Spherical land-air amphibious robot based on coaxial propeller reversing technology

Abstract

The invention discloses a spherical land-air amphibious robot based on a coaxial reverse propeller technology. The spherical land-air amphibious robot comprises a spherical shell, a three-axis internal rotating mechanism and a coaxial double-rotor system. The spherical shell is formed by splicing a trifurcate joint and a straight rod; the three-axis type internal rotating mechanism comprises an outer ring and an inner ring, the outer ring is fixedly connected with the spherical shell, the inner ring is connected with the outer ring through a bearing, and servo motors are arranged at the connecting joints of the outer ring and the inner ring and the connecting joints of the inner ring and the supporting rods to achieve active driving; a camera and a laser range finder are mounted at the bottom of the outer ring; the flight / rolling dual-mode controller automatically switches a ground rolling mode, a wall crawling mode and an air flight mode according to data of the sensor. Efficient power transmission is achieved through the active driving three-axis mechanism, visual perception and intelligent control are combined, and movement flexibility and terrain adaptability are greatly improved; a straight rod splicing structure and a modular design are adopted, the manufacturing cost and the maintenance difficulty are reduced, and the device can be widely applied to the fields of emergency rescue, pipe gallery inspection, material transportation and the like.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a spherical amphibious robot based on coaxial anti-propeller technology. Background Technology

[0002] Spherical amphibious robots are mobile robot platforms that combine ground rolling and aerial flight capabilities. Due to the protective properties of their spherical shells, they have broad application prospects in scenarios such as complex environment exploration, emergency rescue, and utility tunnel inspection. Most existing spherical robots use quadcopter drones as their propulsion system, fixing the quadcopter inside the spherical shell and achieving flight through lift generated by the rotors. Ground rolling relies on passive rolling through contact between the shell and the ground or is driven by additional wheel mechanisms.

[0003] Such solutions have the following technical problems: First, the rotors of quadcopter drones are exposed or simply wrapped in a shell, making them prone to interference with the internal structure of the shell during flight, and the risk of rotor damage is high upon collision; Second, the quadcopter power system is distributed, and the simultaneous operation of multiple motors results in high power consumption, requiring high power output even when rolling on the ground, thus limiting endurance; Third, the quadcopter configuration has low space utilization within the spherical shell, limiting the expansion of the rotor diameter, resulting in insufficient lift efficiency and slow flight speed; Fourth, the transmission mechanisms of existing spherical robots are mostly passive, relying on the rotor lift component for indirect drive when rolling on the ground, resulting in poor steering flexibility and weak adaptability to complex terrain.

[0004] To address the aforementioned issues, Chinese patent application CN110203386A proposes a "novel configuration omnidirectional coaxial UAV," which combines a spherical shell with a curved shaft with a coaxial unmanned helicopter. A three-axis rotation mechanism transfers the helicopter's lift to the shell, integrating ground rolling and aerial flight functions. This solution uses a coaxial dual-rotor configuration instead of a quadcopter layout, improving space utilization to some extent. However, this solution still has the following shortcomings: First, its three-axis internal rotation mechanism only achieves passive connection between the outer and inner rings, and between the inner ring and the helicopter, through rotating bearings, lacking active drive components. Ground rolling relies entirely on the rotor lift component, resulting in delayed power response and low rolling efficiency and susceptibility to jamming on complex terrains such as slopes and rough surfaces. Second, its grounding status determination relies solely on a flexible stress sensor wrapped around the curved shaft surface, triggered by a pressure threshold. It can only identify a binary "grounded / ungrounded" state and cannot perceive environmental information such as terrain slope and ground material. Third, its spherical shell adopts a curved rod splicing structure, which requires precise bending and processing according to the spherical curvature, resulting in high production costs and strict assembly precision requirements. Moreover, the curved rod is prone to jamming with ground protrusions during rolling, affecting the smoothness of movement. Fourth, the coaxial helicopter rotor spacing is only qualitatively described as "significantly increased" without forming a standardized design. The aerodynamic coupling problem has not been fully resolved, and there is still room for improvement in lift efficiency. Fifth, its overall structure is fixed splicing without modular expansion interfaces, making it impossible to add functional modules according to mission requirements, resulting in limited functionality. Summary of the Invention

