Snakelike robot and motion control method thereof

Abstract

The invention discloses a snakelike robot and a motion control method thereof. The motion control method comprises the following steps: acquiring current terrain environment information; preloading a linear motion control strategy and an S-shaped motion control strategy; responding to the current terrain environment information as a smooth platform, and controlling a plurality of minimum execution units of the snakelike robot to execute linear motion control operation according to a linear motion control strategy; in response to the fact that the current terrain environment information is soft land, a plurality of minimum execution units of the snakelike robot are controlled to execute S-shaped motion control operation according to an S-shaped motion control strategy; according to the invention, the influence of topographic characteristics on the motion modes of the robot can be fully considered, a multi-degree-of-freedom driving unit is ingeniously fused, flexible switching and coordinated operation of the motion modes in different topographic environments are realized, and the flexible adaptability of the robot to various complex topographies is remarkably enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a snake-shaped robot and its motion control method. Background Art

[0002] Snakes exhibit excellent environmental adaptability in diverse terrains, using flexible motion patterns to cope with complex natural environments. For example, on smooth platforms or in narrow spaces, they skillfully utilize the tiny contact points between their scales and the ground, and through the precise coordination of muscles - sequential contraction and relaxation, they achieve stable and smooth straight-line movement; on soft soil and sand, snakes tend to adopt a lateral undulating movement pattern, with their bodies presenting continuous S-shaped rhythms, relying on the friction with the ground as the driving force, which is both common and efficient, perfectly adapting to such terrains.

[0003] However, in existing snake-shaped robot design solutions, there are certain limitations. Some designs are only limited to a single motion pattern, which undoubtedly restricts their wide application and optimization potential in different terrains; while some other designs attempt to incorporate multiple motion patterns to enhance adaptability, but this often comes with an increase in structural weight and design complexity, bringing additional challenges to practical applications.

[0004] In summary, the two main problems faced in the current snake-shaped robot field are as follows: (1) The limitation of the motion scenario caused by a single motion pattern makes it difficult for the robot to operate effectively in certain specific environments.

[0005] (2) Although the multi-mode design aims to broaden the application scope, it inevitably increases the structural burden and design complexity. Summary of the Invention

[0006] The purpose of the present invention is to provide a snake-shaped robot and its motion control method, thereby solving all or one of the above problems existing in the prior art.

[0007] To solve the above technical problems, the specific technical solutions of the present invention are as follows: On the one hand, the present invention provides a snake-shaped robot, including: a plurality of minimum execution units connected in series with each other, and each of the minimum execution units is composed of at least three driving units connected in series in sequence; Each of the driving units includes: a driving module supporting telescopic movement and bending movement; Each of the minimum execution units is used to control at least three of the minimum execution units to perform asynchronous or synchronous movement respectively according to the motion control strategy determined by the terrain environment information, so as to achieve straight-line movement actions or S-shaped movement actions.

[0008] As an improved solution, each of the driving units further includes: a scale structure disposed on the outer wall of the driving unit; The scale structure is configured to generate deformation when the driving unit moves, and increase the acting force between the driving unit and the contact surface through the deformation.

[0009] On the other hand, the present invention also provides a motion control method for the snake-shaped robot, characterized in that the motion control method includes the following steps: Obtain the current terrain environment information; Pre-load a linear motion control strategy and an S-shaped motion control strategy; In response to the current terrain environment information being a smooth platform, control several of the minimum execution units of the snake-shaped robot to perform linear motion control operations respectively according to the linear motion control strategy; In response to the current terrain environment information being soft soil, control several of the minimum execution units of the snake-shaped robot to perform S-shaped motion control operations respectively according to the S-shaped motion control strategy.

[0010] As an improved solution, the linear motion control strategy includes: Asynchronously control the telescopic motion of the first driving unit, the second driving unit, and the third driving unit at different arranged positions by the minimum execution unit at different time sequences.

[0011] As an improved solution, the S-shaped motion control strategy includes: Asynchronously control the alternating directional bending motion and contraction motion of the first driving unit, the second driving unit, and the third driving unit at different arranged positions by the minimum execution unit at different time sequences.

