Robot based on three-section type track structure, walking control method and control system

Abstract

The invention discloses a robot based on a three-section track structure, a walking control method and a walking control system, and belongs to the technical field of obstacle crossing of tracked robots. The three-section type crawler chassis comprises a three-section type crawler chassis body and a telescopic mechanism arranged on the three-section type crawler chassis body. The three-section type crawler chassis comprises a chassis bottom plate, front crawlers, middle crawlers and rear crawlers are arranged on the two sides of the chassis bottom plate, the crawlers are arranged in a linkage mode to form a three-section type crawler structure, and the robot can be driven to cross obstacles to walk through arranged walking driving steering engines and swing arm steering engines; the telescopic mechanism is of a bidirectional telescopic structure capable of stretching up and down, the upper telescopic structure of the telescopic mechanism is provided with camera equipment, and the lower telescopic structure is used for conducting auxiliary supporting on the robot. Through the innovative structural design and the intelligent control strategy, efficient obstacle crossing of the robot in the complex environment is achieved, the vacancy in the aspects of high adaptability and flexibility in the prior art is filled up, and powerful support is provided for application of the robot obstacle crossing technology in more fields.

Description

Technical Field

[0001] The present invention belongs to the technical field of tracked robot obstacle surmounting, and in particular relates to a robot based on a three-section track structure, a walking control method and a control system. Background Art

[0002] In recent years, with the surge in demand for operations in complex environments, especially in highly challenging scenarios such as natural disaster relief, military reconnaissance, and industrial inspection, the improvement of robots' obstacle-crossing capabilities has become a key factor in achieving efficient and safe operations. However, traditional wheeled or tracked robots are often limited by their lack of flexibility and adaptability when facing rugged terrain and obstacles. Especially under extreme conditions, the robot's obstacle-crossing ability is directly related to the success or failure of the mission, and even the safety of personnel's lives. At present, the challenges facing obstacle-crossing robots mainly include: how to improve obstacle-crossing capabilities while ensuring stability, and how to achieve precise control in complex environments.

[0003] Domestic and foreign scholars and research institutions have conducted a lot of research on improving the robot's obstacle-crossing ability. In the field of tracked robots, traditional designs mostly use single-stage or double-stage track structures. Although they can overcome obstacles to a certain extent, they have problems such as high structural complexity, high energy consumption, and limited adaptability. For example, single-stage tracked robots are prone to overturning or getting stuck when facing high obstacles; and although the double-stage type has improved, its control strategy is complex and it performs poorly in unstructured environments. The United States, Japan and other countries are leading in robot obstacle-crossing technology, such as the United States' Atlas and Japan's snake-like robots. They perform well in obstacle-crossing capabilities, but they are expensive and their adaptability in specific environments still needs to be improved.

[0004] Although existing technologies have improved the robot's obstacle-crossing ability to a certain extent, it still seems powerless when faced with high obstacles and unstructured terrain in complex environments. In particular, the balance between stability and flexibility, and the trade-off between energy efficiency and adaptability have become key issues that need to be solved urgently. Therefore, developing an obstacle-crossing robot with a more optimized structure and more precise control has become an urgent need for current research. Summary of the invention

[0005] In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide a robot, a walking control method and a control system based on a three-section crawler structure. Through innovative structural design and intelligent control strategies, the robot can efficiently overcome obstacles in complex environments, fill the gaps in the prior art in terms of high adaptability and flexibility, and provide strong support for the application of robot obstacle crossing technology in more fields.

[0006] The present invention provides the following technical solutions: a robot based on a three-section crawler structure comprises a three-section crawler chassis and a telescopic mechanism arranged on the three-section crawler chassis; the three-section crawler chassis comprises a chassis bottom plate, and front crawlers, middle crawlers and rear crawlers are arranged on both sides of the chassis bottom plate, and the middle crawlers are respectively connected to the front crawlers and rear crawlers on the same side by driving to form a three-section crawler structure; the front crawler on one side and the rear crawler on the other side are rotationally driven by corresponding walking drive servos to drive the three-section crawler structure to move forward and backward; the front crawler and the rear crawler are respectively driven by corresponding swing arm servos to lift and lower; the telescopic mechanism is a two-way telescopic structure that can be telescoped up and down, and a camera device is arranged on the upper telescopic structure, and the lower telescopic structure is used to assist in supporting the robot.

[0007] Furthermore, the front crawler track, the middle crawler track and the rear crawler track each include at least two track wheels and track segments arranged on the two track wheels.

[0008] Furthermore, the track wheel at the rear end of the front track on one side and the track wheel at the front end of the rear track on the other side are connected to the output shaft of the corresponding travel drive steering gear.

