Method for rapidly replacing crawler belt for sand or mud land wheel-foot robot landing

Abstract

The invention discloses a rapid replacing method for a crawler belt for landing of a sand or mud wheel-foot robot. The rapid replacing method comprises the following steps that 1, environment detection and judgment are conducted; 2, preparing a new crawler belt; step 3, releasing the old crawler belt; 4, a new crawler belt is installed; the method has the advantages that the crawler belt can be replaced within a short time, manual intervention is not needed, the replacement efficiency is greatly improved, the method has more obvious advantages in emergency tasks or field operation, the method is suitable for various complex terrains such as sand and mud, the environment adaptability of the wheel-foot robot is improved, and the method is suitable for popularization and application. Through sensor detection and automatic program control, operation is convenient, the technical requirement for operators is lowered, the time and labor cost for replacing the crawler belt are reduced, the working efficiency of the wheel-foot robot is improved, through real-time monitoring of the sensor and accurate adjustment of the control system, stable operation of the robot after the crawler belt is replaced is guaranteed, and the working efficiency of the robot is improved. And the accuracy and the reliability of replacement are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of sandy or muddy wheeled-foot robots, and particularly to a quick track replacement method for a sandy or muddy wheeled-foot robot to land Background Art

[0002] With the continuous development of technology, wheeled-foot robots are increasingly widely used in various complex terrains. In special environments such as sandy or muddy areas, in order to improve the passability and stability of wheeled-foot robots, it is often necessary to replace them with tracked walking mechanisms. Because on sandy, muddy or other relatively soft ground, when a wheeled-foot robot lands, the tires will slip. Generally, some components with very high friction are manually installed on the tire surface in advance to avoid slipping. However, after the robot walks onto a road or an urban road, because the ground is flat, these components need to be manually removed

[0003] However, the existing track replacement methods are usually rather cumbersome, requiring a large amount of time and manpower, and are difficult to operate in the field environment. Usually, manual intervention is required, and the operation is complex, time-consuming and laborious. In field operations or emergencies, manual track replacement is not only inefficient, but also may pose a threat to the safety of operators. Moreover, some existing track replacement devices have complex structures and large volumes, are not convenient to be integrated into wheeled-foot robots, and these devices often require a long time in the process of replacing tracks, unable to meet the requirements of rapid response and high-efficiency operation. Therefore, there is an urgent need for a quick and automatic track replacement method to improve the adaptability and working efficiency of wheeled-foot robots in different terrains

[0004] Currently, there is an urgent need for a quick track replacement method for a sandy or muddy wheeled-foot robot to land, in order to improve the operation efficiency and adaptability of the robot in complex terrains, and reduce the operation difficulty and risk. Therefore, developing a quick track replacement method for a sandy or muddy wheeled-foot robot to land has important practical significance. To solve the above problems, the present invention proposes a quick track replacement method for a sandy or muddy wheeled-foot robot to land Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to provide a quick track replacement method for a sandy or muddy wheeled-foot robot to land, which is simple in construction, reliable in use, easy to clean, strong in anti-breakage ability and low in cost

[0006] To solve the above technical problem, the present invention is solved by the following technical solutions: A quick track replacement method for a sandy or muddy wheeled-foot robot to land, comprising the following steps: Step 1, Environment Detection and Judgment: During the operation of the wheel-legged robot, various sensors such as pressure sensors and humidity sensors installed at the bottom are used to monitor the ground conditions in real time. When the robot enters special terrains such as sandy or muddy areas, the data collected by the sensors is transmitted to the control system. The control system analyzes the received data, detects the environmental parameters through the sensors, and judges whether parameters such as the softness and humidity of the ground reach the standard for replacing the crawler. If the detection result shows that the crawler needs to be replaced, the robot automatically starts the quick automatic crawler replacement program; Step 2, Prepare the New Crawler: There is a special crawler storage bin inside the robot. The storage bin contains pre-prepared crawlers suitable for use in sandy or muddy areas. When the control system issues an instruction to replace the crawler, the mechanical device in the storage bin starts to act, pushing the new crawler out to the designated position for installation; Step 3, Release the Old Crawler: The robot first stops its current movement to ensure a stable state. At the same time, the control system starts the release program of the old crawler. By controlling the motor or hydraulic device, the bolts or buckles fixing the old crawler are loosened, and the old crawler is gradually peeled off from the running mechanism using a robotic arm or other actuators to ensure that the old crawler is completely separated from the robot body; Step 4, Install the New Crawler: The robotic arm or a special installation device picks up the new crawler and accurately places it on the running mechanism of the robot. The positioning device is used to ensure that the new crawler is correctly aligned with components such as gears and rollers of the running mechanism. At the same time, an automatic tightening device is used to fix the new crawler on the running mechanism to ensure that the crawler is firmly installed; Step 5, Adjustment and Testing: After the installation is completed, the control system starts the adjustment program. By adjusting the motor or hydraulic device, the tension of the new crawler is adjusted to its optimal working state. Sensors are used to detect the installation condition of the new crawler, including the alignment and uniformity of the tension of the crawler. Finally, a simple walking test is carried out. Let the robot walk a certain distance in a safe environment to observe the running condition of the new crawler to ensure its stability and reliability. If problems are found, adjustments are made in a timely manner until the crawler works properly.

