Six-foot intelligent detection robot and control method thereof

Abstract

The invention discloses a hexapod intelligent detection robot and a control method thereof, and belongs to the technical field of robot application. Comprising a main body structure and leg-foot mechanisms. Leg-foot structures are designed in a bionic mode according to insect feet, each leg-foot structure is provided with three bus steering engines, meanwhile, a buffering design is adopted, and the device can adapt to various complex terrains. Six placement grooves are symmetrically distributed in the two sides of the main body structure in a star shape, and each placement groove is connected with the base joint of the corresponding leg-foot structure. The main body structure is loaded with various sensing devices, and various environmental parameters and spatial characteristics in a complex environment can be detected. The data is processed by the master control board jetson nano b01, and the robot can make corresponding path planning and motion mode adjustment. And the data is also transmitted to the cloud, so that the user can call the processed data from the cloud and carry out corresponding task decision remotely. The robot is used for unmanned exploration work in the environments of rugged terrains, complex road conditions and the like, and the problem that the exploration work is difficult to carry out in the complex and dangerous environments can be solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robot application, and in particular relates to a six-legged intelligent detection robot and a control method thereof. Background Art

[0002] A detection robot is a robot used to detect and collect environmental information. This type of robot is usually designed to perform tasks in various environments, such as in dangerous areas, unknown areas, or hard-to-reach places. The hexapod robot is a type of bionic robot. The multi-legged structure gives the hexapod robot better stability when moving, and the six legs cooperate with each other to achieve a variety of movement modes. Therefore, compared with wheeled robots and tracked robots, hexapod robots can adapt to various complex terrains. Therefore, hexapod robots are often used in various detection or search and rescue work.

[0003] However, the current multi-legged detection robots, first of all, lack the corresponding buffer design in their structure and are not suitable for detection tasks in complex terrains. Secondly, they are unable to adaptively make corresponding posture and gait adjustments according to the ever-changing terrain during movement. The current multi-legged robots are usually remotely controlled by technicians through a host computer, but due to the limited field of view of the control end, it becomes very difficult for the remote-controlled robot to move appropriately in a complex environment. Summary of the invention

[0004] The present invention provides a six-legged intelligent detection robot and a control method thereof. The robot can adapt to complex terrain in terms of structure, and can autonomously perform path planning, gait planning, and posture adjustment according to terrain characteristics and environmental characteristics in terms of control.

[0005] The technical solution adopted by the present invention is as follows: a six-legged intelligent detection robot, including a main structure 1, a leg-foot structure 2 with a buffer component and a bionic design of an insect foot, a control system, a laser radar 9 and a depth camera 10 are installed on the main structure 1, and six identical leg-foot structures 2 are symmetrically installed on both sides of the main structure 1. The control system includes a main control board 7 and a power module, a data processing module 11, a drive circuit 12 and a wireless communication module 31 connected thereto, the data processing module 11 is respectively connected to the laser radar 9, the depth camera 10, and the air quality detection module, the drive circuit 12 is connected to the leg-foot structure 2, and the control system communicates with the user device through the wireless communication module 31 and uploads data to the cloud.

[0006] Specifically, the main structure 1 includes a placement plate 6, a placement plate 5, a top plate 3 and a bottom plate 4 installed at intervals from top to bottom. The top plate 3 and the bottom plate 4 are both rectangular and aligned up and down. The top plate 3 and the bottom plate 4 each have six installation slots, and the installation slots of the top plate 3 and the bottom plate 4 match up with each other and are connected to each leg structure 2. A power module is installed between the top plate 3 and the bottom plate 4; a drive circuit 12 is installed between the placement plate 5 and the top plate 3; a main control board 7 is installed between the placement plate 6 and the placement plate 5; a data processing module 11 is installed between the placement plate 6 and the placement plate 5; a wireless communication module 31 is installed between the placement plate 6 and the placement plate 5; a laser radar 9 and a depth camera 10 are fixed on the placement plate 6.

