Detection robot with composite motion mode

Abstract

The invention discloses a detection robot with a composite motion mode. The detection robot comprises a spherical body, a six-foot crawling mechanism, a swing arm and a driving mechanism. The six-foot crawling mechanism is arranged at the bottom of the spherical body, and the six-foot crawling mechanism has a crawling state of extending out of the spherical body and a storage state of deforming into the outer cambered surface of the bottom of the spherical body; the two swing arms are respectively arranged on two opposite sides of the spherical body in a swinging manner; the driving mechanism is arranged in the spherical body, and when the detection robot becomes spherical, the driving mechanism is used for controlling the two swing arms to swing and make contact with the ground so as to drive the detection robot to roll; according to the scheme, the advantages of a spherical robot and the advantages of a hexapod robot are combined, and the robot can move by changing modals according to different environments and requirements so as to adapt to different application scenes.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a detection robot with a composite motion mode. Background Art

[0002] As human beings continue to explore extraterrestrial planets, exploration missions have put forward higher requirements for exploration robots, requiring them to have stronger environmental adaptability, stronger ability to overcome obstacles, and longer life. Considering the complex terrain environment of extraterrestrial planets, most robots currently used for planetary or satellite exploration adopt wheeled or tracked structures, which are widely used in planetary exploration vehicles and scientific experimental robots. However, there are problems such as low mobility, large space requirements, high launch costs, high energy consumption, and relatively short life.

[0003] In contrast, the interior of the spherical robot is relatively closed, which can protect the mechanical device, and has the advantages of long life and strong anti-collision ability, which effectively makes up for the shortcomings of the exploration robot. However, the directional control accuracy is low, the obstacle crossing ability is weak, and the movement form is relatively simple, which cannot adapt to the complex planetary terrain.

[0004] At the same time, technicians found that the hexapod robot has high mobility and can climb and overcome obstacles when encountering complex environmental terrain. However, for tasks that require fast movement, it is difficult for the hexapod robot to effectively increase its movement speed even on flat terrain. Moreover, the hexapod robot cannot rely on special terrain and gravitational potential energy to achieve passive movement, and the energy consumption during movement is relatively large.

[0005] Therefore, how to combine the above two technologies has become a problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to provide a detection robot with a composite motion mode to solve the problem of how to achieve integration of the existing spherical robot and the hexapod robot.

[0007] In order to solve the above technical problems, the present invention provides a detection robot with a composite motion mode, comprising a spherical body, a six-legged crawling mechanism, a swing arm and a driving mechanism; the six-legged crawling mechanism is arranged at the bottom of the spherical body, and the six-legged crawling mechanism includes a crawling state extending outside the spherical body, and a storage state deformed into the outer arc surface of the bottom of the spherical body; the two swing arms are respectively arranged on opposite sides of the spherical body in a swingable manner; the driving mechanism is arranged in the spherical body, and when the detection robot becomes spherical, the driving mechanism is used to control the two swing arms to swing and contact the ground, thereby driving the detection robot to roll.

[0008] In one embodiment, two opposite sides of the upper portion of the spherical body are provided with slots, the swing arm is placed outside the slots, and the swing arm passes through the slots to be connected to the driving mechanism.

[0009] In one embodiment, the driving mechanism includes a driving motor, a crank rocker and a swing frame, the rotating shaft of the driving motor is connected to the power input end of the crank rocker, the power output end of the crank rocker is rotatably connected to the swing frame, the swing frame is installed in the spherical body in a swingable manner, and the swing arms are connected to the opposite sides of the swing frame.

[0010] In one of the embodiments, the two swing arms are connected to the swing frame in a passive swinging manner, and the swing axes of the two swing arms are perpendicular to the swing axis of the swing frame.

[0011] In one embodiment, the first connecting rod and the second connecting rod are rotatably installed on the two opposite sides of the swing frame, and the two first connecting rods and the two second connecting rods are respectively rotatably connected to the two swing arms; the rotation axes at both ends of the two first connecting rods and the rotation axes at both ends of the two second connecting rods are perpendicular to the swing axis of the swing frame.

