the two bar modules 120 are blocked, it indicates that avoidance is required. This arrangement of sensing components can accurately sense obstacles during movement, facilitating subsequent avoidance.

[0070] Specifically, as an implementation of this embodiment, step S400 is disclosed to specifically include:

[0071] S411、 Figure 4 As shown, when the bar module 120 on the upper edge of the front end of the hexahedral frame soft robot 100 senses an obstacle, the lifting component is shortened according to the obstacle information, and the height of the hexahedral frame soft robot 100 is lowered to achieve obstacle avoidance;

[0072] S412, such as Figure 5 As shown, when the strip module 120 on the lower edge of the front end of the hexahedral frame soft robot 100 senses an obstacle, the rolling component is planned to expand based on the obstacle information, lifting the hexahedral frame soft robot 100, causing the hexahedral frame soft robot 100 to tilt forward, completing the rolling action and achieving obstacle avoidance.

[0073] When the sensing component disclosed in this embodiment senses an obstacle above, it controls the lifting component to lower the top surface of the hexahedral frame soft robot 100, thereby avoiding the obstacle. When the sensing component senses an obstacle below, it controls the rolling component to expand, raising the rear end of the hexahedral frame soft robot 100, tilting the center of gravity of the entire structure forward, and thus creating a tendency to tilt forward, thereby completing the rolling action and crossing the obstacle. By controlling the corresponding components to operate according to the actual position of the obstacle, different deformation methods are used to avoid or cross the obstacle, effectively dealing with obstacles in the movement path, and facilitating the movement speed of the hexahedral frame soft robot 100.

[0074] Specifically, in the other two cases:

[0075] As an implementation of this embodiment, step S200 is disclosed to specifically include:

[0076] S220. When the left and right sensing mode is set, the two spherical modules 110 above the front end of the hexahedral frame soft robot 100 are divided into sensing components, and the sensing components are used to sense obstacles on the left and right sides of the hexahedral frame soft robot.

[0077] Specifically, as an implementation of this embodiment, step S400 is disclosed to specifically include:

[0078] S421, such as Figure 6 As shown, when the spherical module 110 on the upper left of the front end of the hexahedral frame soft robot 100 senses an obstacle, the lateral movement component is planned to move laterally to the right according to the obstacle information to change the movement path of the hexahedral frame soft robot 100 to achieve obstacle avoidance;

[0079] S422. When the spherical module 110 on the upper right side of the front end of the hexahedral frame soft robot 100 senses an obstacle, the lateral movement component is planned to move laterally to the left based on the obstacle information to change the moving path of the hexahedral frame soft robot 100 and achieve obstacle avoidance.

[0080] As an implementation of this embodiment, step S200 is disclosed to specifically include:

[0081] S230. When the full perception mode is set, the strip modules 120 on the upper and lower edges of the front end of the hexahedral frame soft robot 100 and the two spherical modules 110 above the front end of the hexahedral frame soft robot 100 are divided into perception components, which are used to perceive obstacles on the left and right sides and in front of the hexahedral frame soft robot.

[0082] like Figure 7 As shown, as an implementation of this embodiment, step S400 is disclosed to specifically include:

[0083] S431. When the spherical module 110 and the bar module 120 at the front end of the hexahedral frame soft robot 100 simultaneously sense an obstacle, the moving parts are planned to move in the opposite direction based on the obstacle information, and the hexahedral frame soft robot 100 is controlled to retreat to avoid the obstacle.

[0084] In this embodiment, when the sensing component senses that the left, right and front sides of the robot are blocked at the same time, it means that the robot's route is blocked, so it returns to the original route and replans another path.

[0085] Specifically, such as Figure 3 and Figure 8As shown, in another implementation of this embodiment, it is disclosed that when the spherical module 110 and the bar module 120 at the front end of the hexahedral frame soft robot 100 simultaneously sense an obstacle, the transverse movement component and the lifting component can also be planned to be shortened at the same time to reduce the surface area of ​​the front end of the hexahedral frame soft robot 100; when the front end of the hexahedral frame soft robot 100 shrinks to the minimum, obstacle information can be collected again. If the obstacle is no longer sensed, it means that the obstacle has been avoided by overall narrowing, and the robot can continue to move forward without having to reverse and retreat.

