Flexible remote control system and method for transformable ruins search robot

Abstract

Disclosed in the present invention are a flexible remote control system and method for a transformable ruins search robot. The transformable ruins search robot is provided with four independently controlled tracked-leg assemblies. The system comprises four driving wheel motors and six rotary joint motors. By means of the combined control of rotary joints of the tracked-leg assemblies, the robot can switch between multiple postures to adapt to complex terrain contours. The present invention provides an innovative solution for flexible control of a transformable ruins search robot. An operator can implement decoupled motion control of the torso center velocity, torso posture, and tracked-leg assembly rotation angles of the transformable ruins search robot by means of an interactive remote control method. The operator controls the motion direction and speed of the transformable ruins search robot by controlling the direction and deflection angle of a three-dimensional joystick, and implements rotational motion of tracked-legs of the transformable ruins search robot by pressing a linear trigger button, allowing for intuitive adjustment of the motion trajectory of the robot, thereby improving the rescue efficiency of the transformable ruins search robot in complex environments.

Description

A flexible remote control system and method for a deformable ruins search robot Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a flexible remote control system and method for a deformable ruins search robot. Background Art

[0002] Ruin environments are complex, and deformable ruin search robots must be able to navigate rough terrain and confined spaces. Robots designed for navigating rough terrain are typically either tracked or legged. Four-tracked, legged robots combine the advantages of both types, offering enhanced traction and obstacle-crossing capabilities while being able to adapt to a variety of complex terrains, including confined spaces, stairs, and steps. Ruin rescue scenarios often present complex situations and challenges, such as harsh environmental conditions and the instability of ruin structures, which can pose life-threatening risks to the operator of a deformable ruin search robot. To ensure the operator can flexibly control the robot from a safe distance, a remote control system suitable for the deformable ruin search robot is essential.

[0003] The four-tracked leg robot has four independently controlled, movable legs: the left front leg, right front leg, left hind leg, and right hind leg. Each leg is connected to a rotatable rubber track. This uniquely designed four-tracked leg robot incorporates 10 independent actuators. The left and right front legs each have two degrees of freedom, while the left and right hind legs each have three degrees of freedom. The difference is that the front ends of the left and right front legs are fixed to the robot's trunk, while the front ends of the left and right hind legs are connected to the trunk via a revolute joint. Each leg of the robot moves independently, which has the advantage of strong adaptability to the environment. By individually controlling the robot's revolute joints and drive wheels, the robot can achieve major movements including forward movement, steering, crawling, standing, tilting, rolling, lifting, and flipping, enabling it to navigate all terrains. However, its disadvantage is that its control is very complex.

[0004] Operators generally use the physical buttons of the remote control device to perform control operations, but physical buttons can only obtain switch values, which is not suitable for situations where four-tracked robots need to flexibly control the rotation angles of the rotation joints. Therefore, it is difficult to achieve flexible control of the robot through general remote control device interaction.

[0005] Summary of the Invention

[0006] The technical problem to be solved by the present invention is that the use of physical buttons of a remote control device for control operations is not suitable for a four-tracked robot that requires flexible control of the rotation angle of the rotary joint.

[0007] In order to solve the above technical problems, the technical solution of the present invention is to provide a flexible remote control system for a deformable ruins search robot, comprising a first controller, a second controller, a first wireless communication module, a second wireless communication module and a motor driver group;

[0008] The first controller, as the controller of the remote control device, reads and processes the switch signals and analog signals input by the user through the first trigger button to the twelfth trigger button and the first joystick to the second joystick to obtain the remote control signal, and sends the remote control signal to the second controller;

[0009] The second controller, serving as the controller of the entire deformable ruins search robot, converts the remote control signal into a control signal in real time and outputs it to the motor driver group to achieve coordinated control of the various motors driven by the motor driver group;

[0010] The first controller and the second controller are connected to each other via the first wireless communication module and the second wireless communication module;

[0011] The motor driver group is connected to the second controller, and the motor driver group includes a left front leg end rotary joint motor driver, a left front drive wheel motor driver, a right front leg end rotary joint motor driver, a right front drive wheel motor driver, a left hind leg front end rotary joint motor driver, a left hind leg end rotary joint motor driver, a left rear drive wheel motor driver, a right hind leg front end rotary joint motor driver, a right hind leg end rotary joint motor driver and a right rear drive wheel motor driver.

