A modular snake-like rescue robot and its control system

Abstract

The present invention discloses a modular snake-like rescue robot and its control system, which includes the technical field of snake-like rescue robots. The snake-like rescue robot is composed of six joints connected in series, each of which has two degrees of freedom, and the snake-like rescue robot has twelve degrees of freedom. The joint assembly is composed of a driving component, a frame connector, a transmission component, a transmission support component, a support connection shaft component and a joint connection component, and the joint assembly works together to enable the joint to achieve two independent rotational degrees of freedom. The present invention is equipped with a high-redundancy design, has excellent adaptability and a low center of mass, solves the problem that traditional robots are difficult to operate effectively in such an environment due to their large structure and weight, limited maneuverability, and are suitable for detection applications in rugged roads or narrow spaces.

Description

Technical Field

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

[0002] Modular snake-like rescue robots are a typical application of bionic principles in robotics. Snakes, with their unique limbless movement and highly flexible body structure, show excellent adaptability in complex environments. Robot designers have designed snake-like robots that can move flexibly in various complex environments by imitating the movement patterns and body structures of snakes. This robot can not only crawl on the ground, but also climb, cross obstacles, and even operate underwater or in narrow spaces. However, existing snake-like rescue robots have limited mobility and flexibility, making it difficult to operate effectively in such environments.

[0003] The defects of existing snake-like rescue robots are:

[0004] 1. Patent document CN201510161800.6 discloses a snake-like robot, "a snake-like robot comprises a plurality of spherical joints (100) and a connecting member (200) for connecting two adjacent spherical joints (100), the spherical joint (100) comprises an outer frame (10), a first moving pendulum (20) and a second moving pendulum (30), the hinge axis centerline of the first moving pendulum (20) and the hinge axis centerline of the second moving pendulum (30) are located in the same plane and are perpendicular to each other, the present invention adopts a circular structure and is compact; the first stage of the snake-like robot adopts gear transmission, and the final stage adopts worm gear transmission for joint torque output, so as to realize the robot's overall output torque increase by several times and improve the joint driving ability; the snake-like robot has an overall degree of freedom of 20, extremely high redundancy and strong movement ability", but the existing snake-like rescue robots have limited mobility and flexibility and are difficult to operate effectively in such an environment;

[0005] 2. Patent document CN108780986A discloses a snake-like robot, "including a first link having a first distal end, a first proximal end, and a first longitudinal axis extending between the first distal end and the first proximal end. The second link has a second proximal end, a second distal end operably connected to the first proximal end, and a second longitudinal axis extending between the second proximal end and the second distal end. The rotation of the first link relative to the second link alternately performs the following effects: elongation of the robot; pivoting of the first longitudinal axis relative to the second longitudinal axis; and rotation of the first longitudinal axis relative to the second longitudinal axis", but the existing snake-like rescue robots have low flexibility and operating range, and their movement ability is limited by the number of joints and the length of the robot;

[0006] 3. Patent document CN108748124A discloses a snake-like robot, "including a snake head component, a snake body component and a snake tail component, the snake head component and the snake tail component both include a fixed component, a power mechanism and a walking mechanism, the fixed component is connected to the snake body component, the power mechanism and the walking mechanism are both arranged on the fixed component, the power mechanism is connected to the walking mechanism and can drive the walking mechanism to walk. The snake head component and the snake tail component are both active walking components, the snake body component is a driven walking component, which is jointly driven by the snake head component and the snake tail component and provides three-dimensional deformation capability, which can improve the ground adaptability and obstacle crossing ability of the snake-like robot, and the snake body component is arranged as a driven walking component, which can greatly reduce the volume of the snake-like robot, thereby improving the movement flexibility of the snake-like robot", but the single joint of the existing snake-like rescue robot cannot realize compound motion, and the joint servo steering motor directly outputs the driving torque, which limits the joint driving ability;

