A column-climbing unmanned autonomous small-sized hexapod robot and a column-climbing method

Abstract

This invention relates to the field of fully autonomous robots, specifically to a small, unmanned, autonomous six-legged robot capable of climbing trees and a method for doing so. The small, unmanned, autonomous six-legged robot capable of climbing trees includes a body; the body is equipped with six robotic legs, arranged in pairs and mounted at the front, middle, and rear ends of the body; each pair of robotic legs has at least four movement postures: clinging to the tree, releasing, moving forward, and moving backward, and each robotic leg can move independently; the body contains a central control system capable of receiving wireless signals for remote control and / or autonomous control of the movement of the six robotic legs. Compared with existing technologies, the six-legged robot of this invention exhibits higher stability in its special tree-climbing gait, and its specially fitted foot claws provide a more stable fixation to the tree. Simulations of the selected materials and structural stress show that the foot claw structure can support the six-legged robot's ability to stay and move on the tree.

Description

Technical Field

[0001] This invention relates to the field of fully autonomous robots, specifically to a column-climbing unmanned autonomous small hexapod robot and a column-climbing method. Background Technology

[0002] Existing robots used for information gathering generally fall into two categories: the first is land-based wheeled, tracked, and multi-legged robots, and the second is aerial multi-rotor drones. However, in specific environments, such as jungle terrain, both types of robots are affected to varying degrees. The first type of robot faces extremely dense vegetation, which limits its mobility and severely restricts the effectiveness of its information-gathering tools, such as radar and depth cameras. Similarly, the second type of drone, when obstructed by dense trees, suffers significant impacts on its movement and information gathering capabilities. Summary of the Invention

[0003] To address the aforementioned technical problems of existing information-collecting robots, this invention provides a small, autonomous, six-legged robot capable of climbing pillars.

[0004] This invention is achieved using the following technical solution: a small, autonomous, column-climbing six-legged robot, comprising a body; six robotic legs are mounted on the body, the six robotic legs being paired and respectively mounted at the front, middle, and rear ends of the body; each pair of robotic legs has at least four movement postures: a column-hugging posture, a release posture, a forward posture, and a backward posture, and each robotic leg can move independently; the body is equipped with a central control system capable of receiving wireless signals for remote control and / or autonomous control of the movement of the six robotic legs.

[0005] The hexapod robot of this invention can flexibly achieve column climbing by using at least four movement postures of its paired robotic legs: a column-hugging posture, a release posture, a forward posture, and a backward posture, combined with the independent movement of each robotic leg. This enables the robot to perform climbing operations, observation, and surveying in jungle environments.

[0006] Furthermore, each robotic leg includes a first dual-axis servo motor connected to the body with its dual-head rotating shafts oriented vertically. The dual-head rotating shafts of the first dual-axis servo motor are connected to a bidirectional vertical servo motor connector. The bidirectional vertical servo motor connector includes a vertical connecting plate and a horizontal connecting plate connected to the vertical connecting plate. The vertical connecting plate is U-shaped with its two sides connected vertically, and the horizontal connecting plate is U-shaped with its two sides connected horizontally. The bottom edge of the horizontal connecting plate is connected to the bottom edge of the vertical connecting plate. Both sides of the vertical connecting plate are fixedly connected to the dual-head rotating shafts of the first dual-axis servo motor. The two sides of the horizontal connecting plate are connected to… There is a second dual-axis servo. The dual-head rotating shaft of the second dual-axis servo is fixedly connected to both sides of the horizontal connecting plate. A fixed servo connector is fixedly installed on the body of the second dual-axis servo. The end of the fixed servo connector is fixedly connected to the body of the second dual-axis servo, and the front end is fixedly connected to a third dual-axis servo with a horizontal dual-head rotating shaft. The dual-head rotating shaft of the third dual-axis servo is connected to a square foot support through a single-sided movable servo connector. The end of the single-sided movable servo connector is fixedly connected to the dual-head rotating shaft of the third dual-axis servo, and the front end of the single-sided movable servo connector is fixedly connected to the top of the square foot support.

[0007] Furthermore, a foot mounting hook is installed on both the left and right sides of the rear end face of the square foot support; the foot mounting hook has an angle iron-like structure, and multiple conical protrusions or rubber pads are arranged on both sides of the angle iron from top to bottom; a semi-circular rubber bottom foot is installed at the bottom of the square foot support.

