Spherical hopping robot and applications thereof

Abstract

This invention relates to the field of micro-robot manufacturing technology, specifically to a spherical rolling robot and its applications, capable of performing various motion states such as rolling, turning, and jumping, and suitable for a distributed architecture involving multiple robots. This robot is designed for complex and varied medical assistance tasks, proposing a spherical rolling robot capable of cooperatively forming a robot swarm. By employing existing autonomous decision-making and planning algorithms, the robot can automatically break down tasks into simple, decoupled tasks. Furthermore, the robot possesses a memory mechanism, allowing it to extract previous task configurations for repetitive or similar complex medical assistance tasks, quickly make decisions and plans, and allocate tasks to individual robots for execution, thereby improving robot efficiency.

Description

Technical fields:

[0001] This invention relates to the field of micro-robot manufacturing technology, specifically to a spherical rolling robot and its applications that can achieve multiple motion states such as rolling, turning, and jumping, and is suitable for a distributed architecture among multiple bodies to collect, make decisions, and execute complex environmental data. Background technology:

[0002] With the further development of the economy, society, and material conditions, life expectancy is constantly increasing, leading to a growing demand for social healthcare. Hospital environments present challenges such as multiple service objectives, a large volume of medical support tasks, and high hygiene requirements. Traditional medical support tasks, primarily performed by medical staff, consume significant medical resources, and medical personnel face the risk of infection, making it difficult to guarantee their own safety. Therefore, the research and development of a highly adaptable and reliable intelligent medical support robot is urgently needed to handle complex medical support tasks that are dynamic, time-consuming, sequential, and multi-task-type, such as medical guidance, sanitation and disinfection, and medical care. Summary of the Invention:

[0003] This invention addresses the needs of existing technologies by proposing a spherical rolling robot and its applications, capable of performing multiple motion states such as rolling, turning, and jumping, and suitable for a distributed architecture involving multiple entities to collect, make decisions, and execute data in complex environments.

[0004] This invention achieves its purpose through the following measures:

[0005] A spherical rolling robot comprises a spherical shell containing a motion assembly. The spherical shell is composed of a symmetrically arranged left and right hemispherical shells. A central axis is positioned within the shell along its central axis. Support components for fixing the central axis are located at both ends. An electrical control assembly is connected to the center of the central axis via a brass bushing, which is fixed at the center by a set screw. The electrical control assembly and the brass bushing can rotate around the central axis but cannot move axially or radially relative to it. A left-side and right-side pendulum mechanisms are symmetrically arranged on the central axis on either side of the electrical control assembly. The device is equipped with a fixed limiting ring, a pendulum, a deceleration assembly, a motor, and a battery. The pendulum is fixed to the central axis by the fixed limiting ring. The deceleration assembly is located inside the pendulum. The motor is connected to the deceleration assembly and is fixed to the lower side of the pendulum. The battery provides power to the motor and is fixed to the upper side of the motor. The control signal input terminal of the motor is connected to the electrical control assembly, and the output of the motor is decelerated by the deceleration assembly. A left-side camera assembly and a right-side camera assembly are symmetrically located at both ends of the central axis. The left-side camera assembly and the right-side camera assembly are electrically connected to the battery and the electrical control assembly, respectively. The spherical housing has camera covers corresponding to the mounting areas of the left-side camera assembly and the right-side camera assembly.

[0006] The speed reduction assembly of the present invention is implemented by a synchronous belt mechanism, which includes a large synchronous pulley, a small synchronous pulley and a synchronous belt. The outer side of the large synchronous pulley is in close contact with the pendulum via a planar thrust bearing, and the inner side of the large synchronous pulley is fixedly connected to the central shaft via a flange bearing to ensure that the large synchronous pulley has no relative displacement with respect to the central shaft in the axial and radial directions.

[0007] The present invention provides a conductive slip ring at the center of the central axis for connecting the cameras on both sides of the central axis and the electrical control components. The electrical control components include an embedded processor, a step-down circuit, a voice input / output circuit, an inertial measurement circuit, and a microcontroller mounted on a control circuit board. The embedded processor is connected to the voice input / output circuit and the camera, and the microcontroller is connected to the embedded processor, the inertial measurement circuit, the step-down circuit, and the motor. Under the control of the microcontroller, the motor drives the eccentric mass block of the pendulum to rotate around the main axis via a synchronous belt.

[0008] In this invention, the electric motor and battery are incorporated as part of the pendulum, reducing the number of pendulum counterweights and effectively lowering the robot's own weight.

