Novel spherical robot capable of being carried with two different visual cameras

Abstract

The invention discloses a novel spherical robot capable of being carried with two different visual cameras; and the novel spherical robot mainly consists of such parts as a homogeneous spherical shell, a camera mounting structure, an internal driving mechanism, a visual module and a weight. The homogeneous spherical shell is formed to a complete sphere by connecting two half spherical shells through a connecting piece; spherical crown parts at two sides are cut off; and two flange plates are mounted. The camera mounting frame is fixed at the two ends of a hollow empty pipe, extending outside the spherical shell, through a camera connecting block, and a camera is mounted on the mounting frame, so that the shielding of the spherical shell to the viewing field of the camera is prevented. The novel spherical robot is novel and compact in structure and lower in total mass; and two visual cameras can be carried outside the spherical shell, and cannot move along with the rolling of the robot, so that stable visual image information can be obtained, the control problem of the spherical robot is preferably solved, and the exploration task of external environment is realized.

Description

Technical field: [0001] The invention relates to a new type of spherical robot that can be equipped with two different vision cameras, which is suitable for some workplaces that need to survey the external environment or tasks that require external information to accurately feedback and control the robot, and relates to the field of new robot technology development. Background technique: [0002] A spherical robot refers to a type of mobile robot in which motion mechanisms, sensors, controllers, etc. are built into a spherical shell, and the spherical shell is used as a rolling walking device. Compared with traditional wheeled and crawler-type mobile robots, the advantages of spherical robots are: ① flexible steering and small turning radius, and can pass through tortuous passages with an aperture slightly larger than its diameter; Collisions with obstacles or other moving mechanisms during the process will also restore the steady state after a short period of irregular move...

AI Technical Summary

Problems solved by technology

[0003] Restricted by a fully enclosed spherical shell and a special rolling walking method, existing spherical robots often lack external measurement sensors (such as laser sensors, visual cameras, etc.), and their environmental perception capabilities are weak, making it difficult to accurately obtain the position of spherical robots. , speed and other motion parameters, the motion stability of the spherical robot is difficult to be guaranteed, so there are problems such as poor control performance

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