Spine-variable single-track detection robot and use method

Abstract

The invention discloses a variable spine type single-track detection robot and a using method, and belongs to the technical field of multi-section hinged track robots, a supporting part comprises a spine module, and the two ends of the spine module are oppositely connected with end box bodies in a matched mode; the spine module comprises a plurality of spine modules of which the middle parts are pivoted, and each spine module comprises two spine sections of which the middle parts are pivoted; a binocular detection camera is arranged on the outer side face of the spine module. Through the movement of the traction rope, the spine module is dragged to twist; the front end box body and the rear end box body are jointly provided with a peripheral crawler belt. The inner surface of the peripheral crawler belt makes sliding contact with the outer surface of the supporting part. A sensing detector is arranged on the end surface of at least one end box body; the multiple units are arranged in the peripheral crawler belt, on the basis that the height size of the detection robot is controlled, the forms between the peripheral crawler belt and the spine module can be changed, and therefore the robot can complete twisting type steering and pitching motion, and the trafficability can be optimized while the flexibility of the detection robot is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of detection robots, in particular to a multi-section articulated crawler robot. Background Art

[0002] In some working environments that are not suitable for workers to enter directly or stay for a long time, automated robots have significant advantages in passing and survival compared to manual workers. In recent years, with the advancement of science and technology, detection robots have developed in the direction of intelligence and modularization, and have been able to realize basic path planning, autonomous obstacle avoidance, obstacle crossing and other functions.

[0003] At present, detection robots are usually structures in which the detection device is equipped with a wheeled chassis or a crawler chassis. The detection robot with a wheeled structure uses the wheel unit to realize the forward, backward or turning of the detection robot; the detection robot with a crawler structure realizes the movement of the detection robot through the crawler unit. In actual applications, it is found that traditional wheeled detection robots have the advantage of flexible mobility, but usually have high requirements for the flatness of the ground and poor passability; although the traditional crawler structure has a strong adaptability to the ground, it lacks flexibility. These defects result in poor mobility of the detection robot in some specific working occasions, such as when working inside a mine or in a narrow pipe, and cannot meet the needs of modern operations. Summary of the invention

[0004] In view of at least one of the above technical problems, the present invention provides a variable spine single crawler detection robot and a method of using the same. By placing multiple units inside the crawler, the crawler and the spine can be changed in shape based on the control of the height of the detection robot, so that the robot can complete torsional steering and pitching movements, ensuring the flexibility of the detection robot while optimizing the passability. The specific technical solutions are as follows: A variable spine type single crawler detection robot, comprising a support part, the support part comprising a spine module, the two ends of the spine module are relatively matched with end boxes; the spine module comprises a plurality of spine modules pivoted in the middle, the spine module comprises two spine segments pivoted in the middle, the spine segment is a frame-shaped structure, the pivot axis of the spine module is perpendicular to the pivot axis of the spine segment; the outer side of the spine module is provided with a binocular detection camera; the side and bottom surfaces of the inner cavity of the spine module are respectively provided with traction channels, the traction channel is provided with a traction rope, the traction rope is provided with Traction motor; through the movement of the traction rope, the spine module is pulled to generate twisting; a drive motor is provided inside the end box, and the drive motor is linked to a drive wheel, and the drive wheels of the front and rear end boxes are jointly equipped with an outer track, and the inner surface of the outer track is in sliding contact with the outer surface of the support part; at least one end face of the end box is equipped with a sensing detector, and the outer track is evenly distributed with a number of avoidance channels used with the sensing detector; the traction motor, the drive motor, the binocular detection camera and the sensing detector are controlled by a control unit.

[0005] In some embodiments of the present disclosure, the support portion is provided with a T-shaped guide channel on the outer surface along the long axis direction, and the inner surface of the outer track is evenly provided with a plurality of T-shaped sliding blocks matched with the T-shaped guide channel.

[0006] In some embodiments of the present disclosure, the peripheral track is formed by connecting a plurality of track modules through rod end joint bearings, and the T-shaped slider is arranged on the inner surface of the track module.