[0009] This invention also proposes an application of the spherical rolling robot described above. The spherical rolling robot has three motion modes: rolling, jumping, and turning. Under the control of the electrical control components, the motor drives the eccentric mass block to rotate one-dimensionally around the main axis via a synchronous belt. When the motor drives the two pendulums to move in the same direction, the robot rolls forward due to the forward shift of the pendulum's center of mass. When the two pendulums move in opposite directions, their simultaneous upward movement generates a torque around the axis, driving the ball to rotate around its own axis, thus achieving the ball's turning motion. When the two pendulums move rapidly in opposite directions to a certain angle and stop instantaneously, the inertial force generated by the rapid movement of the pendulums drives the robot upward, completing the jumping motion.

[0010] The application of the spherical rolling robot described in this invention also includes collecting environmental information of the working scene through camera components on both sides, and the electrical control component constructing an environmental map of the working scene by processing and converting the real-time information transmitted back, determining the location of obstacles, and simultaneously calculating the robot's own motion state in real time through information from its own inertial sensor module, thereby planning the optimal route for the robot's movement.

[0011] The application of the spherical rolling robot described in this invention also includes the joint use of any two or more spherical rolling robots, through which the individual robots communicate with each other the task progress and the collected environmental data, so that the surrounding robots can react quickly to cope with the complex, ever-changing and dynamic auxiliary tasks in the environment.

[0012] The spherical rolling robot described in this invention is used as an auxiliary medical spherical rolling robot to complete tasks such as triage, telemedicine, inspection, disinfection, and vital sign detection. By scanning the patient's identification code through cameras installed on both sides of the robot, the patient's past medical history can be quickly obtained and sent to the attending physician. For hospitalized patients, the robot can monitor the patient's vital sign data in real time through the camera and contact the attending physician for remote diagnosis when necessary.

[0013] The spherical rolling robot for assistive medical use described in this invention consists of a set of symmetrical hemispherical shells and a central support component. Its external shape is a spherical envelope, and its internal components include a motion transmission system, a power management system, an audiovisual perception system, and a central decision-making system. The motion transmission system provides the basic motion for the entire spherical assistive medical intelligent equipment, and its functions include various motion modes such as rolling, turning, and jumping. The power management system provides the energy required for the entire spherical assistive medical intelligent equipment to move and detect. The audiovisual perception system includes a video acquisition and transmission system and a voice interaction system. The video acquisition and transmission system can receive external video information and realize video information transmission and analysis. The voice interaction system has voice input and output capabilities, enabling audio information interaction with the user. The central decision-making system is used to realize motion decisions and visual information processing in different environments.

[0014] The assisted medical spherical rolling robot of this invention has three movement modes: rolling, turning, and jumping. Under the command of the internal central controller, the motor drives the eccentric mass block to rotate around the main axis via a synchronous belt. When the motor drives the two pendulums on the left and right to move in the same direction, the robot's center of mass shifts forward due to the forward displacement of the pendulums, thereby causing the entire robot to roll forward. Figure 1 As shown; when two pendulums move in opposite directions, their simultaneous upward motion generates a torque around their axis, driving the ball to rotate around its own axis, thus achieving the ball's directional motion, as... Figure 2 As shown; when two pendulums move rapidly in opposite directions to a certain angle and stop instantaneously, the inertial force generated by the rapid movement of the pendulums propels the robot upward, completing a jump, as shown. Figure 3 As shown. During operation, the robot transmits environmental information to the embedded computer in real time through a vision acquisition and transmission system. Combined with information from its onboard inertial sensor module, the robot performs real-time motion state calculations on the spherical assistive medical intelligent equipment. It then plans the optimal path for the robot and sends it to the central controller, achieving precise and stable control of the robot.

[0015] The spherical rolling robot described in this invention can perform tasks such as patient guidance, remote diagnosis and treatment, vital sign monitoring, disinfection, and inspection in a medical environment. Upon initial entry into the outpatient department, patients can be guided by the robot to complete the registration process and obtain their identification code. The robot scans the identification code to obtain the patient's medical information and then guides the patient to the attending physician's department. Simultaneously, the robot retrieves the patient's medical records from the medical system and sends them to the attending physician. After treatment, the robot guides the patient to the payment, medication pickup, or further examination window. Because of its spherical envelope, the robot eliminates disinfection blind spots, allowing it to function as a disinfection tool in infectious disease wards, intensive care units, and other special wards, performing disinfection and sterilization. For hospitalized patients, the robot can monitor vital signs, and patients can remotely contact their attending physicians for remote diagnosis and treatment, allowing for real-time monitoring of the patient's recovery.

