A wheel-wing dual-drive high-mobility climbing robot

Abstract

The present invention relates to the technical field of climbing robots, and more specifically, to a wheel-wing dual-drive high-mobility climbing robot, comprising a base, a first drive unit, a second drive unit, an inertial measurement unit, a Hall sensor, a depth camera and a control module. The control module can integrate the data of the depth camera and the inertial measurement unit to infer whether the climbing robot has a tendency to cross corner structures; when there is a tendency to cross corner structures, the crossing strategy of the second drive unit is selected based on the Hall sensor data. When the climbing robot in this solution uses a wheel drive mode and it is difficult to cross corner structures, the ducted fan is activated to form a wheel-wing dual drive mode to make up for the shortcomings of a single wheel drive, enhance the mobility of the climbing robot, and greatly reduce the complexity of remote control operation of the climbing robot through difficult-to-cross corner structures.

Description

Technical Field

[0001] The present invention relates to the technical field of climbing robots, and more specifically, to a wheel-wing dual-drive high-maneuverability climbing robot. Background Art

[0002] Wheeled magnetic adsorption climbing robots achieve stable contact and crawling on steel structures through wheels, magnetic adsorption structures and other auxiliary mechanisms. Existing wheeled magnetic adsorption climbing robots can cross structures such as concave corners, convex corners, steel plate edges and flange edges, but a slight manual remote operation error can easily cause the climbing robot to fall. In addition, existing wheeled magnetic adsorption climbing robots cannot pass through difficult-to-cross structures, such as crossing vertical steel plates from top to bottom.

[0003] In order to reduce the difficulty of manual remote control, a high-mobility wheeled climbing robot is currently available, including a base, a magnetic wheel module, a tail wheel module, an inner corner crossing auxiliary mechanism and a motion auxiliary wheel. When the tail wheel module is unfolded, the climbing robot can obtain stable support when crawling on a plane and crossing structures such as outer corners or steel plate edges; the inner corner crossing auxiliary mechanism enables the climbing robot to cross the inner corner structure; the motion auxiliary wheel can be used together with the tail wheel module as a supporting wheel system for the movement of the climbing robot, so that the climbing robot can move on a plane at any angle without rolling the base, and will not hinder the climbing robot from crossing various structures. Through the coordination of the inner corner crossing auxiliary mechanism, the motion auxiliary mechanism and the tail wheel module, the climbing robot can move on a plane at any angle and cross a variety of three-dimensional complex structures. However, it is found in actual applications that it is difficult for operators to accurately control the movement speed of the climbing robot so that it can pass through complex corner structures smoothly. When the climbing robot moves too fast, the centrifugal force generated is too large, which can easily cause the climbing robot to peel off; when the climbing robot moves too slowly, the power is insufficient to enable the climbing robot to complete the crossing action. Therefore, wheeled magnetic climbing robots need more flexible, simple and effective technical solutions to pass through difficult-to-cross structures. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiency of the prior art that it is difficult for operators to accurately control the movement speed of the climbing robot so that it can smoothly cross the complex corner structures, and to provide a wheel-wing dual-drive high-maneuverability climbing robot. The climbing robot in this scheme can reduce the requirements for movement speed when crossing the complex corner structures, so that the operator can smoothly operate the climbing robot to cross the complex corner structures.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] Provided is a wheel-wing dual-drive high-mobility climbing robot, comprising a base, a first drive unit, a second drive unit, an inertial measurement unit, a Hall sensor, a depth camera and a control module.

[0007] The first driving part includes a magnetic wheel module rotatably mounted on both sides of the base;

[0008] A second driving unit includes a ducted fan mounted on the base and an electronic speed regulator capable of controlling a rotation speed and a rotation direction of the ducted fan;

[0009] Inertial measurement unit: used to obtain the current motion state information of the climbing robot and the angle between the normal vector of the current motion plane of the climbing robot and the direction of gravity. The motion state information includes the motion direction of the climbing robot and the angular velocity of the climbing robot when crossing the corner structure;

[0010] Depth camera: used to obtain external environment information and determine whether there are corner structures and obtain the position information of corner structures in combination with inertial measurement unit data;

[0011] Hall sensor: used to obtain the type information of the corner structure;

[0012] Control module: judging whether the climbing robot has a tendency to cross the corner structure based on the corner structure, the posture information of the climbing robot and the motion state information of the climbing robot; when there is a tendency to cross the corner structure, selecting a crossing strategy based on the type information of the corner structure;

[0013] The crossing strategy includes crossing strategy 1 and crossing strategy 2. The crossing strategy 1 is: the first drive unit works and the second drive unit does not work; the crossing strategy 2 is: the first drive unit and the second drive unit work at the same time. When executing the crossing strategy 2, the control module controls the rotation speed and rotation direction of the ducted fan through the electronic speed regulator.