[0008] Furthermore, the non-movable servo connector has an obtuse angle bend at the front and rear ends, and the whole structure is a cover structure with one side open; the single-sided movable servo connector has a U-shaped cross section, with a base plate connected to the bottom and connected to the top of the foot support through the base plate.

[0009] Furthermore, the central control system includes a Jetson nano B01 and a ROS expansion board and a USB hub board that communicate with the Jetson nano B01 respectively;

[0010] A laser rotating radar and a binocular depth camera are installed on the outside of the machine body. The signal output terminals of the laser rotating radar and the binocular depth camera are connected to a USB hub board. The ROS expansion board is electrically connected to each dual-axis servo to control the movement of the dual-axis servo.

[0011] Furthermore, the lower part of the fuselage has a rectangular structure, and the upper part of the fuselage has a stepped transition structure from top to bottom. The laser rotating radar is installed on the top of the fuselage, and the binocular depth camera is installed on the steps with the camera facing forward.

[0012] Furthermore, the first dual-axis servos of the pair of robotic legs located at the front end of the fuselage are respectively mounted at the two apex corners of the front end of the rectangular structure via mounting components; the first dual-axis servos of the pair of robotic legs located in the middle of the fuselage are mounted at the middle section of the long side of the rectangular structure via mounting components; and the first dual-axis servos of the pair of robotic legs located at the rear end of the fuselage are mounted at the two apex corners of the rear end of the rectangular structure via mounting components.

[0013] A method for a column-climbing unmanned autonomous small hexapod robot is provided, wherein the two robotic legs at the front of the robot body are numbered as the first robotic leg and the second robotic leg, the two robotic legs in the middle of the robot body are numbered as the third robotic leg and the fourth robotic leg, and the two robotic legs at the rear of the robot body are numbered as the fifth robotic leg and the sixth robotic leg, and the odd-numbered robotic legs are located on the same side, and the even-numbered robotic legs are located on the same side.

[0014] The column climbing method is as follows:

[0015] The first step involves raising the first and second robotic legs forward and using the hooks attached to the feet to hook onto the column. At the same time, the third and fourth robotic legs move forward in parallel, while the fifth and sixth robotic legs move backward in parallel, shifting the center of gravity of the machine backward and ensuring its stability.

[0016] The second step involves raising the third and fourth robotic legs and lowering the fifth and sixth robotic legs, so that the chassis of the machine body forms a certain angle with the ground, while the first and second robotic legs move upwards alternately a certain distance.

[0017] The third step involves increasing the angle between the machine body and the ground, while the third and fourth robotic legs leave the ground and attach hooks to the feet to hook onto column 18. The first and second robotic legs then move upwards alternately for a certain distance.

[0018] In the fourth step, the machine body continues to increase the angle with the ground, while the first, second, third, and fourth robotic legs, forming two sets of legs, alternately climb the column, and the feet are equipped with hooks to hook onto the column 18; and the fifth and sixth robotic legs move forward alternately; the first to sixth robotic legs continue to climb the column alternately in this manner.

[0019] Fifth step, continue with the fourth step until the machine body forms a large angle with the ground; then the fifth and sixth machine legs use the hooks attached to their feet to hook onto column 18 and complete the column mounting action.

[0020] The sixth step is to adjust the positions of the first to sixth robotic legs in order to perform the crawling action on the column. Then, the first, fourth, and fifth robotic legs and the second, third, and sixth robotic legs are divided into two groups and crawled alternately.

[0021] This invention enables jungle mapping and monitoring, improving the ability to collect information about the jungle environment. Furthermore, the invention incorporates grooves and hooks in the legs of the six-legged robot, along with a special gait to enable it to climb pillars.