[0016] For complex medical assistance tasks where the capabilities of a single robot are insufficient, the robots cooperate, presenting an adaptive distributed control architecture. Based on the requirements of the complex task, the robot adaptively determines the group size and configuration, compensating for the shortcomings of a single robot in handling complex medical assistance tasks. This approach addresses medical assistance tasks with multiple service targets, complex tasks, highly dynamic environments, and changing objectives. The robot breaks down complex tasks into simpler tasks that can be performed by individual robots through decision-making and planning, allowing multiple robots to adaptively divide the work and cooperate to complete the complex medical assistance task.

[0017] The spherical rolling robot for assistive medical use also possesses a memory emergence mechanism. While the robot can alter the generalized topological structure of its group organization by changing the connections between the spherical assistive medical intelligent devices within the system, this process is complex and time-consuming for the evolution of group functional configurations under multi-task operations. Each complex task requires a reconfiguration of the task configuration, significantly reducing the robot's efficiency. The robot's memory emergence mechanism addresses this challenge. For repetitive and similar assistive medical tasks, the robot quickly analyzes the task configuration based on previous memories, extracts the group state relevant to the current task, stores it in the robot's group configuration decision factors, and rapidly plans the optimal configuration required for the task.

[0018] For complex and ever-changing task scenarios in medical environments, this robot can change its topology configuration to meet different task requirements. Upon receiving a task, the robot quickly searches its task library to find similar or identical tasks, extracts the execution configuration of the task, and puts it into a configuration decision pool, greatly shortening the task configuration decision time. Then, it breaks down different task contents into simple, decoupled tasks, and finally organizes the execution configuration scheme of the entire task to achieve rapid switching between tasks. Attached image description:

[0019] Appendix Figure 1 This is a schematic diagram of the rolling working mode of the spherical rolling robot in this invention.

[0020] Appendix Figure 2 This is a schematic diagram of the turning working mode of the spherical rolling robot in this invention.

[0021] Appendix Figure 3 This is another schematic diagram of the turning working mode of the spherical rolling robot in this invention.

[0022] Appendix Figure 4 This is a schematic diagram of an application scenario of the spherical rolling robot in this invention.

[0023] Appendix Figure 5 This is a schematic diagram of another application scenario of the spherical rolling robot in this invention.

[0024] Appendix Figure 6 This is a schematic diagram of the spherical rolling robot in this invention handling multiple tasks.

[0025] Appendix Figure 7 This is a schematic diagram of the external shape of the spherical rolling robot in this invention.

[0026] Appendix Figure 8 This is a schematic diagram of the spherical rolling robot from another angle in this invention.

[0027] Appendix Figure 9 This is a schematic diagram of the internal structure of the spherical rolling robot in this invention.

[0028] Appendix Figure 10 These are left and right views of the internal structure of the spherical rolling robot in this invention.

[0029] Appendix Figure 11 This is a schematic diagram of the transmission of the spherical rolling robot in this invention.

[0030] Appendix Figure 12 This is a schematic diagram of the camera assembly of the spherical rolling robot in this invention.

[0031] Reference numerals: (1) Left hemispherical shell, (2) Right hemispherical shell, (3) Central shaft, (4) Left central shaft fixing side plate, (5) Right central shaft fixing side plate, (6) Left flange bearing, (7) Right flange bearing, (8) Left camera bracket, (9) Right camera bracket, (10) Left camera cover, (11) Right camera cover, (12) Left motor, (13) Right motor, (14) Left battery, (15) Right battery, (16) Left pendulum, (17) Right pendulum, (18) Left synchronous belt mechanism, (19) Right (20) Side synchronous belt mechanism, (21) Control chip mounting plate, (22) Conductive slip ring, (23) Left battery bracket, (24) Right battery bracket, (25) Left depth camera, (26) Right depth camera, (27) Step-down module, (28) Voice input / output module, (29) Microcontroller, (20) Embedded computer, (31) Inertial measurement unit, (32) Large synchronous pulley, (33) Small synchronous pulley, (34) Battery, (35) DC motor, (36) Synchronous belt mechanism, (37) Camera, (38) Camera bracket. Detailed implementation method:

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] Example:

