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.
Highlights
The “special purpose”, in this case, means accidents in the underground space, in the road tunnel
Our research focused primarily on CMOS cameras, due to the fact that it is not necessary to use high-resolution images, and the price is lower than CCD cameras
Our idea is to design the spherical robot (SR) that will serve as a reconnaissance SR with sensory equipment that makes it likely to provide a certain type of intervention, so that the lives of firefighters would not be endangered during the intervention of the dangerous area
Summary
The “special purpose”, in this case, means accidents in the underground space, in the road tunnel. Various situations can occur, such as leakage of dangerous liquids and gases into the environment, fire, the danger of injury or death of the participants in the traffic accident, huge material damage, and more. The fastest and most accurate intervention of the rescue services is needed. Rescue services are not always able to intervene directly. They would be exposed to risk because they do not know the environment. They need to sufficiently gain knowledge of all the details of the accident
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