[0009] Furthermore, the track wheel at the rear end of the front track is drivingly connected to the track wheel at the front end of the middle track, and the track wheel at the rear end of the middle track is drivingly connected to the track wheel at the front end of the rear track.

[0010] Furthermore, the output shaft of the swing arm servo is respectively connected to the track wheels corresponding to the front track and the rear track, driving the front track and the rear track to lift and lower.

[0011] Furthermore, the telescopic mechanism includes a fixed rod, on which a first telescopic rod, a second telescopic rod and a third telescopic rod are fixedly provided. The first telescopic rod and the second telescopic rod are respectively located on both sides of the fixed rod, and the telescopic ends are vertically arranged downward; the third telescopic rod is located in the middle of the fixed rod, and its telescopic end is vertically arranged upward, and a camera device is installed.

[0012] Furthermore, it also includes a robotic arm, which includes a rotating base, a lifting arm, a rotating arm and a gripper assembly connected in sequence; the rotating base can be horizontally rotatably arranged on the bottom plate of the chassis, and a camera equipment is provided on it, the lifting arm is fixedly connected to the rotating base, the lifting arm is provided with a support plate that can rotate vertically, the rotating arm is fixed on the support plate, the rotating arm is provided with a gripper assembly, and the gripper assembly can be rotatably arranged on the rotating arm.

[0013] Furthermore, the gripper assembly includes a joint, a connecting rod mechanism, a gripper and a camera device. The joint is connected to the rotating arm. The connecting rod mechanism is arranged on the joint, which is driven by a servo motor and connected to the gripper through a transmission mechanism. A friction enhancement structure is provided on the gripper.

[0014] The walking control method based on the three-segment crawler structure robot includes the following steps:

[0015] S1. When the three-section crawler robot moves on flat ground, the swing arm servo is controlled to drive the front crawler and the rear crawler to lift up;

[0016] S2. When the three-stage crawler robot is climbing over stairs, the specific control process is as follows:

[0017] S2.1, control the corresponding swing arm servo to drive the front crawler to lift up, then control the walking drive servo to drive the crawler robot forward, so that the front crawler is placed on the first step, and control the corresponding swing arm servo to press down the front crawler;

[0018] S2.2, after the track section of the front crawler is close to the edge of the first step, the swing arm servo drives the front crawler and the rear crawler to swing, so as to raise the center of gravity of the three-section crawler robot;

[0019] S2.3, when the center of gravity of the three-section crawler robot is raised to the level of the first step, the walking drive servo drives the crawler robot to drive the three-section crawler robot to move forward horizontally, so that the center of gravity of the three-section crawler robot moves forward and approaches the step;

[0020] S2.4, control the rear crawler to press down so that the front crawler and the middle crawler are kept horizontal;

[0021] S2.5. Lift the front crawler and control the middle crawler to move onto the step through the travel drive servo, then lift the rear crawler to complete the climb over the step;

[0022] S2.6. When the three-stage crawler robot needs to traverse the subsequent steps, the specific operation process is as follows:

[0023] S2.6.1. Lift the front crawler track, and then control the walking drive servo to drive the three-section crawler robot to move forward as a whole, so that the front crawler track of the three-section crawler robot contacts the second step;

[0024] S2.6.2. Control the walking drive servo to drive the three-section crawler robot to continue to move forward. When moving, the three-section crawler robot tilts backward. When tilting, control the walking drive servo to drive the three-section crawler robot to move backward as a whole, and then press down the front crawler to clamp the crawler on the front swing arm to the edge of the second step;

[0025] S2.6.3. Press the rear crawler down so that the crawler section on the rear crawler is stuck to the edge of the first step. At the same time, the center of gravity of the three-section crawler trolley is also raised;

[0026] S2.6.4. Control the walking drive servo to drive the three-stage crawler robot to move so that its center of gravity is continuously raised and approaches the second step;

[0027] S2.6.5. When the rotation joint of the front swing arm servo is at the edge of the second step, press down the front crawler to keep the robot stable, and press down the rear crawler to raise the center of gravity of the three-stage crawler robot;

[0028] S2.6.6. When the center of gravity of the three-stage crawler robot approaches the second step, the three-stage crawler robot is controlled to move forward. When the front crawler touches the edge of the third step, the front crawler is lifted and the rear crawler is pressed down.

[0029] S2.6.7. When the middle crawler track is on the second step, lift the rear crawler track;

[0030] S2.6.8. Control the walking drive servo to drive the three-stage crawler robot to move forward, completing the second step obstacle crossing of the three-stage crawler robot.

