Flexible variable-degree-of-freedom tracked robot and control method thereof

The invention relates to the technical field of tracked robot control, in particular to a flexible variable-degree-of-freedom tracked robot and a control method thereof. According to the flexible variable-degree-of-freedom tracked robot provided by the invention, the degree of freedom between the crawler belt main bodies can be changed through the locking pins mounted on the crawler belt main bodies of the robot crawler belt, so that the tracked robot can tilt and bend at a certain angle and then climb over obstacles with steep wall surfaces; due to the fact that the crawler belt and the supporting structure keep large flexibility, the overall gravity center can keep stable change when the robot crosses over the obstacle; according to the control method of the flexible variable-degree-of-freedom tracked robot, through cooperation of the visual recognition camera and the obstacle crossing controller, the height of the obstacle can be automatically recognized, the corresponding control mode can be switched, and