[0005] The purpose of this invention is to provide a spherical amphibious robot based on coaxial counter-propeller technology to solve the technical problems mentioned in the background art, such as low transmission efficiency, high power consumption for ground movement, poor terrain adaptability, and limited functionality of existing spherical UAVs.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A spherical amphibious robot based on coaxial counter-propeller technology includes: A spherical, mesh-like, perforated shell, assembled from multiple joints and straight rods, is used for omnidirectional protection and ground rolling; A three-axis internal rotating mechanism includes an outer ring and an inner ring. The outer ring is fixedly connected to a spherical shell, and the inner ring is connected to the outer ring through a rotating bearing and can rotate around the Y-axis. A coaxial dual-rotor system includes two rotors arranged vertically, connected to an inner ring via a support rod and a rotating bearing, and capable of rotating around the X-axis; Servo motors are installed at the connection nodes between the outer ring and the inner ring, and between the inner ring and the coaxial dual-rotor system, for actively driving the rotation; A dual-mode (flight / roll) controller is used to automatically switch motion modes based on sensor data and control the coordinated operation of the rotor and servo motors.

[0007] Furthermore, the spherical shell is assembled from 60 three-pronged joints and 90 straight rods by pins, forming a soccer ball-shaped mesh hollow structure. The three-pronged joints are obtuse-angled structures, and the straight rods are designed with equal lengths.

[0008] Furthermore, a camera and a laser rangefinder are installed at the bottom of the outer ring to collect ground images in real time, identify grounding status, terrain slope and material, and transmit the data to the controller to dynamically adjust the drive parameters.

[0009] Furthermore, the distance between the two rotors of the coaxial dual-rotor system is set to 1 to 3 times the rotor diameter, and a dual control mode of collective pitch and periodic pitch is adopted.

[0010] Furthermore, the three-axis internal rotation mechanism uses a servo motor to achieve active rotation of the inner ring around the outer ring and the coaxial dual rotors around the inner ring, with a rotation angle control accuracy of ±0.1° and a speed range of 0~30° / s.

[0011] Furthermore, the controller supports automatic switching between the following three motion modes: Ground rolling mode: The spherical shell is driven to roll by generating force along the X-axis or Y-axis through periodic pitch changes of the rotor. Wall / slope crawling mode: By adjusting the body tilt angle, a pressure component perpendicular to the contact surface and a crawling component along the contact surface are generated; Flight mode: Six degrees of freedom flight is achieved through collective pitch and cyclic pitch control.

[0012] Furthermore, the inner side of the spherical shell has multiple standardized quick-release interfaces for installing functional modules, including one or more of the following: a robotic arm, an infrared thermal imager, and a small delivery pod.

[0013] Furthermore, the spherical shell adopts a segmented splicing structure, divided into upper, middle and lower sections, and the shell diameter can be adjusted according to task requirements; the straight rod surface is sprayed with a polyurea elastic coating, with a temperature resistance range of -40℃ to 85℃, and has anti-corrosion and anti-dust adhesion functions.

[0014] Furthermore, the controller integrates a multi-sensor fusion algorithm, supporting terrain classification, path planning, real-time obstacle avoidance, and status self-diagnosis functions. In case of failure, it can automatically switch to a backup control mode.

[0015] Furthermore, the three-pronged connector is equipped with a magnetic interface at its end, which is used for rapid magnetic splicing between multiple robots to achieve multi-machine collaborative operation.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. Significantly improved power efficiency: Adopting a coaxial counter-rotating rotor structure and standardized rotor spacing design to reduce aerodynamic interference, lift efficiency is increased by 20%; power consumption during ground roll is only 60% of that during flight, greatly extending endurance; 2. Precise and flexible motion control: The three-axis mechanism is equipped with a servo motor to achieve active drive, reducing the steering response time to less than 0.3 seconds, controlling the slope rolling speed fluctuation within ±5%, and adaptively switching between three modes: ground rolling, wall crawling, and aerial flight; 3. High level of environmental perception and intelligence: Cameras and laser rangefinders replace traditional pressure sensors, resulting in high accuracy in grounding detection. They can identify terrain slope and material, and support path planning and autonomous obstacle avoidance. 4. Enhanced structural reliability and maintainability: Straight rods replace curved rods, reducing the cost per rod, decreasing jamming frequency, and increasing impact resistance; the modular quick-release design allows for functional module replacement in less than 5 minutes; 5. Strong functional expansion and collaborative operation capabilities: It has reserved standardized interfaces and can add modules such as robotic arms and detectors as needed; multiple units can be quickly spliced ​​together through magnetic attraction to achieve collaborative transportation and regional coverage. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is a top view of an embodiment of the present invention; Figure 3 This is a front view of an embodiment of the present invention; Figure 4 This is a right view of an embodiment of the present invention; Figure 5 This is a schematic diagram of a three-way connector.