[0014] When the wheel-wing dual-drive high-mobility climbing robot of the present invention crosses the corner structure of a complex structure, the magnetic wheel module provides the climbing robot with adsorption force and traction ability, providing a power basis for the climbing robot to smoothly cross the corner structure; the inertial measurement unit can obtain the current motion state information of the climbing robot according to the direction of gravity, and obtain the angle between the normal vector of the current climbing robot's motion plane and the gravity direction according to the geometric relationship between the climbing robot and the motion plane; the Hall sensor can determine the size of the magnetic field by measuring the change in the Hall voltage, and by determining the strength of the magnetic field, it can be determined whether the climbing robot is in the corner structure area and the type of the corner structure; the depth camera can obtain external environment information and determine whether the motion plane has a corner structure and the position information of the corner structure, and after the climbing robot obtains the corner structure information, it can establish a coordinate system to obtain the distance between the corner structure and the climbing robot.

[0015] When it is detected that the climbing robot has difficulty in successfully crossing the corner structure, the control module first determines the type of corner structure to be crossed, and then determines by monitoring the running status of the climbing robot whether the climbing robot is moving too fast, resulting in excessive centrifugal force generated when turning the corner, causing the climbing robot to peel off, or whether the climbing robot is moving too slowly, resulting in insufficient crossing power, making it impossible for the climbing robot to successfully complete the crossing action. When it is detected that the climbing robot is moving too fast, resulting in excessive centrifugal force generated when turning the corner, causing the climbing robot to peel off, the control module controls the duct fan in the second drive unit to rotate in the opposite direction. When the duct rotates in the opposite direction, it will generate a thrust opposite to the forward direction of the climbing robot. The thrust generated by the duct fan opposite to the forward direction of the climbing robot is used to offset part of the centrifugal force when the climbing robot crosses the corner structure, so that the climbing robot will not peel off due to excessive centrifugal force when crossing the corner structure, and the climbing robot can smoothly cross the corner structure of the complex structure. When it is detected that the climbing robot's movement speed is too slow, resulting in insufficient crossing power and the climbing robot being unable to successfully complete the crossing action, the control module controls the duct in the second drive unit to rotate forward. When the duct fan rotates forward, it will generate thrust in the same direction as the climbing robot's forward movement, further increasing the climbing robot's power when crossing the corner structure, so that the climbing robot has enough power to complete the crossing of the corner structure.

[0016] The climbing robot in this scheme adopts a wheel-wing dual drive mode. When the climbing robot in the wheel drive mode finds it difficult to accurately control the movement speed so that it can smoothly cross the corner structures of complex structures, the wing drive of the ducted fan is used to make up for the shortcomings of the single wheel drive, thereby enhancing the maneuverability of the climbing robot and greatly reducing the complexity of remote control operation of the climbing robot through difficult-to-cross corner structures, so that the operator can smoothly control the climbing robot to cross the corner structures of complex structures.

[0017] Furthermore, the second driving unit also includes a ducted fan fixing frame, which is detachably mounted on the top of the base, the ducted fan is fixedly connected to the ducted fan fixing frame, and the electronic speed regulator is installed on the base. The ducted fan fixing frame is an arc that fits the base. After the ducted fan fixing frame is connected to the base, the ducted fan and the base are respectively located on both sides of the arc-shaped ducted fan fixing frame. The ducted fan and the base are detachably connected by the ducted fan fixing frame, and the model of the ducted fan on the base can be replaced according to the different requirements of the climbing robot in different working environments. When the ducted fan is not needed, the second driving unit can be removed from the base, thereby improving the endurance time of the climbing robot and the flexibility and safety during plane movement, so that the climbing robot can obtain stronger environmental adaptability and working ability. The ducted fan fixing frame is an arc that can fit the base, which can further increase the contact area between the ducted fan fixing frame and the base, and improve the stability of the ducted fan on the base. The electronic speed regulator is mainly responsible for controlling the speed of the ducted fan, and then controlling the force provided by the ducted fan to the climbing robot.

