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

Abstract

The application discloses a robot based on a three-section track structure, a walking control method and a control system, and belongs to the technical field of track robot obstacle crossing. The robot comprises a three-section track chassis and a telescopic mechanism arranged on the three-section track chassis. The three-section track chassis comprises a chassis bottom plate, and front tracks, middle tracks and rear tracks are arranged on both sides of the chassis bottom plate. The tracks are connected in linkage to form a three-section track structure. A walking driving steering engine and a swing arm steering engine are arranged to drive the robot to cross obstacles and walk. The telescopic mechanism is a bidirectional telescopic structure capable of being telescopically extended upwards and downwards. A camera device is arranged on the upper telescopic structure, and the lower telescopic structure is used for assisting in supporting the robot. The application realizes efficient obstacle crossing of the robot in a complex environment through an innovative structure design and an intelligent control strategy, fills the gap of the prior art in high adaptability and flexibility, and provides strong support for application of the robot obstacle crossing technology in more fields.

Description

Technical Field

[0001] This invention belongs to the field of obstacle-crossing technology for tracked robots, specifically relating to a robot based on a three-segment track structure, a walking control method, and a control system. Background Technology

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

[0003] Domestic and international scholars and research institutions have conducted extensive research on improving the obstacle-crossing capabilities of robots. In the field of tracked robots, traditional designs often employ single-stage or two-stage track structures. While these can overcome obstacles to some extent, they suffer from high structural complexity, high energy consumption, and limited adaptability. For example, single-stage tracked robots are prone to tipping over or getting stuck when facing high obstacles; while two-stage designs offer some improvement, their control strategies are complex and they perform poorly in unstructured environments. Countries such as the United States and Japan lead in robot obstacle-crossing technology, with products like the US's Atlas and Japan's snake-like robot demonstrating excellent obstacle-crossing capabilities, but they are costly and their adaptability in specific environments still needs improvement.

[0004] While existing technologies have improved robots' obstacle-crossing capabilities to some extent, they still fall short when facing high obstacles and unstructured terrain in complex environments. In particular, balancing stability and flexibility, and making trade-offs between energy efficiency and adaptability, have become critical issues that urgently need to be addressed. Therefore, developing an obstacle-crossing robot with a more optimized structure and more precise control has become an urgent research need. Summary of the Invention

[0005] To address the aforementioned problems in existing technologies, the present invention aims to provide a robot, a walking control method, and a control system based on a three-section track structure. Through innovative structural design and intelligent control strategies, the robot achieves efficient obstacle crossing in complex environments, filling the gap in existing technologies regarding high adaptability and flexibility, and providing strong support for the application of robot obstacle crossing technology in more fields.

[0006] This invention provides the following technical solution: a robot based on a three-section tracked structure, comprising a three-section tracked chassis and a telescopic mechanism mounted on the three-section tracked chassis; the three-section tracked chassis includes a chassis base plate, with a front track, a middle track, and a rear track on both sides of the chassis base plate, the middle track being connected to the front track and the rear track on the same side to form a three-section tracked structure; the front track on one side and the rear track on the other side are driven to rotate by corresponding walking drive servos, driving the three-section tracked structure to move forward and backward; the front track and the rear track are driven to lift and lower by corresponding swing arm servos; the telescopic mechanism is a bidirectional telescopic structure capable of extending and retracting upwards and downwards, with a camera device mounted on the upper telescopic structure and the lower telescopic structure used for auxiliary support of the robot.

[0007] Furthermore, the front track, middle track, and rear track each include at least two track wheels and track sections disposed 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 servo motor.

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

[0010] Furthermore, the output shaft of the swing arm servo motor is connected to the track wheels of the corresponding front and rear tracks, respectively, driving the front and rear tracks 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 installed. The first and second telescopic rods are located on both sides of the fixed rod, with their telescopic ends facing vertically downwards. The third telescopic rod is located in the middle of the fixed rod, with its telescopic end facing vertically upwards, and is equipped with a camera device.