[0007] Preferably, the detection of the environment where the robot is located is achieved through sensors installed on the robot. The sensors include pressure sensors, humidity sensors, etc., and are used to detect parameters such as ground hardness and humidity.

[0008] Preferably, when the pressure sensor detects abnormal pressure distribution of the robot on the ground and the humidity sensor detects that the ground humidity exceeds a certain threshold, the control system determines that the crawler needs to be replaced. The environmental parameters include ground hardness and humidity, etc.

[0009] Preferably, the start of the automatic replacement program is automatically triggered by the control system of the robot according to the environmental detection results, and the release of the old track is achieved by the execution mechanism inside the robot to loosen the fixing bolts, unlock the connection device, etc.

[0010] Preferably, the preparation of the new track is to take out the pre-stored new track suitable for use on sandy or muddy ground from the storage device inside the robot, and the installation of the new track is to install the new track onto the running mechanism of the robot through the robot's manipulator or other execution mechanisms, and ensure that the tension of the track is appropriate.

[0011] Preferably, the adjustment and testing of the new track include adjusting parameters such as the tension and alignment of the track, and conducting a simple walking test to check whether the installation of the track is firm and whether the walking is stable. The control system module is used to receive sensor data and control the entire replacement process.

[0012] Preferably, the execution mechanism module is used to release the old track and install the new track, the storage device module is used to store the new track, and the manipulator module is used to assist in installing the new track.

[0013] Preferably, the wheel feet of the robot and the attachments outside the wheel feet include tracks, chains, etc. with protrusions on the surface, which are used to increase friction. The attachments are in a strip structure and can wrap around the wheel feet on their surface, so as not to slip on sandy or muddy ground.

[0014] Preferably, the attachment is divided into a head and a tail. The head is provided with a buckle groove, and the robot's wheel feet are provided with latches. The latches are normally retracted. When docking the attachment, the latches pop out. The robot aligns the latches on the wheel feet with the buckle groove. After buckling, as long as a single wheel moves forward, all the attachments can be wrapped around.