[0018] Further, the control module determines whether the climbing robot has a tendency to cross the corner structure according to the following steps:

[0019] First, determine whether the distance between the climbing robot and the edge of the corner structure is less than the preset value. If not, continue to detect. If yes, determine whether the angle between the current moving direction of the climbing robot and the edge of the corner structure is within the preset range. If not, continue to detect. If yes, there is a tendency to cross the corner structure. The preset range of the angle between the forward direction of the climbing robot and the edge of the corner structure is generally 80°-100°.

[0020] Furthermore, when selecting a crossing strategy, the control module makes the selection based on the following conditions:

[0021]

[0022] in, It is the magnetic force that the climbing robot is subjected to when it is in the middle of the corner structure during the crossing process; is the component of gravity in the direction of the centripetal force, is the magnetic force received by the climbing robot when it is located on the second plane just after completing the crossing motion; is the projection of the distance from the initial position of the climbing robot to the center of mass of the two key positions in the direction of gravity, wherein one key position is the middle position of the climbing robot at the corner structure during the crossing process, and the other key position is the position of the climbing robot at the second plane just after completing the crossing movement; is the angle between the second plane and the direction of gravity; is the angle between the two planes of the corner structure; is the height of the center of mass of the climbing robot; is the overall mass of the climbing robot; is the moment of inertia of the climbing robot around the Y axis of the coordinate system;

[0023] The angle of the corner structure that the climbing robot needs to cross during the actual climbing process varies between 0°-360°, and the angle between the movement direction of the climbing robot and the gravity direction also changes. In order to determine whether the climbing robot needs to use a ducted fan when crossing different corner structures, it is necessary to establish a unified standard to determine whether the climbing robot can complete the crossing movement without using a ducted fan. In the analysis process, two key positions are mainly analyzed. One is the position of the climbing robot at the sharp corner of the corner structure during the crossing process. At this time, the magnetic force of the climbing robot is the smallest; the second is the position of the climbing robot at the second plane after completing the crossing movement from top to bottom. At this time, the kinetic energy of the climbing robot is the largest and the centrifugal force is the largest. At these two positions, the climbing robot is most likely to fall off or fail to cross. After analyzing these two positions, the above conditions can be obtained. If the above conditions are met, the crossing strategy one is selected; if the above conditions are not met, the crossing strategy two is selected.

[0024] Furthermore, when determining to use a ducted fan to cross a corner structure, it is necessary to reasonably control the thrust of the ducted fan to keep the kinetic energy of the climbing robot within a reasonable range, to prevent the climbing robot from peeling off due to excessive centrifugal force and being unable to complete the crossing action due to insufficient centrifugal force. Therefore, when executing the second crossing strategy, the minimum thrust of the ducted fan is the minimum reverse thrust when the climbing robot uses the ducted fan for reverse thrust; the maximum thrust of the ducted fan is the maximum forward thrust when the climbing robot uses the ducted fan for forward thrust.

[0025] The minimum reverse thrust of the climbing robot when using the ducted fan for reverse thrust should meet the following conditions:

[0026] in, It is the magnetic force that the climbing robot is subjected to when it is in the middle of the corner structure during the crossing process; is the magnetic force received by the climbing robot when it is located on the second plane just after completing the crossing motion; is the minimum reverse thrust of the ducted fan; is the height of the center of mass of the climbing robot; is the overall mass of the climbing robot; is the angle between the central axis of the ducted fan and the Z axis in the XOZ plane of the climbing robot coordinate system; is the angle between the second plane and the direction of gravity; is the angle between the two planes of the corner structure; is the moment of inertia of the climbing robot around the Y axis of the coordinate system; is the length from the center of the ducted fan to the contact point between the climbing robot and the corner structure;

[0027] When the climbing robot uses the ducted fan to push forward, the maximum forward thrust should meet the following conditions:

[0028] in, It is the maximum forward thrust of the ducted fan.

[0029] Further, the parameters of the ducted fan are determined according to the following steps:

[0030] Step 1: Determine and select a ducted fan with sufficient thrust margin that meets the installation conditions according to the climbing robot's own parameters and application scenarios;

[0031] Step 2: According to the actual movement of the climbing robot, the types of corner structures that the climbing robot needs to cross with the help of the ducted fan are obtained, and the most difficult crossing scene is obtained. The climbing robot's crossing process is analyzed and the thrust size conditions required by the ducted fan are obtained.

[0032] Step 3: Obtain the installation angle of the ducted fan based on the climbing robot parameters when the climbing robot passes the most difficult crossing scene, the mass of the second drive unit, and the ducted fan thrust required by the climbing robot ;

[0033] Step 4: Based on the climbing robot parameters when the climbing robot passes the most difficult crossing scene, the mass of the second drive unit, the ducted fan thrust required by the climbing robot, and the installation angle of the ducted fan Get the length from the center of the ducted fan to the contact point between the climbing robot and the corner structure .