[0007] 4. Patent document CN106078717B discloses a snake-like robot, "including multiple main body modules, multiple joint modules and a drive control module, each two adjacent main body modules are connected by a joint module; the joint module includes a joint swing arm, and the drive control module is used to drive at least one joint swing arm to swing relative to the previous main body module connected to it, and / or drive at least one joint swing arm to swing relative to the subsequent main body module connected to it; the swing direction of the previous main body module connected to the joint swing arm is perpendicular to the swing direction of the subsequent main body module connected to the joint swing arm. This solution effectively reduces the complexity of the entire joint steering mechanism and improves the transmission accuracy", but the output torque of the servo of the existing snake-like rescue robot is not large under the same power conditions. Summary of the invention

[0008] The purpose of the present invention is to provide a modular snake-like rescue robot and its control system, so as to solve the problem that the continuum robot proposed in the above background technology has no obvious joints, can achieve more natural bending and twisting movements, and will not cause great damage to the surrounding environment or itself when in contact, which is particularly important in medical treatment, search and rescue and other sensitive environments. However, its motion control is relatively complex, requiring more advanced algorithms and computing power to achieve effective path planning and control. At the same time, its force feedback and load capacity are limited, and the soft material may not be as durable as metal or hard plastic, and may need to be frequently replaced or maintained due to wear or damage.

[0009] To achieve the above object, the present invention provides the following technical solutions: a modular snake-like rescue robot, comprising: the snake-like rescue robot is composed of six joints connected in series, each of which has two degrees of freedom, and the snake-like rescue robot has twelve degrees of freedom, the joint assembly is composed of a driving component, a frame connecting component, a transmission component, a transmission support component, a support connection shaft component and a joint connection component, and the joint components work together to enable the joint to achieve two independent rotational degrees of freedom;

[0010] The driving component adopts Power HD 1501MG metal gear servo, the frame connecting part includes a first outer frame part, a second outer frame part, a third outer frame part, a fourth outer frame part and an outer frame structure, the transmission part includes a fan-shaped worm gear, a terminal gear, an intermediate gear, and a front end gear, the transmission support part includes a worm support part and a worm, the supporting connection shaft part includes an intermediate connection fixing part, a support shaft, a worm gear shaft, and an output connection part, the joint connection assembly includes a first joint connection part and a second joint connection part, the outer frame structure is a circular shape with two sides symmetrical, the intermediate connection fixing part is connected to the outer frame structure by a fastener, the gear servo and the camera are firmly fixed, and the frame of the joint is formed.

[0011] Preferably, the end of the gear servo is connected to the front end gear, and the worm converts and transmits the torque to the output end of the joint through the front end gear, the middle gear, the end gear and the fan-shaped worm gear, thereby ensuring the effective transmission of force and the precise control of direction. The cooperation between the worm and the fan-shaped worm gear realizes the direction conversion of the torque, and then fixes it with the joint connection assembly through the output connector to complete the output of a single degree of freedom. The other degree of freedom adopts a vertical arrangement of the two. The gear servo transmits the driving torque to the first joint connector and the second joint connector through the front end gear, the fan-shaped worm gear and the worm transmission. The adjacent joints are connected by the first joint connector and the second joint connector. The six joints are connected in series to form a continuous motion chain of the entire snake-like rescue robot.

[0012] Preferably, the control system includes hardware and snake-like rescue robot software, the hardware includes a main control chip, hardware circuit design and PCB design, the software includes ARM-based UC / OS-II operating system transplantation, writing software task running programs and hardware drivers, the hardware part of the robot includes motion drive control, sensor data collection and processing, power module control and communication module control, the hardware adopts a modular design, the modular design independently designs each functional unit, and then builds a complete snake-like rescue robot hardware system by integrating these modules, which is convenient for subsequent upgrades and optimizations.

[0013] Preferably, the main control chip adopts STM32F103ZET6, the power module supplies power to the entire system, and displays the power supply status through the power indicator light, the program download interface is used to load the program into the main control chip, and supports the selection of the startup mode. After the main control chip starts working, its built-in timers 1 to 3 (Timer1-Timer3) control the joint servos of the snake robot, and the NRF wireless communication module is connected to the main control chip through the SPI2 interface to establish a wireless data transmission channel between the upper and lower computers of the snake robot, thereby realizing wireless control.