[0007] In some embodiments of the present disclosure, the T-shaped guide channel is arranged in the middle of the long axis of the support, and the width of the track module decreases evenly from the middle to the two side ends; the width of the T-shaped slider decreases evenly from the middle to the two side ends.

[0008] In some embodiments of the present disclosure, the spine module is evenly provided with rolling elements on both sides of the T-shaped guide channel, and the rolling elements are in contact with the inner surface of the peripheral track; the rolling elements are rollers and / or balls.

[0009] In some embodiments of the present disclosure, the inner cavity of the spinal module is provided with a battery module, a control module and a motor drive module; the traction motor is provided in the inner cavity of the end box, and the traction channel is a wire hole provided on the inner wall of each spinal segment; the drive motor is linked to the drive wheel through a reducer.

[0010] In some embodiments of the present disclosure, the reducer is a planetary reducer.

[0011] In some embodiments of the present disclosure, the driving wheel includes track rollers coaxially arranged on both sides of the end box, and both sides of the peripheral track are provided with roller holes matching the track rollers.

[0012] In some embodiments of the present disclosure, the perception detector is at least one of an ultrasonic detector and an infrared sensor.

[0013] A method for using a variable spine single-track detection robot comprises the following steps: S1, after receiving a user request, the control unit controls the traction motor to adjust the driving direction, the drive motor to adjust the movement state, and the working state of the binocular detection camera and the perception detector according to the instruction; the binocular detection camera and the perception detector collect environmental information and feed it back to the user; S2, use the image processing library to process the environmental information, the control unit determines the obstacle distance, sets the obstacle avoidance threshold, and performs emergency braking when the obstacle distance is less than the preset braking distance; by traversing the point cloud array, the depth information of each point is judged. If the depth is less than the preset depth value, the obstacle information array is updated, and the control unit processes the data and determines whether there is an obstacle ahead. If not, step S3 is executed, and if yes, step S4 is executed; S3, the control unit sends a start command to the drive motor, the drive motor is powered on and rotates forward, and the robot continues to move forward; S4, judging the distance of the obstacle and whether it can be climbed over by using the binocular detection camera and the perception detector; if it is judged that the height of the obstacle is greater than the preset height value, the control unit determines that the obstacle is a high obstacle and performs an emergency obstacle avoidance action, and executes step S5; if the height of the obstacle is less than the preset height value, executes step S6; S5, determining whether there are obstacles on both sides of the insurmountable obstacle by using a binocular detection camera and a perception detector; if not, executing step S7; if yes, executing step S8; S6, the control unit starts the traction motor that controls the up and down pitch angles, so that the spine module performs a head-up action and moves through the drive motor; after crossing the obstacle, the control unit resets the traction motor, and the robot returns to a normal posture and driving state; S7, the control unit starts the traction motor that controls the left and right turning angles, so that the spine module performs a lateral turning action; after crossing the high obstacle, the control unit resets the traction motor, and the robot returns to a normal posture and driving state; S8, collect environmental information and wait for manual mode instructions.

