Self-powered sensing method and sensing device for spheroidal robot

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.