[0018] Explanation of reference numerals in the attached figures: In the diagram: 1-spherical shell, 2-outer ring, 3-inner ring, 4-support rod, 5-three-pronged joint. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] See attached document Figure 1 To be continued Figure 4 This embodiment provides a spherical amphibious robot based on coaxial counter-rotor technology, including a spherical shell 1, a three-axis internal rotation mechanism, and a coaxial dual-rotor system.

[0021] The spherical outer shell 1 adopts a soccer ball-shaped mesh-like hollow structure, assembled from 60 three-pronged joints and 90 straight rods via pins. The three-pronged joints feature an obtuse angle design, with each joint connecting three straight rods, forming a uniform mesh-like hollow structure after assembly. Both the three-pronged joints and the straight rods are made of carbon fiber composite material, achieving lightweight while ensuring impact resistance. The straight rods are designed with uniform length, requiring no bending processing; their spherical curvature is naturally formed by the angle positioning of the three-pronged joints. The spherical outer shell 1 completely encloses the internal mechanism, isolating the rotor from direct contact with the external environment and preventing rotor damage or personnel injury in the event of a collision.

[0022] The three-axis internal rotating mechanism includes an outer ring 2 and an inner ring 3. The outer ring 2 is fixedly connected to the upper and lower hexagonal surfaces of the spherical outer shell 1 via a pair of three-pronged brackets, secured with high-strength bolts to eliminate relative rotational clearance between the outer ring and the outer shell. The inner ring 3 is connected to the outer ring 2 via a pair of axially symmetrical rotating bearings along the Y-axis, allowing it to rotate around the Y-axis. The support rod 4 is arranged along the X-axis and connected to the inner ring 3 via rotating bearings, driving the coaxial dual rotors to rotate around the X-axis.

[0023] High-precision servo motors are installed at the connection nodes of the outer ring 2 and the inner ring 3, and at the connection nodes of the inner ring 3 and the support rod 4. The servo motors are driven by controller commands to realize the active rotation of the inner ring 3 around the outer ring 2 and the coaxial dual rotor around the inner ring 3. The rotation angle control accuracy is ±0.1°, and the speed adjustment range is 0~30° / s.

[0024] A miniature camera and a laser rangefinder are installed at the bottom ring of outer ring 2. The camera is used to acquire real-time ground images and determine the grounding status, ground area shape, and ground material through image recognition algorithms; the laser rangefinder is used to obtain the vertical distance and relative tilt angle between the outer shell and the ground in real time. Sensor data is transmitted to the controller in real time, providing a basis for switching motion modes and adjusting control parameters.

[0025] The coaxial twin-rotor system employs a symmetrical layout with upper and lower rotors. The distance between the two rotors is set to 1 to 1.5 times the rotor diameter (depending on the rotor type and number) to reduce airflow interference between the upper and lower rotors. The rotors utilize NACA high-efficiency airfoils, and the fuselage integrates avionics systems, including a flight / roll dual-mode controller, an inertial navigation system, brushless motors, lithium batteries, and servo systems. The rotor system employs a dual-control mode of collective pitch and cyclic pitch, with servo motors independently controlling the collective pitch and cyclic pitch of the upper and lower rotors.

[0026] Multimodal motion control logic I. Ground Rolling Mode (X / Y Axis Translation) Triggering conditions: The image captured by the camera is recognized as being in contact with the ground, and the inertial navigation system detects that the aircraft's attitude is stable.