[0022] The technical solution provided by this invention has the following technical advantages compared with the prior art: Compared with the prior art, the hexapod robot of this invention has higher stability in its special tree-climbing gait, and its specially assembled foot claws can be more firmly fixed to the tree. Simulation of the structural stress on the selected materials shows that the foot claw structure can support the hexapod robot to stay and move on the tree. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of a column-climbing, unmanned, autonomous, small hexapod robot according to a certain embodiment of the present invention;

[0026] Figure 2 This is an exploded structural diagram of a column-climbing, unmanned, autonomous, small hexapod robot according to a certain embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the front view of the robotic leg in a certain embodiment of the present invention;

[0028] Figure 4 This is a three-dimensional structural diagram of the robotic leg described in a certain embodiment of the present invention;

[0029] Figure 5 This is an exploded structural diagram of the robotic leg described in a certain embodiment of the present invention;

[0030] Figure 6 This is a three-dimensional structural diagram of the foot-mounted hook claw described in a certain embodiment of the present invention;

[0031] Figure 7 This is a side view of the foot assembly hook structure in a certain embodiment of the present invention;

[0032] Figure 8 This is a top view of the structure of a column-climbing unmanned autonomous small hexapod robot before it performs a column-climbing action, according to a certain embodiment of the present invention.

[0033] Figure 9 This is a front view structural diagram of the first step of a column-climbing unmanned autonomous small hexapod robot according to a certain embodiment of the present invention;

[0034] Figure 10 This is a top view of the first step of a column-climbing unmanned autonomous small hexapod robot according to a certain embodiment of the present invention.

[0035] Figure 11 This is a schematic diagram of the main view structure of the second step of the column-climbing unmanned autonomous small hexapod robot described in a certain embodiment of the present invention;

[0036] Figure 12 This is a schematic diagram of the main view structure of the second step of the column-climbing unmanned autonomous small hexapod robot described in a certain embodiment of the present invention;

[0037] Figure 13 This is a top view of the third step of the column-climbing unmanned autonomous small hexapod robot described in a certain embodiment of the present invention.

[0038] Figure 14 This is a schematic diagram of the main view structure of the fourth step of the column-climbing unmanned autonomous small hexapod robot described in a certain embodiment of the present invention;

[0039] Figure 15 This is one of the main view structural schematic diagrams of the fifth step of the column-climbing unmanned autonomous small hexapod robot described in a certain embodiment of the present invention;

[0040] Figure 16 This is the second front view structural schematic diagram of the fifth step of the column-climbing unmanned autonomous small hexapod robot described in a certain embodiment of the present invention;

[0041] Figure 17 This is a schematic diagram of the main view structure of the sixth step of the column-climbing unmanned autonomous small hexapod robot described in a certain embodiment of the present invention;

[0042] Figure 18 This is a side view of the sixth step of the column-climbing unmanned autonomous small hexapod robot described in a certain embodiment of the present invention.

[0043] Figure 19 This is one of the simulated force diagrams of the claws assembled on the feet of a column-climbing unmanned autonomous small hexapod robot according to a certain embodiment of the present invention;

[0044] Figure 20 This is the second schematic diagram simulating the force applied to the feet of a column-climbing, unmanned, autonomous, small hexapod robot according to a certain embodiment of the present invention.

[0045] In the diagram: 1-Main control module, 2-Upper top plate, 3-LiDAR rotating radar, 4-Dual-lens depth camera, 5-Robot leg, 51-First robot leg, 52-Second robot leg, 53-Third robot leg, 54-Fourth robot leg, 55-Fifth robot leg, 56-Sixth robot leg, 6-Upper base plate, 7-Lower base plate, 81-First dual-axis Hall encoder servo, 82-Second dual-axis Hall encoder servo, 83-Third dual-axis Hall encoder servo, 9-Bidirectional vertical servo connector, 10-Immovable servo connector, 11-Single-sided movable servo connector, 12-Square foot support, 13-Semi-circular rubber bottom foot, 14-Foot mounting claw, 15-ROS expansion board, 16-USB hub board, 17-Jetson nano B01, 18-Column. Detailed Implementation

[0046] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0047] In this description, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. It should also be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0048] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0049] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0050] In one embodiment, such as Figure 1 , 2As shown, a column-climbing, unmanned, autonomous, small hexapod robot includes a body; the body is equipped with six robotic legs 5, which are arranged in pairs and installed at the front, middle, and rear ends of the body respectively; each pair of robotic legs 5 has at least four movement postures: a column-hugging posture, a release posture, a forward posture, and a backward posture, and each robotic leg 5 can move independently; the body is equipped with a central control system 1 that can receive wireless signals for remote control and / or autonomous control of the movement of the six robotic legs 5.