[0014] Preferably, the hardware circuit design adopts a modular approach, and each module is connected to the STM32F103ZET6 main control chip through a network label. This design method is convenient for future expansion or upgrading, and is convenient for integrating newly added circuits with existing systems.

[0015] Preferably, the snake-like rescue robot software adopts the multi-task management feature of the UC / OS-II operating system. The multi-task management feature constructs six task modules, including statistical tasks, idle tasks, start tasks, key scanning tasks and NRF wireless communication tasks. The statistical tasks and idle tasks are automatically generated by the UC / OS-II kernel. The statistical tasks are mainly used to monitor the utilization efficiency of the main control chip, and the idle tasks are run when there are no active tasks to be executed, to prevent the system from stagnating due to idling, and to ensure that the system is always in an active state.

[0016] Preferably, the starting task, key scanning task and NRF wireless communication task are implemented through user-defined software programming. The starting task is executed when the system starts up and is responsible for creating the remaining user tasks. It automatically enters the suspended state after completing the task creation and no longer occupies the main control chip resources. The key scanning task continuously monitors the input status of the matrix keyboard, identifies the key actions and transmits the corresponding key value information through the message queue, promoting wireless communication between the upper and lower computers of the snake robot. The motion control task controls the dynamic behavior of the snake robot according to the received instructions. The NRF wireless communication task focuses on maintaining the wireless connection between the upper and lower computers of the robot, ensuring the two-way transmission of instructions and status information, thereby realizing remote wireless control of the snake robot.

[0017] Preferably, the UC / OS-II operating system includes a clock system, which provides a stable time base, ensures that all tasks are executed as planned, maintains the overall stability and real-time performance of the system, and the UC / OS-II operating system effectively manages multiple concurrent tasks.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention has excellent adaptability and a low center of mass by installing a high-redundancy design, which solves the problem that traditional robots are difficult to operate effectively in such an environment due to their large structure and weight and limited mobility. It is suitable for detection applications in rugged road conditions or narrow spaces;

[0020] 2. The present invention installs a connection assembly with an adopted design to sequentially connect adjacent joint units in series to construct a multi-joint continuous motion chain, thereby enhancing the flexibility and operating range of the robot and solving the problem that the robot's motion ability is limited by the number of joints and the length of the robot;

[0021] 3. The present invention adopts a single-joint dual-degree-of-freedom design, where two independent rotation axes are located in the same plane and intersect at right angles, so that a single joint can achieve compound motion, thereby solving the problem that the gear steering engine 8 directly outputs the driving torque and limits the driving capacity of the joint;

[0022] 4. The present invention outputs the degrees of freedom by installing a worm gear structure. The reduction ratio of the worm gear is relatively large. Under the same power conditions, the output torque of the servo will increase by a corresponding multiple. By adding an intermediate gear transmission between the servo output shaft and the worm gear, the problem that an excessively large reduction ratio will lead to an excessively small output of the joint degrees of freedom is solved. The number of gear teeth is adjusted by design so that the total reduction ratio is controlled within a certain range. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front structural schematic diagram of the present invention;

[0024] Figure 2 It is a front view structural schematic diagram of the present invention;

[0025] Figure 3 It is a schematic diagram of the back structure of the present invention;

[0026] Figure 4 A schematic diagram of the connection state of the robot of the present invention;

[0027] Figure 5 This is a schematic diagram of the control flow of the main control chip of the present invention;

[0028] Figure 6 It is a schematic diagram of system scheduling of the present invention.

[0029] In the figure: 1. first outer frame member; 2. fixing member; 3. fan-shaped worm gear; 4. end gear; 5. intermediate gear; 6. support shaft; 7. front end gear; 8. gear servo; 9. second outer frame member; 10. first joint connecting member; 11. third outer frame member; 12. fourth outer frame member; 13. worm gear shaft; 14. worm support member; 15. output connecting member; 16. camera; 17. worm; 18. second joint connecting member; 19. outer frame structure. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, it can be understood according to the specific situation.