[0012] Preferably, the first wireless communication module and the second wireless communication module adopt Bluetooth, Wi-Fi, 4G or LoRa.

[0013] The technical solution of the present invention further provides a flexible remote control method for a deformable ruins search robot, which is applied to a flexible remote control system for a deformable ruins search robot as claimed in claim 1, comprising the following steps:

[0014] Step 1: Initialize the system device, establish a communication connection between the remote control device and the entire deformable ruins search robot, and drive the motor driver group;

[0015] Step 2: The first controller reads the analog signals input from the first trigger button to the second trigger button and from the first joystick to the second joystick of the remote control device and converts them into digital signals to obtain the first trigger button value to the twelfth trigger button value and the first joystick value to the second joystick value;

[0016] Step 3: The first controller waits for the timer to be triggered, and when the timer is triggered, it proceeds to step 4;

[0017] Step 4: The first controller encapsulates the first to twelfth trigger values ​​and the first to second joystick values ​​into a data frame as a remote control signal and sends it to the second controller. The second controller processes the remote control signal and converts it into a control command for the deformable ruins search robot. The control command includes an angle control command and a speed control command. The first to twelfth trigger values ​​are converted into an angle control command for the leg rotation joint, and the first to second joystick values ​​are converted into a speed control command for the torso center.

[0018] Step 5: The second controller calculates the control commands for achieving coordinated control of each motor in real time based on the rotation angle control command and the speed control command, and obtains the target position of each rotary joint motor and the target speed of each drive wheel motor;

[0019] Step 6: The second controller converts the target position and target speed into corresponding control signals respectively, wherein the target position is converted into the position control signal of each motor, and the target speed is converted into the speed control signal of each motor; the second controller communicates with the motor driver group and sends control signals, thereby driving the movement of the leg rotation joints and the crawler drive wheels, thereby realizing remote control of the deformable ruins search robot.

[0020] Preferably, the first controller is a microprocessor, which uses an analog-to-digital converter to convert analog signals input by the user through the first to twelfth trigger keys and the first to second joysticks into digital signals and sends them to the second controller.

[0021] Preferably, in step 5, the target speed is obtained by the following method:

[0022] The robot's planar motion model is abstracted into a two-wheel differential drive robot model, and a motion model is established. The state variables in the workspace are as follows: s = [p] = [x, y, θ]

[0023] The constraint equations satisfying differential kinematics are as follows:

[0024] Among them, the contact surface speed between the left and right tracks and the ground is v l 、v r , the target linear velocity is v c , the target angular velocity is ω c , the distance d between the virtual drive wheels of the differential model LR , the linear velocity is

[0025] The equation describing the velocity of the robot's torso center as the velocity of the virtual wheel is as follows:

[0026] Among them, d wbis the actual left and right track spacing; the equivalent differential steering model is used to represent the simplified motion model of the deformable ruins search robot:

[0027] The equation for converting the target velocity of the center of the torso of a given deformable ruins-searching robot into the velocity of the four tracks in contact with the ground is as follows:

[0028] Among them, the speed of the left front crawler leg assembly contacting the ground is v tr1 The speed of the right front crawler leg assembly contacting the ground is v tr2 The speed of the left rear crawler leg assembly contacting the ground is v tr3 The speed of the right rear crawler leg assembly contacting the ground is v tr4 , and get the target speed.