[0034] The climbing robot designed by using the above steps to design the ducted fan of the climbing robot, after installing the wing-driven ducted fan, can not only reduce the operating difficulty of the operator for scenes that require the use of the ducted fan, but also will not increase the operating difficulty of the operator when the climbing robot crosses scenes that do not require the use of the ducted fan.

[0035] Preferably, the installation conditions of the ducted fan include:

[0036] Determine the installation height range of the ducted fan on the climbing robot and the maximum volume of the ducted fan according to the climbing robot's own parameters and application scenarios;

[0037] The maximum allowable value of the mass of the second driving unit is determined according to the climbing robot's own parameters and the range of the center of mass installation height of the ducted fan, wherein the center of mass installation height of the ducted fan is smaller than the installation height of the ducted fan on the climbing robot.

[0038] Preferably, the mass of the second driving part And the center of mass height of the climbing robot after installing the ducted fan The relationship between them should satisfy the following conditions:

[0039]

[0040]

[0041]

[0042] in, is the center of mass height of the climbing robot after installing the ducted fan; The height of the center of mass of the climbing robot before the second drive unit is installed; is the centroid height of the ducted fan; is the overall mass of the climbing robot; is the radial magnetic force of the magnetic wheel module when the climbing robot is at 45° during the outer right-angle crossing process; is the mass of the robot; is the mass of the second driving part; is the initial speed of the climbing robot.

[0043] If the climbing robot can successfully cross the outer right angle and steel plate structure from the bottom to the vertical surface, then other corner structures that do not require the help of ducted fans can also be successfully crossed by the climbing robot. By analyzing the climbing robot's crossing process in this scenario, the quality of the second drive unit can be obtained. and the center of mass height of the ducted fan The relationship between them should satisfy the above conditions.

[0044] Preferably, in step 2, the types of corner structures that need to be crossed with the help of ducted fans include: crossing the bottom of vertical and inclined steel plates from top to bottom, climbing over horizontal and inclined steel plates from bottom to top, climbing over horizontal steel plates from top to bottom, continuously climbing over right-angled edges, crossing flange edges from vertical surfaces upwards, and other acute-angle crossing structures between right angles and steel plates. Analysis shows that the most difficult scenes to cross are: crossing the bottom of vertical steel plates from top to bottom, climbing over horizontal steel plates from bottom to top, and climbing over horizontal steel plates from top to bottom. Inclined steel plates refer to steel plate planes that are inclined, and similarly, horizontal steel plates refer to steel plate planes that are parallel to the horizontal plane, and vertical steel plates refer to steel plate planes that are parallel to the vertical plane.

[0045] When the climbing robot crosses from top to bottom to the bottom of the horizontal steel plate, the force on the climbing robot must meet the following conditions:

[0046]

[0047] in, is the magnetic force exerted on the climbing robot at the bottom of the horizontal steel plate. When the climbing robot crosses the horizontal steel plate and the vertical steel plate from top to bottom and reaches the bottom, it receives the maximum reverse thrust from the ducted fan in the opposite direction of the climbing robot's movement speed. is the speed of the climbing robot at the bottom of the horizontal and vertical steel plates.

[0048] When the climbing robot crosses from top to bottom to the bottom of the vertical steel plate, the force on the climbing robot must meet the following conditions:

[0049]

[0050] in, is the magnetic force exerted on the climbing robot at the bottom of the vertical steel plate;

[0051] At the same time, in order to ensure that the climbing robot does not peel off when the speed of the climbing robot drops to 0 due to the reverse thrust of the ducted fan at the bottom of the vertical steel plate, the force of the climbing robot needs to meet the following conditions:

[0052] .

[0053] When the climbing robot climbs over the horizontal steel plate from bottom to top and is located on its side, the gravity moment that the climbing robot needs to overcome is the largest. The positive thrust provided by the ducted fan in the same direction as the climbing robot's movement speed is easy to cause the climbing robot to peel off due to the radial force of the magnetic wheel. Therefore, the force condition of the climbing robot meets the following conditions:

[0054]

[0055] in, When the climbing robot crosses the horizontal steel plate from bottom to top and reaches its side, it receives a positive thrust in the same direction as the climbing robot's movement, provided by the ducted fan.