[0031] Furthermore, the robot is operated and controlled based on a control system, and the control system includes:

[0032] Power management and distribution module: The module receives external DC power input and stabilizes the voltage through the built-in DC-DC converter to ensure stable power supply to the components in the robot in the case of load changes or input voltage fluctuations, so as to achieve continuous and stable operation of the circuit;

[0033] Track drive control module: adopts control algorithm to realize independent control of the robot's three-stage tracks, supports multi-mode movement, and improves the robot's maneuverability and flexibility in complex terrain;

[0034] Robotic arm control submodule: integrates control logic to realize the operation control of the robotic arm to meet the needs of various rescue missions;

[0035] Communication and coordination module: Integrates wireless remote control and SPI serial communication technology to achieve data exchange between remote control operation and internal components. Through the regulation of PWM signals, the motor speed and servo angle are controlled to ensure the robot's response speed and control accuracy.

[0036] Wireless communication module: receives external remote control signals, analyzes and executes them instantly, ensuring real-time response and remote operation of the robot;

[0037] Power control module: Combined with PWM speed regulation technology, it controls the motor speed and direction to achieve refined and intelligent robot movement;

[0038] Visual perception module: integrated camera, real-time capture and transmission of video images of the robot's surroundings, through FPV technology, to provide operators with an intuitive on-site perspective, enhancing the immersion and accuracy of remote operation;

[0039] Human-machine interaction interface: Equipped with OLED display and matrix keyboard, it displays the robot status information in real time and supports the operator to directly input commands, realizing intuitive and convenient interactive control, enhancing the robot's operator-friendliness and flexibility in task execution.

[0040] By adopting the above technology, compared with the prior art, the beneficial effects of the present invention are as follows:

[0041] 1) The present invention innovatively integrates a multi-view camera system to achieve real-time accurate recognition and intelligent analysis of the type and height of small obstacles ahead, thus overcoming the technical difficulties of the robot's limited environmental perception ability and slow response to obstacles in the prior art. Through the above-mentioned control method, the present invention can intelligently adjust the lifting angle and speed of the front swing arm according to the specific height and hardness of the obstacle, which not only ensures the robot's immediate response and smooth crossing when encountering obstacles, but also greatly improves its terrain adaptability and operating efficiency, thereby achieving the technical effect of stable, safe and efficient passage in complex environments, showing significant technical innovation advantages and application potential;

[0042] 2) The present invention innovatively designs a gripper equipped with a 3D printed friction enhancement device at the end of the robot arm, and combined with a quick-release connection structure, thus overcoming the problems of poor versatility and insufficient adaptability of the gripping tools in the prior art. The 3D printed friction enhancement device enables the robot arm to ensure accurate and stable gripping even on smooth or irregular surfaces. The quick-release connection design allows the robot to flexibly change the gripper type according to the operation requirements, which not only broadens the application scenarios and operation range of the robot, but also demonstrates a high degree of flexibility and strong task adaptability;

[0043] 3) The present invention innovatively designs a three-section crawler structure in the crawler chassis part, thereby overcoming the technical problem in the prior art that the single-section crawler cannot change the center of gravity position during the obstacle crossing process, thereby achieving an excellent obstacle crossing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the three-dimensional structure of the front side of the robot of the present invention;

[0045] Figure 2 It is a schematic diagram of the three-dimensional structure of the back side of the robot of the present invention;

[0046] Figure 3 It is a structural schematic diagram of the telescopic mechanism of the present invention;

[0047] Figure 4 It is a structural schematic diagram of the mechanical arm of the present invention;

[0048] Figure 5 A schematic diagram of the robot of the present invention performing an obstacle-crossing action of the first stair step;

[0049] Figure 6 A schematic diagram of the robot of the present invention performing obstacle surmounting actions on the second and third stair steps;

[0050] Figure 7 It is a schematic diagram of the system structure of the walking control system of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments of the specification. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] On the contrary, the present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. Those skilled in the art can fully understand the present invention without the description of these details.

[0053] Embodiment 1:

[0054] The robot based on the three-section crawler structure comprises a three-section crawler chassis 1 and a telescopic mechanism 2.

[0055] Specifically, the three-section tracked chassis includes a chassis bottom plate, a front track A, a middle track B and a rear track C arranged on both sides of the chassis bottom plate, and a first travel drive servo 1-1, a first swing arm servo 1-2, a second swing arm servo 1-3, and a second travel drive servo 1-4 fixedly installed on the chassis bottom plate.