[0014] Compared with the prior art, the above-mentioned variable spine single-track detection robot has the following beneficial effects: By placing multiple units inside the outer crawler, the outer crawler and the spine module can change their shapes based on the height of the detection robot, so that the robot can complete torsional turning and pitching movements, ensuring the flexibility of the detection robot while optimizing its passability. The peripheral tracks and spine modules are both multi-section flexibly connected structures, which can make the robot more flexible, and can passively and actively adapt to complex terrain and better fit the ground; The present invention can automatically identify obstacles ahead and autonomously choose to avoid or overcome obstacles by installing a sensing detector on the end box and processing the data by the controller; by installing a binocular detection camera on the side of the spine module, it can detect the terrain in a narrow space, the function is more flexible, and blind spots in the field of vision are effectively avoided; the binocular detection camera arranged on the side of the middle part has the advantage of a good field of vision and can reduce bumps, thereby reducing the cost of use; The structure of this design is intuitive, easy to operate, does not require complicated structures, and is low-cost, bringing new technical inspiration to the design of detection robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of the overall structure of Example 1 in the structure of the present invention; Figure 2 It is a three-dimensional cross-sectional schematic diagram of the interior of the spinal column module of Example 1 in the structure of the present invention; Figure 3 It is a three-dimensional schematic diagram of the pitch change state of Example 1 in the structure of the present invention; Figure 4 It is a three-dimensional schematic diagram of the left-right direction changing state of Example 1 in the structure of the present invention; Figure 5 This is a schematic diagram of the overall structure of the head box body of Example 1 in the structure of the present invention; Figure 6 This is a diagram of the internal parts of the head box of Example 1 in the structure of the present invention; Figure 7 This is a schematic diagram of the structure of a portion of a spinal column module according to Example 1 of the present invention; Figure 8 This is a schematic diagram of the structure of a portion of the crawler track of Example 1 of the structure of the present invention; Fig. 9 It is a structural framework diagram of the control system of the present invention; Fig.10 is a flow chart of the autonomous motion control method of the present invention; Explanation of the numbers in the figure: 1. Support part; 11. Spine module; 111. Spine module; 1111. Spine segment; 112. Traction channel; 12. End box; 13. T-shaped guide channel; 14. Rolling element; 21. Binocular detection camera; 22. Sensing detector; 31. Traction motor; 32. Drive motor; 321. Drive wheel; 322. Reducer; 4. Peripheral track; 41. Avoidance channel; 42. T-shaped slider; 43. Track module; 44. Rod end joint bearing; 45. Gear hole; 51. Battery module; 52. Control module; 53. Motor drive module. DETAILED DESCRIPTION

[0016] In order to better understand the purpose, structure and function of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below. It should be noted that, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present application. The terms used herein in this application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The terms "including" and "provided with" in this application and any variations thereof are open-ended and are intended to cover non-exclusive inclusions.

[0017] The serial numbers assigned to the components herein are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" mentioned in this disclosure, unless otherwise specified, includes both direct and indirect "connections". In the description of this application, it should be understood that the orientation or position relationship indicated by the directional terms "inside" and "outside" is based on the attached Figure 2 The orientation or positional relationship shown is only for the convenience of description, and does not indicate or imply that the device or unit referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0018] As shown in the attached figure Figures 1 to 10As shown, the present embodiment discloses a variable spine type single-track detection robot, including a support part 1, wherein the support part 1 includes a spine module 11, and the two ends of the spine module 11 are relatively matched with end boxes 12, and the spine module 11 and the end boxes 12 at the two ends together constitute the support part 1; the spine module 11 includes a plurality of spine modules 111 pivoted in the middle, and in the present embodiment, a convex ridge I is provided in the middle of the outer side surface of the spine module 111, and a pivot axis I for pivotal connection is provided at the convex ridge I, and each of the spine modules 111 is connected by this pivot axis I, and can realize pivotal swing. In the present embodiment, this pivot axis I is vertically arranged in the standby reset state, and the spine module 111 includes two spine segments 1111 pivoted in the middle, and in the present embodiment, a convex ridge II is provided in the middle of the surface where the two spine segments 1111 of the spine module 111 contact, and the convex ridge II A pivot axis II for pivotal connection is provided, and the two spinal segments 1111 are pivotally swung through the pivot axis II. In this embodiment, the pivot axis II is horizontally arranged in the standby reset state, and the pivot axis I of the spinal module 111 is perpendicular to the pivot axis II of the spinal segment 1111; the spinal segment 1111 is a frame-shaped structure, so that there is a through inner cavity in the middle of the spinal module 11, and the inner cavity of the spinal module 11 is provided with a battery module 51 for powering the variable spine single-track detection robot, a control module 52 responsible for central control and a motor drive module 53 for controlling the motor, wherein the control module 52 has wireless data transmission and reception functions, which can be a wireless connection method such as wifi, Bluetooth or infrared; the traction motor 31 is arranged in the inner cavity of the end box 12, and the traction channel 112 is a wire hole arranged on the inner wall of each spinal segment 1111.