[0015] Preferably, after the robot climbs over sandy or muddy ground and enters a flat ground, the head of the attachment pops out, and the wheels move in the reverse direction to peel off the external attachment from the surface of the wheel feet. The attachment is directly used once and is discarded after unloading.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The method for quickly replacing the track for a wheel-foot robot landing on sandy or muddy ground according to the present invention enables the wheel-foot robot to quickly switch the walking mode in complex terrains such as sandy or muddy ground, greatly improving the adaptability of the wheel-foot robot to different environments. Whether it is soft sandy ground or muddy ground, the wheel-foot robot can select the most suitable running mechanism for the current terrain by automatically replacing the track, ensuring stable operation in various harsh environments and having strong applicability; 2. The quick replacement method of the crawler for the wheel-legged robot to land on sandy or muddy ground in the present invention realizes the quick and automatic replacement of the crawler without manual intervention, greatly shortening the replacement time. It not only improves the working efficiency of the robot but also reduces the labor cost. Especially in emergency tasks or field operations, the advantages are more obvious, reducing the time and labor cost of crawler replacement and improving the working efficiency of the wheel-legged robot. 3. The process of automatically replacing the crawler in the quick replacement method of the crawler for the wheel-legged robot to land on sandy or muddy ground in the present invention is precisely designed and strictly tested to ensure the accuracy and reliability of the replacement. At the same time, the installation of the new crawler is firm and the tension is suitable, which can effectively avoid failures caused by loose crawlers or improper installation. At the same time, through the real-time monitoring of the sensor and the precise adjustment of the control system, it ensures the stable operation of the robot after the crawler replacement. And the automatic replacement avoids the operator directly contacting the dangerous environment, reduces the possibility of accidents, and improves the safety of the operation. 4. The quick replacement method of the crawler for the wheel-legged robot to land on sandy or muddy ground in the present invention is compactly designed and is convenient to be integrated into the structure of the wheel-legged robot. At the same time, the modular design also makes the system have good scalability, and it can be customized and optimized according to different robot models and application requirements. And by quickly replacing the crawler suitable for sandy or muddy ground, the traction, stability and passability of the wheel-legged robot have been significantly improved, enabling the wheel-legged robot to better complete various complex tasks, such as rescue, detection, engineering construction, etc., providing strong technical support for the development of related fields. Detailed implementation manners

[0017] Unless otherwise clearly specified in the context, nouns without a quantifier and nouns modified by "the" include singular and plural referents.

[0018] As used in the specification and claims, the terms "comprising", "including", "having", "can", "containing" and their variants used herein are open transitional phrases, terms or words that require the presence of the specified component / step and allow the presence of other components / steps. However, such a description should also be interpreted as describing the composition or method as "consisting of" and "essentially consisting of" the listed components / steps, which allows only the specified components / steps and any inevitable impurities that may result therefrom, and excludes other components / steps.

[0019] The numerical values in the specification and claims of this application should be understood to include the same numerical values when reduced to the same number of significant figures and numerical values that differ from the said values by less than the experimental error of the conventional measurement techniques used to determine the said values of the type described in this application.

[0020] All ranges disclosed herein include the recited endpoints and may be combined independently (e.g., the range "from 2 grams to 10 grams" includes the endpoints 2 grams and 10 grams, as well as all intermediate values).

[0021] The terms "about" and "approximately" may be used to include any numerical value that can vary without changing the basic function of that value. When used with a range, "about" and "approximately" also disclose the range defined by the absolute values of the two endpoints. For example, "about 2 to about 4" also discloses the range "2 to 4". Generally, the terms "about" and "approximately" can refer to ±10% of the indicated number. However, for temperature, the term "about" means ±1°C.

[0022] Unless otherwise explicitly specified, the percentages of elements shall be considered as weight percentages of the alloy.

[0023] This disclosure may relate to the temperature of certain method steps. It should be noted that these indicators generally refer to the temperature set by the heat source (such as a furnace), rather than necessarily the temperature that the heated material must reach.

[0024] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and other obvious variations can be conceived by those skilled in the art. The basic principles defined in the following description can be used in other embodiments, variations, improvements, equivalent embodiments, and other technical solutions without departing from the spirit and scope of the present invention.

[0025] Example 1: A method for quickly replacing the crawler of a wheel-legged robot for landing on sandy or muddy ground, application in sandy environment: In a vast desert area, a wheel-legged robot is performing a detection task. When the wheel-legged robot enters the sandy area, the pressure sensor and humidity sensor at its bottom start to work. The pressure sensor detects that the pressure distribution of the wheel-legged robot on the sandy ground has changed, and at the same time, the humidity sensor detects that the sandy ground is relatively dry but soft. These data are transmitted to the control system of the wheel-legged robot, and the system determines that the current environment requires a change to the crawler walking mode.

[0026] The wheel-legged robot automatically starts the crawler quick automatic replacement program. First, the mechanical device in the storage bin pushes out the pre-prepared crawler suitable for walking on sandy ground to the designated position. Then, the actuator inside the wheel-legged robot starts to act, loosening the bolts and buckles fixing the old crawler, and using the robotic arm to gradually peel off the old crawler from the walking mechanism.

