US 12,113,459 B2
Self-powered sensing method and sensing device for spheroidal robot
Tao Chen, Suzhou (CN); Junchen Fu, Suzhou (CN); Zhiying Huang, Suzhou (CN); Kejian Ni, Suzhou (CN); Xiandong Tian, Suzhou (CN); Yuxiang Tian, Suzhou (CN); and Lining Sun, Suzhou (CN)
Assigned to SOOCHOW UNIVERSITY, Suzhou (CN)
Appl. No. 17/778,834
Filed by SOOCHOW UNIVERSITY, Suzhou (CN)
PCT Filed Jul. 8, 2021, PCT No. PCT/CN2021/105127
§ 371(c)(1), (2) Date May 21, 2022,
PCT Pub. No. WO2022/213501, PCT Pub. Date Oct. 13, 2022.
Claims priority of application No. 202110383696.0 (CN), filed on Apr. 9, 2021.
Prior Publication US 2023/0029538 A1, Feb. 2, 2023
Int. Cl. H02N 1/04 (2006.01); B25J 19/02 (2006.01); B62D 57/02 (2006.01); G01C 23/00 (2006.01)
CPC H02N 1/04 (2013.01) [B25J 19/02 (2013.01); B62D 57/02 (2013.01); G01C 23/00 (2013.01)] 6 Claims
OG exemplary drawing
 
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.