[0027] Control Logic: The controller uses longitudinal periodic pitch adjustment to synchronously tilt the upper and lower rotors towards the positive X-axis, generating a force along the X-axis. This force is transmitted through support rod 4 to inner ring 3, then through inner ring 3 to outer ring 2, ultimately driving the spherical outer shell to rotate around the Y-axis, achieving rolling along the positive X-axis. Similarly, by controlling the rotor to tilt towards the Y-axis through lateral periodic pitch adjustment, rolling along the Y-axis can be achieved. By simultaneously adjusting the longitudinal and lateral pitch adjustments, rolling in any direction (such as a 45° angle) can be achieved.

[0028] Rotation (direction) around the Z-axis is achieved by adjusting the speed difference between the upper and lower rotors, such as increasing the speed of the upper rotor a1 and decreasing the speed of the lower rotor a2, thus generating a clockwise steering force.

[0029] Energy efficiency advantage: When rolling, the rotor only needs to output low power to "maintain the stability of the fuselage and provide the rolling force" (about 60% of the power of air flight), which solves the problem of high power consumption of existing quadcopter robots for ground movement.

[0030] II. Wall / Slope Crawling Mode (Moving along vertical / inclined surfaces) Triggering conditions: The image captured by the camera is identified as being in contact with the ground, and the inertial navigation system detects that the angle between the aircraft body and the horizontal plane is greater than 90° (wall) or 30°~90° (slope), thus determining it to be in crawling mode.

[0031] Control Logic: The controller adjusts the tilt angle of the coaxial helicopter fuselage, decomposing the rotor lift into a "pressure component perpendicular to the wall / slope" and a "crawling component along the wall / slope." The pressure component ensures the robot stays in contact with the wall / slope, while the crawling component is transmitted to the outer shell via a three-axis rotation mechanism, driving the robot to crawl up and down the wall or move along the slope. Simultaneously, attitude sensors correct the fuselage angle in real time to prevent slippage.

[0032] During the crawling process, the servo motor of the active drive system adjusts the relative angle between the inner ring 3 and the support rod 4 in real time according to the tilt angle to maintain the optimal thrust direction. For example, when crawling on a 90° wall, the support rod 4 rotates around the X-axis to a horizontal position, so that the rotor lift is fully pressed against the wall; when crawling on a 30° slope, the support rod 4 rotates to be parallel to the slope, providing the maximum crawling force.

[0033] III. Aerial Flight Mode (Full Six Degrees of Freedom Motion) Triggering condition: The image captured by the camera is identified as being in the air (the height above the ground exceeds a threshold, such as 0.5 meters).

[0034] Control logic: Adopts a conventional coaxial counter-rotating rotor flight control strategy. Z-axis translation (lifting): Vertical lift is controlled by adjusting the rotor collective pitch; X / Y axis translation (forward, backward, left, and right): Horizontal thrust is controlled by periodic pitch variation; Rotation around the Z-axis (heading): Controlled by the speed difference between the upper and lower rotors; Rotation around the X / Y axis (attitude): Controlled by differential collective pitch.

[0035] Combined with an inertial navigation system, it enables hovering, rapid level flight, and takeoff and landing in any attitude. When an obstacle is detected (via airborne radar or visual sensors), the controller automatically adjusts the rotor speed and fuselage attitude to reduce flight speed and avoid the obstacle. At the same time, the spherical shell can buffer minor collisions to ensure flight safety.

[0036] When hovering in the air, its attitude fluctuation range is ≤±0.5°, and it is capable of withstanding level 6 gusts.

[0037] Intelligent control and collaborative operation I. Status Self-Diagnosis and Fault Handling The flight / roll dual-mode controller has a self-diagnostic function, monitoring the operating status of the motor, sensors, and battery in real time. When a fault is detected (such as abnormal motor speed, sensor data drift, or low battery power), it automatically switches to the backup control mode. Single motor failure: Switch to single motor drive + rotor auxiliary adjustment mode to maintain basic motion capability using the remaining motor and rotor differential. Visual sensor malfunction: Switch to pure inertial navigation mode, rely on INS data to maintain short-term motion control, and trigger the return-to-home procedure; Low battery: Automatically find the nearest safe area to land and send location information.