[0029] The technical solution of the present invention proposes a flexible remote control system and method for a deformable ruin-searching robot. The system features four independently controlled track-leg assemblies, including four drive wheel motors and six rotary joint motors. Through the combined control of the rotary joints of the track-leg assemblies, the robot can achieve a variety of posture changes to adapt to the contours of complex terrain. The technical solution of the present invention provides an innovative solution for the flexible control of the deformable ruin-searching robot. Operators can achieve decoupled control of the deformable ruin-searching robot's torso center speed, torso posture, and track-leg assembly rotation angles through an interactive and user-friendly remote control method. Operators control the deformable ruin-searching robot's movement direction and speed by controlling the direction and offset angle of the three-dimensional joystick. By pressing the linear trigger button to achieve rotational movement of the deformable ruin-searching robot's track legs, the operator can intuitively adjust the robot's motion trajectory, improving the deformable ruin-searching robot's rescue efficiency in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a flow chart of a remote control method provided by an embodiment of the present invention;

[0031] FIG2 is a structural block diagram provided by an embodiment of the present invention;

[0032] Explanation of the accompanying drawings: 1: first trigger key; 2: second trigger key; 3: third trigger key; 4: fourth trigger key; 5: fifth trigger key; 6: sixth trigger key; 7: seventh trigger key; 8: eighth trigger key; 9: ninth trigger key; 10: tenth trigger key; 11: eleventh trigger key; 12: twelfth trigger key; 13: first joystick; 14: second joystick; 15: first controller; 16: first wireless communication module; 17: second wireless communication module; 18: second controller; 19: motor drive group; 20: remote control device; 21: deformable ruins search robot. DETAILED DESCRIPTION

[0033] Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiments are only used to illustrate the present invention and are not used in limiting the scope of the present invention.In addition, should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall equally within the scope limited by the appended claims of the application.

[0034] As shown in Figures 1 and 2, an embodiment of the present invention provides a flexible remote control system for a deformable ruins search robot, including: a first controller 15, a second controller 18, a first wireless communication module 16, a second wireless communication module 17 and a motor driver group 19.

[0035] The first controller 15, serving as the controller of the remote control device 20, reads and processes switch signals and analog signals input by the user via the first to twelfth triggers and the first to second joysticks to generate remote control signals. The first controller 15 is a microprocessor that uses an analog-to-digital converter to convert the analog signals input by the user via the first to twelfth triggers and the first to second joysticks into digital signals (remote control signals) and transmits them to the second controller 18.

[0036] The second controller 18 , serving as the controller of the entire deformable ruins search robot, converts the received remote control signal into coordinated control of the robot's motors in real time and outputs the control signal to the motor driver group 19 .

[0037] The first controller 15 and the second controller 18 are connected to each other via the first wireless communication module 16 of the remote control device 20 and the second wireless communication module 17 of the deformable ruins search robot 21, achieving full-duplex communication. The first wireless communication module 16 and the second wireless communication module 17 use Bluetooth, Wi-Fi, 4G, or LoRa.

[0038] The motor driver group 19 is connected to the output end of the second controller 18. The motor driver group 19 includes a left front leg end rotary joint motor driver, a left front drive wheel motor driver, a right front leg end rotary joint motor driver, a right front drive wheel motor driver, a left hind leg front end rotary joint motor driver, a left hind leg end rotary joint motor driver, a left rear drive wheel motor driver, a right hind leg front end rotary joint motor driver, a right hind leg end rotary joint motor driver and a right rear drive wheel motor driver.

[0039] An embodiment of the present invention further provides a flexible remote control method for a deformable ruins search robot, comprising the following steps:

[0040] Step 1: Initialize the above system device so that the remote control device 20 establishes a communication connection with the entire deformable ruins search robot, and drives the 10 motors in the motor driver group 19 to be enabled.