[0034] As attached Figure 7 Appendix Figure 8 and appendix Figure 9As shown, this example provides an auxiliary medical spherical rolling robot for use in a medical environment. The auxiliary medical spherical rolling robot includes (1) a left hemispherical shell, (2) a right hemispherical shell, (3) a central axis, (4) a left central axis fixing side plate, (5) a right central axis fixing side plate, (6) a left flange bearing, (7) a right flange bearing, (8) a left camera bracket, (9) a right camera bracket, (10) a left camera cover, (11) a right camera cover, (12) a left motor, (13) a right motor, (14) a left battery, (15) a right battery, (16) a left pendulum, (17) a right pendulum, and ( 18) Left synchronous belt mechanism, (19) Right synchronous belt mechanism, (20) Control chip mounting plate, (21) Conductive slip ring, (22) Left battery bracket, (23) Right battery bracket, (24) Left depth camera, (25) Right depth camera, (26) Step-down module, (27) Voice input / output module, (28) Microcontroller, (29) Embedded computer, (30) Inertial measurement unit; The left hemispherical shell (1) and the left central shaft fixing side plate (4) are fixedly connected by internal hexagonal threads, the left central shaft fixing side plate (4) and the left flange shaft seat (6) are fixedly connected by internal hexagonal bolts, and the left flange shaft seat (6) is fixedly connected by set screws. (3) The left hemispherical shell is fixed to the left end of the central shaft. Thus, (1) the left hemispherical shell is fixed to the central shaft of (3) through (4) the left central shaft fixing side plate and (6) the left flange shaft seat. The four parts do not rotate relative to each other. The right hemispherical shell of (2) is fixed to the right end of the central shaft of (3) through (5) the right central shaft fixing side plate and (7) the right flange shaft seat. The four parts do not rotate relative to each other. The fixing method of the right hemispherical shell of (2) to the central shaft of (3) is the same as that of the left hemispherical shell of (1) to the central shaft of (3). They are connected to each other by internal hexagonal bolts and set screws to ensure that they do not rotate relative to each other. The (8) The left camera bracket is installed at both ends of the central axis of (3) by two brass bushings. The outermost brass bushings at both ends are fixed to the central axis of (3) by set screws. The inner brass bushings are close to the outer side of the left central axis fixing plate of (4), thereby fixing the left camera bracket of (8) to the left end of the central axis of (3) to prevent it from moving along the central axis. However, since the brass bushings are similar to bearings, the left camera bracket of (8) can rotate around the central axis. The installation method of the right camera bracket is the same as that of the left. The left camera cover of (10) is connected to the left hemispherical shell of (1) by hexagonal bolts, so that the left camera cover of (10) is fixed to the left spherical outer envelope of (1).The (20) control chip fixing plate is fixed to the middle position of the (3) central axis by a brass bushing. The (20) control chip fixing plate and the brass bushing can rotate relative to each other along the central axis of (3), but cannot move relative to each other along the central axis of (3). The brass bushing is still fixed to the middle position of the (3) central axis by a set screw to prevent the brass bushing and the (3) central axis from moving relative to each other in the axial and radial directions. The (29) embedded computer, (26) step-down module, (27) voice input / output module, and (30) inertial measurement unit The microcontrollers (28) and (20) are fixed on the control chip mounting plate; the left pendulum (16) is fixed on the central axis (3), and the left pendulum (16) and the right pendulum (17) are symmetrically arranged along the geometric center of the central axis (3). The axial position of the left pendulum (16) is fixed by a fixed limiting ring on the outside, and the inner side is tightly attached to the large pulley of the left synchronous belt mechanism (18) by a plane thrust bearing. The left pendulum (16) has no axial or radial movement relative to the central axis (3); the right pendulum (17) is installed in the same way as the left pendulum (16). The synchronous belt mechanism consists of a large synchronous pulley, a small synchronous pulley, and a synchronous belt; the large pulley of the left synchronous belt mechanism (18) is installed inside the left side of the (16) heavy pendulum, the outer side of the large pulley is tightly attached to the left side of the (16) heavy pendulum through a plane thrust bearing, and the inner side is fixed to the central shaft through a flange bearing to ensure that its axial and radial directions do not move relative to the central shaft; the right synchronous belt mechanism (19) is installed and fixed in the same way as the left synchronous belt mechanism (18); the left motor (12) is fixed to the lower side of the left side of the (16) heavy pendulum and is connected to the left synchronous belt (18). The small pulley of the mechanism is fixedly connected. The speed output of the left motor (12) is reduced by the synchronous belt mechanism, which amplifies the motor torque. The left battery is fixed on the upper side of the left pendulum motor (16) to provide energy for the motor rotation. The installation method of the right motor (13) and the right battery (15) is the same as that of the left motor (12) and the left battery (14). The conductive slip ring (21) is fixed at the geometric center of the central axis (3) and is used to connect the cameras on both sides of the spherical shell with the embedded computer and battery inside the spherical robot.

