Wheel-wing double-drive high-mobility climbing robot

By integrating the wheel wing dual drive mode, inertia measurement unit, Hall sensor, depth camera and control module on the climbing robot, combined with the forward and reverse thrust control of the duct fan, the problem that existing climbing robots are difficult to accurately control the movement speed when crossing the corner structure of complex structures, achieving higher maneuverability and simplicity of operation.

CN119705659AActive Publication Date: 2025-03-28GUANGDONG UNIV OF TECH
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Patent Information

Application Number
CN202510230946.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-02-28
Publication Date
2025-03-28
Estimated Expiration
2045-02-28

AI Technical Summary

Technical Problem

Existing wheeled magnetic adsorption climbing robots have difficulty in accurately controlling the movement speed, which leads to easy peeling or insufficient power when crossing the edges and corners of complex structures, and the leaping action is not possible successfully.

Method used

The wheel wing dual-drive high-motor climbing robot is adopted, combined with the magnetic wheel module and the duct fan driving component, and through the coordinated work of the inertial measurement unit, Hall sensor, depth camera and control module, real-time monitoring and control of the movement status and environmental information of the climbing robot are achieved, appropriate leaping strategies are selected and positive and reverse thrust is provided through the duct fan, and the movement status of the climbing robot is adjusted.

Benefits of technology

The climbing robot's requirements for movement speed when crossing the corner structure of complex structures is reduced, the maneuverability and simplicity of operation are improved, and the operator can more smoothly control the climbing robot to complete the leap of complex structures.

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Abstract

The invention relates to the technical field of climbing robots, in particular to a wheel-wing double-drive high-mobility climbing robot which comprises a base, a first driving part, a second driving part, an inertial measurement unit, a Hall sensor, a depth camera and a control module. The control module can integrate data of the depth camera and the inertial measurement unit to deduce whether the climbing robot has a trend of crossing a corner structure; and when the corner structure crossing trend exists, whether the crossing strategy of the second driving part is started or not is selected based on the Hall sensor data. When the climbing robot in the scheme adopts a wheel type driving mode and is difficult to cross a corner structure, the ducted fan is started to form a wheel-wing dual-driving mode, so that the defects of single wheel type driving are overcome, the maneuverability of the climbing robot is enhanced, and meanwhile, the remote control operation complexity of the climbing robot passing through the corner structure difficult to cross is greatly reduced.
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