[0041] Step 2: The operator remotely controls the first to twelfth trigger keys and the first to second joystick keys of the remote control device 20 to control the deformable ruins search robot 21 to perform actions and generate analog signals. The first controller 15 reads the analog signals input from the first to twelfth trigger keys and the first to second joystick keys and converts them into digital signals, obtaining the first to twelfth trigger key values ​​and the first to second joystick key values. The above-mentioned 12 trigger keys include the first trigger key 1, the second trigger key 2, the third trigger key 3, the fourth trigger key 4, the fifth trigger key 5, the sixth trigger key 6, the seventh trigger key 7, the eighth trigger key 8, the ninth trigger key 9, the tenth trigger key 10, the eleventh trigger key 11, and the twelfth trigger key 12. The above-mentioned two joysticks include the first joystick 13 and the second joystick 14.

[0042] Specifically, the operator controls the speed of the deformable ruins-searching robot 21 by pushing the first joystick to the second joystick of the remote control device 20 .

[0043] Among them, the first rocker 13 is used to control the linear velocity of the deformable ruins search robot 21. The magnitude of the linear velocity is proportional to the offset angle of the longitudinal axis of the first rocker 13, and the direction of the linear velocity is consistent with the offset direction of the longitudinal axis of the first rocker 13.

[0044] The second rocker 14 is used to control the angular velocity of the deformation ruins search robot 21. The angular velocity is proportional to the offset angle of the transverse axis of the second rocker 14. The direction of the angular velocity is consistent with the offset direction of the transverse axis of the second rocker 14.

[0045] The operator controls the angle of rotation of the joint of the crawler leg assembly of the deformable ruins search robot 21 by pressing the first trigger button to the twelfth trigger button of the remote control device 20.

[0046] The situation of remote control of the left front crawler leg assembly alone is as follows:

[0047] The first trigger button 1 is used to control the rotation angle of the left front crawler leg assembly of the deformable debris search robot 21 relative to the initial angle in the positive direction, that is, the left front positive rotation angle of the joint, the magnitude of which is proportional to the pressure applied to the first trigger button 1. At this time, the driven wheel at the end of the track of the left front crawler leg assembly is supported and in contact with the ground, while the driving wheel at the front end of the track of the left front crawler leg assembly is lifted off the ground.

[0048] The second trigger button 2 is used to control the reverse rotation angle of the rotary joint of the left front crawler leg assembly of the deformable debris search robot 21, that is, the reverse rotation angle of the left front crawler leg assembly, the magnitude of which is proportional to the pressing pressure of the second trigger button 2. At this time, the driven wheel at the end of the crawler track of the left front crawler leg assembly is lifted off the ground, while the driving wheel at the front end of the crawler track of the left front crawler leg assembly is supported and in contact with the ground.

[0049] The remote control of the right front crawler leg assembly is as follows:

[0050] The third trigger button 3 is used to control the rotation angle of the right front crawler leg assembly of the deformable debris search robot 21 relative to the initial angle in the positive direction, that is, the right front positive rotation angle of the joint, the magnitude of which is proportional to the pressure of the third trigger button 3. At this time, the driven wheel at the end of the track of the right front crawler leg assembly is supported and in contact with the ground, and the driving wheel at the front end of the track of the right front crawler leg assembly is lifted off the ground.

[0051] The fourth trigger button 4 is used to control the reverse rotation angle of the rotation joint of the right front track leg assembly of the deformable ruins search robot 21, that is, the right front reverse rotation joint angle, and its size is proportional to the pressing pressure of the fourth trigger button 4. At this time, the driven wheel at the end of the track of the right front track leg assembly is lifted off the ground, and the driving wheel support at the front end of the track of the right front track leg assembly is in contact with the ground.

[0052] The remote control of the left rear crawler leg assembly is as follows:

[0053] The fifth trigger button 5 is used to control the rotation of the rotational joint at the connection between the end of the leg and the front end of the track of the deformable debris search robot 21 in the opposite direction relative to the initial angle. This is the rotation angle of the left rear end rotational joint. The magnitude of the rotation angle is proportional to the pressure applied to the fifth trigger button 5. At this time, the driven wheel at the end of the track of the left rear track leg assembly is supported and in contact with the ground, while the driving wheel at the front end of the track of the left rear track leg assembly is lifted off the ground.