[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 is horizontally rotatable on the chassis base plate and is equipped with camera equipment; the lifting arm is fixedly connected to the rotating base and is equipped with a support plate that can rotate vertically; the rotating arm is fixed on the support plate and is equipped with a gripper assembly that can be rotatably mounted on the rotating arm.

[0013] Furthermore, the gripper assembly includes a joint, a linkage mechanism, a gripper, and a camera device. The joint is connected to the rotating arm, and the linkage mechanism is mounted on the joint. It is driven by a servo motor and connected to the gripper through a transmission mechanism. The gripper is provided with a friction-enhancing structure.

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

[0015] S1. When the three-section tracked robot moves on flat ground, control the swing arm servo motor to drive the front track and the rear track to lift.

[0016] S2. When the three-section tracked robot traverses stairs, the specific control process is as follows:

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

[0018] S2.2 After the track section of the front track is close to the edge of the first step, control the swing arm servo motor to drive the front and rear tracks to swing, raising the center of gravity of the three-section tracked robot.

[0019] S2.3 When the center of gravity of the three-section tracked robot is raised to the height of the first step, control the walking drive servo motor to drive the tracked robot to move horizontally forward, so that the center of gravity of the three-section tracked robot moves forward and closer to the step.

[0020] S2.4 Control the rear track to press down, so that the front track and the middle track remain horizontal;

[0021] S2.5. Lift the front track and use the walking drive servo to control the movement of the middle track onto the step, then lift the rear track to complete the step-crossing process.

[0022] S2.6 When the three-section tracked robot needs to overcome obstacles on subsequent steps, the specific operation process is as follows:

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

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

[0025] S2.6.3 Press down the rear track so that the track section on the rear track gets stuck on the edge of the first step. At the same time, the center of gravity of the three-section tracked vehicle is also raised.

[0026] S2.6.4 Control the walking drive servo motor to move the three-section tracked robot, so that its center of gravity is continuously raised and it moves closer to the second step;

[0027] S2.6.5 When the rotating joint of the front swing arm servo motor is located at the edge of the second step, press down the front track to maintain the stability of the robot, and press down the rear track to raise the center of gravity of the three-section tracked robot.

[0028] S2.6.6 When the center of gravity of the three-section tracked robot approaches the second step, control the three-section tracked robot to move forward. When the front track touches the edge of the third step, lift the front track and press down the rear track.

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

[0030] S2.6.8 Control the walking drive servo motor to drive the three-section tracked robot forward and move to complete the second-level step obstacle crossing of the three-section tracked robot.

[0031] Furthermore, the robot operates based on a control system, which includes:

[0032] Power Management and Distribution Module: The module receives external DC power input and regulates the voltage through the built-in DC-DC converter to ensure stable power supply to the components in the robot under load changes or input voltage fluctuations, so as to achieve continuous and stable operation of the circuit.

[0033] Track drive control module: It adopts control algorithms to achieve independent control of the robot's three-section track, supports multi-mode movement, and improves the robot's mobility and flexibility in complex terrain;

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

[0035] Communication and Coordination Module: Integrates wireless remote control and SPI serial communication technology to realize data exchange between remote control operation and internal components. Through the regulation of PWM signals, it realizes the control of motor speed and servo angle, ensuring the robot's response speed and control accuracy.

[0036] Wireless communication module: Receives external remote control signals, analyzes and executes them in real time, ensuring the robot's real-time response and remote operation;

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

[0038] Visual perception module: Integrates a camera to capture and transmit video images of the robot's surrounding environment in real time. Through FPV technology, it provides the operator with an intuitive on-site perspective, enhancing the immersion and accuracy of remote operation.

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

[0040] By employing the above-described technology, the beneficial effects of the present invention compared to the prior art are as follows:

[0041] 1) This invention innovatively integrates a multi-view camera system, enabling real-time and accurate identification and intelligent analysis of the type and height of small obstacles in front, thus overcoming the technical difficulties of limited environmental perception and slow response to obstacles in existing technologies. Through the aforementioned control method, this invention can intelligently adjust the lifting angle and speed of the front swing arm according to the specific height and hardness of the obstacle. This not only ensures the robot's immediate response and smooth crossing when encountering obstacles but also significantly improves its terrain adaptability and operational efficiency. This achieves stable, safe, and efficient passage through complex environments, demonstrating significant technological innovation advantages and application potential.

