Intelligent spherical robot with fault tolerance control and control method of robot

Abstract

The invention relates to an intelligent spherical robot with fault tolerance control and a control method of the robot. The robot comprises an upper hemispherical surface, a lower hemispherical surface and a support plate, six sector-shaped upper mechanical feet and six sector-shaped lower mechanical feet are uniformly formed in the upper hemispherical surface and the lower hemispherical surface respectively, six upper steering engines which are electrically connected with the upper mechanical feet respectively are fixed at the upper end of the support plate along the periphery at the same interval, each lower mechanical foot is driven by one connecting rod mechanism, each connecting rod mechanism comprises a first movable rod in rotation connection with the support plate, a second movable rod in rotation connection with the first movable rod and a third movable rod in rotation connection with the second movable rod, each third movable rod is fixedly connected with the corresponding lower mechanical foot, the corresponding first, second and third movable rods are driven by one lower steering engine, the upper and lower steering engines are controlled by a control circuit board, and the support plate is provided with an angle sensor in electrical connection with the circuit board. The intelligent spherical robot and the control method thereof have the advantages that the segmented structure including the upper hemispherical surface and the lower hemispherical surface is used, control is flexible and functions are comprehensive.

Description

technical field [0001] The invention relates to the field of robot control, in particular to an intelligent spherical robot with fault-tolerant control and a control method thereof. Background technique [0002] With the continuous progress and development of modern science and technology, the research in the field of intelligent robots has also achieved rapid development. At present, there are many successful designs of spherical robots at home and abroad, and their driving structures are various. After investigation, it is found that most of the existing designs adopt a spherical design structure for the overall shape, and control its motion through various internal driving structures. However, from the analysis of the design schemes they adopted and the effects they achieved, there are the following three problems: [0003] (1) This design only achieves the design of the spherical shape, and does not fully reflect the advantages that the spherical shape should have in p...

AI Technical Summary

Problems solved by technology

[0003] (1) This design only achieves the design of the spherical shape, and does not fully reflect the advantages that the spherical shape should have in practical applications, and also loses the flexibility of ordinary robots to complete some tasks through body movements

[0004] (2) As we all know, robots should have the function of helping people to complete some difficult and complex tasks in real life, and this overall spherical design does not have mechanical operation capabilities, so it is even more inflexible

[0005] (3) Existing robots cannot automatically identify their own faults due to the limited integrity of the design, and lose their ability to move when parts are damaged

The above problems have seriously affected the practical value and intelligence of spherical robots in real life.

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