[0027] After the old crawler is completely released, the robotic arm quickly picks up the new crawler and accurately places it on the walking mechanism. Through the positioning device, the new crawler is perfectly aligned with the gears and rollers of the walking mechanism, and then the automatic tightening device firmly fixes the new crawler on the walking mechanism.

[0028] After the installation is completed, the control system starts the adjustment program to adjust the tension of the new track by the motor to make it reach the best state suitable for walking on sand. Subsequently, the wheel-legged robot conducts a simple walking test and walks a certain distance on the sand. During the test, the sensor monitors the running condition of the track in real time to ensure its firm installation and stable walking. Finally, the wheel-legged robot successfully continues to perform the detection task on the sand.

[0029] Embodiment 2: A method for quickly replacing the track for a wheel-legged robot landing on sand or mud, application in a sediment environment: A wheel-legged robot is sent to a muddy construction site for monitoring work. When the wheel-legged robot steps into the mud, the sensor detects that the ground humidity is extremely high and very muddy, and the walking resistance increases significantly. The control system judges that the track needs to be replaced based on this data.

[0030] After the quick automatic track replacement program is started, the new track is quickly taken out from the storage device. At the same time, the actuator quickly releases the old track and separates it from the walking mechanism. The robotic arm installs the new track on the walking mechanism and ensures that the track is correctly aligned with each component. After the new track is firmly installed, the adjustment device adjusts the tension of the track according to the characteristics of the mud to provide sufficient traction in the mud.

[0031] After adjustment and testing, the wheel-legged robot walks in the mud. Its track can effectively prevent it from sinking into the mud and provides stable power output. The wheel-legged robot successfully completes the monitoring task of the construction site and provides important data support for the smooth progress of the project.

[0032] Embodiment 3: A method for quickly replacing the track for a wheel-legged robot landing on sand or mud, application in an emergency: During a sudden natural disaster rescue operation, the wheel-legged robot needs to quickly cross sand and mud to reach the disaster area. During the journey, the wheel-legged robot encounters different terrain changes. When entering the junction of sand and mud, the sensor detects the environmental change, and the control system immediately decides to replace the track to adapt to the new terrain.

[0033] In an emergency, the quick automatic track replacement method plays a key role. The wheel-legged robot completes the track replacement in an extremely short time, switches from the wheeled walking mode to the tracked walking mode. The new track is firmly installed and adjusted quickly, enabling the wheel-legged robot to move forward quickly in complex terrains and saving precious time for the rescue operation.

[0034] After the wheel-legged robot successfully crosses the sand and mud, it arrives at the disaster area smoothly and starts the rescue work. Its efficient track replacement method provides reliable technical support for the smooth progress of the rescue operation.

[0035] Embodiment 4. A method for quickly replacing the crawler of a wheel-legged robot for landing on sandy or muddy ground, comprising the following steps: I. Environmental detection and judgment: During the operation of the wheel-legged robot, various sensors such as pressure sensors and humidity sensors installed at the bottom are used to continuously monitor the ground conditions in real time. When the robot enters special terrains such as sandy or muddy ground, the data collected by the sensors is transmitted to the control system. The control system analyzes the received data, detects the environmental parameters through the sensors, and judges whether parameters such as the softness and humidity of the ground reach the standard for replacing the crawler. If the detection result shows that the crawler needs to be replaced, the robot automatically starts the quick automatic crawler replacement program.

[0036] II. Prepare a new crawler: There is a special crawler storage bin inside the robot. The storage bin contains pre-prepared crawlers suitable for use on sandy or muddy ground. When the control system issues an instruction to replace the crawler, the mechanical device in the storage bin starts to act, pushing the new crawler out to a designated position for installation.

[0037] Release the old crawler: The robot first stops its current movement to ensure a stable state. At the same time, the control system starts the release program of the old crawler. By controlling the motor or hydraulic device, the bolts or buckles fixing the old crawler are loosened, and the old crawler is gradually peeled off from the walking mechanism using a robotic arm or other actuators to ensure that the old crawler is completely detached from the robot body.

[0038] Install the new crawler: The robotic arm or a special installation device picks up the new crawler and accurately places it on the walking mechanism of the robot. The positioning device is used to ensure that the new crawler is correctly aligned with components such as gears and rollers of the walking mechanism. At the same time, an automatic tightening device is used to fix the new crawler on the walking mechanism to ensure that the crawler is firmly installed.