[0056] The chassis bottom plate includes a first aluminum alloy frame 1-17, a second aluminum alloy frame 1-18, a third aluminum alloy frame 1-19, a fourth aluminum alloy frame 1-20, a first plate connecting member 1-27, a second plate connecting member 1-28, and an intermediate plate member 1-29.

[0057] The front track A on the right side includes the first front track wheel 1-5, the second front track wheel 1-6 and the first front track segment 1-21; the middle track B on the right side includes the first middle track wheel 1-7, the second middle track wheel 1-8 and the first middle track segment 1-22; the rear track C on the right side includes the first rear track wheel 1-9, the second rear track wheel 1-10 and the first track segment 1-23.

[0058] The front track A on the left side includes the third front track wheel 1-15, the fourth front track wheel 1-16 and the track segment 1-26; the middle track B on the right side includes the third middle track wheel 1-13, the fourth middle track wheel 1-14 and the second middle track segment 1-25; the rear track C on the right side includes the third rear track wheel 1-11, the fourth rear track wheel 1-12 and the second rear track segment 1-24.

[0059] The above-mentioned servos are all circular servos.

[0060] Specifically, the first plate connecting member 1-27 connects the intermediate plate 1-29 with the first middle crawler segment 1-22 and the second middle crawler segment 1-25 through bolts, nuts and other parts, which plays a role in reinforcing the chassis, making the overall structure more stable and reliable. In addition, the first travel drive servo 1-1, the first swing arm servo 1-2, the circumferential servo 1-3, and the second travel drive servo 1-4 are also fixed to the intermediate plate 1-29 through bolts and nuts.

[0061] Among them, the first walking driving servo 1-1 and the second walking driving servo 1-4 are used for the forward and backward movement of the three-section crawler chassis, and the output shafts on one side of the first walking driving servo 1-1 and the second walking driving servo 1-4 are connected to the steering wheel. Taking the first walking driving servo 1-1 as an example, its steering wheel is connected to the third front track wheel 1-15 through four hexagonal nylon columns, and the forward and backward movement of the crawler segment 1-26 can be achieved by rotating the output shaft of the servo 1-1. The third front track wheel 1-15 and the fourth middle track wheel 1-14 are connected by a linkage shaft. By tightening the bolts at both ends and then pressing the third front track wheel 1-15 and the fourth middle track wheel 1-14, power can be transmitted to the middle track section, and the forward and backward movement of the second middle track segment 1-25 can be achieved. The third middle track wheel 1-13 and the fourth rear track wheel 1-12 are connected by a linkage shaft. By tightening the bolts at both ends and then pressing the third middle track wheel 1-13 and the fourth rear track wheel 1-12, power can be transmitted to the track section to realize the forward and backward movement of the second rear track section 1-24. The transmission of the motion relationship of the three track sections on the side where the second walking drive servo 1-4 is located is similar to that of the first walking drive servo 1-1.

[0062] The first swing arm servo 1-2 and the circumferential servo 1-3 are used to raise and lower the front and rear arms of the three-section crawler chassis. Taking the first swing arm servo 1-2 as an example, its output torque is transmitted to the first aluminum alloy frame 1-17 through the steering plates on both sides. The first aluminum alloy frame 1-17 and the second aluminum alloy frame 1-18 are tightly connected by bolts, and then the torque is transmitted to the first front crawler segment 1-21 and the crawler segment 1-26. The circumferential servo 1-3 transmits the motion relationship of the front and rear arms on its side similarly to the first swing arm servo 1-2.

[0063] The telescopic mechanism is composed of a first telescopic rod 2-1, a second telescopic rod 2-2, a positioning rod 2-3, a third telescopic rod 2-4, a rod fixing member 2-5, a sliding rod 2-6, a bolt 2-7, a telescopic guide member 2-8, a first servo 2-9, a second servo 10, a first pan-tilt assembly 2-11, a second pan-tilt assembly 2-12 and a first camera 2-13. The first telescopic rod 2-1 and the second telescopic rod 2-2 are passed through two holes of similar size on the middle plate 1-29 of the three-section crawler chassis until the positioning rod 2-3 abuts against the servo bracket of the mechanical arm, and the bolts are passed through the matching holes and tightened with nuts to achieve the purpose of preliminary positioning of the first telescopic rod 2-1 and the second telescopic rod 2-2. It is required that the extended ends of the first telescopic rod 2-1 and the second telescopic rod 2-2 face downward, and when in the shortest state, their lowest ends must not exceed the track wheels, so as not to affect the normal driving of the three-section crawler vehicle on flat road conditions. The rod fixing member 2-5 is used to ensure that the first telescopic rod 2-1, the second telescopic rod 2-2 and the third telescopic rod 2-4 are in a completely vertical state, and they are completely fixed with hot melt adhesive, and at the same time play the effect of reinforcing the telescopic rod. The telescopic guide member 2-8 is completely fixed with the outer side of the third telescopic rod 2-4 with hot melt adhesive, and plays a guiding role in the up and down movement of the sliding rod 2-6.