[0033] Example 1: Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , an embodiment provided by the present invention: a modular snake-like rescue robot, comprising: the snake-like rescue robot is composed of six joints connected in series, each joint has two degrees of freedom, the snake-like rescue robot has twelve degrees of freedom, the joint assembly is composed of a driving component, a frame connecting component, a transmission component, a transmission support component, a support connection shaft component and a joint connection component, and the joint components work together to enable the joint to achieve two independent rotational degrees of freedom;

[0034] The driving component adopts Power HD 1501MG metal gear servo 8, the frame connecting parts include a first outer frame part 1, a second outer frame part 9, a third outer frame part 11, a fourth outer frame part 12 and an outer frame structure 19, the transmission parts include a fan-shaped worm wheel 3, a terminal gear 4, an intermediate gear 5, and a front end gear 7, the transmission support parts include a worm support part 14 and a worm 17, the supporting connection shaft parts include an intermediate connection fixing part 2, a support shaft 6, a worm gear shaft 13, and an output connection part 15, the joint connection assembly includes a first joint connection part 10 and a second joint connection part 18, the outer frame structure 19 is a circular shape symmetrical on both sides, the intermediate connection fixing part 2 is connected to the outer frame structure 19 by a fastener, and the gear servo 8 and the camera 16 are firmly fixed to form the framework of the joint, and the end connection of the gear servo 8 The front end gear 7, through the front end gear 7, the middle gear 5, the terminal gear 4 and the fan-shaped worm wheel 3, the worm 17 converts the torque and transmits it to the output end of the joint, ensuring the effective transmission of power and the precise control of direction. The worm 17 cooperates with the fan-shaped worm wheel 3 to realize the direction conversion of the torque, and then fixes it with the joint connection component through the output connector 15 to complete the output of a single degree of freedom. The other degree of freedom adopts a vertical arrangement of the two. The gear servo 8 is driven by the front end gear 7, the fan-shaped worm wheel 3 and the worm 17 to transmit the driving torque to the first joint connector 10 and the second joint connector 18. The adjacent joints are connected by the first joint connector 10 and the second joint connector 18. The six joints are connected in series to form a continuous motion chain of the entire snake-like rescue robot.

[0035] Through the high-redundancy design, excellent adaptability and low center of mass, it solves the problem that traditional robots are difficult to operate effectively in such an environment due to their large structure and weight, limited mobility and flexibility. It is suitable for detection applications in rugged road conditions or narrow spaces.

[0036] By using the designed connection components to connect adjacent joint units in series in sequence, a multi-joint continuous motion chain is constructed, which enhances the flexibility and operating range of the robot and solves the problem that the robot's motion ability is limited by the number of joints and the length of the robot.

[0037] By adopting a single-joint dual-degree-of-freedom design, two independent rotation axes are located in the same plane and intersect at right angles, so that a single joint can achieve compound motion, solving the problem that the gear servo 8 directly outputs the driving torque and limits the driving capacity of the joint;

[0038] By adopting the worm gear structure to output the degree of freedom, the deceleration ratio of the worm gear is relatively large. Under the same power conditions, the output torque of the servo will increase by a corresponding multiple;

[0039] By adding an intermediate gear 5 between the servo output shaft and the worm gear, the problem that an excessively large reduction ratio will lead to an excessively small output of the joint freedom is solved. The number of gear teeth is adjusted by design so that the total reduction ratio is controlled within a certain range.