[0007] Specifically, the leg and foot structure 2 includes a coxa, a trochanter, a femur, a tibia and a tarsus connected in sequence; The base section is composed of a base section component 14 and a bus servo engine Ⅰ15, and the middle of the base section component 14 is fixedly connected to the bus servo engine Ⅰ15; The swivel is composed of a swivel component I 16, a swivel component II 20, a swivel component III 17 and a swivel component IV 21, wherein the swivel component II 20 is vertically connected to the swivel component IV 21, the swivel component I 16 is connected to the output shaft of the bus servo I 15 of the base section through the steering disc, the swivel component II 20 is connected to the base section component 14 through a bearing structure, and the swivel component IV 21 is fixedly connected to the swivel component II 20; The leg segment is composed of a leg segment component I19, a leg segment component II22, a bus steering gear II18 and a bus steering gear III23. The bus steering gear II18 and the bus steering gear III23 are symmetrically distributed on both sides of the leg segment. Both sides of the bus steering gear II18 are fixedly connected to the leg segment component I19 and the leg segment component II22. The bus steering gear II18 is connected to the swivel component III17 of the swivel through the steering wheel. The bus steering gear III23 is connected to the tibia component I27 of the tibia through the steering wheel. The two sides of the leg segment component II22 are respectively connected to the swivel component IV21 and the tibia component II29 through the bearing structure. The two sides of the leg segment component I19 are respectively connected to the swivel component III17 and the tibia component I27 through the bearing structure. The tibia is composed of a tibia component I 27, a tibia component II 29, a tibia component III 24, a metal rod 25 and a spring 26. The tibia component III 24 is connected to the tibia component I 27 and the tibia component II 29. The middle of the tibia component III 24 is a hollow cylinder. The tibia component III 24 is connected to the metal rod 25 through the hollow cylinder. The spring 26 is sleeved on the metal rod 25 and its lower end is inserted into the tarsal component 28. The upper end of the spring 26 is in contact with the tibia component III 24, and the lower end is in contact with the tarsal component 28. The tarsus is composed of a tarsus component 28 and a foot-end soft structure 30. The tarsus component 28 passes through the bottom plate of the tibia component 29 and is connected to the foot-end soft structure 30 through a spherical pair. The tarsus component 28 and the inner wall of the tibia component 29 form a moving pair. The tarsus component 28 slides up and down in the tibia component 29 and drives the foot-end soft structure 30 to move up and down. The bus servo I15, the bus servo II18 and the bus servo III23 are all connected to the drive circuit 12.

[0008] Preferably, the mounting grooves on the top plate 3 and the bottom plate 4 are distributed in a cross shape.

[0009] Specifically, the power module is composed of a voltage stabilizing circuit board 8 and a power supply 13 .

[0010] Specifically, the driving circuit 12 is an 18-channel servo driving board, which is fixed on the top plate 3 through hexagonal copper columns. The main control board 7 is jetson nano b01, which is fixed on the mounting plate II5 through hexagonal copper columns. Serial communication is used between jetsonnano b01 and the driving circuit 12. The data processing module 11 is an edge computing unit based on jetson Xavier NX. The communication mode of the wireless communication module 31 is WiFi and / or Bluetooth and / or LoRa.

[0011] Specifically, the air quality detection module includes a gas sensor and a temperature and humidity sensor.