[0012] As an improved solution, the linear motion control operation includes: Driving operation one: Control the first driving unit, the second driving unit, and the third driving unit to maintain corresponding first initial states; Driving operation two: Control the third driving unit to extend to a first preset extension length and maintain it; Driving operation three: Control the first driving unit and the second driving unit to synchronously shorten to a first preset shortening length; Driving operation four: Control the second driving unit to maintain the first preset shortening length, and control the first driving unit to extend to a second preset extension length; Driving operation five: Control the second driving unit to maintain the first preset shortening length, control the first driving unit to maintain the second preset elongation length, and control the third driving unit to shorten to the second preset shortening length; Driving operation six: Control the first driving unit to maintain the second preset elongation length, control the third driving unit to maintain the second preset shortening length, and control the second driving unit to elongate to the third preset elongation length.

[0013] As an improved solution, the driving operation one further includes: Control the first driving unit and the second driving unit to both elongate to the maximum driving unit length supported by the driving unit, and control the third driving unit to shorten to the minimum driving unit length supported by the driving unit.

[0014] As an improved solution, the S-shaped motion control operation includes: Driving operation seven: Control the first driving unit, the second driving unit, and the third driving unit to maintain their corresponding second initial states; Driving operation eight: Control the first driving unit and the second driving unit to maintain their corresponding second initial states, and control the third driving unit to bend in the first preset direction and elongate to the first preset bending length; Driving operation nine: Control the first driving unit to maintain its corresponding second initial state, control the third driving unit to return to its corresponding second initial state, and control the second driving unit to bend in the second preset direction and elongate to the second preset bending length; Driving operation ten: Control the third driving unit to maintain its corresponding second initial state, control the second driving unit to return to its corresponding second initial state, and control the first driving unit to bend in the first preset direction and elongate to the third preset bending length.

[0015] As an improved solution, the driving operation seven further includes: Control the first driving unit, the second driving unit, and the third driving unit to all shorten to the third preset shortening length.

[0016] As an improved solution, the first preset bending length, the second preset bending length, and the third preset bending length are the same; The first preset direction is opposite to the second preset direction.

[0017] The beneficial effects of the technical solution of the present invention are: The snake-like robot and its motion control method of the present invention fully consider the influence of terrain characteristics on the robot's motion mode, cleverly integrate multi-degree-of-freedom drive units, and realize flexible switching and coordinated operation of motion modes in different terrain environments; on smooth ground, the robot of the present invention realizes fine simulation of muscle contraction and relaxation by precisely controlling the coordinated actions of each drive unit, ensuring that the robot can still maintain excellent maneuverability and stability on low-friction surfaces; when facing soft sand, the robot presents dynamic S-shaped rhythm through continuous and coordinated fluctuations of multi-degree-of-freedom drive units, thereby enhancing the contact area with the ground, making full use of the friction of the sand, improving the robot's sand travel efficiency, and significantly enhancing the robot's flexible adaptability to various complex terrains, making up for the defects of the prior art, and having high application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a flow chart of the motion control method of the snake-like robot described in Example 1 of the present application; Figure 2 It is a schematic flow chart of a single linear motion action in a motion control method for a snake-like robot described in Example 1 of the present application; Figure 3 It is a schematic flow chart of a single S-shaped motion action in a motion control method for a snake-like robot described in Example 1 of the present application; Figure 4 It is a motion state schematic diagram of a single linear motion action in a motion control method for a snake-like robot described in Example 1 of the present application; Figure 5 It is a motion state schematic diagram of a single S-shaped motion action in a motion control method for a snake-like robot described in Example 1 of the present application; Figure 6 It is a structural schematic diagram of the minimum execution unit of a snake-like robot described in Example 2 of the present application; Figure 7 It is a schematic diagram of the state of a single driving unit of a snake-like robot described in Application Example 2 when a force is applied; Figure 8 Part a is a schematic diagram of the scale structure state of the driving unit in a snake-like robot described in Example 2 of the present application in a non-moving state; Figure 8 Part b is a schematic structural diagram of the snake-like robot described in Embodiment 2 of the present application when the driving unit is in an extended state and the scale structure is in an unfolded state; The reference numerals in the drawings are explained as follows: 10. Scale structure; 20. Driving module; 110. Minimum execution unit; 111. First driving unit; 112. Second driving unit; 113. Third driving unit. Detailed implementation manners

[0020] The following describes in detail the preferred embodiments of the present invention with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0021] In the description of the present invention, it should be noted that the embodiments described are some but not all of the embodiments of the present invention; all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.

