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特殊用途的球形机器人：当前可能性综述。

Spherical Robots for Special Purposes: A Review on Current Possibilities.

机构信息

Faculty of Electrical Engineering and Information Technology, University of Zilina, 010 26 Zilina, Slovakia.

Faculty of Transportation Sciences, Czech Technical University in Prague, 110 00 Prague, Czech Republic.

出版信息

Sensors (Basel). 2022 Feb 12;22(4):1413. doi: 10.3390/s22041413.

DOI:10.3390/s22041413
PMID:35214320
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8879192/
Abstract

The review discusses the possibilities of different driving mechanisms and sensors of spherical robots, and a special kind of mobile robots is introduced and discussed. The sensors discussed can expand robots' sensing capabilities which are typically very limited. Most spherical robots have holonomic characteristics and protect the inner environment using a shell. Today, there are a diversity of driving mechanisms. Therefore, this article provides a review of all of them and identifies their basic properties. Accordingly, many spherical robots have only inner sensors for moving, balancing, driving, etc. However, a few of them are also equipped with sensors that can measure environmental properties. Therefore, in this paper, we propose the possibility of using such sensors as cameras, LiDARs, thermocouples, and gas sensors, which can be used for special purposes underground, for example, in mines, underground tunnels, or road tunnels. After combining all components are combined, it is possible to design a special type of spherical robot designed for underground exploration, such as accidents in mines or road tunnels.

摘要

本文讨论了球形机器人的不同驱动机制和传感器的可能性，并介绍和讨论了一种特殊的移动机器人。所讨论的传感器可以扩展机器人的传感能力，而这些能力通常非常有限。大多数球形机器人具有完整的特性，并使用外壳来保护内部环境。如今，有多种驱动机制。因此，本文对所有这些机制进行了综述，并确定了它们的基本特性。相应地，许多球形机器人只有用于移动、平衡、驱动等的内部传感器。然而，其中一些也配备了可以测量环境特性的传感器。因此，在本文中，我们提出了使用摄像头、激光雷达、热电偶和气体传感器等传感器的可能性，这些传感器可用于特殊目的的地下，例如在矿山、地下隧道或道路隧道中。将所有组件组合后，就有可能设计出一种专门用于地下探测的球形机器人，例如在矿山或道路隧道中发生事故。

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