[0012] A control method for a six-legged intelligent detection robot comprises the following steps: Step 1: When the robot is started, the main control board 7 starts to operate, reading the data fed back by the data processing module 11 and the drive circuit (12) to detect the environmental status and hardware operation status. Then, the main control board 7 calibrates the posture of each servo of the robot, completes the posture initialization at power-on and the preparation of each sensor. When the self-checking link is completed and no fault is found, the robot is ready to perform the detection task; Step 2: The wireless communication module 31 of the main control board 7 establishes a connection with the cloud and the user device; Step 3: The user device issues a detection task to the main control board 7 through the wireless communication module 31. The main control board 7 issues a work instruction to the laser radar 9 and the depth camera 10. The laser radar 9 and the depth camera 10 initially obtain information about the surrounding environment and road conditions. The main control board 7 preliminarily plans the task path according to the information data. At the same time, the main control board 7 drives the circuit 12 to issue a motion control instruction. The driving circuit 12 drives the steering gears of the robot to complete the gait change and posture adjustment. The robot detects along the preset path. Step 4: During the robot's movement, the laser radar 9 performs laser pulse ranging in real time, the depth camera 10 captures three-dimensional visual information in real time, and the air quality detection module collects the gas, temperature and humidity information around the robot in real time. The laser radar 9, the depth camera 10, and the air quality detection module send the real-time collected information to the data processing module 11, and the data processing module 11 processes the received information and sends it to the main control board 7. The main control board makes decisions independently based on the data and drives the robot through the drive circuit 12 to adjust the robot's gait, posture and position; Step 5: The main control board 7 transmits the received information and the decision made by itself to the cloud and the user device in real time through the wireless communication module 31. The user device confirms whether it is necessary to change the task target according to the received information. If not, no control instruction is issued. If necessary, a new control instruction is issued to the main control board 7 through the wireless communication module 31. The main control board 7 drives the robot to adjust the robot's gait, posture and position according to the new control instruction through the driving circuit 12; Step 4: Repeat Step 4- Step 5 until all detection tasks are completed.

[0013] Preferably, the data processing module 11 generates a two-dimensional or three-dimensional environment map according to the laser pulse ranging detected by the laser radar 9, and generates point cloud data and a depth image according to the three-dimensional visual information captured by the depth camera 10.

[0014] The beneficial effects of the present invention are: Compared with other multi-legged robots, the robot leg and foot structure of the present invention adopts the design of insect bionic feet, which includes coxa, trochanter, femur, tibia and tarsus in sequence, among which the tibia and tarsus adopt buffer structure. The six legs cooperate with each other to realize multiple movement modes, maintain the stability of the main structure, adapt to various complex terrains, and work in harsh environments.

[0015] The invention provides a six-legged intelligent detection robot control system and a control method thereof. The main control board uses a jetson nano b01 artificial intelligence development board, and the data processing module uses a jetson Xavier NX. Based on its powerful computing power support, the robot can make intelligent and autonomous decisions according to the actual environmental conditions, and carry out path planning, gait planning, and posture adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of an optional specific embodiment of the present invention; Figure 2 It is a schematic diagram of the robot main structure assembly of the present invention; Figure 3 It is a schematic diagram of the robot leg and foot structure combination of the present invention; Figure 4 It is a schematic diagram of the tibia and tarsus structure of the leg and foot structure of the present invention.

[0017] The numbers in the figure are: 1-robot body, 2-robot legs and feet, 3-top plate, 4-bottom plate, 5-lower placement plate, 6-upper placement plate, 7-main control board, 8-voltage stabilizing circuit board, 9-laser radar, 10-depth camera, 11-data processing module, 12-servo drive board, 13-power module, 14-base, 15-bus servo I, 16-rotor I, 17-rotor III, 18-bus servo II, 19-leg part I, 20-rotor II, 21-rotor IV, 22-leg part II, 23-bus servo III, 24-tibia part III, 25-metal rod, 26-spring, 27-tibia part I, 28-tarsal part, 29-tarsal part, 30-foot end soft structure, 31-wireless communication module. DETAILED DESCRIPTION

[0018] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The described embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention. The described embodiments are only a part of the present invention, not all embodiments.

[0019] Example 1: Figure 1-4 As shown, a six-legged intelligent detection robot includes a main structure 1, a leg-foot structure 2 with a buffer component and a bionic design of an insect foot, a control system, a laser radar 9 and a depth camera 10 are installed on the main structure 1, and six identical leg-foot structures 2 are symmetrically installed on both sides of the main structure 1. The control system includes a main control board 7 and a power module, a data processing module 11, a drive circuit 12 and a wireless communication module 31 connected thereto, the data processing module 11 is respectively connected to the laser radar 9, the depth camera 10, and the air quality detection module, the drive circuit 12 is connected to the leg-foot structure 2, the control system communicates with the user device through the wireless communication module 31 and uploads data to the cloud, the user device communicates with the cloud, obtains the data in the cloud, and facilitates further analysis.

