CN113788082B - Reconfigurable spherical robot, control system and control method thereof - Google Patents
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Abstract
The invention belongs to the technical field of artificial intelligence and discloses a reconfigurable spherical robot, a control system and a control method thereof, wherein a driving mechanism comprises two sets of single pendulum bob driving mechanisms which are symmetrical relative to a sphere center plane and are respectively assembled at two sides of a central stretching mechanism; the outer end of the central extension mechanism is connected with the annular foot and is used for driving the annular foot to extend out and reset; the annular feet are provided with a plurality of same annular feet, and the outer surfaces of the annular feet form a spherical shell structure. The invention has unique external contour transformation state, so that the robot can work in different environments. On a smooth road surface, the robot rolls forwards in a spherical state; when the robot moves on a rugged and uneven complex road condition, the robot can be deformed into a crawler-like annular mechanism, the contact area between the mechanism and the ground is increased, and the environment adaptability of the mechanism is improved; when the climbing step is crossed, the unique annular foot adjusts the telescopic state to realize obstacle crossing.
Description
Technical Field
The invention belongs to the technical field of artificial intelligence, and particularly relates to a reconfigurable spherical robot, a control system and a control method thereof.
Background
The mobile robot is an important auxiliary tool for helping people to expand the cognitive range, and plays an increasingly important role in production and life of people. People constantly improve mobile robot, have developed traditional deformable form, combined type, and other novel mobile robot for improve robot's mobility. One type of the robot is a spherical mobile robot, the outer shape of the robot is a sphere and mainly comprises a spherical shell and an internal driving device, the external spherical shell can roll freely and can also play a role in protecting the internal driving device, and the internal driving device moves in the spherical shell to help the spherical robot to realize different movement forms. The ball shape has good motion performance as a natural rolling body, and can realize flexible omnidirectional motion. Because the sphere is a perfect symmetrical structure, the situation that the sphere cannot move due to overturning and the like can not occur, and the sphere can adapt to complex motion environments and narrow spaces. Compared with other traditional mobile robots, the spherical robot has the advantages of small movement resistance, strong adjustment capability, strong adaptability and flexible movement, and has good application prospects in the fields of life, military, industry, entertainment and the like.
At present: the existing spherical robot mainly realizes the movement by three ways: (1) The eccentric torque drive is adopted, and the principle mainly utilized is as follows: when the center of mass of the sphere or the similar sphere deviates from the center of sphere, the overturned sphere has strong self-stability to restore balance, so that the sphere is driven to move. The control mode of the spherical mobile robot adopts simpler open-loop control, indirectly controls the output torque of the motor to control the movement of the spherical shell, and cannot ensure the movement precision. In addition, the robot is only suitable for running on a flat road surface and cannot climb and cross obstacles. (2) The spherical robot is driven by the angular momentum conservation principle, the working principle is that a rotor inside a sphere rotates at a high speed, and the spherical robot is driven to move in all directions by the rotation inertia moment. Such a spherical robot requires human assistance in its initial stage of movement to maintain its upright posture. In addition, the friction between the ball and the spherical shell and the high-speed rotation of the gyroscope are seriously consumed, the movement efficiency is low, and the internal system is difficult to carry other equipment to complete the tasks required to be executed by the spherical robot. Similarly, the robot is only suitable for running on a flat road and cannot climb and cross obstacles. And (3) generating motion through self deformation. The principle is that energy conversion is realized by means of the repeated deformation of the robot, so that the spherical robot is driven to move. The spherical robot has certain climbing and obstacle-crossing capabilities, but needs an elastic spherical shell and a flexible actuating mechanism. Since such robots require repeated deformation, there is no space to carry other components and drive systems, streamer operation is required, and the motion environment is limited.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) Although the spherical robot has good movement performance on a flat road surface and can realize flexible omnidirectional movement, the spherical robot is difficult to drive on an uneven road surface due to the limitation of a spherical shell, and climbing and obstacle crossing can hardly be realized.
(2) Although the traditional deformable spherical robot has certain climbing and obstacle crossing capabilities, the traditional deformable spherical robot belongs to passive obstacle crossing, namely, the obstacle cannot be identified, and whether the obstacle is crossed or not cannot be judged.