[0051] The central control system 1 includes a Jetson Nano B0117 and a ROS expansion board 15 and a USB hub board 16 that communicate with the Jetson Nano B0117. A laser rotating radar 3 and a binocular depth camera 4 are mounted on the outside of the fuselage. The signal output terminals of the laser rotating radar 3 and the binocular depth camera 4 are connected to the USB hub board 16. The ROS expansion board 15 is electrically connected to each dual-axis servo to control the movement of the dual-axis servo. The lower part of the fuselage has a rectangular structure, while the upper part of the fuselage has a stepped transition structure from top to bottom. The laser rotating radar 3 is mounted on the top of the fuselage, and the binocular depth camera 4 is mounted on the steps with the camera facing forward.

[0052] The first dual-axis servos 81 of the pair of robotic legs 5 located at the front of the fuselage are respectively mounted at the two apex corners of the front of the rectangular structure via mounting brackets; the first dual-axis servos 81 of the pair of robotic legs 5 located in the middle of the fuselage are mounted at the middle section of the long side of the rectangular structure via mounting brackets; the first dual-axis servos 81 of the pair of robotic legs 5 located at the rear of the fuselage are mounted at the two apex corners of the rear of the rectangular structure via mounting brackets. The ROS expansion board 15 is sequentially connected to the first, second, and third dual-axis servos on each robotic leg via wiring harnesses.

[0053] like Figure 3-5 As shown, a foot mounting claw 14 is installed on both the left and right sides (corners) of the square foot support 12; the foot mounting claw 14 has an angle iron-like structure, and multiple conical protrusions or rubber pads are arranged on both sides of the angle iron from top to bottom; a semi-circular rubber bottom foot 13 is installed at the bottom of the square foot support 12.

[0054] The non-movable servo connector 10 has an obtuse angle bend at its front and rear ends, and is an overall cover structure with one side opening, covering the outside of the second dual-axis servo; the single-sided movable servo connector 11 has a U-shaped cross section, fits on the outside of the third dual-axis servo, and has a base plate connected to its bottom, which is connected to the top of the foot support 12 through the base plate.

[0055] The key technologies of this invention are: 1. the climbing gait; 2. the attachment of hooks to the feet.

[0056] 1. The specific steps for climbing the pillar are as follows:

[0057] The climbing action is divided into the action of moving from a plane to the column and the action of climbing on the column. To further explain this key technology, the hexapod robot is simplified as follows: Figure 8 .

[0058] The first step involves raising the first and second legs forward and using the hooks attached to the feet to hook onto the column. At the same time, the third and fourth legs move forward in parallel, and the fifth and sixth legs move backward in parallel, shifting the center of gravity of the machine backward and ensuring its stability.

[0059] The second step involves raising the third and fourth legs while lowering the fifth and sixth legs, creating a certain angle between the chassis and the ground. The first and second legs then move upwards alternately for a certain distance.

[0060] Third, the machine continues to increase the angle between itself and the ground, while the third and fourth legs leave the ground and attach claws to the legs to hook onto the column. Meanwhile, the first and second legs alternately move upwards a certain distance.

[0061] In the fourth step, the machine continues to increase the angle between itself and the ground. Simultaneously, the first, second, third, and fourth legs, forming two groups of legs (first, fourth, second, and third), alternately climb the column, with hooks attached to their feet to grip the column. The fifth and sixth legs then move forward alternately. The first through sixth legs continue climbing the column in this alternating manner.

[0062] Fifth, continue with step four until the machine forms a large angle with the ground. Then, the fifth and sixth legs use their foot-mounted grappling hooks to hook onto the column, completing the mounting maneuver.

[0063] The sixth step is to adjust the position of the first to sixth legs in order to perform the crawling action on the column. Then, the first, fourth, and fifth legs are divided into two groups and crawled alternately.

[0064] 2. The feet are equipped with hooks.

[0065] In order to enable a hexapod robot to stay and move on a column, this invention designs a foot-mounted claw that can be screwed onto the legs of a hexapod robot.

[0066] Foot equipped with hooks, such as Figure 6 , 7 As shown, similar to angle iron, it has numerous conical protrusions on both sides, enabling the hexapod robot to stay on pillars. These conical protrusions can penetrate weak pillars, such as trees. Furthermore, to adapt to more pillars, this invention features a modular design, replacing the conical protrusions with rubber pads to handle strong and smooth pillars.