[0020] The main structure 1 is a skeleton based on static support points distributed in a cross shape. The main structure 1 uses high-strength lightweight materials to reduce the overall weight of the robot and improve its maneuverability.

[0021] Furthermore, the main structure 1 includes a placement plate 6, a placement plate 5, a top plate 3 and a bottom plate 4 installed at intervals from top to bottom, the placement plate 5 is installed above the top plate 3 through four hexagonal copper columns, the placement plate 6 is installed above the placement plate 5 through four hexagonal copper columns, the top plate 3 and the bottom plate 4 are both rectangular and aligned up and down, the top plate 3 and the bottom plate 4 each have six installation slots, the installation slots of the top plate 3 and the bottom plate 4 match up and down and are connected to each leg structure 2, a power module is installed between the top plate 3 and the bottom plate 4; a drive circuit 12 is installed between the placement plate 5 and the top plate 3; a main control board 7 is installed between the placement plate 6 and the placement plate 5; a data processing module 11 is installed between the placement plate 6 and the placement plate 5; a wireless communication module 31 is installed between the placement plate 6 and the placement plate 5; a through hole is provided on the placement plate 6, and the laser radar 9 and the depth camera 10 are fixed by bolts and nuts.

[0022] The various components are reasonably distributed on the main structure 1 to ensure a stable center of gravity. At the same time, in order to facilitate installation and maintenance, the main structure adopts a modular design, and the various components can be easily disassembled and replaced.

[0023] Further, the leg and foot structure 2 includes a coxa, a trochanter, a femur, a tibia and a tarsus connected in sequence; The base section is composed of a base section component 14 and a bus servo I 15. The base section component 14 has two M3 through holes on both sides, and the bus servo I 15 is placed in the middle of the base section component 14 and fixedly connected by four M3 hexagonal screws. The swivel is composed of a swivel component I16, a swivel component II20, a swivel component III17 and a swivel component IV21, wherein the swivel component II20 is vertically connected to the swivel component IV21 through an M3 hexagonal nut, the swivel component I16 is connected to the output shaft of the bus servo I15 of the base section through the steering disc, the steering disc is connected to the swivel component I16 through an M3 hexagonal screw, the swivel component II20 is connected to the base section component 14 through a bearing structure, and the swivel component IV21 is fixedly connected to the swivel component II20; The leg section is composed of a leg section component I19, a leg section component II22, a bus steering gear II18 and a bus steering gear III23. The bus steering gear II18 and the bus steering gear III23 are symmetrically distributed on both sides of the leg section. Both sides of the bus steering gear II18 are fixedly connected to the leg section component I19 and the leg section component II22 through M3 hexagonal screws. The bus steering gear II18 is connected to the swivel component III17 of the swivel through the steering wheel. The bus steering gear III23 is connected to the tibia component I27 of the tibia through the steering wheel. The two sides of the leg section component II22 are respectively connected to the swivel component IV21 and the tibia component II29 through the bearing structure. The two sides of the leg section component I19 are respectively connected to the swivel component III17 and the tibia component I27 through the bearing structure. The tibia is composed of a tibia component I 27, a tibia component II 29, a tibia component III 24, a metal rod 25 and a spring 26. The tibia component III 24 has M3 through holes on both sides, and can be connected to the tibia component I 27 and the tibia component II 29 by M3 hexagonal screws. The middle of the tibia component III 24 is a hollow cylinder with an inner diameter of 1.5 mm. The tibia component III 24 is connected to the metal rod 25 through the hollow cylinder. The spring 26 is sleeved on the metal rod 25 and its lower end is inserted into the tarsus component 28. The upper end of the spring 26 is in contact with the tibia component III 24, and the lower end is in contact with the tarsus component 28. The tarsus is composed of a tarsus component 28 and a foot-end soft structure 30. The tarsus component 28 passes through the bottom plate of the tibia component 29 and is connected to the foot-end soft structure 30 through a spherical pair. The tarsus component 28 and the inner wall of the tibia component 29 form a moving pair. The tarsus component 28 slides up and down in the tibia component 29 and drives the foot-end soft structure 30 to move up and down. The bus servo I15, the bus servo II18 and the bus servo III23 are all connected to the drive circuit 12.