[0022] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0023] In the description of the present invention, it should be noted that specific details such as a specific system structure and technology are proposed to thoroughly understand the embodiments of the present application, and these embodiments are for illustration rather than limitation. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0024] In the description of the present invention, it should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0026] The reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, the statements "in some embodiments", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0027] In the description of the present invention, it should be noted that a plurality of drive modules are provided on the snake-shaped robot of the present invention. Each drive module can perform movements such as elongation, contraction, and bending in various directions, and each drive module can be regarded as a multi-degree-of-freedom drive module; specifically, as Figure 1 shown, the drive module in the snake-shaped robot is the minimum execution unit 110. The minimum execution unit 110 includes three drive units connected in series in sequence, and are respectively denoted as the first drive unit 111, the second drive unit 112, and the third drive unit 113 as an example; the first drive unit 111, the second drive unit 112, and the third drive unit 113 can all perform asynchronous control of telescopic movements respectively corresponding at different time sequences based on the linear motion control strategy, and perform alternating asynchronous control of directional bending movements and contraction movements respectively corresponding at different time sequences based on the S-shaped motion control strategy; the number of the minimum execution units 110 in the snake-shaped robot exceeds 1, and the motion principles of the other minimum execution units 110 are the same as those of the above-mentioned minimum execution unit 110.

[0028] Embodiment 1. This embodiment provides a motion control method for a snake-shaped robot. As Figures 1 - 5 shown, it includes the following steps: S100. Obtain the current terrain environment information, specifically including: In this step, an image acquisition device (such as a camera) is set at the head of the snake-shaped robot. The terrain environment information of the current location is collected through the image acquisition device to obtain several current terrain images. Then, the obtained several current terrain images are subjected to image recognition through a pre-trained image recognition model to obtain the current terrain environment information (i.e., a smooth platform, soft soil, etc.).

[0029] S200. In response to the current terrain environment information being a smooth platform, control several of the minimum execution units of the snake-shaped robot to perform linear motion control operations respectively according to the linear motion control strategy, specifically including: In this step, since the current terrain environment information is a smooth platform, at this time, due to the small friction between the snake-shaped robot and the ground, the snake-shaped robot can move in a straight-line motion mode. Therefore, based on the linear motion control strategy, the minimum execution unit is called to asynchronously control the telescopic motion of the drive units at different arranged positions at different time sequences to adapt to the interaction force with the smooth platform and perform several linear motion actions, such as Figure 2 As shown, the control operation of each linear motion action in several linear motion actions is as follows: S201. Control each drive unit in the minimum execution unit to maintain the corresponding first initial state; S202. Control the third drive unit to extend to the first preset extension length; S203. Control the third drive unit to maintain the first preset extension length, and control the first drive unit and the second drive unit to synchronously shorten to the corresponding first preset shortening length; S204. Control the second drive unit to maintain the first preset shortening length and the third drive unit to maintain the first preset extension length, and control the first drive unit to extend to the second preset extension length; S205. Control the first drive unit to maintain the second preset extension length and the second drive unit to maintain the first preset shortening length, and control the third drive unit to shorten to the second preset shortening length; S206. Control the first drive unit to maintain the second preset extension length and the third drive unit to maintain the second preset shortening length, and control the second drive unit to extend to the third preset extension length.

[0030] In this step, when the minimum execution unit performs a linear motion action on the smooth platform, it first enters the initial state of step S201, and then executes the five sub-steps of steps S202 to S206, thereby enabling the snake-shaped robot to move forward a corresponding distance with a linear motion action; the first initial state in step S201 refers to controlling both the first driving unit and the second driving unit to extend to the maximum driving unit length corresponding to the driving unit, and controlling the third driving unit to shorten to the minimum driving unit length corresponding to the driving unit; both the maximum driving unit length and the minimum driving unit length are the limit lengths supported by the architecture of the driving unit itself.