[0012] In one embodiment, the two first connecting rods are each provided with a first through groove extending along the axial direction thereof; the two second connecting rods are each provided with a second through groove extending along the axial direction thereof; third connecting rods are rotatably mounted on opposite sides of the swing frame, fourth connecting rods are rotatably mounted on the two third connecting rods, the two fourth connecting rods respectively pass through the two second through grooves, and are rotatably connected to the two first connecting rods in the two first through grooves; the rotation axes at both ends of the two third connecting rods and the rotation axes at both ends of the two fourth connecting rods are perpendicular to the swing axis of the swing frame.

[0013] In one embodiment, the two third connecting rods are each provided with a third through groove extending along the axial direction thereof, a fifth connecting rod is rotatably installed in the two third through grooves, a sixth connecting rod is rotatably installed on the two fifth connecting rods, and the two sixth connecting rods are fixedly connected with a long axis; the rotation axis of the connection between the two fifth connecting rods and the two third connecting rods is perpendicular to the swing axis of the swing frame, and the rotation axis of the connection between the two fifth connecting rods and the two sixth connecting rods is the same as the swing axis of the swing frame; the axial direction of the long axis is the same as the swing axis of the swing frame, and the long axis is rotatably installed inside the spherical body.

[0014] In one embodiment, a plurality of limb receiving grooves are provided at the lower part of the spherical body; the six-legged crawling mechanism includes a frame, a first steering gear, a second steering gear, a third steering gear, a first bracket, a second bracket and an arc-shaped lower limb; the frame is fixedly installed inside the spherical body, and six first steering gears are installed on the frame and arranged in a circumferentially separated manner; the output shafts of the six first steering gears are respectively connected to the six first brackets, and the six first steering gears are respectively used to drive the six first brackets to swing in the horizontal direction; the output shafts of the six second steering gears are respectively connected to the six first brackets, and the six second steering gears are respectively connected and fixed to the six second brackets, and the six second steering gears are respectively used to drive the six second brackets to swing vertically; the six third steering gears are respectively connected and fixed to the six second brackets, and the output shafts of the six third steering gears are respectively connected to the six arc-shaped lower limbs, and the six third steering gears are respectively used to drive the six arc-shaped lower limbs to swing vertically; when the six arc-shaped lower limbs are respectively received in the six limb receiving grooves, the six arc-shaped lower limbs are deformed into the outer arc surface of the bottom of the spherical body.

[0015] In one of the embodiments, a camera for taking pictures is disposed on the outside of the spherical body.

[0016] In one embodiment, the outer surface of the spherical body is covered with a plurality of solar panels, and the plurality of solar panels are used to convert solar energy into electrical energy to supply the detection robot.

[0017] The beneficial effects of the present invention are as follows:

[0018] The detection robot of the present invention combines the advantages of a spherical robot and a legged robot, and can adapt to different operating environments through mode conversion. The spherical body makes its structure relatively closed, effectively preventing dust and sand from the external environment from invading and damaging its internal structure and load devices. Combining the advantages of a spherical robot and a hexapod robot, the robot changes its mode to move according to different environments and needs: on flat terrain, the robot changes to a spherical mode, and uses two swing arms to push the detection robot to roll, with a faster movement speed, and can fully utilize gravitational potential energy to achieve passive movement on downhill slopes, saving energy consumption; the complex terrain detection robot changes to a hexapod mode, and uses its legs to climb and overcome obstacles, adapting to different complex terrain environments and improving the accuracy of directional control.

[0019] In summary, the exploration robot can change modes according to different terrains, adapt to different environments, perform reasonable movements, perform appropriate tasks, and protect the body. This achieves high adaptability to the environment, greatly improves movement efficiency and mobility, and reduces energy requirements. Therefore, it can be widely used in scientific exploration of complex environments, such as the moon. The moon is the closest planet to the earth. Studies have shown that the mineral resources, energy resources and unique environmental resources on the moon can provide long-term and stable support for the sustainable development of human society. Therefore, lunar exploration is of great significance, and lunar exploration robots are important tools and means to achieve this goal. The multimodal spherical exploration robot based on drive can adapt to the lunar surface environment, perform fixed or mobile operations on the planetary surface platform, and carry scientific instruments for exploration activities. In addition, the multimodal spherical exploration robot can also be used in other planetary explorations in the future. Even for complex and unknown environments on the earth that are dangerous to humans, the multimodal spherical exploration robot can have a strong ability to adapt to the environment and can achieve more important scientific exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the structure provided by an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 Schematic diagram of the state when it becomes spherical;