[0054] The sixth trigger button 6 is used to control the rotation angle of the revolute joint at the connection between the end of the leg and the front end of the track of the deformable debris search robot 21 relative to the initial angle in the positive direction, that is, the positive rotation angle of the left rear end revolute joint. The magnitude of the rotation angle is proportional to the pressure applied to the sixth trigger button 6. At this time, the driven wheel at the end of the track of the left rear track leg assembly is lifted off the ground, while the driving wheel at the front end of the track of the left rear track leg assembly is supported and in contact with the ground.

[0055] The seventh trigger button 7 is used to control the rotation angle of the rotation joint located at the connection between the front end of the leg and the torso of the robot in the left rear track leg assembly of the deformable ruins search robot 21 relative to the positive direction of the initial angle, that is, the rotation angle of the rotation joint in the positive direction of the left rear front end. The size of the rotation angle is proportional to the pressing pressure of the seventh trigger button 7, so as to control the movement of the left rear track leg assembly relative to the torso of the deformable ruins search robot 21.

[0056] The eighth trigger button 8 is used to control the rotation angle of the rotation joint located at the connection between the front end of the leg and the torso of the robot in the left rear track leg assembly of the deformable ruins search robot 21 in the opposite direction relative to the initial angle, that is, the rotation angle of the left rear front end rotation joint in the opposite direction, the size of which is proportional to the pressing pressure of the eighth trigger button 8, so as to control the movement of the left rear track leg assembly relative to the torso of the deformable ruins search robot 21.

[0057] The remote control of the right rear crawler leg assembly is as follows:

[0058] The ninth trigger button 9 is used to control the rotation angle of the rotary joint at the connection between the end of the leg and the front end of the track in the right rear track leg assembly in the opposite direction relative to the initial angle, that is, the rotation angle of the right rear end rotary joint in the opposite direction, and its magnitude is proportional to the pressing pressure of the ninth trigger button 9. At this time, the driven wheel at the end of the track of the right rear track leg assembly supports and contacts the ground, and the driving wheel at the front end of the track of the right rear track leg assembly is lifted off the ground.

[0059] The tenth trigger button 10 is used to control the right rear track leg assembly of the deformable ruins search robot 21. The rotation angle of the rotary joint located at the connection between the end of the leg and the front end of the track relative to the positive direction of the initial angle, that is, the positive direction rotation angle of the right rear end rotary joint, the size of which is proportional to the pressing pressure of the tenth trigger button 10. At this time, the driven wheel at the end of the track of the right rear track leg assembly is lifted off the ground, and the driving wheel support at the front end of the track of the right rear track leg assembly is in contact with the ground.

[0060] The eleventh trigger button 11 is used to control the rotation angle of the rotation joint at the connection between the front end of the leg and the torso of the robot in the right rear track leg assembly of the deformable ruins search robot 21 relative to the positive direction of the initial angle. The rotation angle of the right rear front end positive direction rotation joint is proportional to the pressing pressure of the eleventh trigger button 11, so as to control the movement of the right rear track leg assembly relative to the torso of the deformable ruins search robot 21.

[0061] The twelfth trigger button 12 is used to control the rotation angle of the rotation joint at the connection between the front end of the leg and the torso of the robot in the right rear track leg assembly of the deformable ruins search robot 21, relative to the initial angle, that is, the rotation angle of the right rear front end rotation joint in the opposite direction, the size of which is proportional to the pressing pressure of the twelfth trigger button 12, so as to control the movement of the right rear track leg assembly relative to the torso of the deformable ruins search robot 21.

[0062] Step 3: The first controller 15 waits for the timer to be triggered. The timer clock frequency is 15 times per second. When the timer is triggered, the process proceeds to step 4.