[0019] The outer side surface of the spine module 11 is provided with a binocular detection camera 21. In this embodiment, a binocular detection camera 21 is respectively provided on both sides of the spine module 11. It should be noted that the camera end of the binocular detection camera 21 protrudes from the outer track 4 to avoid obstruction of the field of view. By installing the binocular detection camera 21 on both sides of the spine module 111, it is possible to detect the terrain in a narrow space, the function is more flexible, and the blind spots of the field of view are effectively avoided. The binocular detection camera 21 arranged on the side of the middle part of the variable spine single-track detection robot has the advantage of good field of view. At the same time, because the front and rear ends are provided with the end box 12, the collision of the binocular detection camera 21 can be reduced when changing direction, thereby reducing the cost of use; the four surfaces of the inner cavity of the spine module 11 are respectively provided with a traction channel 112, and a traction rope is arranged in the traction channel 112, and the traction rope is equipped with a traction motor 31; the spine module 11 is pulled to produce twisting through the movement of the traction rope, and this embodiment There may be four traction ropes, and the opposite traction ropes form a group. When turning left or right, the traction ropes on the left and right sides are controlled to be released and retracted by their respective traction motors 31; when pitching up and down, the upper and lower traction ropes are controlled to be released and retracted by their respective traction motors 31; a driving motor 32 is provided inside the end box 12, and the driving motor 32 is linked to a driving wheel 321. The driving motor 32 is linked to the driving wheel 321 through a reducer 322. In this embodiment, the reducer 322 may be a planetary reducer; the driving wheels 321 of the front and rear end boxes 12 are jointly equipped with an outer track 4, and the inner surface of the outer track 4 is in sliding contact with the outer surface of the support part 1. In this embodiment, the driving wheel 321 includes track gears coaxially arranged on both sides of the end box 12, and both sides of the outer track 4 are provided with gear holes 45 matched with the track gears. After the driving motor 32 is started, the gear holes 45 are driven to move by the track gears.

[0020] In this embodiment, the support portion 1 is provided with a T-shaped guide channel 13 on the outer surface along the long axis direction, and the inner surface of the peripheral crawler 4 is evenly provided with a plurality of T-shaped sliders 42 matched with the T-shaped guide channel 13. When in use, the T-shaped end of the T-shaped slider 42 can translate according to the guide of the T-shaped guide channel 13. The peripheral crawler 4 is formed by connecting a plurality of crawler modules 43 through a rod end joint bearing 44. The crawler module 43 can be made of anti-slip rubber material, which can reduce the weight and increase the buffering effect to avoid vibration of internal components. The T-shaped slider 42 is arranged on the inner surface of the crawler module 43. Through the arrangement of the T-shaped slider 42 and the T-shaped guide channel 13 , so that the outer track 4 can fit the outer surface of the support part 1, increasing the integration effect of the device; the T-shaped guide channel 13 is arranged according to the middle part of the long axis of the support part 1, and the width dimension of the track module 43 decreases evenly from the middle part to the two side ends; the width dimension of the T-shaped slider 42 decreases evenly from the middle part to the two side ends, which can effectively avoid mutual interference during twisting; the spine module 11 is evenly provided with rolling elements 14 on both sides of the T-shaped guide channel 13, and the rolling elements 14 are in contact with the inner surface of the outer track 4 to reduce friction and reduce the wear of the outer track 4; the rolling elements 14 are rollers and / or balls, and the present embodiment is a cylindrical roller.