[0042] 2) This invention innovatively designs a gripper equipped with a 3D-printed friction-enhancing device at the end of the robotic arm, coupled with a quick-release connection structure, thus overcoming the problems of poor versatility and insufficient adaptability of existing gripping tools. The 3D-printed friction-enhancing device ensures precise 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 operational needs, which not only broadens the robot's application scenarios and operational range but also demonstrates high flexibility and strong task adaptability.

[0043] 3) The present invention innovatively designs a three-section track structure in the tracked chassis, thus overcoming the technical problem that the single-section track in the prior art cannot change the center of gravity position during obstacle crossing, thereby achieving excellent obstacle crossing performance. Attached Figure Description

[0044] Figure 1 This is a three-dimensional structural diagram of the front of the robot of the present invention;

[0045] Figure 2 This is a three-dimensional structural diagram of the back of the robot of the present invention;

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

[0047] Figure 4 This is a schematic diagram of the structure of the robotic arm of the present invention;

[0048] Figure 5 This is a schematic diagram of the robot of the present invention performing an obstacle-crossing action on the first staircase step;

[0049] Figure 6 This is a schematic diagram illustrating the robot of the present invention performing obstacle-crossing actions on the second and third staircase steps;

[0050] Figure 7 This is a schematic diagram of the system structure of the walking control system of the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0052] Conversely, this invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the invention as defined in the claims. Furthermore, to provide a better understanding of the invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0053] Example 1:

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

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

[0056] The chassis base 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 connector 1-27, a second plate connector 1-28, and an intermediate plate 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 section 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 section 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 section 1-23.

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

[0059] All of the above-mentioned servos are circular servos.

[0060] Specifically, the first plate connector 1-27 connects the intermediate plate 1-29 to the first middle track section 1-22 and the second middle track section 1-25 using bolts, nuts, and other parts, thus reinforcing the chassis and making the overall structure more stable and reliable. In addition, the first travel drive servo motor 1-1, the first swing arm servo motor 1-2, the circumferential servo motor 1-3, and the second travel drive servo motor 1-4 are also fixed to the intermediate plate 1-29 using bolts and nuts.

[0061] The first travel drive servo motor 1-1 and the second travel drive servo motor 1-4 are used for the forward and reverse movement of the three-section tracked chassis. The output shafts of the first travel drive servo motor 1-1 and the second travel drive servo motor 1-4 are connected to the servo disc on one side. Taking the first travel drive servo motor 1-1 as an example, its servo disc is connected to the third front track wheel 1-15 through four hexagonal nylon pillars. The forward and reverse movement of the track section 1-26 can be achieved by rotating the output shaft of the servo motor 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, the third front track wheel 1-15 and the fourth middle track wheel 1-14 are pressed together, which transmits power to the middle track section, enabling the forward and reverse movement of the second middle track section 1-25. 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, the third middle track wheel 1-13 and the fourth rear track wheel 1-12 are pressed together, thus transmitting power to this section of the track and enabling the forward and backward movement of the second rear track section 1-24. The transmission of the movement relationship of the three track sections on the side where the second travel drive servo motor 1-4 is located is similar to that of the first travel drive servo motor 1-1.

[0062] The first swing arm servo motor 1-2 and the circumferential servo motor 1-3 are used to raise and lower the front and rear arms of the three-section tracked chassis. Taking the first swing arm servo motor 1-2 as an example, its output torque is transmitted to the first aluminum alloy frame 1-17 through the servo discs on both sides. The first aluminum alloy frame 1-17 and the second aluminum alloy frame 1-18 are tightly connected by bolts, thereby transmitting the torque to the first front track section 1-21 and track section 1-26. The circumferential servo motor 1-3 transmits the motion relationship of the front and rear arms on its side in a similar manner to the first swing arm servo motor 1-2.