[0063] Step 4: The first controller 15 encapsulates the first to twelfth trigger values ​​and the first to second joystick values ​​into a data frame as a remote control signal and sends it to the second controller 18. The second controller 18 processes the remote control signal and converts it into a control command for the deformable ruins-searching robot 21. Specifically, the first to twelfth trigger values ​​are converted into angle control commands for the leg rotation joints of the deformable ruins-searching robot 21, and the first and second joystick values ​​are converted into speed control commands for the center of the torso of the deformable ruins-searching robot 21. The process then proceeds to Step 5.

[0064] Specifically, the first controller 15 reads and processes the above-mentioned joystick operation, encapsulates the first joystick value and the second joystick value into a data frame as a remote control signal, and sends the remote control signal to the second controller 18 as a speed control given input for the deformable ruins search robot 21. The second controller 18 processes the remote control signal, and converts the first joystick value and the second joystick value in the remote control signal into the target linear velocity and angular velocity of the center of the torso of the deformable ruins search robot 21, thereby calculating the target rotational speed of each drive wheel, and sending the speed control amount to the drive wheel motor driver, driving the motor to realize the movement of the deformable ruins search robot 21.

[0065] The first controller 15 reads and processes the above-mentioned trigger key operation, encapsulates the first trigger key value and the twelfth trigger key value into a data frame as a remote control signal, and sends the remote control signal to the second controller 18 as a given input for the angle control of the rotary joint of the track leg assembly of the deformable ruins search robot 21. The second controller 18 processes the remote control signal, converts the first trigger key value to the twelfth trigger key value in the remote control signal into the target angle of the rotary joint of the track leg assembly of the deformable ruins search robot 21, and sends the position control amount to the rotary joint motor driver to drive the motor to realize the movement of the track leg assembly of the deformable ruins search robot 21.

[0066] Step 5: The second controller 18 calculates the coordinated control of the motors in real time based on the angle control commands of the leg rotation joints of the deformable ruins search robot 21 and the speed control commands of the torso center of the deformable ruins search robot 21, obtains the target position of each rotation joint motor and the target speed of each drive wheel motor, and enters step 6.

[0067] Step 6: The second controller 18 converts the target position of the rotary joint into a position control signal of the servo motor, and converts the target speed of the drive wheel motor into a speed control signal of the servo motor; the second controller 18 communicates with the motor driver group 19 and sends a motor control signal, thereby driving the movement of the leg rotary joint and the track drive wheel, and returns to step 2.

[0068] The deformable ruins-searching robot 21 provided in an embodiment of the present invention includes four independently controlled track leg assemblies, and the four independently controlled track leg assemblies include a left front track leg assembly, a right front track leg assembly, a left rear track leg assembly, and a right rear track leg assembly.

[0069] The left front track leg assembly and the right front track leg assembly have the same structure and both include a fixed leg connected to the torso of the deformable ruins search robot, the end of the leg is connected to a rotatable rubber track, a rotary joint is provided at the connection between the end of the leg and the front end of the rubber track, a driving wheel is provided at the front end of the rubber track, and a driven wheel is provided at the end of the rubber track.

[0070] The left and right rear tracked leg assemblies share the same structure, each consisting of a rotatable leg connected to the trunk of the deformable debris-searching robot, with a rotatable rubber track attached to the end of the leg. The actuators of both assemblies include a rotary joint at the front end of the leg connecting to the trunk of the deformable debris-searching robot, a rotary joint at the end of the leg connecting to the front end of the track, a drive wheel at the front end of the track, and a driven wheel at the end of the track.

[0071] The four individually controlled crawler leg assemblies are of the same shape and driven independently. The mass of the robot body is evenly distributed, and the center of mass is located on the robot's geometric longitudinal symmetry line. The center of mass is used to represent the center of the robot's torso. A right-handed coordinate system is established with the center of the robot's torso as the origin. It is agreed that the forward direction of the robot is the positive direction of the X-axis, the left side is the positive direction of the Y-axis, and the opposite direction of gravity is the positive direction of the Z-axis.