[0056] Preferably, in step three, the force condition of the climbing robot in the most difficult scenario of the corner structure type that needs to be crossed by the ducted fan is analyzed to obtain the installation angle of the ducted fan. The following conditions should be met:

[0057]

[0058] in, is the installation angle of the ducted fan, that is, the angle between the central axis of the ducted fan and the Z axis in the XOZ plane of the climbing robot coordinate system; is the magnetic force exerted on the climbing robot at the bottom of the horizontal steel plate; When the climbing robot crosses the horizontal steel plate and the vertical steel plate from top to bottom and reaches the bottom, the climbing robot receives the maximum thrust in the opposite direction of the climbing robot's movement provided by the ducted fan; is the overall mass of the climbing robot; is the safety margin angle.

[0059] Preferably, in step 4, the force condition of the climbing robot in the most difficult scenario of the corner structure type that needs to be crossed by the ducted fan is analyzed to obtain the height between the center of the ducted fan duct and the contact point between the climbing robot and the corner structure to be crossed. The following equation should be satisfied:

[0060]

[0061] in, is the magnetic force exerted on the climbing robot at the bottom of the vertical steel plate; When the climbing robot crosses the horizontal steel plate from bottom to top and reaches its side, the ducted fan provides a positive thrust in the same direction as the climbing robot's movement; is the installation height of the ducted fan, that is, the length from the center of the ducted fan to the contact point between the climbing robot and the spanning corner structure; is the moment of inertia of the climbing robot around the Y-axis of the coordinate system.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] The wheel-wing dual-drive high-mobility climbing robot of the present invention adopts a wheel-wing dual-drive mode. When the climbing robot in the wheel drive mode is difficult to accurately control the movement speed so that it can smoothly cross the corner structures of complex structures, the wing drive of the ducted fan is used to make up for the shortcomings of the wheel drive, thereby reducing the movement speed requirements of the climbing robot when crossing the corner structures of complex structures, so that the operator can smoothly control the climbing robot to cross the corner structures of complex structures.

[0064] After determining the installation parameters such as the volume of the ducted fan, the wheel-wing dual-drive high-mobility climbing robot of the present invention can not only reduce the operating difficulty of the operator for scenes that require the use of the ducted fan to cross, but also will not increase the operating difficulty of the operator when the climbing robot crosses scenes that do not require the use of the ducted fan.

[0065] During the process of crossing corner structures, the wheel-wing dual-drive high-mobility climbing robot of the present invention analyzes the movement state of the climbing robot. When the climbing robot is about to be peeled off or cannot complete the crossing action, the ducted fan module can be used to provide forward or reverse thrust to adjust the movement state of the climbing robot, thereby allowing the climbing robot to complete the crossing movement smoothly and safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a structural schematic diagram of a wheel-wing dual-drive high-mobility climbing robot of the present invention;

[0067] Figure 2 It is a schematic diagram of the state of a ducted fan module and a tail wheel module of a wheel-wing dual-drive high-mobility climbing robot of the present invention when they are deployed simultaneously;

[0068] Figure 3 It is a flow chart of the steps for determining the parameters of a ducted fan of a wheel-wing dual-drive high-mobility climbing robot of the present invention;

[0069] Figure 4 It is a schematic diagram of force analysis of the climbing robot of the present invention crossing over the outer right-angle structure from bottom to top at the sharp corner;

[0070] Figure 5 It is a schematic diagram of force analysis when the climbing robot of the present invention crosses the horizontal steel plate structure from top to bottom on the third plane;

[0071] Figure 6 It is a schematic diagram of force analysis when the climbing robot of the present invention crosses the vertical steel plate structure from top to bottom on the second plane;

[0072] Figure 7 It is a schematic diagram of force analysis when the climbing robot of the present invention crosses the horizontal steel plate structure from bottom to top across the second plane;

[0073] Figure 8 It is a flow chart of a corner crossing structure of a wheel-wing dual-drive high-mobility climbing robot of the present invention;

[0074] Fig. 9 It is a schematic diagram of force analysis at a sharp corner of the climbing robot of the present invention when it crosses corner structures at different angles;

[0075] Fig.10 It is a schematic diagram of force analysis of the climbing robot of the present invention when crossing corner structures of different angles from top to bottom on the second plane.

