Spherical metamorphic robot and environment information monitoring system based on same

Abstract

The invention relates to a spherical metamorphic robot and an environment information monitoring system based on the same. The robot comprises a control unit, a spherical shell and a plurality of stretchable feet uniformly distributed on the spherical shell, the axes of all the stretchable feet intersect at the sphere center of the spherical shell, the stretchable feet can stretch out and draw back in the radial direction of the spherical shell, and all the stretchable feet can be completely wrapped in the spherical shell or extend out of the spherical shell. The system comprises ad hoc network communication modules, an environment information acquisition assembly, an upper computer, a positioning module and a plurality of metamorphic robots, the multiple metamorphic robots are arranged at all positions of a to-be-detected area, each metamorphic robot is provided with the ad hoc network communication module, a positioning module and an environment information collection assembly, the ad-hoc network communication modules communicate with the upper computer, and the ad-hoc network communication modules on the robots can bidirectionally communicate with the ad hoc network communication modules on the other robots. The environment information monitoring system has three modes, and all-weather, all-directional and full-autonomous intelligent dynamic monitoring is realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a spherical metamorphic robot and an environment information monitoring system based on the robot. Background technique [0002] Environmental information collection is widely used in many fields such as industrial monitoring, energy conservation and environmental protection, agricultural production and planting. Accurate collection of environmental information and timely handling of dangerous emergencies are conducive to ensuring the safe and stable operation of various industries, and are deeply related to society under the background of industrialization. and stability of national order. [0003] At present, it is mainly an information collection system combining fixed nodes and traditional manual work. There are some problems in this method. First, install detection equipment at a fixed location. To a certain extent, a disaster monitoring network can be established, but this e...

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Problems solved by technology

[0004] To this end, scholars at home and abroad have carried out a lot of in-depth research. For example, the Chinese patent "Substation Intelligent Robot Inspection System and Inspection Method (CN102280826B) provides an intelligent inspection robot inspection system for substations, with intelligent inspection robots as the core, integrated The existing robot technology, non-contact monitoring technology of power equipment, and Internet technology have realized the intelligent collection and processing of substation environmental information, but the wireless communication technology used in this invention has complex algorithms and small transmission distances, and cannot realize information collection of wide-area environments.

In addition, due to the rapid development of robot technology has greatly promoted the application of robots in various fields, especially in some dangerous environments, scholars at home and abroad have carried out some research on inspection robots, which can replace manpower in special environments to realize information collection technology. Intelligentization, such as the Chinese patent "a four-wheel intelligent inspection robot device (CN212044704U)" provides a four-wheel inspection robot device, which uses the drive wheel universal wheel mechanism to realize the omnidirectional movement of the robot, but the drive performance of the device Poor, unable to achieve omnidirectional movement in a wide-area environment

The Chinese patent "A substation inspection robot (CN106041877B)" solves the problem of poor driving performance of the robot through the design of eight drive units, but the invention is large in size, complex in control, and poor in obstacle-crossing ability, and cannot realize complex terrain for inspection. The demand for flexible changes in the structure of the robot increases the blind area of ​​environmental information collection

[0005] To sum up, most of the current information collection technologies have initially solved the intelligent collection and processing of environmental information, but the communication technologies of these methods cannot guarantee the real-time and reliability of information. When an abnormality occurs somewhere or a communication node loses normal When the communication capability is limited, it is impossible to deal with abnormalities in real time and flexibly change the network wiring situation, and the inspection robot technology integrated in the information collection technology at this stage satisfies the basic movement and data collection functions of the robot to a certain extent, but it is not easy to drive and has dynamic performance. Poor, unable to meet the demand for information collection robot movement in wide-area complex environments such as chemical plants and substations, and unable to focus on monitoring specific areas

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