[0067] Connection method:

[0068] The dual-axis servo employs a dual-axis Hall-coded servo: the first dual-axis servo 81 is connected to the bidirectional vertical servo connector 9 via a flange using hex socket head cap screws, while another part of the bidirectional vertical servo connector 9 is similarly connected to the second dual-axis servo 82 using hex socket head cap screws. The immovable servo connector 10 is connected to the lower half of the second dual-axis servo 82 and the third dual-axis servo 83 using appropriately sized hex socket head cap screws, and then the single-sided movable servo connector 11 is connected to the upper half of the third dual-axis servo 83 using hex socket head cap screws. The single-sided movable servo connector 11 and the square foot support 12 have three appropriately sized holes drilled in their bottom and top planes, respectively, and are connected using hex socket head cap screws. The square foot support 12 has a groove machined on each of its two sides, and is welded to the upper protruding section of the foot mounting claw 14. The bottom of the square foot support 12 and the top of the semi-circular rubber bottom foot 13 each have small holes and are connected using hex socket head cap screws.

[0069] The functions of the components are as follows:

[0070] 18 dual-axis Hall-coded servos: provide power to drive other components to perform machine movements.

[0071] Bidirectional vertical servo connector 9: Its special structure makes the axes of the two servos perpendicular, enabling the first and second dual-axis servos to move vertically.

[0072] Non-movable servo connector 10: Connects the lower half of two dual-axis servos respectively, fixing the second and third dual-axis servos on the same plane, so that they can move on the same plane.

[0073] Single-sided movable servo connector 11: It is connected to the movable part of the third dual-axis servo to drive the overall movement of components 11, 12, 13, and 14.

[0074] Square foot support 12: It serves as the connecting carrier for components 13 and 14, and can also lengthen the overall length of the foot to adapt to different environments.

[0075] Semi-circular rubber foot 13: This component increases friction on hard surfaces while protecting the foot's mechanical structure.

[0076] The foot is equipped with a hook 14; this component is the core component, which can hook onto the column under the specific movements of the first, second and third dual-axis servo motors, ensuring the movement of the entire robot on the column.

[0077] according to Figure 20 Therefore, the maximum stress on the part is less than the yield stress that the material can withstand, and its design is reasonable.

[0078] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments, and they should all be covered within the protection scope of the claims.

Claims

1. A small, autonomous, column-climbing hexapod robot, comprising a body; characterized in that: The machine body is equipped with six robotic legs 5, which are arranged in pairs and installed at the front, middle and rear of the machine body respectively. Each pair of robotic legs 5 has at least four movement postures: holding a column, releasing, moving forward and moving backward, and each robotic leg 5 can move independently. The machine body is equipped with a central control system 1 that can receive wireless signals to remotely control and / or autonomously control the movement of the six robotic legs 5.

2. The column-climbing, unmanned, autonomous, small hexapod robot as described in claim 1, characterized in that, Each robotic leg 5 includes a first dual-axis servo motor 81 connected to the body with its dual-head rotating shafts oriented vertically. The dual-head rotating shafts of the first dual-axis servo motor 81 are connected to a bidirectional vertical servo motor connector 9. The bidirectional vertical servo motor connector 9 includes a vertical connecting plate and a horizontal connecting plate connected to the vertical connecting plate. The vertical connecting plate is U-shaped with its two sides connected vertically, and the horizontal connecting plate is U-shaped with its two sides connected horizontally. The bottom edge of the horizontal connecting plate is connected to the bottom edge of the vertical connecting plate. The two sides of the vertical connecting plate are fixedly connected to the dual-head rotating shafts of the first dual-axis servo motor 81. The two sides of the horizontal connecting plate are connected to a second dual-axis servo motor 82. The dual-axis servo 82 has its dual-head rotating shafts fixedly connected to both sides of the horizontal connecting plate. A fixed servo connector 10 is fixedly installed on the body of the second dual-axis servo 82. The end of the fixed servo connector 10 is fixedly connected to the body of the second dual-axis servo 82, and the front end is fixedly connected to a third dual-axis servo 83 with its dual-head rotating shafts horizontal. The dual-head rotating shafts of the third dual-axis servo 83 are connected to a square foot support 12 through a single-sided movable servo connector 11. The end of the single-sided movable servo connector 11 is fixedly connected to the dual-head rotating shafts of the third dual-axis servo 83, and the front end of the single-sided movable servo connector 11 is fixedly connected to the top of the square foot support 12.