[0064] When performing telescopic movement, the telescopic rod 4 should be fixed with its telescopic end facing upwards, and the screw 2-7 should be passed through the small holes on the upper end of the third telescopic rod 2-4 and the slide rod 2-6, so that when the third telescopic rod 2-4 is extended or retracted, the slide rod 2-6 can move vertically up and down synchronously along the telescopic guide 2-8 and will not rotate around the third telescopic rod 2-4, thereby ensuring the stability of the camera gimbal.

[0065] When auxiliary support is required for the robot, the telescopic sections of the first telescopic rod 2-1 and the second telescopic rod 2-2 extend downward to abut against the supporting surface.

[0066] The purpose of the first servo 2-9 is to realize the left and right rotation of the first camera 2-13, and the purpose of the servo 2-10 is to realize the up and down rotation of the first camera 2-13. The first pan-tilt assembly 2-11 and the second pan-tilt assembly 2-12 are connected by a mortise and tenon structure to achieve the effect of stabilizing the camera.

[0067] Embodiment 2:

[0068] Based on the structure of the first embodiment, this embodiment adds a mechanical arm 3, which includes a rotating base, a lifting arm, a rotating arm 3-7 and a gripper, etc., which are connected in sequence.

[0069] Specifically, the rotating base is connected to the three-section crawler chassis through the bottom mounting module 3-1, and is equipped with a high-torque third servo 3-2 to realize the horizontal rotation of the base. A second camera 3-3 is installed on the protective plate on the front side of the servo to facilitate viewing obstacles on the ground. The rotating base and the lifting arm are connected by two high-strength plates 3-4 to ensure stability during rotation. The purpose of the high-torque servo 3-5 arranged in the middle is to directly convert the rotation of the steering disc into the rotation of the upper support plate 3-6, thereby driving the subsequent components (such as the rotating arm 3-7 and the multi-functional gripper) installed on the support plate to achieve forward exploration or retraction. The rotating arm 3-7 is connected to the gripper through a joint 3-9, with the main steering disc of another high-torque fifth servo 3-8 as the axis, controlling the gripper tail structure 3-11 to rotate around the axis to achieve angle adjustment. The gripper part uses a servo motor 3-10 as a power source, and its output shaft is connected to one end of the connecting rod mechanism 3-12. Through the linear motion conversion of the connecting rod, a set of gears 3-14 are driven to rotate forward or reverse, thereby driving the gripper to open and close. A third camera 3-13 is installed above the gear to facilitate observation of the interior of the obstacle. In addition, a 3D printed friction enhancement device 3-15 is designed on the gripper. At the same time, a quick-release connection is used to facilitate the replacement of different types of gripping modules to meet different operating requirements.

[0070] The rotating base is the base of the robot arm, and the third servo 3-2 is used to realize the left and right rotation of the entire robot arm. The lifting arm is connected to the rotating base and is controlled by the fourth servo 3-6 to achieve fine adjustment of forward exploration and retraction. The rotating arm is connected to the top of the lifting arm and can achieve more than 180 degrees of left and right rotation through the fifth servo 3-8, enhancing the flexibility of the robot arm. The multifunctional gripper is installed at the end of the extension arm and is equipped with a servo servo 3-10, which can realize complex operations such as precise grasping, rotation, lifting, loosening and internal observation. It is suitable for reconnaissance, industrial inspection and other fields.

[0071] Intelligent obstacle recognition and crossing: Using a multi-view camera system, the robot can identify the type and height of small obstacles in front of it in real time. When encountering a small obstacle, the front track A not only lifts up, but also intelligently adjusts the lifting angle and speed according to the height and nature (such as height and hardness) of the obstacle to ensure smooth and fast crossing of the obstacle.

[0072] Embodiment three:

[0073] The specific steps of the robot walking control method in Embodiment 1 and Embodiment 2 are as follows:

[0074] S1. When the three-section crawler robot moves on flat ground, the swing arm servo drives the front crawler A and the rear crawler C to lift up, so as to improve the ability to pass quickly on flat ground. The lifting angle of the front and rear arms is about 45°. When the three-section crawler robot encounters some small obstacles while moving on flat ground, it can quickly pass over them by lifting the front crawler A.