[0021] At least one of the end faces of the end box 12 is provided with a sensing detector 22. In the present embodiment, the sensing detector 22 is provided at the forward end of the variable spine type single track detection robot. The sensing detector 22 is at least one of an ultrasonic detector and an infrared sensor. In the present embodiment, both detectors are installed and are arranged on the left and right sides of the front end face of the end box 12, so that ultrasonic detection and infrared detection can be performed simultaneously. The outer track 4 is evenly distributed with a number of avoidance channels 41 used with the sensing detector 22. In the present embodiment, the avoidance channels 41 are notches provided at the edges of the track modules 43, and two adjacent track modules 43 can just form a larger unobstructed channel. The sensing detector 22 of the variable spine type single track detection robot can only perform sensing detection when it is aligned with the unobstructed channel, so the frame rate is relatively low. When a high frame rate is required for continuous monitoring, the robot can use the sensing detector 22 as a node to stop moving when it is aligned with the unobstructed channel, and rely on the control unit inside the spine to control the traction motor 31 to start, thereby realizing autonomous obstacle avoidance and obstacle crossing functions. The traction motor 31, the drive motor 32, the binocular detection camera 21 and the perception detector 22 are controlled by the control unit; by placing multiple units inside the outer track 4, the outer track 4 and the spine module 11 can be changed in shape relative to each other on the basis of controlling the height size of the detection robot, so that the robot can complete torsional steering and / or pitching movements, ensuring the flexibility of the detection robot while optimizing the passability. The outer track 4 and the spine module 11 both adopt a multi-section flexibly connected structure, which can make the robot more flexible, can passively and actively adapt to complex terrain, and better fit the ground; the present invention can automatically identify obstacles in front and autonomously choose to avoid or overcome obstacles by installing the perception detector 22 on the end box 12 and processing the data by the control module 52; the structure of the design is intuitive, easy to operate, does not require cumbersome structures, and has low cost, bringing new technical inspiration to the design of detection robots.

[0022] Also disclosed is a method for using the above-mentioned variable spine single-track detection robot, comprising the following steps: S1, after the user establishes communication with the above-mentioned variable spine single-track detection robot, the user remotely sends the variable spine single-track detection robot automatic cruise mode control command through WiFi. First, through the API interface for processing remote commands, this interface runs on the Raspberry Pi and is implemented through the Flask framework. The API interface defines the endpoints for starting (api / robot / start) and stopping (api / robot / stop) the variable spine single-track detection robot, as well as the endpoint for sending turning (api / robot / turn) instructions. Secondly, through the user Web interface, send control instructions in the form of HTTP requests to the API interface of the variable spine single-track detection robot. Finally, after receiving the request, the interface parses the instruction and sends a PWM signal to the L298N motor driver module 53 through the GPIO port according to the instruction content to control the speed and direction of the motor, so that the variable spine single-track detection robot performs a cruise action. At the same time, the perception detector 22 on the variable spine single track detection robot will collect status information and feed it back to the server, and the server will send this information back to the user interface so that the user can monitor the status of the variable spine single track detection robot in real time; in order to ensure the security of communication, the entire communication process can be encrypted using the SSL encryption protocol; in addition, error handling is required to deal with possible network delays or packet loss problems to ensure the stability and reliability of the system. Since the Raspberry Pi 5 is equipped with an ARM chip-based image processing, the data detected by the binocular detection camera 21 (connected to the CSI interface of the Raspberry Pi) is wirelessly transmitted to the control module 52 for processing via WiFi; S2, after receiving the image data, the control module 52 combines the data uploaded by the perception detector 22 and the binocular detection camera 21, and uses the image processing library to process the environmental information. The control unit determines the obstacle distance and sets the obstacle avoidance threshold. In this embodiment, the obstacle avoidance threshold is set to 10 cm. When the obstacle distance is less than the preset braking distance of 10 cm, emergency braking is performed; by traversing the point cloud array, the depth information of each point is judged. If the depth is less than the preset depth value of 10 cm, the obstacle information array is updated, and the control unit processes the data and determines whether there is an obstacle ahead. If not, step S3 is executed. If yes, step S4 is executed. S3, the control unit sends a PWM command to the motor drive module 53. The motor drive adopts the L298N model and is connected to the GPIO port of the Raspberry Pi. The output terminals OUT1 and OUT2 of the motor drive module 53 are respectively connected to the drive motors 32 at both ends. The drive motor 32 is powered on and rotates forward, and the variable spine single crawler detection robot continues to move forward. S4, through the ultrasonic and infrared sensors and binocular terrain detection module connected to the GPIO port of the control unit, to determine the distance of the obstacle and whether it can be climbed over, the perception detector 22 uses the reflection of sound to obtain the time difference between the emitted and received waves to calculate the distance of the obstacle, and the control unit determines whether the obstacle is a short obstacle or a high obstacle based on the image information, obstacle information and IMU data, and performs corresponding obstacle avoidance behavior; if the obstacle height detected by the sensor is greater than the preset value, in this embodiment, the preset value of the obstacle height is 13cm, the control unit determines that the obstacle is a high obstacle, and performs an emergency obstacle avoidance action, that is, executes step S5, if the obstacle height is less than the preset value, then executes step S6; S5, determining whether there are obstacles on both sides of the insurmountable obstacle through the binocular detection camera 21 and the perception detector 22; if not, executing step S7, and if so, executing step S8; S6, the control unit sends a PWM instruction to the motor drive module 53, and by inputting pulses with different duty cycles to the traction motor 31, the traction motor 31 can be rotated to different angles, and the up and down pitch traction motor 31 can be controlled to operate, and the upper traction rope is tightened while the lower traction rope is loosened, so that the variable spine type single track detection robot raises its head to a certain height. While the traction motor 31 adjusts the posture of the variable spine type single track detection robot, the control unit sends a PWM signal to the DC motor to control the speed and direction of the motor. The PWM signal of the motor determines the speed of the motor, thereby controlling the moving speed of the variable spine type single track detection robot. The control unit needs to coordinate the actions of the traction motor 31 and the drive motor 32 to ensure that while the variable spine type single track detection robot raises its head, the drive motor 32 can provide sufficient power for the variable spine type single track detection robot to cross the obstacle. Once the obstacle is crossed, the control unit will send a new PWM signal to rotate the traction motor 31 back to its original position, tighten the traction rope, and the variable spine type single track detection robot returns to its normal posture and driving state; S7, the control unit starts the traction motor 31 that controls the left and right turning angles, so that the spine module 11 performs a lateral turning action; after crossing the high obstacle, the control unit resets the traction motor 31, and the variable spine single crawler detection robot returns to a normal posture and driving state; S8, collect environmental information, and the control unit uploads obstacle pictures via WiFi, waiting for the next instruction. At the same time, the program loops to judge the above steps.