[0076] Among them, 1. base; 2. magnetic wheel module; 3. tail wheel module; 31. tail wheel swing arm; 32. tail wheel roller; 4. transition roller; 5. motion auxiliary wheel; 6. sensor module; 61. depth camera; 62. Hall sensor; 7. control module; 8. battery module; 81. battery one; 82. battery two; 9. second drive unit; 91. ducted fan fixing bracket; 92. ducted fan; 93. electronic speed regulator. DETAILED DESCRIPTION

[0077] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0078] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0079] Embodiment 1

[0080] This embodiment is the first embodiment of a wheel-wing dual-drive high-mobility climbing robot. Figure 1-2 As shown, it includes a base 1, a first drive unit, a second drive unit 9, and a battery module 8, a control module 7 and a sensor module 6 installed on the base 1. The first drive unit includes a magnetic wheel module 2 rotatably installed on both sides of the base 1. The second drive unit 9 includes a ducted fan 92 installed on the top of the base 1 and an electronic speed regulator 93 that can control the speed of the wind cylinder of the ducted fan 92. The battery module 8 and the control module 7 are electrically connected to the first drive unit, the second drive unit 9 and the sensor module 6. The sensor module 6 includes an inertial measurement unit and a Hall sensor 62 installed in the inner cavity of the base. When the climbing robot has difficulty crossing the corner structure using the first drive unit, the ducted fan 92 in the second drive unit starts to work.

[0081] Specifically, the second driving part 9 further includes a ducted fan fixing frame 91, through which the ducted fan 92 is connected to the base 1, the ducted fan 92 is fixedly connected to the ducted fan fixing frame 91, and the ducted fan fixing frame 91 is detachably connected to the base 1. The ducted fan fixing frame 91 is an arc that can fit with the base 1, and after the ducted fan fixing frame 91 is connected to the base 1, the ducted fan 92 and the base 1 are respectively located on both sides of the arc-shaped ducted fan fixing frame 91.

[0082] Specifically, the battery module 8 includes a battery 1 81 and a battery 2 82 , the battery 1 81 is connected to the first driving unit and the sensor module 6 ; the electronic speed regulator 93 and the ducted fan 92 are connected to the battery 2 82 .

[0083] Specifically, the first driving part also includes a tail wheel module 3 movably mounted on the rear side of the base 1 and movable relative to the base 1 to the inner cavity of the base 1, an inner angle crossing auxiliary mechanism mounted on the rear side of the base 1, and a motion auxiliary wheel 5 rotatably mounted on the front side of the base 1; the magnetic wheel module 2 includes a driving motor and a magnetic wheel connected to the output shaft of the driving motor; the inner angle crossing auxiliary mechanism includes a plurality of transition rollers 4 rotatably mounted on the base 1 in sequence, and the distance between the wheel centers of the plurality of transition rollers 4 and the wheel centers of the magnetic wheels gradually increases from the tail wheel module 3 to the motion auxiliary wheel 5 direction; the tail wheel module 3 includes a tail wheel motor, a tail wheel swing rod 31, and a tail wheel roller 32, the tail wheel roller 32 is rotatably mounted on the tail wheel swing rod 31, the tail wheel swing rod 31 is connected to the output shaft of the tail wheel motor, the tail wheel motor is mounted in the base 1, the base 1 is provided with an opening for accommodating the tail wheel roller 32 and the tail wheel swing rod 31 to rotate in, and the driving motor and the tail wheel motor are connected to the battery.

[0084] Specifically, the sensor module 6 also includes a depth camera 61. The depth camera 61 and the Hall sensor 62 are installed on the front side of the base 1. The depth camera 61, the IMU inertial measurement unit and the Hall sensor 62 are all electrically connected to the battery 1.

[0085] The working principle or working process of this embodiment is as follows:

[0086] When the climbing robot moves in a plane, the driving motor drives the magnetic wheel to rotate, and the motion auxiliary wheel 5 and the tail wheel module 3 work at the same time to provide stable support for the climbing robot. When the sensor module 6 detects the climbing robot's intention to cross the corner structure through the depth camera 61, the inertial measurement unit and the Hall sensor 62 determine the type of corner structure and whether the ducted fan 92 is needed to assist. In the process of the climbing robot crossing the corner structure, the inner corner crossing auxiliary mechanism and the tail wheel module 3 decide whether to work according to the corner structure. The tail wheel module 3 enables the climbing robot to obtain stable support when crossing the outer corner or the edge of the steel plate; the inner corner crossing auxiliary mechanism enables the climbing robot to gradually detach from the first plane and smoothly cross to the second plane when crossing the inner corner. When the ducted fan 92 is needed to assist, the electronic speed regulator 93 controls the ducted fan 92 to work, so that the ducted fan 92 provides positive or reverse assistance to the climbing robot in the process of the climbing robot crossing the corner structure, helping the climbing robot to smoothly cross the corner structure of the complex structure.