[0075] S2. When the three-stage crawler robot is climbing over stairs, the specific control process is as follows:

[0076] S2.1. Control the corresponding swing arm servo to drive the front crawler A to lift to about 60°, then control the walking drive servo to drive the crawler robot forward, so that the front crawler A is placed on the first step, and control the corresponding swing arm servo to press the front crawler A down, such as Figure 5 As shown in (a).

[0077] S2.2. After the track section of the front track A is close to the edge of the first step, the swing arm servo drives the front track A and the rear track C to swing, raising the center of gravity of the three-section track robot. Figure 5 As shown in (b).

[0078] S2.3. When the center of gravity of the three-section crawler robot is raised to the level of the first step, the walking drive servo is controlled to drive the crawler robot to drive the three-section crawler robot to move horizontally, so that the center of gravity of the three-section crawler robot moves forward and approaches the step.

[0079] S2.4, control the rear crawler C to press down so that the front crawler A and the middle crawler B remain horizontal, such as Figure 5 As shown in (c).

[0080] S2.5. Lift the front crawler A, and use the travel drive servo to control the middle crawler B to move to the step, and then lift the rear crawler C to complete the climb over the step. Figure 5 As shown in (d).

[0081] S2.6. When the three-stage crawler robot needs to traverse the subsequent steps, the specific operation process is as follows:

[0082] S2.6.1. Lift the front track A to about 60 degrees, and then control the walking drive servo to drive the three-section crawler robot to move forward as a whole, so that the front track A of the three-section crawler robot contacts the second step.

[0083] S2.6.2. Control the walking drive servo to drive the three-stage crawler robot to continue moving forward. When moving, due to the large inclination angle of the front swing arm, the three-stage crawler robot will fall backward. When falling, control the walking drive servo to drive the three-stage crawler robot to move backward as a whole, and then press the front crawler A downward to make the crawler on the front swing arm clamp on the edge of the second step, such as Figure 6 As shown in (c).

[0084] S2.6.3. Press the rear crawler track C downward so that the crawler track section on the rear crawler track C is stuck on the edge of the first step. At the same time, the center of gravity of the three-section crawler trolley is also raised. Figure 6 As shown in (d).

[0085] S2.6.4. Control the walking drive servo to drive the three-stage crawler robot to move so that its center of gravity is continuously raised and approaches the second step.

[0086] S2.6.5. When the rotation joint of the front swing arm servo is at the edge of the second step, press down the front track A to keep the robot stable, and press down the rear track C to raise the center of gravity of the three-stage track robot. Figure 6 As shown in (e).

[0087] S2.6.6. When the center of gravity of the three-stage crawler robot approaches the second step, the three-stage crawler robot is controlled to move forward. When the front crawler (A) touches the edge of the third step, the front crawler A is lifted and the rear crawler C is pressed down to continuously raise the center of gravity of the three-stage crawler robot. Figure 6 As shown in (f).

[0088] S2.6.7. When the middle crawler track B is on the second step, lift the rear crawler track C. Figure 6 As shown in (g).

[0089] S2.6.8. Control the walking drive servo to drive the three-stage crawler robot to move forward, completing the second step obstacle crossing of the three-stage crawler robot.

[0090] Embodiment 4:

[0091] The walking control method of the robot in the first and second embodiments is implemented based on the control system, which realizes the precise control and efficient operation of the robot based on the three-section crawler structure in a complex environment through an integrated and intelligent collaborative module system. Specifically, it includes:

[0092] Power management and distribution module: This module receives external 24V DC power input and stabilizes the voltage to 5V through the built-in DC-DC converter, ensuring stable power supply to the robot's key components (such as Arduino STM32 microcontroller, PWM execution module) when the load changes or the input voltage fluctuates, thereby achieving continuous and stable operation of the circuit.

[0093] Track drive control module: It uses a sophisticated control algorithm to achieve independent control of the robot's three-stage tracks, supports multi-mode movement such as forward, backward, and turning, and improves the robot's maneuverability and flexibility in complex terrain.

[0094] Robotic arm control submodule: Integrates advanced control logic to achieve precise operation of the robotic arm, including but not limited to complex actions such as grasping and rotation, to meet the needs of various rescue missions.

[0095] Communication and coordination module: Integrates wireless remote control and SPI serial communication technology to achieve efficient data exchange between remote control operation and internal components. Through fine regulation of PWM signals, precise control of motor speed and servo angle is achieved, ensuring the robot's response speed and control accuracy.

[0096] Wireless communication module: Receives external remote control signals, analyzes and executes them instantly, ensuring real-time response and remote operation of the robot.