(3) The spherical robot is a nonlinear, underactuated and strongly coupled typical incomplete system, and is limited to the application of a feedback control law based on an accurate model to a great extent due to the influence of external uncertain factors, so that the spherical robot has poor external disturbance resistance, is easily disturbed by the outside in the motion process and is easy to sideslip.
The difficulty in solving the above problems and defects is: because the spherical robot structure is more complicated, the problems existing in the prior art are well solved, the actual engineering requirements are met, and a lot of difficulties are also caused. For example, in order to realize climbing and obstacle crossing, the traditional driving mode and structural design scheme of the spherical robot must be broken, and the robot structure is innovatively designed. In addition, in order to realize accurate control of the spherical robot, interference factors such as parameter uncertainty and unknown friction of the system need to be overcome, a control strategy of the spherical robot is innovatively designed, and a set of stable closed-loop control system is established.
The significance of solving the problems and the defects is as follows: the spherical robot has obvious advantages and wide application prospect in the fields of celestial exploration, dangerous environment detection, pipeline internal detection and the like. Therefore, the spherical robot with good structural characteristics is designed, and has important theoretical research significance and engineering application value for realizing accurate motion control.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a reconfigurable spherical robot, a control system and a control method thereof.
The reconfigurable spherical robot comprises a driving mechanism, a central stretching mechanism and annular feet;
the driving mechanism comprises two sets of single pendulum bob driving mechanisms for providing power for the movement of the robot, and the two sets of single pendulum bob driving mechanisms are symmetrical relative to the center plane of the sphere and are respectively assembled at two sides of the central stretching mechanism;
the outer end of the central extension mechanism is connected with the annular foot and is used for driving the annular foot to extend out and reset;
the annular feet are provided with a plurality of same annular feet, and the outer surfaces of the annular feet form a spherical shell structure.
Furthermore, the simple pendulum hammer driving mechanism comprises a direct current servo motor, a motor sleeve, a pendulum hammer, a flange plate, a rolling bearing, a lead screw and a bearing retainer ring;
the direct current servo motor is connected with the motor sleeve through a screw, the direct current servo motor is fixedly connected with the pendulum bob, and the motor sleeve shell is in interference fit with the two bearing inner rings and is fixedly connected with the spherical shell through a bolt.
Furthermore, the direct current servo motor is connected with the pendulum bob through a flange plate and a cushion pad.
Further, the pendulum comprises a screw rod, a linear motor and an eccentric mass block, and the eccentric mass block is fixedly connected with the lower end of the linear motor.
Furthermore, the central stretching mechanism comprises a steering engine, a cylindrical cam structure, a multifunctional support, a structural shell, leg connecting pieces and a battery box, wherein the steering engine is fixedly connected with the battery box through the multifunctional support, and the steering engine is connected with the cylindrical cam structure through a flange plate.
Further, the annular foot comprises an arc-shaped shell, a first connecting piece, a second connecting piece and a third connecting piece;
the first connecting piece and the second connecting piece are fixedly connected together through bolts, so that the connection and control of the cylindrical cam mechanism and the spherical shell are realized;
the arc-shaped shell is provided with a threaded boss, and the third connecting piece is connected with the threaded boss through a bolt.
The invention also aims to provide a control system of the reconfigurable spherical robot, which comprises a vision module, an attitude adjustment module, a control module, an inertia module and an onboard power supply;
the visual module is arranged on the outer sides of the spherical shells at the two sides and used for sensing the external environment and road conditions;
the gesture adjusting module is used for sensing the swing angle of the pendulum bob, the gesture of the robot and the motion speed information;
the control module and the inertia module are installed inside the spherical shells on two sides, and the airborne power supply is arranged on the inner side of the central stretching mechanism. The inertia module is a movable mass block and is used for ensuring the stability of the sphere in the operation process or adjusting the gravity center position of the sphere.