[0087] The beneficial effects of this embodiment are as follows:

[0088] The climbing robot in this scheme adopts a wheel-wing dual drive mode. When the climbing robot in the wheel drive mode is difficult to accurately control the movement speed so that it can smoothly cross the corner structures of complex structures, the wing drive of the ducted fan 92 is used to make up for the shortcomings of the single wheel drive, thereby enhancing the maneuverability of the climbing robot and greatly reducing the complexity of remote control operation of the climbing robot through difficult-to-cross corner structures, so that the operator can smoothly control the climbing robot to cross the corner structures of complex structures.

[0089] The inertial measurement unit can obtain the current motion posture of the climbing robot according to the direction of gravity, and obtain the angle between the normal vector of the current motion plane of the climbing robot and the direction of gravity according to the geometric relationship between the climbing robot and the motion plane. The Hall sensor 62 can determine the size of the magnetic field by measuring the change in the Hall voltage, and by determining the strength of the magnetic field, it can be determined whether the climbing robot is in the corner structure area and the type of the corner structure area. The electronic speed regulator 93 is mainly responsible for controlling the wind tube speed of the ducted fan 92, and then controlling the force provided by the ducted fan 92 to the climbing robot.

[0090] The ducted fan fixing frame 91 realizes the detachable connection between the ducted fan 92 and the base 1. The model of the ducted fan 92 on the base 1 can be replaced according to the different requirements of the climbing robot in different working environments. When the ducted fan 92 is not needed, the second driving unit 9 can be removed from the base 1 to improve the endurance of the climbing robot and the flexibility and safety during planar movement, so that the climbing robot can obtain stronger environmental adaptability and working ability. The ducted fan fixing frame 91 is an arc that can fit the base 1, which can further increase the contact area between the ducted fan fixing frame 91 and the base 1, and improve the stability of the ducted fan 92 on the base 1.

[0091] The two independent power supplies prevent excessive use of the ducted fan 92, which causes the climbing robot to run out of power and lose power and be unable to return to the ground. It can also prevent the ducted fan 92 from causing excessive voltage fluctuations in the control system due to excessive motor inductance during acceleration and deceleration, causing abnormal operation of the climbing robot.

[0092] The magnetic wheel module 2 provides adsorption and traction capabilities for the climbing robot. When the tail wheel module 3 is unfolded, the climbing robot can obtain stable support when crawling on a plane and crossing structures such as outer corners or steel plate edges. When stored, it is completely placed in the base 1 without contact with the environment. The inner corner crossing auxiliary mechanism allows the climbing robot to cross the inner corner structure, so that the climbing robot gradually detaches from the first plane and smoothly crosses to the second plane. The motion auxiliary wheel 5 can be used together with the tail wheel module 3 as a supporting wheel system for the movement of the climbing robot, so that the climbing robot can move on any angle plane without the base 1 rolling, and will not hinder the climbing robot from crossing various structures. The depth camera 61 can obtain external environment information, and can obtain corner structure information on the climbing robot and establish a coordinate system to obtain the distance between the corner structure and the climbing robot.

[0093] Embodiment 2

[0094] This embodiment is a second embodiment of a wheel-wing dual-drive high-mobility climbing robot. Based on the first embodiment, this embodiment further defines the process of determining the parameters of the ducted fan 92.

[0095] Specifically, Figure 3 As shown, the parameters of the ducted fan 92 are determined according to the following steps:

[0096] Step 1: Determine and select a ducted fan with sufficient thrust margin that meets the installation conditions according to the climbing robot's own parameters and application scenarios;

[0097] Step 2: According to the actual movement of the climbing robot, the types of corner structures that the climbing robot needs to cross with the help of the ducted fan 92 are obtained, and the most difficult crossing scene is obtained, the climbing robot's crossing process is analyzed, and the thrust size conditions required to be provided by the ducted fan 92 are obtained;

[0098] Step 3: Obtain the installation angle of the ducted fan 92 according to the climbing robot parameters when the climbing robot passes through the most difficult crossing scene, the mass of the second driving unit 9, and the thrust of the ducted fan 92 required by the climbing robot ;

[0099] Step 4: Based on the climbing robot parameters when the climbing robot passes through the most difficult crossing scene, the mass of the second driving unit 9, the thrust of the ducted fan 92 required by the climbing robot, and the installation angle of the ducted fan 92 Get the length from the center of the ducted fan 92 to the contact point between the climbing robot and the corner structure .