[0038] II. Path Planning and Autonomous Navigation The controller also includes a path planning module, supporting autonomous navigation and real-time obstacle avoidance along preset routes. After identifying obstacles via a camera, it replans the path within 100ms, eliminating the need for remote manual control. The path planning algorithm comprehensively considers factors such as terrain slope, obstacle distribution, and energy consumption to optimize the trajectory. For example, in complex terrain, the controller can automatically decide on a "roll-small-amplitude flight-re-roll" obstacle-crossing maneuver, rather than flying the entire way to save energy.

[0039] III. Multi-machine collaborative operation Multiple robots can be quickly assembled via magnetic interfaces using a three-pronged connector (e.g., two robots can be magnetically joined together via end three-pronged connectors to form a "dual-sphere collaborative system"). After assembly, power synchronization is achieved through multi-machine communication protocols (e.g., Bluetooth 5.0 or 4G), enabling the transport of larger loads or collaborative exploration of complex areas (e.g., multiple robots crawling in different directions to cover a wider area).

[0040] In collaborative control, one robot acts as the master node, responsible for task allocation and coordination; the other robots act as slave nodes, receiving instructions from the master node and reporting their status. When separation is required, the controller de-energizes the magnetic interface, and each robot executes its task independently.

[0041] Actual testing showed that, under closed-loop control of the servo motor, the rotation angle control accuracy of this embodiment can reach ±0.1°, and the speed adjustment range is 0~30° / s. In a 15° slope rolling test, the steering response time is less than 0.3 seconds, and the speed fluctuation amplitude is controlled within ±5%.

[0042] Modular maintenance and scenario adaptation The spherical shell, three-axis rotation mechanism, and coaxial dual rotors are connected via standardized interfaces. When a single spherical shell rod is damaged, it can be replaced simply by pulling out the pin, with a repair time of less than 3 minutes. The coaxial dual rotor module can be completely disassembled for easy replacement of rotors or motors. Different platform specifications can be configured according to mission requirements. Basic type: 1.2-meter outer diameter, suitable for pipe gallery inspection; Transport type: The outer shell diameter is 1.5 meters, the rotor diameter is increased accordingly, and the effective payload is extended to 2 kg, which is suitable for transporting goods; Detection type: Equipped with high-definition infrared cameras, gas detectors and other detection equipment, suitable for navigation in complex environments.

[0043] This embodiment further illustrates the technical effects of the present invention by comparing it with publication number CN110203386A.

[0044] Comparison of active drive and passive transmission: The existing patented three-axis internal rotation mechanism achieves passive connection only through bearings. Ground rolling relies entirely on the lift component of the rotor. During rolling tests on a 15° slope, the rolling speed fluctuates by ±30%, and the steering response time is greater than 2 seconds. This embodiment uses a servo motor for active drive. Under the same slope conditions, the rolling speed fluctuation is less than ±5%, the steering response time is less than 0.3 seconds, and the slope climbing ability is improved to 30°.

[0045] Comparison of visual recognition and pressure sensing: Existing patented flexible stress sensors exhibit a grounding misjudgment rate of approximately 15% in gravel road surface tests due to uneven pressure at local points. This embodiment employs a camera and laser rangefinder, fusing image recognition and distance measurement for judgment. In the same gravel road surface tests, the grounding judgment accuracy reaches over 99%, and it can output information such as terrain slope and ground material, providing a basis for optimizing control strategies.

[0046] Comparison of straight rod and curved rod structures: Existing patented curved rods require precision bending processing, with a single curved rod costing approximately 15 yuan. Special tooling is needed during assembly to ensure curvature tolerances. The straight rods in this embodiment are standard parts of equal length, costing approximately 5 yuan per piece. They are directly fixed with pins during assembly, requiring no special tooling. In simulated gravel rolling tests, the curved rod structure experienced an average of 0.8 jamming events per 10 meters of rolling, while the straight rod structure experienced only 0.1 jamming events.

[0047] Comparison of rotor spacing optimization: Existing patents only qualitatively design rotor spacing as a "significant increase," with actual lift efficiency of approximately 12g / W in tests. This embodiment standardizes the rotor spacing to 1.2 times the rotor diameter, and with the selected NACA airfoil, the lift efficiency is increased to 14.5g / W under the same power input, resulting in a lift increase of approximately 20%.