[0024] Six leg structures 2 are designed to imitate insect feet. Each leg structure 2 has three degrees of freedom. The leg structures 2 are made of high-strength materials to bear the weight of the robot and the impact force during movement. The foot end is made of soft structure to increase the friction with the ground and improve the robot's grip. At the same time, it can reduce the impact on the ground and protect the robot and the ground environment.

[0025] Furthermore, the mounting grooves on the top plate 3 and the bottom plate 4 are distributed in a cross shape, and the overall structure is stable.

[0026] Furthermore, the power module is composed of a voltage stabilizing circuit board 8 and a power supply 13 to provide power support for the entire system.

[0027] Furthermore, the driving circuit 12 is an 18-channel servo driving board, which is fixed to the top plate 3 through hexagonal copper columns. The main control board 7 is a jetson nano b01, which is fixed to the mounting plate II5 through hexagonal copper columns. Serial communication is used between the jetson nano b01 and the driving circuit 12. The data processing module 11 is an edge computing unit based on the jetson Xavier NX. The communication mode of the wireless communication module 31 is WiFi and / or Bluetooth and / or LoRa.

[0028] The main control board 7 uses jetson nano b01 as the core processor, combined with the RTLS positioning module and the MPU6050 self-balancing module, and uses powerful computing power to calculate the best motion strategy, adjust the gait according to the real-time state of the posture, and form a closed-loop control to achieve precision compensation. Its principle is to optimize the robot's motion control and path planning based on the gait algorithm based on deep learning.

[0029] The data processing module 11 is an edge computing unit based on Jetson Xavier NX, which can analyze and process the data collected by various sensors, LiDAR 9 and depth camera 10 in real time, share the computing pressure of the main processor, ensure the efficient and orderly operation of the main processor, reduce delays and bandwidth requirements, and improve the response speed of the robot.

[0030] The wireless communication module 31 is mainly a 5G module, and the communication methods mainly include WiFi, Bluetooth, LoRa, etc. Through various wireless communication modules 31, the robot can send the collected image data and sensor data to the cloud. Users can access the data in the cloud, conduct remote analysis and decision-making, and guide the robot to perform exploration tasks. At the same time, users can use cloud radar data to model the environment of the area that the robot has explored and generate an environmental space model.

[0031] The execution module of the present invention includes a drive circuit 12 and 18 bus servos. The drive circuit 12 receives the motion command from the main control board 7 to drive the bus servos. The bus servos use 35kgf·cm specifications to provide a large torque to ensure that the robot will not shake or lose step during walking.

[0032] Furthermore, the air quality detection module includes a gas sensor and a temperature and humidity sensor. By combining the information provided by different sensors, the robot's ability to identify the surrounding space structure and terrain features is improved. At the same time, the gas sensor realizes the detection of abnormal gases in the environment.