[0086] Specifically, as an implementation of this embodiment, the spherical module 110 is disclosed to include a base, an inflatable balloon disposed on the base, and a first inflatable tube connected to the inflatable balloon; the strip-shaped module 120 includes a strip-shaped telescopic airbag, a sponge block disposed within the strip-shaped telescopic airbag, and a second inflatable tube connected to the strip-shaped telescopic airbag; and step S300 specifically includes:

[0087] S301, inflating the inflatable balloon through the first inflation tube, and / or inflating the strip-shaped telescopic airbag through the second inflation tube, to impart pre-inflated pressure to the sensing component;

[0088] S302. During the movement of the hexahedral frame soft robot 100, the position of the obstacle in front of the hexahedral frame soft robot 100 is sensed by collecting the change data of the air pressure on the sensing component, and the obstacle information is collected.

[0089] In summary, the present application discloses an obstacle avoidance method for a hexahedral frame soft robot 100, which includes:

[0090] S100, dividing the hexahedral frame soft robot 100 into a moving part, a lifting part, a rolling part, and a lateral moving part along the forward direction;

[0091] S200, setting a perception mode of the hexahedral frame soft robot 100, and dividing perception components on the hexahedral frame soft robot 100 according to the set perception mode;

[0092] S300, during the movement of the hexahedral frame soft robot 100, obstacle information is collected in real time through the sensing component;

[0093] S400 , planning the motion paths of the moving component, the lifting component, the rolling component, and the transverse moving component based on the collected obstacle information to achieve obstacle avoidance.

[0094] The obstacle avoidance method of the hexahedral frame soft robot 100 disclosed in this embodiment pre-plans different functional components and then selects a sensing mode. During the movement, different components are selectively used to change the robot's posture by sensing the position of obstacles in real time, so that the robot changes its shape to automatically avoid or cross obstacles. The control method is simple, the flexibility is high, and the functions are diverse, which is conducive to adapting to complex usage environments.

[0095] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0096] It should be noted that the present invention takes the obstacle avoidance method of a hexahedron frame soft robot as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to the obstacle avoidance method of a hexahedron frame soft robot, and can also be applied to the production and use of other similar workpieces.

[0097] It should be understood that the present invention is not limited to the exact construction described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An obstacle avoidance method for a hexahedral frame soft robot, characterized in that: include: The hexahedral frame soft robot is divided into a moving part, a lifting part, a rolling part and a lateral moving part along the forward direction; Setting a perception mode of the hexahedral frame soft robot, and dividing perception components on the hexahedral frame soft robot according to the set perception mode; During the movement of the hexahedral frame soft robot, obstacle information is collected in real time through the sensing component; Planning the movement paths of the moving component, the lifting component, the rolling component, and the transverse moving component based on the collected obstacle information to achieve obstacle avoidance; The hexahedral frame soft robot includes eight spherical modules located at the vertices and twelve strip modules located on the edges; the spherical modules are expandable and the strip modules are retractable.

2. The obstacle avoidance method for a hexahedral frame soft robot according to claim 1, characterized in that: The step of dividing the moving part, the lifting part, the rolling part and the lateral movement part on the hexahedral frame soft robot along the forward direction specifically includes: Dividing the four strip modules arranged along the forward direction of the hexahedral frame soft robot into moving parts; Dividing the four strip modules arranged along the height direction of the hexahedral frame soft robot into lifting components; Dividing the four strip modules arranged along the width direction of the hexahedral frame soft robot into transverse movement components; The two spherical modules below the rear end of the hexahedral frame soft robot are divided into rolling parts.

3. The obstacle avoidance method for a hexahedral frame soft robot according to claim 2, characterized in that: The sensing modes include a top-bottom sensing mode, a left-right sensing mode, and an omnidirectional sensing mode.