[0023] Figure 3 yes Figure 1 Schematic diagram of the driving mechanism structure;

[0024] Figure 4 yes Figure 1 Schematic diagram of the crawling state of the six-legged crawling mechanism;

[0025] Figure 5 yes Figure 1 Schematic diagram of the storage state of the six-legged crawling mechanism.

[0026] The reference numerals are as follows:

[0027] 10. Spherical body; 11. Slot; 12. Limb slot;

[0028] 20. Hexapod crawling mechanism; 21. Frame; 221. First steering gear; 222. Second steering gear; 223. Third steering gear; 231. First bracket; 232. Second bracket; 24. Arc-shaped lower limbs;

[0029] 30. Arm swing;

[0030] 40. driving mechanism; 41. driving motor; 42. crank rocker; 43. swing frame; 441. first connecting rod; 442. second connecting rod; 443. third connecting rod; 444. fourth connecting rod; 445. fifth connecting rod; 446. sixth connecting rod; 451. first through slot; 452. second through slot; 453. third through slot; 46. long shaft;

[0031] 50. Camera;

[0032] 60. Solar panels. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0034] The present invention provides a detection robot with a composite motion mode, which can be implemented as follows: Figures 1 to 5 As shown, it includes a spherical body 10, a six-legged crawling mechanism 20, a swing arm 30 and a driving mechanism 40; the six-legged crawling mechanism 20 is arranged at the bottom of the spherical body 10, and the six-legged crawling mechanism 20 includes a crawling state extending outside the spherical body 10, and a storage state deformed into the outer arc surface of the bottom of the spherical body 10; the two swing arms 30 are respectively arranged on the opposite sides of the spherical body 10 in a swingable manner; the driving mechanism 40 is arranged in the spherical body 10, and when the detection robot becomes spherical, the driving mechanism 40 is used to control the two swing arms 30 to swing and contact the ground, thereby driving the detection robot to roll.

[0035] When in use, the detection robot can change its shape according to different application scenarios; for example, if crawling is required, the six-legged crawling mechanism 20 can be changed into a crawling state extending outside the spherical body 10 to control the detection robot to crawl; and when rolling is required, the six-legged crawling mechanism 20 can be controlled to be deformed into a storage state of the bottom outer arc surface of the spherical body 10, and then roll.

[0036] It should be pointed out that after the detection robot becomes spherical, the detection robot will be able to roll, but this embodiment is different from the robot rolling in the prior art; because in the prior art, once the robot becomes a rolling form, it generally allows the robot to simply roll, so it is difficult to accurately control where the robot rolls.

[0037] However, in this embodiment, since the driving mechanism 40 is used to control the two swing arms 30 to swing and contact the ground when the detection robot becomes spherical, and thereby drive the detection robot to roll, the rolling state of the detection robot can be controlled by controlling the swing arms 30, so that the detection robot can roll to the designated location as needed, and the control accuracy is much higher than the existing technology.

[0038] like Figures 1 to 3 As shown, in this embodiment, two opposite sides of the upper part of the spherical body 10 are provided with slots 11 , and the swing arm 30 is placed outside the slot 11 . The swing arm 30 passes through the slot 11 and is connected to the driving mechanism 40 .

[0039] After adopting this setting method, since the setting area of ​​the slot 11 is larger, the slot 11 provides sufficient movement space for the swing arm 30, so that the swing arm 30 can fully swing according to different needs, laying a foundation for the precise control of the swing arm 30.

[0040] like Figure 1 and Figure 3 As shown, this embodiment provides a driving mechanism 40 including a driving motor 41, a crank rocker 42 and a swing frame 43. The rotating shaft of the driving motor 41 is connected to the power input end of the crank rocker 42, and the power output end of the crank rocker 42 is rotatably connected to the swing frame 43. The swing frame 43 is installed in the spherical body 10 in a swingable manner, and the swing arms 30 are connected to the opposite sides of the swing frame 43.