[0031] In this step, the schematic diagram of the specific motion state of the minimum execution unit is as Figure 4 shown, where part a corresponds to the schematic diagram of the state when the minimum execution unit executes step S201, part b corresponds to the schematic diagram of the state when the minimum execution unit executes step S202, part c corresponds to the schematic diagram of the state when the minimum execution unit executes step S203, part d corresponds to the schematic diagram of the state when the minimum execution unit executes step S204, part e corresponds to the schematic diagram of the state when the minimum execution unit executes step S205, and part f corresponds to the schematic diagram of the state when the minimum execution unit executes step S206; more specifically, in practical applications, the specific actions corresponding to the above states are as follows: (1) Initial state: The first driving unit 111 and the second driving unit 112 extend to the maximum length, and the third driving unit 113 shortens to the minimum length, as Figure 4 shown in a; (2) The third driving unit 113 starts to extend, and the first driving unit 111 and the second driving unit 112 remain in their current states to complete the forward movement of the front section, as Figure 4 shown in b; (3) The first driving unit 111 and the second driving unit 112 shorten simultaneously, and the third driving unit 113 remains in its current state to complete the follow-up movement of the rear section, as Figure 4 shown in c; (4) The first driving unit 111 extends, and the second driving unit 112 and the third driving unit 113 remain in their current states to complete the anchoring action of the rear section, as Figure 4 shown in d; (5) The third driving unit 113 shortens, and the first driving unit 111 and the second driving unit 112 remain in their current states to complete the release of the anchoring action of the front section, as Figure 4 shown in e; (6) The second driving unit 112 extends, and the first driving unit 111 and the third driving unit 113 remain in their current states to complete the follow-up movement of the middle section, as Figure 4 shown in f, and then returns to the initial state.

[0032] S300. In response to the current terrain environment information indicating soft soil, control several of the minimum execution units of the snake robot to perform S-shaped motion control operations according to the S-shaped motion control strategy, specifically including: In this step, since the current terrain environment information indicates soft soil (such as sandy soil, etc.), at this time, the friction between the snake robot and the ground is large, and the snake robot can move in an S-shaped motion. Therefore, based on the S-shaped motion control strategy, the minimum execution units are called to alternately and asynchronously control the driving units at different arranged positions to perform directional bending motion and contraction motion at different time sequences, so as to adapt to the interaction force with the soft soil and perform several S-shaped motion actions, such as Figure 3 As shown, the control operations for each S-shaped motion action in several S-shaped motion actions are as follows: S301. Control each driving unit in the minimum execution unit to maintain the corresponding second initial state; S302. Control the first driving unit and the second driving unit to maintain the corresponding second initial state, and control the third driving unit to bend and extend to the first preset bending length in the first preset direction; S303. Control the first driving unit to maintain the corresponding second initial state, control the third driving unit to return from the state of bending and extending to the first preset bending length to the corresponding second initial state, and control the second driving unit to bend and extend to the second preset bending length in the second preset direction; S304. Control the third driving unit to maintain the corresponding second initial state, control the second driving unit to return from the state of bending and extending to the second preset bending length to the corresponding second initial state, and control the first driving unit to bend and extend to the third preset bending length in the first preset direction.

[0033] In this step, when the minimum execution unit performs an S-shaped motion action on a smooth platform, it first enters the initial state of step S301, and then executes the three sub-steps of steps S302 to S304, thereby enabling the snake robot to move forward a corresponding distance with an S-shaped motion action; the second initial state in step S301 means that the first driving unit, the second driving unit, and the third driving unit are all shortened to the third preset shortening length corresponding to the driving unit, and the first preset bending length, the second preset bending length, and the third preset bending length are equal, and the first preset direction and the second preset direction are opposite to each other; the above preset direction or length is predefined or loaded in the initialization process or the initial configuration step before the execution of this method.

[0034] In this step, the schematic diagram of the specific motion state of the minimum execution unit is as Figure 5As shown, part a corresponds to the schematic diagram of the state when the minimum execution unit executes step S301, part b corresponds to the schematic diagram of the state when the minimum execution unit executes step S302, part c corresponds to the schematic diagram of the state when the minimum execution unit executes step S303, and part d corresponds to the schematic diagram of the state when the minimum execution unit executes step S304; more specifically, in practical applications, the specific actions corresponding to the above states are as follows: (1) Initial state: The first driving unit 111, the second driving unit 112, and the third driving unit 113 are shortened to the minimum length, as Figure 5 shown in a; (2) The third driving unit 113 bends to the left, that is, the third driving unit 113 starts to bend, generating a fluctuating front end; the first driving unit 111 and the second driving unit 112 maintain their current states and wait for the transmission of the fluctuation, as Figure 5 shown in b; (3) The second driving unit 112 bends to the right, that is, the second driving unit 112 starts to bend after receiving the fluctuation from the third driving unit 113, and the third driving unit 113 gradually returns to the initial state; the first driving unit 111 remains in a straight state as a support, as Figure 5 shown in c; (4) The first driving unit 111 bends to the left, that is, the first driving unit 111 enters the bending state, the second driving unit 112 gradually recovers, and the third driving unit 113 completely returns to the initial state, as Figure 5 shown in d, forming a continuous wave propulsion as a whole.