Another object of the present invention is to provide a method for controlling a reconfigurable spherical robot, the method comprising:
(1) The motion mode of the smooth road surface is as follows:
when the robot runs on a smooth road surface, two direct current servo motors arranged at two ends of a spherical shell respectively drive eccentric mass blocks connected with the two direct current servo motors, when the two eccentric mass blocks swing forwards simultaneously, the spherical robot moves forwards, when the two eccentric mass blocks swing backwards simultaneously, the spherical robot moves backwards, when one eccentric mass block is not moved, and one mass block swings, the turning can be realized; the control includes two aspects: and (1) accurately controlling the walking path. The walking path of the spherical robot is easy to deviate from the original path due to the influence of external environment factors in the process of moving the spherical robot. The position of a contact point of the spherical robot and the ground is detected in real time through a positioning module, the deviation between a reference geometric path and the actual walking path of the spherical robot is calculated, and the position of an inertia module (mass block) is continuously adjusted by taking a deviation value as a feedback quantity, so that the path tracking error of the spherical rolling robot is close to zero; and (2) precisely controlling the motion mode. Because the spherical robot is influenced by the rolling friction moment couple in the rolling process, the robot is always in a dynamic balance state, and the robot is difficult to move according to the original motion rule (acceleration, deceleration and uniform speed). The rolling friction moment of the couple and the pendulum-up balance angle of the spherical robot are monitored in real time through the moment sensor and the attitude sensor, the output torque of the pendulum motor is adjusted in real time according to the dynamic change relation of the rolling friction moment of the couple and the pendulum-up balance angle, the robot is ensured to advance according to the original motion law (acceleration, deceleration and uniform speed), and the spherical robot is accurately controlled.
(2) Climbing mode:
when the robot climbs a slope, six steering engines of the central stretching mechanism respectively drive the corresponding cylindrical cam mechanisms to rotate, and the 6 annular feet are simultaneously stretched out to form a similar crawler-type annular mechanism; when the positioning module of the robot detects that the value of the contact point of the spherical robot and the ground is continuously increased for 10 times along the vertical direction of the ground, the spherical robot is judged to walk on a slope road section, a signal is transmitted to the control system, the control system sends an instruction, six steering engines of the central stretching mechanism respectively drive the corresponding cylindrical cam mechanisms to rotate, and the 6 annular feet are simultaneously stretched out to form the crawler-like annular mechanism. Meanwhile, the control system calculates the gravity eccentricity according to the coordinate value of the contact point of the spherical robot and the ground, couples the gravity eccentricity with the rolling friction resistance couple moment of the robot, calculates the balance angle of the heavy pendulum to be swung up, and adjusts the output torque of the pendulum motor.
(3) Obstacle crossing mode:
when the robot crosses the step, the visual sensor arranged on the spherical robot detects the outline shape of the step and transmits a signal to the control system to control the steering engine close to the annular foot of the step, the annular foot close to the step extends out according to the height of the step, and the control system controls the other annular foot which is spaced by 60 degrees from the annular foot close to the step to extend out, so that the obstacle crossing is realized. The control system calculates torque required by climbing over the step according to the height of the step, couples the torque with torque generated by an annular foot far away from the step, calculates torque generated by a heavy pendulum, adjusts output torque of a pendulum motor and achieves obstacle crossing.
Another object of the present invention is to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the method for controlling a reconfigurable spherical robot.
Another object of the present invention is to provide an information data processing terminal including a memory storing a computer program and a processor, wherein the computer program, when executed by the processor, causes the processor to execute the method for controlling a reconfigurable spherical robot.
By combining all the technical schemes, the invention has the advantages and positive effects that:
compared with the traditional spherical robot, the invention has unique external contour transformation state, so that the robot can work under different environments. On a smooth road surface, the robot rolls forwards in a spherical state; when the robot moves on a rugged and uneven complex road condition, the robot can be deformed into a similar crawler-type annular mechanism, the contact area between the mechanism and the ground is increased, and the environment adaptability of the mechanism is improved. When the step type is crossed, the unique annular foot adjusts the telescopic state to realize obstacle crossing.
Aiming at the influence of factors such as external disturbance and ground environment on the accurate operation of the spherical robot, a nonlinear friction model and a self-adaption rate are introduced for feedback control, so that the high responsiveness and the strong robustness of the system are ensured, and the accurate path and motion state control of the spherical robot is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a reconfigurable spherical robot provided by an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a central stretching mechanism provided in the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a circular foot provided by an embodiment of the invention.
Fig. 5 is a schematic diagram of a motion mode of the reconfigurable spherical robot on a smooth road surface, provided by the embodiment of the invention.
Fig. 6 is a schematic diagram of a climbing mode of the reconfigurable spherical robot provided by the embodiment of the invention.
Fig. 7 is a schematic diagram of an obstacle crossing mode of the reconfigurable spherical robot provided by the embodiment of the invention.