[0041] After adopting this setting method, once the driving motor 41 is started, the crank rocker 42 can be driven to perform crank movement, thereby driving the swing frame 43 to achieve cyclic reciprocating swing control; since the swing frame 43 is connected to the swing arms 30 on both opposite sides, once the driving motor 41 is started, the swing frame 43 will swing back and forth synchronously with the swing arm 30, thereby achieving the control requirement of the swing arm 30 repeatedly contacting the ground to apply thrust.

[0042] like Figure 3 As shown, in this embodiment, two swing arms 30 are connected to the swing frame 43 in a passive swinging manner, and the swing axes of the two swing arms 30 are perpendicular to the swing axis of the swing frame 43.

[0043] After adopting this setting method, the swing arm 30 has an additional dimension of free swinging. When encountering complex terrain, the swing arm 30 can swing adaptively after being subjected to force due to contact with the terrain, providing better assistance for the stable and smooth movement of the detection robot.

[0044] like Figure 3As shown, this embodiment provides a first connecting rod 441 and a second connecting rod 442 rotatably installed on two opposite sides of a swing frame 43, and the two first connecting rods 441 and the two second connecting rods 442 are rotatably connected to the two swing arms 30 respectively; the rotation axes at both ends of the two first connecting rods 441 and the rotation axes at both ends of the two second connecting rods 442 are perpendicular to the swing axis of the swing frame 43.

[0045] After adopting this setting method, the first connecting rod 441 and the second connecting rod 442 are used to realize the free swing of the swing arm 30. At this time, the first connecting rod 441 and the second connecting rod 442 can not only realize free swing between the swing arm 30, but also realize free swing between the first connecting rod 441 and the second connecting rod 442 and the swing frame 43, thereby making the swing arm 30 more adaptable to the terrain.

[0046] like Figure 3 As shown, in this embodiment, two first connecting rods 441 are provided with a first through slot 451 extending along the axial direction thereof; two second connecting rods 442 are provided with a second through slot 452 extending along the axial direction thereof; third connecting rods 443 are rotatably mounted on opposite sides of the swing frame 43, and fourth connecting rods 444 are rotatably mounted on the two third connecting rods 443, and the two fourth connecting rods 444 respectively pass through the two second through slots 452 and are rotatably connected to the two first connecting rods 441 in the two first through slots 451; the rotation axes at both ends of the two third connecting rods 443 and the rotation axes at both ends of the two fourth connecting rods 444 are perpendicular to the swing axis of the swing frame 43.

[0047] After adopting this setting, the third connecting rod 443 and the fourth connecting rod 444 will not affect the normal free swing of the swing arm 30, but also enhance the mechanical structural strength of the swing arm 30 for free swinging, thereby ensuring that the swing arm 30 can work stably for a long time.

[0048] like Figure 1 and Figure 3 As shown, in this embodiment, two third connecting rods 443 are provided with third through grooves 453 extending along the axial direction thereof, and fifth connecting rods 445 are rotatably installed in the two third through grooves 453, and sixth connecting rods 446 are rotatably installed on the two fifth connecting rods 445, and the two sixth connecting rods 446 are fixedly connected with the long axis 46; the rotation axis of the connection between the two fifth connecting rods 445 and the two third connecting rods 443 is perpendicular to the swing axis of the swing frame 43, and the rotation axis of the connection between the two fifth connecting rods 445 and the two sixth connecting rods 446 is the same as the swing axis of the swing frame 43; the axial direction of the long axis 46 is the same as the swing axis of the swing frame 43, and the long axis 46 is installed inside the spherical body 10 in a rotatable manner.

[0049] After adopting this arrangement, the fifth connecting rod 445 and the sixth connecting rod 446 are used to further strengthen the mechanical structural strength of the swing arm 30 for free swinging, thereby further improving the working stability of the swing arm 30.

