The invention provides a shape-shifting spherical detection
robot which has high
obstacle crossing capacity. The shape-shifting spherical detection
robot comprises a spherical shell, grip hooks, a shape shifting mechanism, a driving mechanism, a dynamic and static connecting mechanism, a central platform and a
tail wheel
assembly. The
spherical robot has two states. The
spherical robot is spherical in the initial state. In the initial state, the grip hooks of the
spherical robot are closed, the internal mechanism and the
tail wheel
assembly are both wrapped inside the spherical shell, so the spherical
robot is convenient to store, carry and transport; when the spherical robot conducts shape shifting, two motors conduct
differential motion in opposite directions and drive the spherical shell to be opened under the combined action of internal
spring force, the grip hooks are opened, a
tail wheel is popped out, and a camera carried internally can
shoot environment images and transmit the environment images wirelessly to a remote receiving end in real time. The grip hooks make contact with the ground in turn after being opened to drive the robot to move. A left hemispherical shell and a right hemispherical shell are driven by the two motors respectively; when the two motors rotate at the same speed in the same direction, the robot can move forwards or backwards; when the two motors conduct
differential motion, the robot can turn around. The shape-shifting spherical detection robot can move flexibly in poor
terrain to execute detection tasks.