Self-powered sensing method and sensing device for spheroidal robot

Patent metadata

Field	Value
Publication number	US-12113459-B2
Application number	US-202117778834-A
Country	US
Kind code	B2
Filing date	Jul 8, 2021
Priority date	Apr 9, 2021
Publication date	Oct 8, 2024
Grant date	Oct 8, 2024

Abstract

The present application discloses a self-powered sensing method and sensing device for spheroidal robot, which belongs to the technical field of robot attitude sensing. The design feature is structure of the spheroidal robot, comprises: a spheroidal object (1) and 26 electrode groups (2); the spheroidal object (1) includes 18 regular octagonal surfaces, 8 regular hexagonal surfaces and 24 quadrilateral surfaces; the electrode group (2) is arranged on each regular octagonal surface and each regular hexagonal surface; the electrode group (2) includes a first outer layer semicircular ring electrode (2-1), a second outer layer semicircular ring electrode (2-2) and an inner ring electrode (2-3). The present invention aims to provide a self-powered sensing method and sensing device for spheroidal robot to sense the posture of the spheroidal robot.

First claim

The invention claimed is:

1. A self-powered sensing method and sensing device for spheroidal robot, characterized in that, the self-powered sensing device comprises: a spheroidal object and 26 electrode groups;
the spheroidal object includes 18 regular octagonal surfaces, 8 regular hexagonal surfaces and 24 quadrilateral surfaces;
the electrode group is arranged on each regular octagonal surface and each regular hexagonal surface;
the electrode group includes a first outer layer semicircular ring electrode, a second outer layer semicircular ring electrode and an inner ring electrode;
the electrode group is selected from one, two or three of three electrodes with different feature signal types;
the electrodes with different feature signal types includes: the first electrode, the second electrode and the third electrode;
the electrode codes of the first outer layer semicircular ring electrode, the inner ring electrode and the second outer layer semicircular ring electrode are represented by x, y and z, respectively;
x represents the electrode type of the first outer layer semicircular ring electrode, y represents the electrode type of the inner ring electrode, and z represents the electrode type of the second outer layer semicircular ring electrode;
1 indicates the choice of the first electrode, 0 indicates the choice of the third electrode, and −1 indicates the choice of the second electrode; and
the electrode codes of the 26 electrode groups are not repeated.

2. The self-powered sensing method and sensing device for spheroidal robot as described in claim 1 , characterized in that, the structure of the first electrode includes: a metallic triboelectric electrode layer Al, an air gap, a triboelectric layer PTFE and an insulating layer PI arranged in sequence; wherein, the metallic triboelectric electrode Al is connected with the spheroidal object; when in operation, the air gap disappears and the metallic triboelectric electrode layer Al contacts with the triboelectric layer PTFE; when not in operation, the air gap is formed and the two triboelectric layers are separated.

3. The self-powered sensing method and sensing device for spheroidal robot as described in claim 1 , characterized in that, the structure of the second electrode includes: a metallic triboelectric electrode layer Al, an air gap, cotton and an insulating layer PI arranged in sequence; wherein, the metallic triboelectric electrode Al is connected with the spheroidal object; when in operation, the air gap disappears and the metallic triboelectric electrode layer Al contacts with the cotton; when not in operation, the air gap is formed and the metallic triboelectric electrode layer Al is separated from the cotton.

4. The self-powered sensing method and sensing device for spheroidal robot as described in claim 3 , characterized in that, the third electrode is provided with featureless signal type.

5. A self-powered sensing method and sensing device for spheroidal robot, characterized in that, the self-powered sensing device comprises: a spheroidal object and 26 electrode groups;
the spheroidal object includes 18 regular octagonal surfaces, 8 regular hexagonal surfaces and 24 quadrilateral surfaces;
the electrode group is arranged on each regular octagonal surface and each regular hexagonal surface;
the electrode group includes a first outer layer semicircular ring electrode, a second outer layer semicircular ring electrode and an inner ring electrode;
the electrode codes of the first outer layer semicircular ring electrode, the inner ring electrode and the second outer layer semicircular ring electrode are represented by x, y and z, respectively;
x represents the electrode type of the first outer layer semicircular ring electrode, y represents the electrode type of the inner ring electrode, and z represents the electrode type of the second outer layer semicircular ring electrode;
1 indicates the choice of the first electrode, 0 indicates the choice of the third electrode, and −1 indicates the choice of the second electrode;
the electrode codes of the 26 electrode groups of the spheroidal object are as follows:
0,0,1;
0,0,−1;
0,1,0;
0,1,1;
0,1,−1;
0,−1,0;
0,−1,1;
0,−1,−1;
1,0,0;
1,0,1;
1,0,−1;
1,1,0;
1,1,1;
1,1,−1;
1,−1,0;
1,−1,1;
1,−1,−1;
−1,0,0;
−1,0,1;
−1,0,−1;
−1,1,0;
−1,1,1;
−1,1,−1;
−1,−1,0;
−1,−1,1;
−1,−1,−1.

6. The self-powered sensing method and sensing device for spheroidal robot as described in claim 1 , characterized in that, the three electrodes in each of the electrode group have their own corresponding bus.

Assignees

• Univ Soochow

Inventors

• Chen Tao
• Fu Junchen
• Huang Zhiying
• Ni Kejian
• Tian Xiandong
• Tian Yuxiang
• Sun Lining

Classifications

• G01C23/00

  Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration · CPC title

• B62D57/02 Primary

  with ground-engaging propulsion means, e.g. walking members · CPC title

• B25J19/02

  Sensing devices · CPC title

• H02N1/04 Primary

  Friction generators · CPC title