[0048] Comparison between modular design and fixed structure: Existing patents use fixed structures, making it impossible to add functional modules. This embodiment, through a quick-release interface, allows for the installation of a robotic arm or thermal imager within 5 minutes, enabling a rapid conversion from reconnaissance to operational use.

[0049] The spherical amphibious robot provided by this invention adopts a technical solution that combines a coaxial counter-rotating propulsion system with a three-axis active drive mechanism. It has the advantages of high lift efficiency, low power consumption for ground movement, strong adaptability to complex terrain, and good modular expansion capability. It can be widely used in emergency rescue, pipeline inspection, military reconnaissance, material transportation and other fields, and has good industrial applicability.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A spherical amphibious robot based on coaxial counter-propeller technology, characterized in that, include: A spherical mesh-like hollow shell (1), composed of multiple joints and straight rods, is used for omnidirectional protection and ground rolling; A three-axis internal rotating mechanism includes an outer ring (2) and an inner ring (3). The outer ring (2) is fixedly connected to a spherical shell (1), and the inner ring (3) is connected to the outer ring (2) through a rotating bearing and can rotate around the Y-axis. A coaxial dual-rotor system includes two rotors arranged vertically, connected to an inner ring (3) via a support rod (4) and a rotating bearing, and can rotate around the X-axis; Servo motors are provided at the connection nodes between the outer ring (2) and the inner ring (3), and between the inner ring (3) and the coaxial dual rotor system, for actively driving rotation; A dual-mode (flight / roll) controller is used to automatically switch motion modes based on sensor data and control the coordinated operation of the rotor and servo motors.

2. The spherical amphibious robot according to claim 1, characterized in that, The spherical shell (1) is made of 60 three-pronged joints and 90 straight rods spliced ​​together by pins to form a football-shaped mesh hollow structure. The three-pronged joints are obtuse angle structures and the straight rods are designed with equal lengths.

3. The spherical amphibious robot according to claim 1, characterized in that, The bottom of the outer ring (2) is equipped with a camera and a laser rangefinder, which are used to collect ground images in real time, identify grounding status, terrain slope and material, and transmit the data to the controller to dynamically adjust the driving parameters.

4. The spherical amphibious robot according to claim 1, characterized in that, The distance between the two rotors of the coaxial dual-rotor system is set to 1 to 3 times the rotor diameter, and a dual control mode of collective pitch and periodic pitch is adopted.

5. The spherical amphibious robot according to claim 1, characterized in that, The three-axis internal rotation mechanism uses a servo motor to achieve active rotation of the inner ring around the outer ring and the coaxial dual rotors around the inner ring. The rotation angle control accuracy is ±0.1°, and the speed range is 0~30° / s.

6. The spherical amphibious robot according to claim 1, characterized in that, The controller supports automatic switching between the following three motion modes: Ground rolling mode: The spherical shell is driven to roll by generating torque along the X-axis or Y-axis through periodic rotor pitch changes; Wall / slope crawling mode: By adjusting the body tilt angle, a pressure component perpendicular to the contact surface and a crawling component along the contact surface are generated; Flight mode: Six degrees of freedom flight is achieved through collective pitch and cyclic pitch control.

7. The spherical amphibious robot according to claim 1, characterized in that, The inner side of the spherical shell (1) has multiple standardized quick-release interfaces for adding functional modules, including one or more of a robotic arm, an infrared thermal imager, and a small delivery cabin.

8. The spherical amphibious robot according to claim 1, characterized in that, The spherical shell (1) adopts a segmented splicing structure, which is divided into three sections: upper, middle and lower. The diameter of the shell can be adjusted according to the task requirements. The surface of the straight rod is sprayed with a polyurea elastic coating, which has a temperature range of -40℃ to 85℃ and has anti-corrosion and anti-dust adhesion functions.

9. The spherical amphibious robot according to claim 1, characterized in that, The controller integrates a multi-sensor fusion algorithm, supports terrain classification, path planning, real-time obstacle avoidance and status self-diagnosis functions, and can automatically switch to backup control mode in case of failure.

10. The spherical amphibious robot according to claim 1, characterized in that, The three-pronged connector is equipped with a magnetic interface at one end, which is used for rapid magnetic splicing between multiple robots to achieve multi-machine collaborative operation.

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