[0040] Example 2: Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6, an embodiment provided by the present invention: a control system of a modular snake-like rescue robot, applicable to a modular snake-like rescue robot of claim 1 or 2, characterized in that the control system comprises hardware and snake-like rescue robot software, the hardware comprises a main control chip, hardware circuit design and PCB design, the software comprises UC / OS-II operating system transplantation based on ARM, writing software task running program and hardware driver, the hardware part of the robot comprises motion drive control, sensor data collection and processing, power module control and communication module control, the hardware adopts modular design, the modular design independently designs each functional unit, and then constructs a complete snake-like rescue robot hardware system by integrating these modules, which is convenient for subsequent upgrade and optimization, the main control chip adopts STM32F103ZET6, the power module supplies power to the whole system, and displays the power supply status through the power indicator light, the program download interface is used to load the program into the main control chip, and supports the selection of the startup mode, after the main control chip starts working, its built-in timer 1 to 3 (Timer1-Timer3) To control the joint servos of the snake robot, the NRF wireless communication module is connected to the main control chip through the SPI2 interface to establish a wireless data transmission channel between the upper and lower computers of the snake robot, thereby realizing wireless control. The hardware circuit design adopts a modular approach, and each module is connected to the STM32F103ZET6 main control chip through a network label. This design method is convenient for future expansion or upgrading, and for integrating newly added circuits with existing systems. The snake rescue robot software adopts the multi-task management feature of the uc / os-ii operating system. The multi-task management feature constructs six task modules, including statistical tasks, idle tasks, start tasks, key scanning tasks and NRF wireless communication tasks. Statistical tasks and idle tasks are automatically generated by the uc / os-ii kernel. Statistical tasks are mainly used to monitor the utilization efficiency of the main control chip, while idle tasks run when there are no active tasks to be executed. , prevent the system from stagnating due to idling, and ensure that the system is always in an active state. The starting task, key scanning task and NRF wireless communication task are realized through user-defined software programming. The starting task is executed when the system starts up and is responsible for creating the remaining user tasks. After completing the task creation, it automatically enters the suspended state and no longer occupies the main control chip resources. The key scanning task continuously monitors the input status of the matrix keyboard, identifies the key action and transmits the corresponding key value information through the message queue to promote wireless communication between the upper and lower computers of the snake robot. The motion control task controls the dynamic behavior of the snake robot according to the received instructions. The NRF wireless communication task focuses on maintaining the wireless connection between the upper and lower computers of the robot, ensuring the two-way transmission of instructions and status information, thereby realizing remote wireless control of the snake robot. The uc / os-ii operating system includes a clock system, which provides a stable time base to ensure that all tasks are executed as planned.To maintain the overall stability and real-time performance of the system, the UC / OS-II operating system effectively manages multiple concurrent tasks.

[0041] Working principle: through high-redundancy design, it has excellent adaptability and low center of mass, and solves the problem that traditional robots are difficult to operate effectively in such an environment due to their huge structure and weight and limited maneuverability. By adopting the designed connection components to connect adjacent joint units in series in sequence, a multi-joint continuous motion chain is constructed, which enhances the flexibility and operating range of the robot, and solves the problem that the robot's motion ability is limited by the number of joints and the length of the robot. By adopting a single-joint double-degree-of-freedom design, two independent rotation axes are located in the same plane and intersect at right angles, so that a single joint can achieve compound motion, and solves the problem that the gear servo 8 directly outputs the driving torque and limits the joint driving ability. By adopting a worm gear structure to output the degree of freedom, the worm gear has a large reduction ratio. Under the same power condition, the output torque of the servo will increase by a corresponding multiple. By adding an intermediate gear 5 between the servo output shaft and the worm gear, the problem that an excessive reduction ratio will lead to an excessively small output of the joint degree of freedom is solved. The number of gear teeth is adjusted by design so that the total reduction ratio is controlled within a certain range, which is suitable for detection applications in rugged road conditions or narrow spaces.

