US 12,435,980 B1
Wheel-wing dual-drive high-mobility climbing robot
Haifei Zhu, Guangdong (CN); Jingyi Mo, Guangdong (CN); Lide Dun, Guangdong (CN); and Yongzhong Bu, Guangdong (CN)
Assigned to GUANGDONG UNIVERSITY OF TECHNOLOGY, Guangdong (CN)
Filed by GUANGDONG UNIVERSITY OF TECHNOLOGY, Guangdong (CN)
Filed on May 28, 2025, as Appl. No. 19/220,113.
Claims priority of application No. 202510230946.5 (CN), filed on Feb. 28, 2025.
Int. Cl. G06F 17/00 (2019.01); B60B 19/00 (2006.01); B62D 57/024 (2006.01); G01C 21/16 (2006.01)
CPC G01C 21/1656 (2020.08) [B60B 19/006 (2013.01); B62D 57/024 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A wheel-wing dual-drive high-mobility climbing robot, comprising a base (1), a first drive portion, a second drive portion (9), an inertial measurement unit, a Hall sensor (62), a depth camera (61), and a control module (7), wherein
the first drive portion comprises magnetic wheel modules (2) rotatably mounted on two sides of the base (1);
the second drive portion comprises a ducted fan (92) mounted on the base (1) and an electronic speed controller (93) capable of controlling a rotation speed and a rotation direction of the ducted fan (92);
the inertial measurement unit is configured to acquire current motion state information of the climbing robot and an included angle between a normal vector of a current motion plane of the climbing robot and a gravity direction, the motion state information comprising a motion direction of the climbing robot and a motion angular speed of the climbing robot during crossing over an edge-corner structure;
the depth camera (61) is configured to acquire external environment information, determine whether an edge-corner structure exists, and to acquire pose information of the edge-corner structure in combination with data from the inertial measurement unit;
the Hall sensor (62) is configured to acquire type information of the edge-corner structure;
the control module (7) is configured to determine, based on the pose information of the edge-corner structure, pose information of the climbing robot, and the motion state information of the climbing robot, whether a trend to cross the edge-corner structure exists for the climbing robot, and select a crossing strategy based on the type information of the edge-corner structure when the trend to cross the edge-corner structure exists; and
the crossing strategy comprises a first crossing strategy and a second crossing strategy, the first crossing strategy comprises letting the first drive portion be in operation and letting the second drive portion be not in operation, the second crossing strategy comprises letting the first drive portion and the second drive portion be in operation simultaneously, and during execution of the second crossing strategy, the control module (7) controls the rotation speed and the rotation direction of the ducted fan (92) via the electronic speed controller.