Shape-shifting spherical detection robot

Abstract

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.

Description

technical field [0001] The invention relates to a deformable spherical detection robot which can be used in the field environment. Background technique [0002] Spherical robot or spherical mechanism refers to a general term for a system that installs motion actuators, sensors, and controllers in a spherical shell. Compared with traditional wheeled and crawler mobile robots, spherical robots can not only achieve omnidirectional motion, but also quickly return to a stable state when they become unstable due to impacts or falls. [0003] The spherical robot shell can protect the equipment carried inside, making it have a wide range of application prospects in field environmental survey, alien planet exploration, post-disaster search and rescue and military reconnaissance. [0004] A.Halme, T.Schonberg and Y.Wang, Motion Control of a Spherical Mobile Robot, 4th IEEE International Workshop on Advanced Motion Control AMC'96, Mie University, Japan1996 introduced a spherical robot...

AI Technical Summary

Problems solved by technology

[0005] The problem with the above-mentioned spherical robots invented or designed is that most of them have limited ability to overcome obstacles and cannot be applied to field environments such as grasslands and deserts; the few with better ability to overcome obstacles have complex structures and high costs, or are bulky and not Good for complex environment detection

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