Spherical rescue robot with roll-jump function and control method

Abstract

The invention relates to a spherical rescue robot with rolling and jumping functions and a control method thereof, belonging to the technical field of rescue robots, and relates to a spherical robot with rolling and jumping functions and a control method for disaster search and rescue. The robot consists of left and right hemispheres, a central control cabin, and multiple identical magneto-rheological thrust mechanisms. The magnetorheological thrust mechanism is composed of a return spring, a thrust mechanism housing, a magnetorheological material, an electromagnetic coil, connecting bolts, nuts, a magnetorheological material-water diaphragm, water, a sealing ring, and a ground support rod. The control method is controlled by the central control cabin. The IMU sensor measures the current pose and acceleration data of the spherical robot, controls the power-on state and power-on time of each electromagnetic coil, and controls the internal ground support pole to pop up and hit the ground to provide power for the spherical robot. The spherical robot has compact structure, strong environmental adaptability, and low energy consumption, which effectively solves the problem of multi-group cooperative roll-jump drive in the small-sized space of the spherical robot.

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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