[0033] A control method for a six-legged intelligent detection robot comprises the following steps: Step 1: When the robot is started, the main control board 7 starts to operate, reading the data fed back by the data processing module 11 and the drive circuit (12) to detect the environmental status and hardware operation status. Then, the main control board 7 calibrates the posture of each servo of the robot, completes the posture initialization at power-on and the preparation of each sensor. When the self-checking link is completed and no fault is found, the robot is ready to perform the detection task; Step 2: The wireless communication module 31 of the main control board 7 establishes a connection with the cloud and the user device; Step 3: The user device issues a detection task to the main control board 7 through the wireless communication module 31. The main control board 7 issues a work instruction to the laser radar 9 and the depth camera 10. The laser radar 9 and the depth camera 10 initially obtain information about the surrounding environment and road conditions. The main control board 7 preliminarily plans the task path according to the information data. At the same time, the main control board 7 drives the circuit 12 to issue a motion control instruction. The driving circuit 12 drives the steering gears of the robot to complete the gait change and posture adjustment. The robot detects along the preset path. Step 4: During the robot's movement, the laser radar 9 performs laser pulse ranging in real time, the depth camera 10 captures three-dimensional visual information in real time, and the air quality detection module collects the gas, temperature and humidity information around the robot in real time. The laser radar 9, the depth camera 10, and the air quality detection module send the real-time collected information to the data processing module 11, and the data processing module 11 processes the received information and sends it to the main control board 7. The main control board makes decisions independently based on the data and drives the robot through the drive circuit 12 to adjust the robot's gait, posture and position; Step 5: The main control board 7 transmits the received information and the decision made by itself to the cloud and the user device in real time through the wireless communication module 31. The user device confirms whether it is necessary to change the task target according to the received information. If not, no control instruction is issued. If necessary, a new control instruction is issued to the main control board 7 through the wireless communication module 31. The main control board 7 drives the robot to adjust the robot's gait, posture and position according to the new control instruction through the driving circuit 12; Step 4: Repeat Step 4- Step 5 until all detection tasks are completed.

[0034] Furthermore, the depth camera 10 and the laser radar 9 provide the robot with environmental information from different dimensions. The depth camera 10 can capture three-dimensional visual information that can capture dynamic environmental changes, such as moving objects or changes in terrain; while the laser radar 9 provides high-precision distance information through laser pulse ranging and scanning, and generates a two-dimensional or three-dimensional environmental map. The data processing module 11 generates a two-dimensional or three-dimensional environmental map based on the laser pulse ranging detected by the laser radar 9, provides real-time obstacle avoidance data for the robot, and generates point cloud data and depth images based on the three-dimensional visual information captured by the depth camera 10, which are used to identify and locate target objects in the environment.

[0035] The depth camera 10 uses a depth perception camera. Through the coordinated work of the depth perception camera, the laser radar 9 and the air quality detection module, the robot's perception ability in complex environments is greatly improved. Combined with the powerful computing power of Jetson Nano B01, through the dual perception mechanism supported by data fusion and intelligent algorithms, the robot can dynamically adjust the path of travel to ensure the smooth completion of tasks in complex environments, and promote the robot to achieve a higher level of environmental perception and task execution capabilities.

[0036] By fusing sensor data, vision and ranging information are complemented, and the robot can build a more accurate environmental model, thereby having a comprehensive perception of surrounding objects and obstacles when navigating.

[0037] The air quality detection module provides the robot with information on the safety status of the environment, allowing the robot to not only "see" objects and measure distances, but also "sense" the components in the air. By combining air quality data with visual and distance information, the robot can evaluate the overall state of the environment in real time and predict and avoid potential risks. When the robot enters certain areas, if the air quality detection module detects that the concentration of harmful gases such as SO2, H2S, NH3 is too high, the control system can plan a safer detour based on the map generated by the lidar, and send air environment data to the user device through the wireless communication module. This path optimization mechanism can not only detect environmental information in real time, but also prevent the robot from being exposed to corrosive gases for a long time, which is especially important when performing long-term inspections or large-scale detection tasks.

[0038] The robot adopts an edge computing architecture, using Jetson nano b01 and Jetson Xavier NX to process sensor data in layers. The large amount of data generated by the depth camera 10 and the lidar 9 is first pre-processed locally, such as image denoising, point cloud filtering, and cluster analysis of laser scanning data, to reduce data transmission pressure. The real-time data of the air quality detection module is also preliminarily analyzed on the edge side, for example, by threshold filtering to quickly determine the changing trend of air quality.

[0039] These pre-processed data will be further integrated and analyzed to generate high-precision environmental models and decision-making instructions. In complex mission scenarios, robots can upload key data to the cloud for more advanced analysis and long-term data storage, realizing an intelligent data processing architecture that combines edge computing with the cloud.

[0040] The components, modules and their model selection in the present invention can be replaced and optimized according to actual needs.

