Spherical rescue robot with rolling-jumping function and control method

Abstract

The invention discloses a spherical rescue robot with a rolling-jumping function and a control method, belongs to the technical field of rescue robots, and relates to a spherical robot which is used for disaster search and rescue and has rolling and jumping functions and a control method. The robot is composed of a left hemispheroid, a right hemispheroid, a center control bin and a plurality of identical magneto-rheological thrust mechanisms. Each magneto-rheological thrust mechanism is composed of a reset spring, a thrust mechanism shell, a magneto-rheological material, an electromagnetic coil, a connecting bolt, a nut, a magneto-rheological material-water diaphragm, water, a sealing ring and a ground supporting rod. According to the control method, the center control bin is used for controlling, the IMU sensor measures the current pose and acceleration data of the spherical robot, the power-on state and the power-on time of each electromagnetic coil are controlled, the internal ground supporting rods are controlled to pop out to impact the ground, and power is provided for the spherical robot. The spherical robot is compact in structure, high in environment adaptability and low in movement energy consumption, and the problem of multi-group collaborative rolling-jumping driving in a small-size space of the spherical robot is effectively solved.

Description

technical field [0001] The invention belongs to the technical field of rescue robots, and relates to a spherical robot capable of rolling and jumping, which can be applied to disaster search and rescue, and a control method. Background technique [0002] Disaster rescue robots are a type of special robots that can enter the disaster site for search and rescue operations after earthquakes, mine accidents, fires and other disasters. In most cases, the search and rescue environment at the disaster scene is very complex, including rough terrain, steps, ravines, irregular obstacles and so on. Therefore, robots that replace or assist humans in rescue work must have strong movement capabilities to adapt to multiple terrains and multiple scenarios, so as to better carry out disaster rescue work. As one of the branches of mobile robots, the rolling spherical robot has a good protective shell (good fire resistance and corrosion resistance at the disaster site) and a relatively compac...

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the spherical robot is difficult to dexterously and successfully complete tasks such as climbing stairs, and to invent a spherical rescue robot with a roll-jump function and a control method. The spherical rescue robot consists of left and right hemispheres, a magnetorheological thrust device And the composition of the central control warehouse

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