[0035] In addition, it should be noted that for the S-shaped movement, it is necessary to keep the bending angles of all minimum execution units equal each time to ensure the continuity of the waveform; furthermore, a fixed time interval is maintained between the minimum execution units to ensure a consistent fluctuation rhythm; finally, through the alternating control of the positive and negative bending of each minimum execution unit, a continuous "positive-negative-positive" form is formed in space, and at the same time, based on the design of the bottom friction coefficient of the snake robot, it is ensured that the sliding resistance in the forward direction during the fluctuation is small, and the resistance in the rebound direction is large.

[0036] In summary, the snake robot motion control method proposed in this application is designed specifically to adapt to diverse terrain environments. Through precise timing regulation, this method drives each module to work in coordination, thereby providing a flexible and immediate motion control solution that supports intelligent recognition and automatic adaptation to different terrain conditions, seamlessly switching motion modes, ensuring smooth straight-line movement on a smooth platform, and simultaneously flexibly executing an S-shaped trajectory movement on soft soil. Additionally, combined with the passive adjustment mechanism for the interaction force between the scales of the snake robot and the ground in the following embodiments, the continuity and stability of the robot in complex environments are greatly enhanced, ensuring unobstructed movement during its motion process and achieving excellent motion performance of the snake robot in a changing environment.

[0037] Embodiment 2. Based on the same inventive concept as the motion control method of a snake robot described in Embodiment 1, this embodiment provides a snake robot, as Figures 6 - 8 shown, including: A plurality of serially connected minimum execution units 110, where each minimum execution unit 110 includes at least three serially connected drive units, and each drive unit includes a drive module 20 capable of telescopic and bending movements and a scale structure 10 provided on the outer wall of the drive module 20. The scale structure 10 is used to generate scale deformation when the drive module 20 telescopes. The specific deformation refers to that when a force in the length direction of the drive module is received, the horizontal scale structure changes to an inclined or vertical state and contacts its lower contact surface, thereby enhancing the friction during the movement of the robot. Specifically, in combination with Figure 7 and Figure 8 (which includes Figure 8 a- Figure 8 d four schematic diagrams), in a drive unit, if the drive module 20 contracts and the scale structure 10 also contracts (such as Figure 8 a), if the drive module 20 extends and the scale structure 10 opens (such as Figure 8 b), if the drive module 20 bends, the inner scale structure 10 of the scale structure 10 contracts and the outer scale structure 10 opens (such as Figure 8 c and Figure 8 d).

[0038] It should be noted that since the motion control method in Embodiment 1 is the key innovation of this application, the specific scheme of the scale structure will not be elaborated here in this embodiment. A scale structure scheme that can support the expansion and contact with the ground during the telescopic movement of the snake robot can be adopted.

[0039] Specifically, the snake robot further includes a unit for executing the motion control method of the snake robot described in any of the above embodiments.

[0040] It should be noted that the above examples are only for explaining the present invention and should not be used to limit the protection scope of the present invention accordingly.

[0041] Different from the prior art, by adopting the motion control method of a snake-like robot and the snake-like robot of the present application, the influence of terrain characteristics on the robot's motion mode can be fully considered, and drive units with multiple degrees of freedom are skillfully integrated to achieve flexible switching and coordinated operation of the motion mode under different terrain environments, significantly enhancing the robot's flexible adaptability to various complex terrains.

[0042] It should also be understood that in the embodiments herein, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0043] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this article.

[0044] In the several embodiments provided herein, it should be understood that the disclosed systems and devices can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices or units, and can also be electrical, mechanical or other forms of connection.

[0045] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments herein.

