“…As a mobile robot with spherical rolling movement, the spherical robot has the advantages of flexible movement [11], strong adaptability to environment [12], high movement efficiency [13] and so on. It has been paid more and more attention by researchers [14][15][16][17][18][19][20][21][22]. Robot theory: With the development of science and technology, people's research on robots is more and more in-depth, more and more mature, and gradually invented can help people take care of life, do simple housework robots, can automatically control, repeatable Programming, multi-functional operation of the robot, according to the order and conditions in advance, in turn, control the robot's mechanical action programcontrolled robot, through the guidance or other ways to first teach the robot action, enter the work program, automatically repeat the work lady A robot, a numerically controlled robot that can teach a robot by numerology, language, and the like, a sensor-controlled robot that controls the movement of the robot by the information acquired by the sensor, a robot capable of adapting to the change of the environment, controlling the adaptive control robot of its own action, Experience "work experience, have a certain learning function, and the" learning "experience for the work of the learning control of the robot, as well as artificial intelligence to determine the action of intelligent robots and so on.…”