3. The column-climbing, unmanned, autonomous, small hexapod robot as described in claim 2, characterized in that, The square foot support 12 is equipped with a foot mounting hook 14 on both the left and right sides; the foot mounting hook 14 has an angle iron-like structure, and multiple conical protrusions or rubber pads are arranged on both sides of the angle iron from top to bottom; a semi-circular rubber bottom foot 13 is installed at the bottom of the square foot support 12.

4. The column-climbing, unmanned, autonomous, small hexapod robot as described in claim 3, characterized in that, The non-movable servo connector 10 has an obtuse angle bend at its front and rear ends, and the whole structure is a cover structure with one side open; the single-sided movable servo connector 11 has a U-shaped cross section, and the bottom is connected to a base plate and is connected to the top of the foot support 12 through the base plate.

5. A column-climbing, unmanned, autonomous, small hexapod robot as described in any one of claims 2-4, characterized in that, The central control system 1 includes a Jetson Nano B0117 and a ROS expansion board 15 and a USB hub board 16 that communicate with the Jetson Nano B0117 respectively; a laser rotating radar 3 and a binocular depth camera 4 are installed on the outside of the machine body. The signal output terminals of the laser rotating radar 3 and the binocular depth camera 4 are connected to the USB hub board 16. The ROS expansion board 15 is electrically connected to each dual-axis servo to control the movement of the dual-axis servo.

6. The column-climbing, unmanned, autonomous, small hexapod robot as described in claim 5, characterized in that, The lower part of the fuselage has a rectangular structure, and the upper part of the fuselage has a stepped transition structure from top to bottom. The laser rotating radar 3 is installed on the top of the fuselage, and the binocular depth camera 4 is installed on the steps with the camera facing forward.

7. A column-climbing, unmanned, autonomous, small hexapod robot as described in claim 6, characterized in that, The first dual-axis servo motors 81 of the pair of robotic legs 5 located at the front end of the fuselage are respectively mounted at the two apex corners of the front end of the rectangular structure via mounting components; the first dual-axis servo motors 81 of the pair of robotic legs 5 located in the middle of the fuselage are mounted at the middle section of the long side of the rectangular structure via mounting components; the first dual-axis servo motors 81 of the pair of robotic legs 5 located at the rear end of the fuselage are mounted at the two apex corners of the rear end of the rectangular structure via mounting components.

8. A method for a column-climbing unmanned autonomous small hexapod robot as described in claim 3, characterized in that, The two robotic legs at the front of the machine are numbered as Robotic Leg 1 (51) and Robotic Leg 2 (52); the two robotic legs in the middle of the machine are numbered as Robotic Leg 3 (53) and Robotic Leg 4 (54); and the two robotic legs at the rear of the machine are numbered as Robotic Leg 5 (55) and Robotic Leg 6 (56). Odd-numbered robotic legs are located on the same side, and even-numbered robotic legs are located on the same side. The column-climbing method is as follows: First, the first and second robotic legs lift forward and use the foot-mounted claws to hook onto column 18. At the same time, the third and fourth robotic legs move forward in parallel, and the fifth and sixth robotic legs move backward in parallel, shifting the center of gravity of the machine to the rear to ensure the stability of the machine. The second step involves raising the third and fourth robotic legs and lowering the fifth and sixth robotic legs, so that the chassis of the machine body forms a certain angle with the ground, while the first and second robotic legs move upwards alternately a certain distance. The third step involves increasing the angle between the machine body and the ground, while the third and fourth robotic legs leave the ground and attach hooks to the feet to hook onto column 18. The first and second robotic legs then move upwards alternately for a certain distance. In the fourth step, the machine body continues to increase the angle with the ground, while the first, second, third, and fourth robotic legs, forming two sets of legs, alternately climb the column, and the feet are equipped with hooks to hook onto the column 18; and the fifth and sixth robotic legs move forward alternately; the first to sixth robotic legs continue to climb the column alternately in this manner. Fifth step, continue with the fourth step until the machine body forms a large angle with the ground; then the fifth and sixth machine legs use the hooks attached to their feet to hook onto column 18 and complete the column mounting action. The sixth step is to adjust the positions of the first to sixth robotic legs in order to perform the crawling action on the column. Then, the first, fourth, and fifth robotic legs and the second, third, and sixth robotic legs are divided into two groups and crawled alternately.

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