4. The obstacle avoidance method for a hexahedral frame soft robot according to claim 3, characterized in that: The steps of setting the perception mode of the hexahedral frame soft robot and dividing the perception components on the hexahedral frame soft robot according to the set perception mode specifically include: When the up and down sensing mode is set, the strip modules on the upper and lower edges of the front end of the hexahedral frame soft robot are divided into sensing components, and the sensing components are used to sense the height of obstacles.

5. The obstacle avoidance method for a hexahedral frame soft robot according to claim 4, characterized in that: The step of planning the motion paths of the moving component, the lifting component, the rolling component, and the transverse component based on the collected obstacle information to achieve obstacle avoidance specifically includes: When the bar module on the upper edge of the front end of the hexahedral frame soft robot senses an obstacle, the lifting component is shortened according to the obstacle information, thereby lowering the height of the hexahedral frame soft robot to achieve obstacle avoidance; When the strip module on the lower edge of the front end of the hexahedral frame soft robot senses an obstacle, the rolling component is planned to expand based on the obstacle information, lifting the hexahedral frame soft robot so that the hexahedral frame soft robot falls forward, completing the rolling action and achieving obstacle avoidance.

6. The obstacle avoidance method for a hexahedral frame soft robot according to claim 3, characterized in that: The steps of setting the perception mode of the hexahedral frame soft robot and dividing the perception components on the hexahedral frame soft robot according to the set perception mode specifically include: When the left and right perception mode is set, the two spherical modules above the front end of the hexahedral frame soft robot are divided into perception components, and the perception components are used to perceive obstacles on the left and right sides of the hexahedral frame soft robot.

7. The obstacle avoidance method for a hexahedral frame soft robot according to claim 6, characterized in that: The step of planning the motion paths of the moving component, the lifting component, the rolling component, and the transverse component based on the collected obstacle information to achieve obstacle avoidance specifically includes: When the spherical module on the upper left of the front end of the hexahedral frame soft robot senses an obstacle, the lateral movement component is planned to move laterally to the right according to the obstacle information to change the movement path of the hexahedral frame soft robot to achieve obstacle avoidance; When the spherical module on the upper right side of the front end of the hexahedral frame soft robot senses an obstacle, the lateral movement component is planned to move laterally to the left based on the obstacle information to change the moving path of the hexahedral frame soft robot and achieve obstacle avoidance.

8. The obstacle avoidance method for a hexahedral frame soft robot according to claim 3, characterized in that: The steps of setting the perception mode of the hexahedral frame soft robot and dividing the perception components on the hexahedral frame soft robot according to the set perception mode specifically include: When the full perception mode is set, the strip modules on the upper and lower edges of the front end of the hexahedral frame soft robot and the two spherical modules above the front end of the hexahedral frame soft robot are divided into perception components, which are used to perceive obstacles on the left and right sides and in front of the hexahedral frame soft robot.

9. The obstacle avoidance method for a hexahedral frame soft robot according to claim 8, characterized in that: The step of planning the motion paths of the moving component, the lifting component, the rolling component, and the transverse component based on the collected obstacle information to achieve obstacle avoidance specifically includes: When the spherical module and the strip module at the front end of the hexahedral frame soft robot simultaneously sense an obstacle, the moving part is planned to move in the opposite direction based on the obstacle information, and the hexahedral frame soft robot is controlled to retreat to avoid the obstacle.

10. The obstacle avoidance method for a hexahedral frame soft robot according to claim 2, characterized in that: The spherical module includes a base, an inflatable balloon disposed on the base, and a first inflatable tube connected to the inflatable balloon; the strip module includes a strip-shaped telescopic airbag, a sponge block disposed within the strip-shaped telescopic airbag, and a second inflatable tube connected to the strip-shaped telescopic airbag; during the movement of the hexahedral frame soft robot, the step of collecting obstacle information in real time through the sensing component specifically includes: Inflate the inflatable balloon through the first inflatable tube, and / or inflate the strip-shaped telescopic airbag through the second inflatable tube, thereby imparting pre-inflated pressure to the sensing component; During the movement of the hexahedral frame soft robot, the position of the obstacle in front of the hexahedral frame soft robot is sensed and the obstacle information is collected by collecting the change data of the air pressure on the sensing component.

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