[0023] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. The various embodiments in the present application may be combined with each other in the absence of conflict.

[0024] It can be understood that the above description is only for illustrating the specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the disclosure scope of the present application.

Claims

1. A variable spine single crawler detection robot, characterized in that: The invention comprises a support portion (1), wherein the support portion (1) comprises a spinal column module (11), and end boxes (12) are relatively connected at both ends of the spinal column module (11); the spinal column module (111) comprises a plurality of spinal columns (111) pivotally connected in the middle, and the spinal column module (111) comprises two spinal columns (1111) pivotally connected in the middle, and the spinal columns (1111) are frame-shaped structures, and the pivot axis of the spinal column module (111) is perpendicular to the pivot axis of the spinal columns (1111); a binocular detection camera (21) is provided on the outer side surface of the spinal column module (11); and a traction channel (112) is provided on the side surface and the bottom surface of the inner cavity of the spinal column module (11), and a traction rope is provided in the traction channel (112), and the traction rope is provided with a traction motor (31). ; The spinal module (11) is pulled to generate twisting by the movement of the traction rope; a drive motor (32) is provided inside the end box (12); the drive motor (32) is linked to a drive wheel (321); the drive wheels (321) of the front and rear end boxes (12) are jointly provided with an outer track (4); the inner surface of the outer track (4) is in sliding contact with the outer surface of the support portion (1); at least one end surface of the end box (12) is provided with a sensing detector (22); the outer track (4) is evenly distributed with a plurality of avoidance channels (41) used with the sensing detector (22); the traction motor (31), the drive motor (32), the binocular detection camera (21) and the sensing detector (22) are controlled by a control unit.