In the figure: 1. a spherical shell; 2. a drive mechanism; 3. a center extension mechanism; 4. a circular foot; 5. a DC servo motor; 6. a motor housing; 7. a bearing; 8. a flange plate; 9. an eccentric mass block; 10. a linear motor; 11. a lead screw; 12. a cushion pad; 13. a steering engine; 14. a cylindrical cam structure; 15. a battery box; 16. a multifunctional bracket; 17. a leg connector; 18. an arc-shaped shell; 19. a first connecting member; 20. a second connecting member; 21. and a third connecting member.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to solve the problems in the prior art, the present invention provides a reconfigurable spherical robot, a control system and a control method thereof, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the reconfigurable spherical robot provided by the embodiment of the invention mainly comprises a driving mechanism 2, a central stretching mechanism 3, a spherical shell 1 and a ring-shaped foot 4.
The driving mechanism 2 is respectively connected with the spherical shells 1 at two sides through bolts and is symmetrically arranged at two sides of the central stretching mechanism 3. Bosses are arranged inside the spherical shells 1 on the two sides, so that the installation of each internal mechanism is facilitated.
The driving mechanism 2 in the embodiment of the invention consists of two sets of simple pendulum hammer driving mechanisms. Two sets of single pendulum bob driving mechanisms are symmetrical relative to the sphere center plane and are respectively assembled at two sides of the central stretching mechanism 3. As shown in FIG. 2, the single pendulum driving mechanism comprises a DC servo motor 5, a motor sleeve 6, a pendulum, a flange 8, a bearing 7, a lead screw 11 and a bearing retainer ring. The direct current servo motors 5 and the motor sleeve 6 of the two single pendulum driving mechanisms are connected together through screws, the direct current servo motors 5 and the pendulums are fixedly connected through flange plates and buffer pads, the outer shell of the motor sleeve 6 is in interference fit with the inner rings of the two bearings and is fixedly connected with the spherical shell 1 through bolts, and the buffer pads can generate certain deformation to protect the motor shaft from torque impact and adjust concentricity.
The pendulum bob comprises a lead screw, a linear motor and an eccentric mass block, wherein the eccentric mass block is fixedly connected with the lower end of the linear motor.
After the motor is started, the motor and the motor sleeve are fixed, the pendulum bob realizes relative rotation motion through the bearing under the action of the coupler, the driving moments required by different environments where the robot is located are different, and the controller enables the eccentric mass block to move up and down on the lead screw guide rail by controlling the linear motor, so that the size of the inertia moment is adjusted, and the stable motion of the spherical robot is realized.
As shown in fig. 3, the central stretching mechanism structure in the embodiment of the present invention includes a steering engine 13, a cylindrical cam structure 14, a multifunctional support 16, a structural shell, a leg connector 17, a battery box 15, and other main components, the steering engine 13 is fixedly connected to the battery box 15 through the multifunctional support 16, and the steering engine 13 is connected to the cylindrical cam structure 14 through a flange.
As shown in fig. 4, the annular foot structure in the embodiment of the present invention includes an arc-shaped housing 18, a first link 19, a second link 20, and a third link 21. The first connecting piece 19 and the second connecting piece 20 are fixedly connected together through bolts, and connection and control of the cylindrical cam mechanism and the spherical shell are achieved. The arc-shaped shell 18 is provided with a thread boss, and the third connecting piece 21 is connected with the thread boss through a bolt.
The control system of the reconfigurable robot provided by the embodiment of the invention comprises: the device comprises a vision module, an attitude adjusting module, a control module, an airborne power supply and the like. The vision module is installed in the spherical shell 1 outside of both sides, and control module and inertia module are installed inside the spherical shell 1 of both sides, and the machine carries the power and arranges at the central extension mechanism inboard. The vision module mainly perceives the external environment and road conditions, and the posture adjustment module mainly perceives the swing angle of the pendulum bob, the posture of the robot and the movement speed information. When the robot works, the control module adjusts the external contour and the posture of the spherical robot in real time according to the information transmitted by the vision module and the posture adjusting module, and determines the rotation angle of the steering engine according to the height of the obstacle.