[0035] In this implementation scheme, the main functions of (1) the left hemispherical shell, (2) the right hemispherical shell, the central shaft, the left central shaft fixing side plate, the right central shaft fixing side plate, the left flange bearing, and the right flange bearing are to support the structure of the spherical medical auxiliary robot and facilitate the fixing and installation of other parts; the function of the left camera bracket and the right camera bracket is to fix the left and right cameras. Since the camera bracket restricts its relative circumferential rotation with the central shaft under the action of gravity torque, some grease is added between the central shaft and the camera bracket to ensure that it does not rotate around the central shaft during the robot's rolling process, so that the camera can always smoothly collect forward visual information while the robot rolls forward; the main function of the two side pendulums is to form a transmission mechanism together with the drive device, i.e., the motor, the energy device, and the synchronous belt mechanism, through The motion of the pendulum changes the position of the robot's center of mass, enabling the robot to achieve three basic motion modes. The main function of the embedded computer is to process the visual information transmitted from the camera and the pose information transmitted from the microcontroller. As the central processing unit, it enables the robot to make autonomous decisions and plan autonomously, transmitting the decision information to the microcontroller that controls the motors, thereby controlling the robot's next action. The main function of the voice input / output module is to enable the robot to interact with the outside world through voice, allowing it to communicate with patients. Thus, the robot can receive medical assistance tasks through voice commands, thereby better completing medical assistance tasks such as patient guidance, nursing, and inspection. The conductive slip ring connects the internal energy system of the spherical shell to the embedded computer and the camera, powering the camera and transmitting the camera's visual information back to the embedded computer.

[0036] In this example, the robot's operation is as follows: When the assisted medical spherical hopping robot is in rolling motion mode, the central controller sends motion commands to the microcontrollers controlling the left and right motors. The microcontrollers control the motors to rotate, and through the synchronous belt mechanism, they drive the two pendulums to deflect at the same angle. The deflection of the pendulums changes the robot's center of gravity, allowing the robot to roll under the gravitational torque of the pendulums. When the assisted medical spherical hopping robot is in turning motion mode, the central controller sends turning commands to the microcontrollers controlling the motors. The two microcontrollers control the two motors to rotate in opposite directions, causing the pendulums on both sides to deflect in opposite directions. The torque generated during the deflection process enables the robot to turn. When the assisted medical spherical hopping robot is in jumping motion mode, the central processor sends commands to the microcontrollers controlling the motors. The two microcontrollers control their respective motors to rotate rapidly with opposite accelerations, causing the pendulums on both sides to swing to a 90° position in a short time and then stop instantly. The inertial force generated by the pendulums during this process propels the robot upward. The spherical rolling robot for assisting medical care is an intelligent robot integrating perception, decision-making, and execution. It can perform medical assistance tasks such as triage, telemedicine, vital sign monitoring, disinfection, and inspection. Upon entering the outpatient department, patients can be guided by the robot to complete the registration process and obtain their identification code. The robot scans the identification code to obtain the patient's medical information and then guides the patient to the attending physician's department. Simultaneously, the robot retrieves the patient's medical records from the medical system and sends them to the attending physician. After treatment, the robot guides the patient to the payment, medication pickup, or further examination window. Due to its spherical envelope, the robot has no blind spots for disinfection, allowing it to move between infectious disease wards, intensive care units, and other special wards to complete disinfection and sterilization work. For hospitalized patients, the robot can monitor their vital signs, and patients can remotely contact their attending physicians for remote diagnosis and treatment, monitoring their recovery status in real time. For complex medical assistance tasks, the spherical assisting medical robot can break down complex tasks into simpler ones, which are then completed collaboratively by the group. Meanwhile, this assisted medical spherical rolling robot has a collective memory emergence mechanism. For different medical assistance tasks, the assisted medical spherical rolling robot can quickly retrieve the same or repeated tasks, extract the available task configurations, and quickly determine the optimal generalized topological configuration of the new task through autonomous planning, autonomous decision-making, and hierarchical control capabilities. It can complete the allocation of auxiliary tasks such as vital sign detection, telemedicine, and real-time inspection, and replace nurses to complete medical assistance tasks.