[0039] V. Adjustment and testing: After the installation is completed, the control system starts the adjustment program. By adjusting the motor or hydraulic device, the tension of the new crawler is adjusted to its optimal working state. Sensors are used to detect the installation condition of the new crawler, including the alignment and uniformity of the tension of the crawler. Finally, a simple walking test is carried out. Let the robot walk a certain distance in a safe environment, observe the running condition of the new crawler, ensure its stability and reliability. If any problems are found, adjust them in time until the crawler works properly.

[0040] The specific steps are as follows: The staff places the wheel-legged robot at the location to be detected, including the wheel-legs of the wheel-legged robot and the attachments outside the wheel-legs, such as tracks and chains, which have protrusions on the surface to increase friction. The attachments are in a strip structure and can wrap around the wheel-legs on their surface, so that it can prevent slipping on sandy or muddy ground. The attachments are divided into head and tail, and the head is equipped with a buckle groove. The wheel-legs of the wheel-legged robot are equipped with latches, which are retracted under normal circumstances. When docking with the attachments, the latches pop out. The wheel-legged robot aligns the latches of the wheel-legs with the buckle grooves. After insertion, as long as a single wheel moves forward, all the attachments can be wrapped around. When the wheel-legged robot crosses sandy or muddy ground and enters a flat ground, then design a structure that can push out the head of the attachment, and the wheels move in the reverse direction to peel off the external attachments from the surface of the wheel-legs. The attachments are for single-use only and are discarded after unloading. At this time, during the operation of the wheel-legged robot, various sensors such as pressure sensors and humidity sensors installed at the bottom are used to monitor the ground conditions in real time. When the wheel-legged robot enters special terrains such as sandy or muddy ground, the sensors transmit the collected data to the control system. The control system analyzes the received data, detects the environmental parameters through the sensors, and judges whether parameters such as the softness and humidity of the ground reach the standard for replacing the tracks. If the detection result shows that the tracks need to be replaced, the wheel-legged robot automatically starts the fast and automatic track replacement program. At this time, there is a special track storage bin inside the wheel-legged robot, and pre-prepared tracks suitable for sandy or muddy ground are placed in the storage bin. When the control system issues an instruction to replace the tracks, the mechanical device in the storage bin starts to act, pushing out the new tracks to the designated position for installation. At this time, the wheel-legged robot first stops its current movement to ensure a stable state. At the same time, the control system starts the release program of the old tracks, loosening the bolts or buckles fixing the old tracks by controlling the motor or hydraulic device, and using the robotic arm or other actuating mechanisms to gradually peel off the old tracks from the walking mechanism to ensure that the old tracks are completely separated from the main body of the wheel-legged robot. Then the robotic arm or a special installation device picks up the new tracks and accurately places them on the walking mechanism of the wheel-legged robot, and uses the positioning device to ensure that the new tracks are correctly aligned with components such as gears and rollers of the walking mechanism. At the same time, an automatic tightening device is used to fix the new tracks on the walking mechanism to ensure that the tracks are firmly installed. After the installation is completed, the control system starts the adjustment program, adjusting the tension of the new tracks by controlling the motor or hydraulic device to make it reach the best working state, and using sensors to detect the installation situation of the new tracks, including whether the alignment and tension of the tracks are uniform, etc. Finally, a simple walking test is carried out, allowing the wheel-legged robot to walk a certain distance in a safe environment to observe the running situation of the new tracks to ensure its stability and reliability. If any problems are found, adjustments are made in a timely manner until the tracks work properly. Finally, the staff takes the wheel-legged robot back, extracts and records the data from the sensors, and then places this wheel-legged robot in different environments according to the above process for continued detection.

[0041] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The object of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Without departing from the said principles, the embodiments of the present invention can have any deformation or modification. Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. This specific embodiment is only an interpretation of the present application and does not limit the present application. Those skilled in the art can make modifications without creative contributions to this embodiment according to needs after reading this specification, but as long as it is within the scope of the claims of the present application, it is protected by the patent law.