[0046] The above are only embodiments of the present invention, and thus do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall similarly be included within the patent protection scope of the present invention.

Claims

1. A snake-shaped robot, characterized in that, Including: A number of interconnected minimum execution units, each of the minimum execution units being composed of at least three sequentially connected driving units; Each of the driving units includes: a driving module that supports telescopic movement and bending movement; Each of the minimum execution units is configured to control at least three of the minimum execution units to perform asynchronous or synchronous movement respectively according to a movement control strategy determined by terrain environment information, so as to achieve a linear movement action or an S-shaped movement action.

2. The snake-shaped robot according to claim 1, characterized in that: Each of the driving units further includes: a scale structure provided on the outer wall of the driving unit; The scale structure is configured to generate deformation when the driving unit moves, and increase the acting force between the driving unit and the contact surface through the deformation.

3. A motion control method for use in a snake-like robot as described in any one of claims 1 or 2, characterized in that, The movement control method includes the following steps: Initial configuration step: Obtain current terrain environment information; pre-load a linear movement control strategy and an S-shaped movement control strategy; Response control step: In response to the current terrain environment information being a smooth platform, control a number of the minimum execution units of the snake-shaped robot to perform linear movement control operations respectively according to the linear movement control strategy; In response to the current terrain environment information being soft soil, control a number of the minimum execution units of the snake-shaped robot to perform S-shaped movement control operations respectively according to the S-shaped movement control strategy.

4. The movement control method according to claim 3, characterized in that: The linear movement control strategy includes: Asynchronous control of the telescopic movement of the first driving unit, the second driving unit, and the third driving unit at different arranged positions by the minimum execution unit at different time sequences.

5. The movement control method according to claim 3, characterized in that: The S-shaped movement control strategy includes: Alternating asynchronous control of the directional bending movement and the contraction movement of the first driving unit, the second driving unit, and the third driving unit at different arranged positions by the minimum execution unit at different time sequences.

6. The movement control method of the snake-shaped robot according to claim 4, characterized in that: The linear movement control operation includes: Driving operation one: Control the first driving unit, the second driving unit, and the third driving unit to maintain corresponding first initial states; Driving operation two: Control the third driving unit to extend to a first preset extension length and maintain it; Driving operation three: Control the first driving unit and the second driving unit to synchronously shorten to a first preset shortening length; Driving operation four: Control the second driving unit to maintain the first preset shortening length, and control the first driving unit to extend to a second preset extension length; Driving operation five: Control the second driving unit to maintain the first preset shortening length, control the first driving unit to maintain the second preset extension length, and control the third driving unit to shorten to a second preset shortening length; Driving operation six: Control the first driving unit to maintain the second preset elongation length, control the third driving unit to maintain the second preset shortening length, and control the second driving unit to elongate to the third preset elongation length.

7. The motion control method of the snake-shaped robot according to claim 6, characterized in that: The driving operation one further includes: Control the first driving unit and the second driving unit to both elongate to the maximum driving unit length supported by the driving unit, and control the third driving unit to shorten to the minimum driving unit length supported by the driving unit.

8. The motion control method of the snake-shaped robot according to claim 5, characterized in that: The S-shaped motion control operation includes: Driving operation seven: Control the first driving unit, the second driving unit, and the third driving unit to maintain the corresponding second initial states; Driving operation eight: Control the first driving unit and the second driving unit to maintain the corresponding second initial states, and control the third driving unit to bend in the first preset direction and elongate to the first preset bending length; Driving operation nine: Control the first driving unit to maintain the corresponding second initial state, control the third driving unit to return to the corresponding second initial state, and control the second driving unit to bend in the second preset direction and elongate to the second preset bending length; Driving operation ten: Control the third driving unit to maintain the corresponding second initial state, control the second driving unit to return to the corresponding second initial state, and control the first driving unit to bend in the first preset direction and elongate to the third preset bending length.

9. The motion control method of the snake-shaped robot according to claim 8, characterized in that: The driving operation seven further includes: Control the first driving unit, the second driving unit, and the third driving unit to all shorten to the third preset shortening length.

10. The motion control method of the snake-shaped robot according to claim 8, characterized in that: The first preset bending length, the second preset bending length, and the third preset bending length are the same; the first preset direction is opposite to the second preset direction.

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