2. The variable spine single-track detection robot according to claim 1, characterized in that: The support portion (1) is provided with a T-shaped guide channel (13) on the outer surface along the long axis direction, and the inner surface of the outer crawler (4) is evenly provided with a plurality of T-shaped sliding blocks (42) matched with the T-shaped guide channel (13).

3. The variable spine single-track detection robot according to claim 2, characterized in that: The peripheral crawler track (4) is formed by connecting a plurality of crawler track modules (43) via a rod end joint bearing (44), and the T-shaped slider (42) is arranged on the inner surface of the crawler track module (43).

4. The variable spine single-track detection robot according to claim 3, characterized in that: The T-shaped guide channel (13) is arranged in the middle of the long axis of the support portion (1); the width of the track module (43) decreases evenly from the middle to the two side ends; and the width of the T-shaped slider (42) decreases evenly from the middle to the two side ends.

5. The variable spine single-track detection robot according to claim 4, characterized in that: The spine module (11) is evenly provided with rolling elements (14) on both sides of the T-shaped guide channel (13), and the rolling elements (14) are in contact with the inner surface of the peripheral crawler (4); the rolling elements (14) are rollers and / or balls.

6. The variable spine single-track detection robot according to claim 1, characterized in that: The inner cavity of the spinal column module (11) is provided with a battery module (51), a control module (52) and a motor drive module (53); the traction motor (31) is provided in the inner cavity of the end box (12); the traction channel (112) is a wire hole provided on the inner wall of each spinal column segment (1111); the drive motor (32) is linked to the drive wheel (321) via a reducer (322).

7. The variable spine single-track detection robot according to claim 6, characterized in that: The reducer (322) is a planetary reducer.

8. The variable spine single-track detection robot according to claim 1, characterized in that: The driving wheel (321) comprises track rollers coaxially arranged on two sides of the end box (12) opposite to each other, and two sides of the peripheral track (4) are provided with roller holes (45) for use with the track rollers.

9. The variable spine single-track detection robot according to claim 1, characterized in that: The perception detector (22) is at least one of an ultrasonic detector and an infrared sensor.

10. A method for using the variable spine single-track detection robot according to any of the above claims, characterized in that: The following steps are involved: S1, after receiving a user request, the control unit controls the traction motor (31) to adjust the driving direction, the drive motor (32) to adjust the travel state, and the working state of the binocular detection camera (21) and the perception detector (22) according to the instruction; the binocular detection camera (21) and the perception detector (22) collect environmental information and feed it back to the user; S2, use the image processing library to process the environmental information, the control unit determines the obstacle distance, sets the obstacle avoidance threshold, and performs emergency braking when the obstacle distance is less than the preset braking distance; by traversing the point cloud array, the depth information of each point is judged. If the depth is less than the preset depth value, the obstacle information array is updated, and the control unit processes the data and determines whether there is an obstacle ahead. If not, step S3 is executed, and if yes, step S4 is executed; S3, the control unit sends a start command to the drive motor (32), the drive motor (32) is powered on and rotates forward, and the robot continues to move forward; S4, judging the distance of the obstacle and whether it is surmountable by using a binocular detection camera (21) and a perception detector (22); if it is judged that the height of the obstacle is greater than a preset height value, the control unit determines that the obstacle is a high obstacle, performs an emergency obstacle avoidance action, and executes step S5; if the height of the obstacle is less than the preset height value, executes step S6; S5, determining whether there are obstacles on both sides of the insurmountable obstacle by using a binocular detection camera (21) and a perception detector (22); if not, executing step S7; if yes, executing step S8; S6, the control unit starts the traction motor (31) for controlling the up and down pitch angles, causing the spine module (11) to perform a head-up action and move via the drive motor (32); after crossing the obstacle, the control unit resets the traction motor (31), and the robot returns to a normal posture and driving state; S7, the control unit starts the traction motor (31) for controlling the left and right turning angles, so that the spine module (11) performs a lateral turning action; after crossing the high obstacle, the control unit resets the traction motor (31), and the robot returns to a normal posture and driving state; S8, collect environmental information and wait for manual mode instructions.

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