Exploration and Prospective Analysis of Spherical Robots Empowering Smart Mines

doi:10.3969/j.issn.2096-9139.2025.11.012

Abstract：This paper systematically reviews the key technologies, application capabilities, and engineering implementation paths of spherical robots in underground coal mine scenarios. Based on the mapping relationship between configuration-mechanism-environment, it compares and analyzes the eccentric torque of the pendulum type, omnidirectional wheel eccentric torque, and frictional internal drive schemes. Focusing on two tasks: underground mine inspection and disaster emergency detection, it evaluates the effectiveness of the projectile-style rapid deployment, rolling-jumping collaborative mobility, and multi-robot self-organizing network communication. It proposes a multi-configuration of spherical-double wheel-flight to compensate for obstacles and accessibility deficiencies. It summarizes three key technologies for engineering implementation: lightweight, power supply, and I-type explosion-proof integration design; lightweight multi-source fusion positioning and navigation under GNSS absence and strong interference conditions; and environmental adaptability structural innovation and perception-control collaborative optimization for unstructured terrain. Spherical robots show significant potential in underground inspection and post-disaster restricted space detection, but large-scale deployment still requires verifiable and scalable engineering solutions in explosion-proof lightweight integration, low computing power high-precision navigation, and reconfigurable multi-configuration technologies.