[0050] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in this embodiment, a plurality of limb receiving slots 12 are provided at the lower part of the spherical body 10; the six-legged crawling mechanism 20 comprises a frame 21, a first steering gear 221, a second steering gear 222, a third steering gear 223, a first bracket 231, a second bracket 232 and an arc-shaped lower limb 24; the frame 21 is fixedly installed inside the spherical body 10, and six first steering gears 221 arranged and arranged in a circumferentially separated manner are installed on the frame 21; the output shafts of the six first steering gears 221 are respectively connected to the six first brackets 231, and the six first steering gears 221 are respectively used to drive the six first brackets 231 to swing in the horizontal direction; the six second steering gears 222 The output shafts are respectively connected to the six first brackets 231, the six second steering gears 222 are respectively connected and fixed to the six second brackets 232, and the six second steering gears 222 are respectively used to drive the six second brackets 232 to swing vertically; the six third steering gears 223 are respectively connected and fixed to the six second brackets 232, the output shafts of the six third steering gears 223 are respectively connected to the six arc-shaped lower limbs 24, and the six third steering gears 223 are respectively used to drive the six arc-shaped lower limbs 24 to swing vertically; when the six arc-shaped lower limbs 24 are respectively received in the six limb receiving grooves 12, the six arc-shaped lower limbs 24 are deformed into the bottom outer arc surface of the spherical body 10.

[0051] After adopting this setting, once the first servo 221 is started, it can drive the first bracket 231, the second bracket 232, the second servo 222, the third servo 223 and the arc-shaped lower limb 24 to swing in the horizontal direction, thereby satisfying the crawling action of the six-legged crawling mechanism 20.

[0052] Once the second servo 222 is started, it can drive the second bracket 232, the third servo 223 and the arc-shaped lower limb 24 to perform the lifting and lowering operations of swinging up and down, thereby satisfying the leg-lifting action of the six-legged crawling mechanism 20; similarly, once the third servo 223 is started, it can drive the arc-shaped lower limb 24 to perform the lifting and lowering operations of swinging up and down, thereby satisfying the six-legged crawling mechanism 20 to perform more complex leg-lifting actions.

[0053] Among them, through the mutual control and cooperation of the second servo engine 222 and the third servo engine 223, the operations of storing the arc-shaped lower limb 24 in the limb receiving slot 12 and extending it out of the limb receiving slot 12 can be realized; for example, when a crawling operation is required, the second servo engine 222 and the third servo engine 223 can cooperate with each other to make the arc-shaped lower limb 24 extend to the outside of the limb receiving slot 12 for crawling; and when a storing operation is required, the second servo engine 222 and the third servo engine 223 can cooperate with each other to make the arc-shaped lower limb 24 stored in the limb receiving slot 12. Since the arc-shaped outer surface of the arc-shaped lower limb 24 matches the arc-shaped outer surface of the spherical body 10, when the arc-shaped lower limb 24 is stored in the limb receiving slot 12, the bottom of the spherical body 10 can be turned into a complete spherical shape, thereby facilitating rolling movement.

[0054] like Figure 1 and Figure 2 As shown, in this embodiment, a camera 50 for taking pictures is provided on the outside of the spherical body 10 .

[0055] After adopting this setting method, the camera 50 can be used to photograph the surrounding environment, thereby meeting various observation and shooting requirements of the detection robot for environmental detection.

[0056] like Figure 1 and Figure 2 As shown, in this embodiment, the outer surface of the spherical body 10 is covered with a plurality of solar panels 60 , and the plurality of solar panels 60 are used to convert solar energy into electrical energy to supply to the detection robot.

[0057] After adopting this setting method, multiple solar panels 60 can be used to absorb solar energy, and then the absorbed solar energy is converted into electrical energy to ensure that the detection robot can be continuously powered, thereby meeting the detection robot's continuous and stable working requirements.

[0058] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A detection robot with a composite motion mode, characterized in that: It includes a spherical body, a six-legged crawling mechanism, a swing arm and a driving mechanism; The six-legged crawling mechanism is arranged at the bottom of the spherical body, and the six-legged crawling mechanism includes a crawling state extending outside the spherical body, and a storage state deformed into an outer arc surface of the bottom of the spherical body; The two swing arms are respectively arranged on two opposite sides of the spherical body in a swingable manner; The driving mechanism is arranged in the spherical body. When the detection robot becomes spherical, the driving mechanism is used to control the two swing arms to swing and contact the ground, thereby driving the detection robot to roll.