[0097] Power control module: Combined with PWM speed regulation technology, it can accurately control the motor speed and direction to achieve refined and intelligent robot movement.

[0098] Visual perception module: Integrates a high-definition camera to capture and transmit real-time video images of the robot's surroundings. Through FPV (First Person View) technology, it provides operators with an intuitive on-site perspective, enhancing the immersion and accuracy of remote operation.

[0099] Human-machine interaction interface: Equipped with an OLED display and a matrix keyboard, it displays the robot's status information in real time, such as battery power, task progress, etc. It also supports the operator to directly input commands, achieving intuitive and convenient interactive control, and enhancing the robot's operator-friendliness and flexibility in task execution.

[0100] Through the synergistic effect of the above modules, the control system of the present invention realizes efficient and precise control of the robot in complex environments, significantly improving the reliability and effectiveness of the execution of search and rescue missions.

[0101] 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 and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot based on a three-section crawler structure, characterized in that: The invention comprises a three-section crawler chassis (1) and a telescopic mechanism (2) arranged on the three-section crawler chassis (1); the three-section crawler chassis (1) comprises a chassis bottom plate, and both sides of the chassis bottom plate are provided with a front crawler (A), a middle crawler (B) and a rear crawler (C), and the middle crawler (B) is respectively connected to the front crawler (A) and the rear crawler (C) on the same side by driving connection to form a three-section crawler structure; the front crawler (A) on one side and the rear crawler (C) on the other side are driven to rotate by corresponding walking drive steering gears, thereby driving the three-section crawler structure to move forward and backward; the front crawler (A) and the rear crawler (C) are respectively driven to lift and lower by corresponding swing arm steering gears; the telescopic mechanism (2) is a two-way telescopic structure capable of upward and downward telescopic movement, and a camera device is arranged on the upper telescopic structure, and the lower telescopic structure is used to provide auxiliary support for the robot.

2. The robot based on the three-section crawler structure according to claim 1, characterized in that: The front crawler track (A), the middle crawler track (B) and the rear crawler track (C) each include at least two crawler wheels and crawler segments arranged on the two crawler wheels.

3. The robot based on the three-section crawler structure according to claim 2, characterized in that: The track wheel at the rear end of the front track (A) on one side and the track wheel at the front end of the rear track (C) on the other side are connected to the output shaft of the corresponding travel drive steering gear.

4. The robot based on the three-section crawler structure according to claim 3 is characterized in that: The track wheel at the rear end of the front crawler track (A) is drivingly connected to the track wheel at the front end of the middle crawler track (B), and the track wheel at the rear end of the middle crawler track (B) is drivingly connected to the track wheel at the front end of the rear crawler track (C).

5. The robot based on the three-section crawler structure according to claim 4, characterized in that: The output shaft of the swing arm servo is respectively connected to the track wheels corresponding to the front track (A) and the rear track (C), driving the front track (A) and the rear track (C) to lift and lower.

6. The robot based on the three-section crawler structure according to claim 1, characterized in that: The telescopic mechanism (2) comprises a fixed rod (2-5), the fixed rod (2-5) being fixedly provided with a first telescopic rod (2-1), a second telescopic rod (2-2) and a third telescopic rod (2-4), the first telescopic rod (2-1) and the second telescopic rod (2-2) being respectively located on two sides of the fixed rod (2-5), and the telescopic ends thereof being arranged vertically downward; the third telescopic rod (2-4) being located in the middle of the fixed rod (2-5), and the telescopic end thereof being arranged vertically upward, and being provided with a camera device.

7. The robot based on the three-section crawler structure according to claim 1, characterized in that: The invention also comprises a mechanical arm (3), wherein the mechanical arm (3) comprises a rotating base, a lifting arm, a rotating arm (3-7) and a gripper assembly which are connected in sequence; the rotating base can be horizontally rotatably arranged on the bottom plate of the chassis, and a camera device is arranged on the rotating base; the lifting arm is fixedly connected to the rotating base, and a supporting plate (3-6) which can be vertically rotated is arranged on the lifting arm; the rotating arm (3-7) is fixed on the supporting plate (3-6); the rotating arm (3-7) is provided with a gripper assembly, and the gripper assembly can be rotatably arranged on the rotating arm (3-7).

8. The robot based on the three-section crawler structure according to claim 7, characterized in that: The gripper assembly comprises a joint (3-9), a connecting rod mechanism, a gripper and a camera device. The joint (3-9) is connected to the rotating arm (3-7). The connecting rod mechanism is arranged on the joint (3-9), driven by a servo motor (3-10), and connected to the gripper through a transmission mechanism. The gripper is provided with a friction enhancement structure (3-15).