[0063] The telescopic mechanism consists 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 component 2-5, a sliding rod 2-6, a bolt 2-7, a telescopic guide component 2-8, a first servo motor 2-9, a second servo motor 10, a first gimbal assembly 2-11, a second gimbal 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 tracked chassis until the positioning rod 2-3 abuts against the servo motor bracket of the robotic arm. The bolt is then tightened through the mating holes using nuts to achieve the initial 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 downwards, and when in their shortest state, their lowest points must not extend beyond the track wheels to avoid affecting the normal movement of the three-section tracked vehicle on flat ground. The function of rod fixing component 2-5 is 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. They are completely fixed together using hot melt adhesive, which also serves to reinforce the telescopic rods. The telescopic guide component 2-8 is completely fixed to the outside of the third telescopic rod 2-4 using hot melt adhesive, and it guides the up and down movement of the sliding rod 2-6.

[0064] When the telescopic rod 4 is in the telescopic motion, it is important to place the telescopic end facing upwards when fixing it. 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 extends or retracts, the slide rod 2-6 can move vertically up and down along the telescopic guide 2-8 without rotating around the third telescopic rod 2-4, thus ensuring the stability of the camera gimbal.

[0065] When the robot needs auxiliary support, the telescopic sections of the first telescopic rod 2-1 and the second telescopic rod 2-2 extend downwards and abut against the support surface.

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

[0067] Example 2:

[0068] Based on the structure of Embodiment 1, this embodiment adds a robotic arm 3. The robotic arm 3 includes a rotating base, a lifting arm, rotating arms 3-7, and a gripper connected in sequence.

[0069] Specifically, the rotating base is connected to the three-section tracked chassis via a bottom mounting module 3-1, and is equipped with a high-torque third servo motor 3-2 to achieve horizontal rotation of the base. A second camera 3-3 is installed on the protective plate on the front side of the servo motor to facilitate the observation of 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 motor 3-5 in the middle is to directly convert the rotation of the servo disk into the rotation of the upper support plate 3-6, thereby driving the subsequent components mounted on the support plate (such as the rotating arm 3-7 and the multi-functional gripper) to extend or retract. The rotating arm 3-7 is connected to the gripper via a joint 3-9, and with the main servo disk of another high-torque fifth servo motor 3-8 as the axis, it controls the rotation of the gripper's tail structure 3-11 around the axis to achieve angle adjustment. The gripper uses a servo motor 3-10 as its power source, with its output shaft connected to one end of a linkage mechanism 3-12. The linear motion of the linkage drives a set of gears 3-14 to rotate forward or backward, thus opening and closing the gripper. A third camera 3-13 is mounted above the gears for easy observation of the interior of obstacles. Furthermore, the gripper is equipped with a 3D-printed friction-enhancing device 3-15. It also features a quick-release connection for easy replacement of different gripping modules to adapt to various operational needs.

[0070] The rotating base serves as the foundation of the robotic arm, and the entire arm's left and right rotation is achieved via the third servo motor 3-2. The lifting arm is connected to the rotating base and controlled by the fourth servo motor 3-6 for precise adjustments such as forward and backward movement. The rotating arm is connected to the top of the lifting arm and achieves left and right rotation exceeding 180 degrees via the fifth servo motor 3-8, enhancing the robotic arm's flexibility. A multi-functional gripper is mounted at the end of the extendable arm and equipped with a servo motor 3-10, enabling precise gripping, rotation, lifting, releasing, and internal observation of complex operations. It is suitable for reconnaissance, industrial inspection, and other fields.

[0071] Intelligent obstacle recognition and crossing: Utilizing 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 properties of the obstacle (such as height and hardness) to ensure smooth and rapid crossing of the obstacle.