[0042] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A modular snake-like rescue robot, characterized in that: include: The snake-like rescue robot is composed of six joints connected in series, each joint has two degrees of freedom, and the snake-like rescue robot has twelve degrees of freedom. The joints are composed of a driving component, a frame connecting component, a transmission component, a transmission support component, a support connecting shaft component and a joint connection component. The joints work together to achieve two independent rotational degrees of freedom. The driving component adopts a Power HD 1501MG metal gear steering gear (8); the frame connecting member comprises a first outer frame member (1), a second outer frame member (9), a third outer frame member (11), a fourth outer frame member (12) and an outer frame structure (19); the transmission component comprises a fan-shaped worm gear (3), a terminal gear (4), an intermediate gear (5), and a front end gear (7); the transmission support member comprises a worm support member (14) and a worm (17); the support connecting shaft member comprises an intermediate connecting fixing member (2), a supporting shaft (6), a worm gear shaft (13), and an output connecting member (15); the joint connecting assembly comprises a first joint connecting member (10) and a second joint connecting member (18); the outer frame structure (19) is a circular shape with two sides symmetrical; the intermediate connecting fixing member (2) is connected to the outer frame structure (19) by a fastener and is used to fix the gear steering gear (8) and the camera (16), thereby forming a joint frame; The end of the gear steering engine (8) is connected to the front end gear (7). Through the front end gear (7), the intermediate gear (5), the end gear (4) and the fan-shaped worm wheel (3), the worm (17) converts the torque and transmits it to the output end of the joint, thereby ensuring effective transmission of force and precise control of direction. The worm (17) cooperates with the fan-shaped worm wheel (3) to achieve torque direction conversion. The output connection member (15) is then fixed to the joint connection assembly to complete the output of a single degree of freedom. The other degree of freedom is arranged vertically. The gear steering engine (8) transmits the driving torque to the first joint connection member (10) and the second joint connection member (18) through the front end gear (7), the fan-shaped worm wheel (3) and the worm (17). Adjacent joints are connected through the first joint connection member (10) and the second joint connection member (18). The six joints are connected in series to form a continuous motion chain of the entire snake-like rescue robot.

2. A control system of a modular snake-like rescue robot, applicable to the modular snake-like rescue robot according to claim 1, characterized in that: The control system includes hardware and snake-like rescue robot software. The hardware includes the main control chip, hardware circuit design and PCB design. The software includes the ARM-based UC / OS-II operating system transplantation, writing software task running programs and hardware drivers. The hardware part of the robot includes motion drive control, sensor data collection and processing, power module control and communication module control. The hardware adopts modular design. The modular design independently designs each functional unit, and then builds the snake-like rescue robot hardware system through integrated modules.

3. A control system for a modular snake-like rescue robot according to claim 2, characterized in that: The main control chip adopts STM32F103ZET6, the power module supplies power to the entire control system, and displays the power supply status through the power indicator light. The program download interface is used to load the program into the main control chip and supports the selection of the startup mode. After the main control chip starts working, its built-in timers 1 to 3 control the gear servos of the snake robot. The NRF wireless communication module is connected to the main control chip through the SPI2 interface to establish a wireless data transmission channel between the upper and lower computers of the snake robot, thereby realizing wireless control.

4. The control system of a modular snake-like rescue robot according to claim 3, characterized in that: The hardware circuit design adopts a modular approach, and each module is connected to the STM32F103ZET6 main control chip through a network label.

5. The control system of a modular snake-like rescue robot according to claim 2, characterized in that: The snake-like rescue robot software adopts the multi-task management feature of the UC / OS-II operating system. The multi-task management feature constructs six task modules, including statistical tasks, idle tasks, starting tasks, key scanning tasks and NRF wireless communication tasks. The statistical tasks and idle tasks are automatically generated by the UC / OS-II kernel. The statistical tasks are mainly used to monitor the utilization efficiency of the main control chip, while the idle tasks run when there are no active tasks to be executed to prevent the control system from stagnating due to idling.

6. The control system of a modular snake-like rescue robot according to claim 5, characterized in that: The starting task, key scanning task and NRF wireless communication task are realized through user-defined software programming. The starting task is executed when the control system is started. It is responsible for creating the remaining user tasks and automatically enters the suspended state after completing the task creation, and no longer occupies the main control chip resources. The key scanning task continuously monitors the input status of the matrix keyboard, identifies the key action and transmits the corresponding key value information through the message queue, promoting the wireless communication between the upper and lower computers of the snake robot. The motion control task controls the dynamic behavior of the snake robot according to the received instructions. The NRF wireless communication task focuses on maintaining the wireless connection between the upper and lower computers of the robot, ensuring the two-way transmission of instructions and status information, thereby realizing remote wireless control of the snake robot.

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