[0072] The deformable rubble-searching robot 21 has a nonholonomic constrained kinematic system, where its motion is described only by the linear velocity and angular velocity along the X-axis. At this point, there is no lateral side slip component velocity at the center of the robot's trunk. The direction of the combined velocity of the contact surface between the track and the ground is perpendicular to the radial direction of the rotation radius and can be decomposed into a longitudinal component velocity along the direction of travel of the contact surface and a lateral component velocity along the motor axis. Since the components of the left (right) and front (rear) tracks of the deformable rubble-searching robot 21 chassis are identical, the robot's planar motion model is abstracted into a two-wheel differential drive robot model and its motion model is established. Its state variables in the workspace are as follows: s = [p] = [x, y, θ]

[0073] The constraint equations satisfying its differential kinematics are as follows:

[0074] Among them, the contact surface speed between the left and right tracks and the ground is v l 、v r , the target linear velocity of the robot trunk center is v c , the target angular velocity of the robot trunk center is ω c, the distance d between the virtual drive wheels of the differential model LR ; The linear velocity of the robot trunk center is The equation describing the velocity of the robot torso center as the velocity of the virtual wheel is obtained as follows:

[0075] d wb is the actual left and right track spacing, and the above equivalent differential steering model is used to represent the simplified motion model of the deformable ruins search robot 21:

[0076] The equation for converting the target velocity of the trunk center of the given deformable ruins search robot 21 into the velocity of the contact surface between the four tracks and the ground is as follows:

[0077] Among them, the speed of the left front crawler leg assembly contacting the ground is v tr1 The speed of the right front crawler leg assembly contacting the ground is v tr2 The speed of the left rear crawler leg assembly contacting the ground is v tr3 The speed of the right rear crawler leg assembly contacting the ground is v tr4 The values ​​of these parameters are determined by the robot motion control input given by the first controller 15 and are used by the second controller 18 to calculate the target speed of each drive wheel motor as a reference input for the motor coordinated control. Adjusting the parameter τ can ensure that the deformable ruins search robot 21 achieves optimal maneuverability and steering performance. Combined with the independent control of the leg rotation joints, flexible control of the robot's movement posture can be achieved.

[0078] The beneficial effects of the embodiments of the present invention are as follows: the deformable ruins search robot has four independently controlled track leg assemblies, including four drive wheel motors and six rotary joint motors. Through the combined control of the rotary joints of the track leg assemblies, the robot can achieve a variety of posture changes to adapt to the contours of complex terrain. The embodiments of the present invention provide an innovative solution for the flexible control of the deformable ruins search robot. The operator can achieve decoupled control of the deformable ruins search robot's torso center speed, torso posture, and track leg assembly rotation angle through an interactive and friendly remote control method. The operator controls the direction and offset angle of the deformable ruins search robot's movement direction and speed by controlling the direction and offset angle of the three-dimensional joystick, and realizes the rotational movement of the deformable ruins search robot's track legs by pressing the linear trigger key. The robot's movement trajectory can be intuitively adjusted, thereby improving the rescue efficiency of the rescue robot in complex environments.

[0079] The above is only one embodiment of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

[0080] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A flexible remote control system for a deformable ruins search robot, characterized in that: It includes a first controller, a second controller, a first wireless communication module, a second wireless communication module and a motor driver group; The first controller, as the controller of the remote control device, reads and processes the switch signals and analog signals input by the user through the first trigger button to the twelfth trigger button and the first joystick to the second joystick to obtain the remote control signal, and sends the remote control signal to the second controller; The second controller, serving as the controller of the entire deformable ruins search robot, converts the remote control signal into a control signal in real time and outputs it to the motor driver group to achieve coordinated control of the various motors driven by the motor driver group; The first controller and the second controller are connected to each other via the first wireless communication module and the second wireless communication module; The motor driver group is connected to the second controller, and the motor driver group includes a left front leg end rotary joint motor driver, a left front drive wheel motor driver, a right front leg end rotary joint motor driver, a right front drive wheel motor driver, a left hind leg front end rotary joint motor driver, a left hind leg end rotary joint motor driver, a left rear drive wheel motor driver, a right hind leg front end rotary joint motor driver, a right hind leg end rotary joint motor driver and a right rear drive wheel motor driver.