[0072] Example 3:

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

[0074] S1. When the three-section tracked robot moves on flat ground, the control arm servo drives the front track A and the rear track C to lift up, thereby improving its ability to quickly pass through flat ground. The lifting angle of the front and rear arms is approximately 45°. When the three-section tracked robot encounters small obstacles while moving on flat ground, it can quickly overcome them by lifting the front track A.

[0075] S2. When the three-section tracked robot traverses stairs, the specific control process is as follows:

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

[0077] S2.2 After the track section of the front track A is pressed against the edge of the first step, control the swing arm servo motor to drive the front track A and the rear track C to swing, raising the center of gravity of the three-section tracked robot, such as... Figure 5 As shown in (b).

[0078] S2.3 When the center of gravity of the three-section tracked robot is raised to the height of the first step, control the walking drive servo motor to drive the tracked robot to move horizontally forward, so that the center of gravity of the three-section tracked robot moves forward and closer to the step.

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

[0080] S2.5, lift the front track A, and use the travel drive servo to control the movement of the middle track B onto the step, then lift the rear track C to complete the step-crossing process. Figure 5 As shown in (d).

[0081] S2.6 When the three-section tracked robot needs to overcome obstacles on subsequent steps, the specific operation process is as follows:

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

[0083] S2.6.2 Control the walking drive servo motor to drive the three-section tracked robot to continue moving forward. During movement, due to the large tilt angle of the front swing arm, the three-section tracked robot will tilt backward. When tilting, control the walking drive servo motor to drive the three-section tracked robot to move backward as a whole, then press down the front track A, wedging the track on the front swing arm against the edge of the second step. Figure 6 As shown in (c).

[0084] S2.6.3, Press down the rear track C so that the track section on the rear track C engages with the edge of the first step. At the same time, the center of gravity of the three-section tracked vehicle is also raised, as shown. Figure 6 As shown in (d).

[0085] S2.6.4 Control the walking drive servo motor to move the three-section tracked robot, so that its center of gravity is continuously raised and it moves closer to the second step.

[0086] S2.6.5 When the rotary joint of the front swing arm servo is at the edge of the second step, press down the front track A to maintain the stability of the robot, and press down the rear track C to raise the center of gravity of the three-section tracked robot, as follows. Figure 6 As shown in (e).

[0087] S2.6.6 When the center of gravity of the three-section tracked robot approaches the second step, control the three-section tracked robot to move forward. When the front track (A) touches the edge of the third step, lift the front track A and press down the rear track C to continuously raise the center of gravity of the three-section tracked robot. Figure 6 As shown in (f).

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

[0089] S2.6.8 Control the walking drive servo motor to drive the three-section tracked robot forward and move to complete the second-level step obstacle crossing of the three-section tracked robot.

[0090] Example 4:

[0091] The robot's walking control methods in Examples 1 and 2 are based on a control system. This control system, through an integrated, intelligent, and collaborative modular system, enables precise control and efficient operation of the robot, based on a three-section track structure, in complex environments. Specifically, it includes:

[0092] Power Management and Distribution Module: This module receives an external 24V DC power input and regulates the voltage to 5V through a built-in DC-DC converter. This ensures stable power supply to key robot components (such as the Arduino STM32 microcontroller and PWM execution module) under load changes or input voltage fluctuations, enabling continuous and stable circuit operation.

[0093] Track drive control module: It adopts a precise control algorithm to realize independent control of the robot's three-section track, supporting multiple modes of movement such as forward, backward, and turning, which improves the robot's mobility 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 rotating, to meet the needs of various rescue missions.

[0095] Communication and Coordination Module: Integrating wireless remote control and SPI serial communication technology, it enables efficient data exchange between remote control operation and internal components. Through fine adjustment of PWM signals, it achieves precise control of motor speed and servo angle, ensuring the robot's response speed and control accuracy.

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

[0097] Power control module: Combining PWM speed regulation technology, it precisely controls the motor speed and direction, realizing the precision and intelligence of robot movement.

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

[0099] Human-machine interface: Equipped with an OLED display screen and matrix keyboard, it displays robot status information in real time, such as battery level and task progress. It also supports operators to directly input commands, enabling intuitive and convenient interactive control, which enhances the robot's user-friendliness and task execution flexibility.