The control method of the reconfigurable spherical robot provided by the embodiment of the invention comprises the following steps:
(1) The motion mode of the smooth road surface is as follows:
as shown in fig. 5, when the robot runs on a smooth road, two dc servo motors installed at two ends of the spherical shell respectively drive the eccentric mass blocks connected with the dc servo motors, when the two eccentric mass blocks swing forward simultaneously, the spherical robot moves forward, when the two eccentric mass blocks swing backward simultaneously, the spherical robot moves backward, when one eccentric mass block is not moved, one mass block swings, and turning can be realized; the control includes two aspects: and (1) accurately controlling the walking path. The walking path of the spherical robot is easy to deviate from the original path due to the influence of external environment factors in the process of moving the spherical robot. The position of a contact point of the spherical robot and the ground is detected in real time through a positioning module, the deviation between a reference geometric path and the actual walking path of the spherical robot is calculated, and the position of an inertia module (mass block) is continuously adjusted by taking a deviation value as a feedback quantity, so that the path tracking error of the spherical rolling robot is close to zero; and (2) precisely controlling the motion mode. Because the spherical robot is influenced by the rolling friction moment couple in the rolling process, the robot is always in a dynamic balance state, and the robot is difficult to move according to the original motion rule (acceleration, deceleration and uniform speed). The rolling friction moment of the couple and the pendulum-up balance angle of the spherical robot are monitored in real time through the moment sensor and the attitude sensor, the output torque of the pendulum motor is adjusted in real time according to the dynamic change relation of the rolling friction moment of the couple and the pendulum-up balance angle, the robot is ensured to advance according to the original motion law (acceleration, deceleration and uniform speed), and the spherical robot is accurately controlled.
(2) Climbing mode:
as shown in fig. 6, when the robot climbs a slope, six steering engines of the central stretching mechanism respectively drive the corresponding cylindrical cam mechanisms to rotate, and the 6 annular feet are simultaneously stretched out to form a similar crawler-type annular mechanism; when the positioning module of the robot detects that the value of the contact point of the spherical robot and the ground is continuously increased for 10 times along the vertical direction of the ground, the spherical robot is judged to walk on a slope road section, a signal is transmitted to the control system, the control system sends an instruction, six steering engines of the central stretching mechanism respectively drive the corresponding cylindrical cam mechanisms to rotate, and the 6 annular feet are simultaneously stretched out to form the crawler-like annular mechanism. Meanwhile, the control system calculates the gravity eccentricity according to the coordinate value of the contact point of the spherical robot and the ground, couples with the rolling friction resistance couple moment of the robot, calculates the balance angle required to be swung up by the heavy pendulum and adjusts the output torque of the pendulum motor.
(3) Obstacle crossing mode:
as shown in fig. 7, when the robot crosses a step, the visual sensor mounted on the spherical robot detects the outline shape of the step, transmits a signal to the control system, controls the steering engine close to the annular foot of the step, extends the annular foot close to the step according to the height of the step, and controls the other annular foot spaced by 60 degrees from the annular foot close to the step to extend, thereby realizing obstacle crossing. The control system calculates torque required by climbing over the step according to the height of the step, couples the torque with torque generated by an annular foot far away from the step, calculates torque generated by a heavy pendulum, adjusts output torque of a pendulum motor and achieves obstacle crossing.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A reconfigurable spherical robot is characterized by comprising a driving mechanism, a central stretching mechanism and annular feet;
the driving mechanism comprises two sets of single pendulum bob driving mechanisms for providing power for the movement of the robot, and the two sets of single pendulum bob driving mechanisms are symmetrical relative to the center plane of the sphere and are respectively assembled at two sides of the central stretching mechanism;
the outer end of the central extension mechanism is connected with the annular foot and is used for driving the annular foot to extend out and reset;
the annular feet are provided with a plurality of same annular feet, and the outer surfaces of the annular feet form a spherical shell structure;
the single pendulum bob driving mechanism comprises a direct-current servo motor, a motor sleeve, a pendulum bob, a flange plate, a rolling bearing, a lead screw and a bearing retainer ring;
the direct current servo motor is connected with the motor sleeve through a screw, the direct current servo motor is fixedly connected with the pendulum bob, and the motor sleeve shell is in interference fit with the two bearing inner rings and is fixedly connected with the spherical shell through a bolt;
the direct current servo motor is connected with the pendulum bob through a flange plate and a cushion pad;
the pendulum comprises a lead screw, a linear motor and an eccentric mass block, and the eccentric mass block is fixedly connected with the lower end of the linear motor;
the central stretching mechanism comprises a steering engine, a cylindrical cam structure, a multifunctional support, a structural shell, a leg connecting piece and a battery box, the steering engine is fixedly connected with the battery box through the multifunctional support, and the steering engine is connected with the cylindrical cam structure through a flange plate;
the annular foot comprises an arc-shaped shell, a first connecting piece, a second connecting piece and a third connecting piece;
the first connecting piece and the second connecting piece are fixedly connected together through a bolt, so that the connection and control of the cylindrical cam structure and the spherical shell are realized;
the arc-shaped shell is provided with a threaded boss, and the third connecting piece is connected with the threaded boss through a bolt.