2. A flexible remote control system for a deformable ruins search robot as claimed in claim 1, characterized in that: The first wireless communication module and the second wireless communication module use Bluetooth, Wi-Fi, 4G or LoRa.

3. A flexible remote control method for a deformable ruins search robot, applied to a flexible remote control system for a deformable ruins search robot as claimed in claim 1, characterized in that: The following steps are involved: Step 1: Initialize the system device, establish a communication connection between the remote control device and the entire deformable ruins search robot, and drive the motor driver group; Step 2: The first controller reads the analog signals input from the first trigger button to the twelfth trigger button and from the first joystick to the second joystick and converts them into digital signals to obtain the first trigger button value to the twelfth trigger button value and the first joystick value to the second joystick value; Step 3: The first controller waits for the timer to be triggered, and when the timer is triggered, it proceeds to step 4; Step 4: The first controller encapsulates the first trigger key value to the twelfth trigger key value and the first joystick value to the second joystick value into a data frame as a remote control signal and sends it to the second controller. The second controller processes the remote control signal and converts it into a control command for the deformable ruins search robot; the control command includes an angle control command and a speed control command, wherein multiple trigger key values ​​are converted into angle control commands of the leg rotation joints, and multiple Convert the joystick value into the speed control command of the torso center; Step 5: The second controller calculates the control commands for achieving coordinated control of each motor in real time based on the rotation angle control command and the speed control command, and obtains the target position of each rotary joint motor and the target speed of each drive wheel motor; Step 6: The second controller converts the target position and target speed into corresponding control signals respectively, wherein the target position is converted into the position control signal of each motor, and the target speed is converted into the speed control signal of each motor; the second controller communicates with the motor driver group and sends control signals, thereby driving the movement of the leg rotation joints and the crawler drive wheels, thereby realizing remote control of the deformable ruins search robot.

4. A flexible remote control method for a deformable ruins search robot as claimed in claim 3, characterized in that: The first controller is a microprocessor, which uses an analog-to-digital converter to convert analog signals input by the user through the first trigger button to the twelfth trigger button and the first joystick to the second joystick into digital signals and sends them to the second controller.

5. The flexible remote control method for a deformable ruins search robot according to claim 3, characterized in that: In step 5, the target speed is obtained by: The robot's planar motion model is abstracted into a two-wheel differential drive robot model, and a motion model is established. The state variables in the workspace are as follows: s=[p]=[x,y,θ] The constraint equations satisfying differential kinematics are as follows: Among them, the contact surface speed between the left and right tracks and the ground is v l 、v r , the target linear velocity is v c , the target angular velocity is ω c , the distance d between the virtual drive wheels of the differential model LR , the linear velocity is The equation describing the velocity of the robot's torso center as the velocity of the virtual wheel is as follows: Among them, d wb is the actual left and right track spacing; the equivalent differential steering model is used to represent the simplified motion model of the deformable ruins search robot: The equation for converting the target velocity of the center of the torso of a given deformable ruins-searching robot into the velocity of the four tracks in contact with the ground is as follows: Among them, the speed of the contact surface between the left front crawler leg assembly and the ground is v tr1 The speed of the right front crawler leg assembly contacting the ground is v tr2 The speed of the contact surface between the left rear crawler leg assembly and the ground is v tr3 The speed of the right rear crawler leg assembly contacting the ground is v tr4 , and get the target speed.

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