9. A walking control method based on a three-section crawler structure robot, characterized in that: The following steps are involved: S1. When the three-section crawler robot moves on flat ground, the swing arm servo is controlled to drive the front crawler (A) and the rear crawler (C) to lift up; S2. When the three-stage crawler robot is climbing over stairs, the specific control process is as follows: S2.

1. Control the corresponding swing arm servo to drive the front crawler (A) to lift up, then control the walking drive servo to drive the crawler robot forward, so that the front crawler (A) is placed on the first step, and control the corresponding swing arm servo to press down the front crawler (A); S2.

2. After the track section of the front track (A) is in close contact with the edge of the first step, the swing arm servo is controlled to drive the front track (A) and the rear track (C) to swing, thereby raising the center of gravity of the three-stage crawler robot; S2.3, when the center of gravity of the three-section crawler robot is raised to the level of the first step, the walking drive servo drives the crawler robot to drive the three-section crawler robot to move forward horizontally, so that the center of gravity of the three-section crawler robot moves forward and approaches the step; S2.

4. Control the rear crawler (C) to press down so that the front crawler (A) and the middle crawler (B) remain horizontal; S2.

5. Lift the front crawler (A), and use the travel drive servo to control the middle crawler (B) to move onto the step, and then lift the rear crawler (C) to complete the climb over the step; S2.

6. When the three-stage crawler robot needs to traverse the subsequent steps, the specific operation process is as follows: S2.6.

1. Lift the front crawler (A), and then control the walking drive servo to drive the three-section crawler robot to move forward as a whole, so that the front crawler (A) of the three-section crawler robot contacts the second step; S2.6.

2. Control the travel drive servo to drive the three-section crawler robot to continue moving forward. When moving, the three-section crawler robot tilts backward. When tilting, control the travel drive servo to drive the three-section crawler robot to move backward as a whole, and then press down the front crawler (A) to clamp the crawler on the front swing arm to the edge of the second step; S2.6.

3. Press the rear crawler (C) downward so that the crawler section on the rear crawler (C) is stuck to the edge of the first step. At the same time, the center of gravity of the three-section crawler trolley is also raised; S2.6.

4. Control the walking drive servo to drive the three-stage crawler robot to move so that its center of gravity is continuously raised and approaches the second step; S2.6.

5. When the rotation joint of the front swing arm servo is at the edge of the second step, press down the front crawler (A) to keep the robot stable, and press down the rear crawler (C) to raise the center of gravity of the three-stage crawler robot; S2.6.

6. When the center of gravity of the three-stage crawler robot approaches the second step, control the three-stage crawler robot to move forward. When the front crawler (A) touches the edge of the third step, lift the front crawler (A) and press down the rear crawler (C); S2.6.

7. When the middle crawler (B) is on the second step, lift the rear crawler (C); S2.6.

8. Control the walking drive servo to drive the three-stage crawler robot to move forward, completing the second step obstacle crossing of the three-stage crawler robot.

10. The walking control method based on the three-section crawler structure robot according to claim 9, characterized in that: The robot is operated based on a control system, which includes: Power management and distribution module: The module receives external DC power input and stabilizes the voltage through the built-in DC-DC converter to ensure stable power supply to the components in the robot in the case of load changes or input voltage fluctuations, so as to achieve continuous and stable operation of the circuit; Track drive control module: adopts control algorithm to realize independent control of the robot's three-stage tracks, supports multi-mode movement, and improves the robot's maneuverability and flexibility in complex terrain; Robotic arm control submodule: integrates control logic to realize the operation control of the robotic arm (3) to meet the needs of various rescue tasks; Communication and coordination module: Integrates wireless remote control and SPI serial communication technology to achieve data exchange between remote control operation and internal components. Through the regulation of PWM signals, the motor speed and servo angle are controlled to ensure the robot's response speed and control accuracy. Wireless communication module: receives external remote control signals, analyzes and executes them instantly, ensuring real-time response and remote operation of the robot; Power control module: Combined with PWM speed regulation technology, it controls the motor speed and direction to achieve refined and intelligent robot movement; Visual perception module: integrated camera, real-time capture and transmission of video images of the robot's surroundings, through FPV technology, to provide operators with an intuitive on-site perspective, enhancing the immersion and accuracy of remote operation; Human-machine interaction interface: Equipped with OLED display and matrix keyboard, it displays the robot status information in real time and supports the operator to directly input commands, realizing intuitive and convenient interactive control, enhancing the robot's operator-friendliness and flexibility in task execution.

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