[0100] Through the synergistic effect of the above modules, the control system of the present invention enables efficient and precise control of the robot in complex environments, significantly improving the reliability and effectiveness 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 within the protection scope of the present invention.

Claims

1. A method for controlling the walking of a robot based on a three-stage tracked structure, characterized by, The robot comprises a three-section track chassis (1) and a telescopic mechanism (2) arranged on the three-section track chassis (1); the three-section track chassis (1) comprises a chassis bottom plate, the two sides of the chassis bottom plate are provided with a front track (A), a middle track (B) and a rear track (C), the middle track (B) is in driving connection with the front track (A) and the rear track (C) on the same side respectively to form a three-section track structure; the front track (A) on one side and the rear track (C) on the other side are driven to rotate by corresponding walking drive steering gears, thereby driving the three-section track structure to move forward and backward; the front track (A) and the rear track (C) are driven to lift up and down by corresponding swing arm steering gears; the telescopic mechanism (2) is a bidirectional telescopic structure capable of telescoping upward and downward, a camera device is arranged on the upper telescopic structure, and the lower telescopic structure is used for assisting in supporting the robot; The telescopic mechanism (2) comprises a fixed rod (2-5), the fixed rod (2-5) is 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) are respectively located on the two sides of the fixed rod (2-5) and are arranged vertically downward at the telescopic ends; the third telescopic rod (2-4) is located in the middle of the fixed rod (2-5) and is arranged vertically upward at the telescopic end and is provided with the camera device; The walking control method of the three-section track structure robot comprises the following steps: S1, when the three-section track robot moves on the ground, the swing arm steering gear is controlled to drive the front track (A) and the rear track (C) to lift up; S2, when the three-section track robot climbs stairs, the specific control process is as follows: S2.1, the corresponding swing arm steering gear is controlled to drive the front track (A) to lift up, then the walking drive steering gear is controlled to drive the robot to move forward, so that the front track (A) is placed on the first step, and the corresponding swing arm steering gear is controlled to press down the front track (A); S2.2, after the track section of the front track (A) is attached to the edge of the first step, the swing arm steering gear is controlled to drive the front track (A) and the rear track (C) to swing, so as to lift the center of gravity of the three-section track robot; S2.3, when the center of gravity of the three-section track robot is lifted to the height of the first step, the walking drive steering gear is controlled to drive the robot to move horizontally, so that the center of gravity of the three-section track robot moves forward and approaches the step; S2.4, the rear track (C) is controlled to press down, so that the positions of the front track (A) and the middle track (B) remain horizontal; S2.5, the front track (A) is lifted up, the middle track (B) is moved to the step by the walking drive steering gear, and then the rear track (C) is lifted up, so as to complete the climbing of the step; S2.6, when the three-section track robot needs to climb the subsequent step, the specific operation process is as follows: S2.6.1, lift the front track (A), and then control the walking drive rudder to drive the three-section tracked robot as a whole to move forward, so that the front track (A) of the three-section tracked robot is in contact with the second step; S2.6.2, control the walking drive rudder to drive the three-section tracked robot to continue to move forward, when moving, the three-section tracked robot is tilted backward, when tilting, through control of the walking drive rudder, drive the three-section tracked robot as a whole to move backward, then press down the front track (A), and the track on the front swing arm is clamped to the edge of the second step; S2.6.3, press down the rear track (C), so that the track segment on the rear track (C) is clamped to the edge of the first step, at the same time, the center of gravity of the three-section tracked vehicle is also lifted; S2.6.4, control the walking drive rudder to drive the three-section tracked robot to move, so that its center of gravity position is constantly lifted and approaches the second step; S2.6.5, when the rotation joint of the front swing arm rudder is located at the edge of the second step, press down the front track (A) to keep the stability of the robot, and press down the rear track (C) to lift the center of gravity of the three-section tracked robot; S2.6.6, when the center of gravity of the three-section tracked robot approaches the second step, control the three-section tracked robot to move forward, when the front track (A) hits the edge of the third step, lift the front track (A) and press down the rear track (C); S2.6.7, when the middle track (B) is located on the second step, lift the rear track (C); S2.6.8, control the walking drive rudder to drive the three-section tracked robot to move forward, complete the three-section tracked robot to overcome the second step.