Claims

1. A method for quickly replacing crawler tracks for landing wheeled robots on sandy or muddy grounds, characterized in that: The following steps are involved: Step 1, environmental detection and judgment: During the operation of the wheeled robot, the ground condition is monitored in real time through various sensors such as pressure sensors and humidity sensors installed at the bottom. When the robot enters special terrain such as sand or mud, the sensor transmits the collected data to the control system, which analyzes the received data and detects environmental parameters through sensors to determine whether the softness and humidity of the ground meet the standards for track replacement. If the test results show that the track needs to be replaced, the robot automatically starts the track quick automatic replacement program; Step 2: Prepare new tracks: There is a special track storage compartment inside the robot, which contains pre-prepared tracks suitable for sand or mud. When the control system issues a command to replace the track, the mechanical device in the storage compartment starts to move and pushes the new track to the specified position for installation; Step 3, releasing the old track: The robot first stops the current movement to ensure that it is in a stable state. At the same time, the control system starts the release procedure of the old track, loosens the bolts or buckles that fix the old track by controlling the motor or hydraulic device, and uses the mechanical arm or other actuator to gradually peel off the old track from the walking mechanism to ensure that the old track is completely separated from the robot body; Step 4: Install the new track: The robot arm or a special installation device picks up the new track and places it accurately on the robot's walking mechanism. The positioning device ensures that the new track is correctly aligned with the gears, rollers and other components of the walking mechanism. At the same time, the automatic tightening device is used to fix the new track on the walking mechanism to ensure that the track is firmly installed. Step 5, adjustment and testing: After the installation is completed, the control system starts the adjustment program, adjusts the tension of the new track by adjusting the motor or hydraulic device to achieve the best working state, and uses sensors to detect the installation of the new track, including the alignment of the track, whether the tension is uniform, etc. Finally, a simple walking test is performed to let the robot walk a distance in a safe environment, observe the operation of the new track, and ensure its stability and reliability. If any problems are found, make adjustments in time until the track works normally.

2. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The detection of the robot's environment is achieved through sensors installed on the robot. The sensors include pressure sensors, humidity sensors, etc., which are used to detect parameters such as ground hardness and humidity.

3. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 2, characterized in that: The pressure sensor detects that the pressure distribution of the robot on the ground is abnormal. When the humidity sensor detects that the ground humidity exceeds a certain threshold, the control system determines that the track needs to be replaced. The environmental parameters include ground hardness and humidity, etc.

4. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The starting of the automatic replacement program is automatically triggered by the control system of the robot according to the environmental detection result, and the release of the old crawler track is achieved by loosening the fixing bolts and unlocking the connecting device through the actuator inside the robot.

5. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The preparing of the new track is to take out a pre-stored new track suitable for use on sand or mud from a storage device inside the robot, and the installing of the new track is to install the new track on the walking mechanism of the robot through the robot's mechanical arm or other actuators, and ensure that the tension of the track is appropriate.

6. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The adjustment and testing of the new track includes adjusting parameters such as the tension and alignment of the track, and performing a simple walking test to check whether the track is firmly installed and whether the walking is smooth. The control system module is used to receive sensor data and control the entire replacement process.

7. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The actuator module is used for releasing the old crawler and installing the new crawler, the storage device module is used for storing the new crawler, and the mechanical arm module is used for assisting the installation of the new crawler.

8. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The wheel feet of the robot and the attachments outside the wheel feet include tracks, chains and other surfaces with protrusions, which are used to increase friction. The attachments are strip-shaped structures that can wrap around the wheel feet on their surface to prevent slipping on sand or mud.

9. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 8, characterized in that: The attachment is divided into a head and a tail, the head is provided with a buckle groove, and the wheel foot of the robot is provided with a lock buckle, which is normally retracted and pops out when the attachment is to be docked. The robot aligns the lock buckle of the wheel foot with the buckle groove, and after buckling, all the attachments can be wrapped as long as a single wheel moves forward.

10. A method for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 8, characterized in that: After the robot climbs over the sand or mud and enters the flat ground, the head of the attachment is pushed out, and the wheels move in the opposite direction to peel off the external attachment from the surface of the wheel foot. The attachment is directly used once and discarded after unloading.