[0041] The above contents are only specific embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. For those skilled in the art, various modifications, substitutions or improvements can be made without departing from the spirit and principles of the present invention, and all these changes should be included in the scope of protection of this application. Please note that similar numbers and letters in the drawings represent similar items, so the items defined in one drawing do not need to be defined and explained again in the subsequent drawings.

[0042] The above is only a specific implementation of the present application, and the protection scope of the present application should not be limited thereto. Any person familiar with the art can easily make changes or substitutions based on the content disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the claims.

Claims

1. A six-legged intelligent detection robot, characterized in that: The invention comprises a main structure (1), a leg-foot structure (2) with a buffer component and a bionic design of an insect foot, a control system, a laser radar (9) and a depth camera (10) being installed on the main structure (1), and six identical leg-foot structures (2) being symmetrically installed on both sides of the main structure (1), the control system comprising a main control board (7) and a power module, a data processing module (11), a drive circuit (12) and a wireless communication module (31) connected thereto, the data processing module (11) being respectively connected to the laser radar (9), the depth camera (10) and the air quality detection module, the drive circuit (12) being connected to the leg-foot structure (2), and the control system communicating with a user device via the wireless communication module (31) and uploading data to the cloud.

2. A six-legged intelligent detection robot according to claim 1, characterized in that: The main structure (1) comprises a placement plate (6), a placement plate (5), a top plate (3) and a bottom plate (4) which are installed at intervals from top to bottom. The top plate (3) and the bottom plate (4) are both rectangular and aligned vertically. The top plate (3) and the bottom plate (4) each have six installation slots. The installation slots of the top plate (3) and the bottom plate (4) match each other vertically and are both connected to each leg and foot structure (2). A power module is mounted between the top plate (3) and the bottom plate (4); a drive circuit (12) is mounted between the placement plate (5) and the top plate (3); a main control board (7) is mounted between the placement plate (6) and the placement plate (5); a data processing module (11) is mounted between the placement plate (6) and the placement plate (5); a wireless communication module (31) is mounted between the placement plate (6) and the placement plate (5); and a laser radar (9) and a depth camera (10) are fixed on the placement plate (6).

3. The six-legged intelligent detection robot according to claim 1, characterized in that: The leg and foot structure (2) comprises a coxa, a trochanter, a femur, a tibia and a tarsus which are connected in sequence; The base section is composed of a base section component (14) and a bus servo engine I (15), and the middle of the base section component (14) is fixedly connected to the bus servo engine I (15); The swivel is composed of a swivel member I (16), a swivel member II (20), a swivel member III (17) and a swivel member IV (21), wherein the swivel member II (20) is vertically connected to the swivel member IV (21), the swivel member I (16) is connected to the output shaft of the bus servo I (15) of the base member via the steering disc, the swivel member II (20) is connected to the base member (14) via a bearing structure, and the swivel member IV (21) is fixedly connected to the swivel member II (20); The leg segment is composed of a leg segment component I (19), a leg segment component II (22), a bus steering gear II (18) and a bus steering gear III (23). The bus steering gear II (18) and the bus steering gear III (23) are symmetrically distributed on both sides of the leg segment. Both sides of the bus steering gear II (18) are fixedly connected to the leg segment component I (19) and the leg segment component II (22). The bus steering gear II (18) is connected to the swivel component III (17) of the swivel through the steering wheel. The bus steering gear III (23) is connected to the tibia component I (27) of the tibia through the steering wheel. Both sides of the leg segment component II (22) are connected to the swivel component IV (21) and the tibia component II (29) through bearing structures respectively. Both sides of the leg segment component I (19) are connected to the swivel component III (17) and the tibia component I (27) respectively through bearing structures. The tibia is composed of a tibia component I (27), a tibia component II (29), a tibia component III (24), a metal rod (25) and a spring (26); the tibia component III (24) is connected to the tibia component I (27) and the tibia component II (29); a hollow cylinder is located in the middle of the tibia component III (24); the tibia component III (24) is connected to the metal rod (25) through the hollow cylinder; the spring (26) is sleeved on the metal rod (25) and its lower end is inserted into the tarsal component (28); the upper end of the spring (26) is in contact with the tibia component III (24) and the lower end is in contact with the tarsal component (28); The tarsus is composed of a tarsus component (28) and a foot end soft structure (30). The tarsus component (28) passes through the bottom plate of the tibia component (29) and is connected to the foot end soft structure (30) in the form of a spherical pair. The tarsus component (28) and the inner wall of the tibia component (29) form a moving pair. The tarsus component (28) slides up and down in the tibia component (29) and drives the foot end soft structure (30) to move up and down. The bus servo I (15), the bus servo II (18) and the bus servo III (23) are all connected to the drive circuit (12).