2. The walking control method of a three-segment track structure robot according to claim 1, characterized by, The front track (A), the middle track (B) and the rear track (C) each include at least two track wheels and a track segment arranged on the two track wheels.

3. The walking control method of a three-segment track structure robot according to claim 2, characterized by, The track wheel at the rear end of one side front track (A) and the track wheel at the front end of the other side rear track (C) are connected with the output shaft of the corresponding walking drive rudder.

4. The walking control method of a three-segment track structure robot according to claim 3, characterized by, The track wheel at the rear end of the front track (A) is in transmission connection with the track wheel at the front end of the middle track (B), and the track wheel at the rear end of the middle track (B) is in transmission connection with the track wheel at the front end of the rear track (C).

5. The walking control method of a three-segment track structure robot according to claim 4, characterized by, The output shaft of the swing arm rudder is connected with the track wheels of the corresponding front track (A) and rear track (C) respectively, to drive the front track (A) and the rear track (C) to lift and drop.

6. The walking control method of a three-segment tracked structure based robot according to claim 1, wherein, Further comprising a mechanical arm (3), the mechanical arm (3) comprises a rotation base, a lifting arm, a rotation arm (3-7) and a gripper assembly connected in sequence; the rotation base is horizontally rotatably arranged on the bottom plate of the chassis, and a camera device is arranged on the rotation base; the lifting arm is fixedly connected with the rotation base, and a support plate (3-6) capable of vertically rotating is arranged on the lifting arm; the rotation arm (3-7) is fixed on the support plate (3-6); the rotation arm (3-7) is provided with a gripper assembly, and the gripper assembly is rotatably arranged on the rotation arm (3-7).

7. The walking control method of a three-segment track structure robot according to claim 6, wherein The gripper assembly comprises a joint (3-9), a linkage mechanism, a gripper and a camera equipment, the joint (3-9) is connected with a rotating arm (3-7), the linkage mechanism is arranged on the joint (3-9), is driven through a servo motor (3-10) and is connected with the gripper through a transmission mechanism; the gripper is provided with a friction enhancement structure (3-15).

8. The walking control method of a three-segment tracked structure based robot according to claim 1, wherein, The robot is operated and controlled based on a control system, and the control system comprises: Power management and distribution module: The module receives external DC power input, stabilizes the voltage through the built-in DC-DC converter, ensures stable power supply to the components in the robot under the condition of load change or input voltage fluctuation, and realizes continuous and stable operation of the circuit; Crawler drive control module: Using control algorithm, realizing independent control of the three-section crawler of the robot, supporting multi-mode movement, improving the mobility and flexibility of the robot in complex terrain; Mechanical arm control sub-module: Integrated control logic, realizing the operation control of the mechanical arm (3) to adapt to the needs of various rescue tasks; Communication and coordination module: Combining wireless remote control and SPI serial communication technology, realizing data exchange between remote control operation and internal components, realizing motor speed and steering angle control through PWM signal regulation, ensuring the response speed and control accuracy of the robot; Wireless communication module: Receive external remote control signals, analyze and execute immediately, ensure the real-time response and remote operation of the robot; Power control module: Combined with PWM speed regulation technology, control motor speed and steering, realize the refinement and intelligence of robot movement; Visual perception module: Integrated camera, real-time capture and transmission of video images of the environment around the robot, through FPV technology, provide operators with intuitive live view, enhance the immersion and accuracy of remote operation; Human-computer interaction interface: Equipped with OLED display screen and matrix keyboard, real-time display of robot state information, at the same time support operator direct input instruction, realize intuitive, convenient interactive control, enhance the operation friendliness and task execution flexibility of the robot.

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