2. A control system for the reconfigurable spherical robot of claim 1, wherein the control system for the reconfigurable spherical robot comprises a vision module, an attitude adjustment module, a control module, an inertia module and an onboard power supply;
the visual module is arranged on the outer sides of the spherical shells at the two sides and used for sensing the external environment and road conditions;
the gesture adjusting module is used for sensing the swing angle of the pendulum bob, the gesture of the robot and the motion speed information;
the control module and the inertia module are installed inside the spherical shells on two sides, and the airborne power supply is arranged on the inner side of the central stretching mechanism.
3. A control method of a reconfigurable spherical robot used for the control system of the reconfigurable spherical robot according to claim 2, characterized by comprising:
(1) Motion control of smooth road surfaces:
when the robot runs on a smooth road surface, two direct current servo motors arranged at two ends of a spherical shell respectively drive eccentric mass blocks connected with the two direct current servo motors, when the two eccentric mass blocks swing forwards simultaneously, the spherical robot moves forwards, when the two eccentric mass blocks swing backwards simultaneously, the spherical robot moves backwards, and when one eccentric mass block does not move, one mass block swings, and turning is realized;
(2) And (3) climbing control:
when the robot climbs a slope, six steering engines of the central stretching mechanism respectively drive corresponding cylindrical cam structures to rotate, and the 6 annular feet are simultaneously stretched out to form a similar crawler-type annular mechanism;
(3) Obstacle crossing control:
when the robot crosses the step, the visual sensor arranged on the spherical robot detects the outline shape of the step and transmits a signal to the control system to control the steering engine close to the annular foot of the step, the annular foot close to the step extends out according to the height of the step, and the control system controls the other annular foot which is spaced by 60 degrees from the annular foot close to the step to extend out, so that the obstacle crossing is realized.
4. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the control method of the control system of a reconfigurable spherical robot according to claim 3.
5. An information data processing terminal comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the method of controlling the control system of the reconfigurable spherical robot according to claim 3.
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| CN115056868B (en) * | 2022-05-16 | 2024-07-23 | 王维 | Obstacle crossing method of travelling device and travelling device applying method |
| CN114939877B (en) * | 2022-05-18 | 2023-11-10 | 北京邮电大学 | A portable operation spherical robot for moon base is built |
| CN115535106B (en) * | 2022-09-27 | 2023-08-15 | 西南科技大学 | Deformable obstacle-surmounting spherical robot |
| CN115636029B (en) * | 2022-10-20 | 2024-10-15 | 厦门大学 | Climbing robot and foot wheel thereof |
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| SE0402672D0 (en) * | 2004-11-02 | 2004-11-02 | Viktor Kaznov | Ball robot |
| CN201951167U (en) * | 2011-03-18 | 2011-08-31 | 何穗宁 | Sand sinking resistance structure of novel probe vehicle |
| CN103171645B (en) * | 2013-04-19 | 2015-06-10 | 吉林大学 | Hexapod robot capable of travelling in rolling manner |
| CN103963556A (en) * | 2014-04-30 | 2014-08-06 | 占舒婷 | Deformable wheel |
| CN107284543A (en) * | 2017-06-28 | 2017-10-24 | 青岛港湾职业技术学院 | A kind of compound motion mechanical ball |
| CN109677494B (en) * | 2018-12-26 | 2021-07-20 | 广西大学 | Self-adaptive steering and climbing deformable spherical robot |
| CN111361355B (en) * | 2020-03-22 | 2023-04-18 | 吉林大学 | Bionic walking wheel for climbing ladder device |
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