[0037] This invention proposes a spherical rolling robot for complex and varied medical assistance tasks. Multiple robots can cooperate to form a robot swarm. By combining with existing autonomous decision-making and autonomous planning algorithms, the robot can break down tasks into simple, uncoupled tasks to complete. Moreover, the robot has a memory mechanism, which can extract the previous task configuration for repetitive or similar complex medical assistance tasks, make quick decisions and plans, and assign them to individual robots for execution, thereby improving the robot's work efficiency.

Claims

1. A spherical rolling robot, comprising a spherical shell, wherein a motion component is disposed within the spherical shell, characterized in that, The spherical shell consists of a symmetrically arranged left hemispherical shell and a right hemispherical shell. A central axis is positioned within the spherical shell along its central axis. Support components are located at both ends of the central axis to support and fix it. An electrical control component is connected to the center of the central axis via a brass bushing, which is fixed at the center of the central axis by a set screw. The electrical control component and the brass bushing can rotate around the axis of the central axis, but cannot move axially or radially relative to the central axis. A left-side and right-side pendulum mechanism are symmetrically arranged on the central axis on either side of the electrical control component. The left-side and right-side pendulum mechanisms are respectively equipped with a fixed limit ring, a pendulum, a deceleration component, and an electrical... The device includes a motor and a battery. A pendulum is fixed to the central shaft via a fixed limiting ring. A reduction gear assembly is located inside the pendulum. The motor is connected to the reduction gear assembly and fixed to the lower side of the pendulum. The battery provides power to the motor and is fixed to the upper side of the motor. The motor's control signal input is connected to an electrical control assembly, and the motor's output is reduced in speed via the reduction gear assembly. A left-side camera assembly and a right-side camera assembly are symmetrically located at both ends of the central shaft. The left-side and right-side camera assemblies are electrically connected to the battery and the electrical control assembly, respectively. A camera cover is provided in the spherical housing corresponding to the mounting areas of the left-side and right-side camera assemblies. The speed reduction assembly is implemented using a synchronous belt mechanism, which includes a large synchronous pulley, a small synchronous pulley, and a synchronous belt. The outer side of the large synchronous pulley is in close contact with the pendulum via a planar thrust bearing, and the inner side of the large synchronous pulley is fixedly connected to the central shaft via a flange bearing to ensure that the large synchronous pulley has no relative displacement with respect to the central shaft in the axial and radial directions. The spherical rolling robot has three movement modes: rolling, jumping, and turning. Under the control of the electrical control components, the motor drives the eccentric mass block to rotate one-dimensionally around the main axis via a synchronous belt. When the motor drives the two pendulums on the left and right to move in the same direction, the robot rolls forward due to the forward shift of the center of mass of the pendulums. When the two pendulums move in opposite directions, their simultaneous upward movement will generate a torque around the axis, driving the ball to rotate around its own axis, thus achieving the turning motion of the ball. When the two pendulums move rapidly in opposite directions to a certain angle and stop instantaneously, the inertial force generated by the rapid movement of the pendulums will drive the robot to move upward, completing the jumping motion. A conductive slip ring is provided at the center of the central axis for connecting the cameras on both sides of the central axis and the electrical control components. The electrical control components include an embedded processor, a step-down circuit, a voice input / output circuit, an inertial measurement circuit, and a microcontroller mounted on a control circuit board. The embedded processor is connected to the voice input / output circuit and the camera, and the microcontroller is connected to the embedded processor, the inertial measurement circuit, the step-down circuit, and the motor. Under the control of the microcontroller, the motor drives the eccentric mass block of the pendulum to rotate around the main axis via a synchronous belt. By incorporating the motor and battery into the pendulum, the number of pendulum counterweights is reduced, effectively lowering the robot's own weight.

2. An application of the spherical rolling robot as described in claim 1, characterized in that, The application of the spherical rolling robot also includes collecting environmental information of the working scene through camera components on both sides, and the electrical control component processing and converting the real-time information to construct an environmental map of the working scene, determine the location of obstacles, and at the same time calculate the robot's own motion state in real time through information from its own inertial sensor module, thereby planning the best route for the robot's movement.

3. The application of the spherical rolling robot according to claim 2, characterized in that, The application of the spherical hopping robot also includes the joint use of any two or more spherical hopping robots, through which the individual robots communicate with each other the task progress and the collected environmental data, so that the surrounding robots can react quickly to cope with the complex, ever-changing and dynamic auxiliary tasks in the environment.

Images