2. The detection robot according to claim 1, characterized in that: Two opposite sides of the upper part of the spherical body are provided with slots, the swing arm is placed outside the slots, and the swing arm passes through the slots to be connected with the driving mechanism.

3. The detection robot according to claim 2, characterized in that: The driving mechanism includes a driving motor, a crank rocker and a swing frame. The rotating shaft of the driving motor is connected to the power input end of the crank rocker, and the power output end of the crank rocker is rotationally connected to the swing frame. The swing frame is installed in the spherical body in a swingable manner, and the swing arms are connected to the opposite sides of the swing frame.

4. The detection robot according to claim 3, characterized in that: The two swing arms are connected to the swing frame in a passive swinging manner, and the swing axes of the two swing arms are perpendicular to the swing axis of the swing frame.

5. The detection robot according to claim 4, characterized in that: The first connecting rod and the second connecting rod are rotatably mounted on two opposite sides of the swing frame, and the two first connecting rods and the two second connecting rods are rotatably connected to the two swing arms respectively; The rotation axes at both ends of the two first connecting rods and the rotation axes at both ends of the two second connecting rods are perpendicular to the swing axis of the swing frame.

6. The detection robot according to claim 5, characterized in that: The two first connecting rods are each provided with a first through groove extending along the axial direction thereof; The two second connecting rods are each provided with a second through groove extending along the axial direction thereof; The third connecting rods are rotatably mounted on both opposite sides of the swing frame, and the second connecting rods are rotatably mounted on both the third connecting rods. The second connecting rods pass through the second through slots respectively and are rotatably connected with the first connecting rods in the first through slots. The rotation axes at both ends of the two third connecting rods and the rotation axes at both ends of the two fourth connecting rods are perpendicular to the swing axis of the swing frame.

7. The detection robot according to claim 6, characterized in that: The two third connecting rods are both provided with a third through slot extending along the axial direction thereof, the fifth connecting rods are rotatably mounted in the two third through slots, the sixth connecting rods are rotatably mounted on the two fifth connecting rods, and the two sixth connecting rods are fixedly connected with a long shaft; The rotation axes of the connection points of the two fifth connecting rods and the two third connecting rods are both perpendicular to the swing axis of the swing frame, and the rotation axes of the connection points of the two fifth connecting rods and the two sixth connecting rods are both the same as the swing axis of the swing frame; The axial direction of the long shaft is the same as the swing axial direction of the swing frame, and the long shaft is installed inside the spherical body in a rotatable manner.

8. The detection robot according to claim 1, characterized in that: The lower part of the spherical body is provided with a plurality of limb receiving grooves; The six-legged crawling mechanism comprises a frame, a first steering gear, a second steering gear, a third steering gear, a first bracket, a second bracket and an arc-shaped lower limb; The frame is fixedly installed inside the spherical body, and six first steering gears are installed on the frame and are arranged in a circumferentially separated manner; The output shafts of the six first steering gears are respectively connected to the six first brackets, and the six first steering gears are respectively used to drive the six first brackets to swing in the horizontal direction; The output shafts of the six second steering gears are respectively connected to the six first brackets, the six second steering gears are respectively connected and fixed to the six second brackets, and the six second steering gears are respectively used to drive the six second brackets to swing vertically; The six third steering gears are respectively connected and fixed to the six second brackets, the output shafts of the six third steering gears are respectively connected to the six arc-shaped lower limbs, and the six third steering gears are respectively used to drive the six arc-shaped lower limbs to swing vertically; When the six arc-shaped lower limbs are respectively received in the six limb receiving grooves, the six arc-shaped lower limbs are deformed into the outer arc surface of the bottom of the spherical body.

9. The detection robot according to claim 1, characterized in that: A camera for shooting is arranged outside the spherical body.

10. The detection robot according to claim 1, characterized in that: The outer surface of the spherical body is covered with a plurality of solar panels, and the plurality of solar panels are used to convert solar energy into electrical energy to supply to the detection robot.

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