4. The six-legged intelligent detection robot according to claim 2, characterized in that: The mounting grooves on the top plate (3) and the bottom plate (4) are distributed in a cross shape.

5. The hexapod intelligent detection robot according to claim 1, characterized in that: The power module is composed of a voltage-stabilizing circuit board (8) and a power source (13).

6. The hexapod intelligent detection robot according to claim 2, characterized in that: The driving circuit (12) is an 18-channel steering gear driving board. The driving circuit (12) is fixed to the top plate (3) via hexagonal copper pillars. The main control board (7) is a jetson nano b01, which is fixed to the mounting plate II (5) via hexagonal copper pillars. The jetson nano b01 and the driving circuit (12) communicate via a serial port. The data processing module (11) is an edge computing unit based on a jetson Xavier NX. The communication mode of the wireless communication module (31) is WiFi and / or Bluetooth and / or LoRa.

7. The hexapod intelligent detection robot according to claim 1, characterized in that: The air quality detection module includes a gas sensor and a temperature and humidity sensor.

8. A control method for a six-legged intelligent detection robot, characterized in that: The steps include: Step 1: When the robot is started, the main control board (7) starts to operate and reads the data fed back by the data processing module (11) and the drive circuit (12) to detect the environmental status and hardware operation status. Subsequently, the main control board (7) calibrates the posture of each servo of the robot, completes the posture initialization at power-on and the preparation of each sensor. When the self-checking link is completed and no fault is found, the robot is ready to perform the detection task; Step 2: The wireless communication module (31) of the main control board (7) establishes a connection with the cloud and the user device; Step 3: The user device issues a detection task to the main control board (7) through the wireless communication module (31), and the main control board (7) issues a work instruction to the laser radar (9) and the depth camera (10). The laser radar (9) and the depth camera (10) initially obtain information about the surrounding environment and road conditions. The main control board (7) preliminarily plans a task path based on the information data. At the same time, the main control board (7) drives the circuit (12) to issue a motion control instruction, and the driving circuit (12) drives the various steering gears of the robot to complete gait changes and posture adjustments. The robot performs detection along the preset path; Step 4: During the robot's movement, the laser radar (9) performs laser pulse ranging in real time, the depth camera (10) captures three-dimensional visual information in real time, and the air quality detection module collects gas, temperature and humidity information around the robot in real time. The laser radar (9), the depth camera (10), and the air quality detection module send the real-time collected information to the data processing module (11). The data processing module (11) processes the received information and sends it to the main control board (7). The main control board makes decisions independently based on the data and drives the robot through the drive circuit (12) to adjust the robot's gait, posture and position; Step 5: The main control board (7) transmits the received information and the decision made by itself to the cloud and the user device in real time through the wireless communication module (31). The user device confirms whether it is necessary to change the task target based on the received information. If not, no control command is issued. If necessary, a new control command is issued to the main control board (7) through the wireless communication module (31). The main control board (7) drives the robot to adjust the robot's gait, posture and position through the drive circuit (12) according to the new control command. Step 4: Repeat Step 4- Step 5 until all detection tasks are completed.

9. The control method of a six-legged intelligent detection robot according to claim 1, characterized in that: The data processing module (11) generates a two-dimensional or three-dimensional environment map based on the laser pulse ranging detected by the laser radar (9), and generates point cloud data and a depth image based on the three-dimensional visual information captured by the depth camera (10).

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