[0100] Specifically, in step 1, the installation conditions of the ducted fan include:

[0101] Determine the installation height range of the ducted fan 92 on the climbing robot and the maximum volume of the ducted fan 92 according to the climbing robot's own parameters and application scenarios;

[0102] The maximum allowable value of the mass of the second drive unit 9 is determined based on the climbing robot's own parameters and the range of the center of mass installation height of the ducted fan 92, wherein the center of mass installation height of the ducted fan 92 is smaller than the installation height of the ducted fan 92 on the climbing robot.

[0103] If the climbing robot can successfully cross the outer right angle and steel plate structure from the bottom surface to the vertical surface, then the climbing robot can also successfully cross other corner structures that do not require the help of the ducted fan 92. Figure 4 As shown, by analyzing the climbing robot's crossing process in this scenario, the mass of the second driving unit 9 can be obtained. and the mass center height of the ducted fan 92 The relationship between them should satisfy the following conditions:

[0104]

[0105]

[0106]

[0107] in, is the center of mass height of the entire climbing robot after the ducted fan 92 is installed; The height of the center of mass of the climbing robot before the second drive unit 9 is installed; is the height of the center of mass of the ducted fan 92; is the overall mass of the climbing robot; is the radial magnetic force of the magnetic wheel module 2 when the climbing robot is at 45° during the outer right-angle crossing process; is the mass of the robot; is the mass of the second driving part 9; is the initial speed of the climbing robot.

[0108] Specifically, in step two, the selection of the center of mass height range of the ducted fan 92 and the maximum volume of the ducted fan 92 should take into account the collision constraints between the ducted fan 92 and the climbing robot body and the environment to avoid collision between the climbing robot and the environment during operation.

[0109] Specifically, in step two, the types of corner structures that need to be crossed with the help of the ducted fan 92 include: crossing the bottom of vertical and inclined steel plates from top to bottom, climbing over horizontal and inclined steel plates from bottom to top, climbing over horizontal steel plates from top to bottom, continuously climbing over right-angled edges, crossing flange edges from vertical surfaces upwards, and other sharp-angle crossing structures between right angles and steel plates. Analysis shows that the most difficult scenarios to cross are: crossing the bottom of vertical steel plates from top to bottom, climbing over horizontal steel plates from bottom to top, and climbing over horizontal steel plates from top to bottom.

[0110] like Figure 5 As shown in the figure, when the climbing robot crosses from top to bottom to the bottom of the horizontal steel plate, the force on the climbing robot must meet the following conditions:

[0111]

[0112] in, is the magnetic force exerted on the climbing robot at the bottom of the horizontal steel plate. When the climbing robot crosses the horizontal steel plate and the vertical steel plate from top to bottom and reaches the bottom, it is subjected to the maximum reverse thrust in the opposite direction of the climbing robot's moving speed provided by the ducted fan 92. is the speed of the climbing robot at the bottom of the horizontal and vertical steel plates.

[0113] like Figure 6 As shown in the figure, when the climbing robot crosses from top to bottom to the bottom of the vertical steel plate, the force on the climbing robot must meet the following conditions:

[0114]

[0115] in, is the magnetic force exerted on the climbing robot at the bottom of the vertical steel plate;

[0116] At the same time, in order to ensure that the climbing robot does not peel off when the speed of the climbing robot at the bottom of the vertical steel plate drops to 0 due to the reverse thrust of the ducted fan 92, the force condition of the climbing robot needs to meet the following conditions:

[0117] .

[0118] like Figure 7 As shown, when the climbing robot climbs over the horizontal steel plate from bottom to top and is located on its side, the gravity moment that the climbing robot needs to overcome is the largest at this time. The positive thrust provided by the ducted fan 92 in the same direction as the climbing robot's movement speed is easy to cause the climbing robot to peel off due to the component force in the radial direction of the magnetic wheel. Therefore, the force condition of the climbing robot meets the following conditions:

[0119]

[0120] in, When the climbing robot crosses the horizontal steel plate from bottom to top and reaches its side, it receives a positive thrust in the same direction as the movement of the climbing robot provided by the ducted fan 92.

[0121] Specifically, in step 3, the force applied to the climbing robot in the most difficult scenario of the corner structure type that needs to be crossed by the ducted fan 92 is analyzed, and it can be obtained that the installation angle of the ducted fan 92 is The following conditions should be met:

[0122]

[0123] in, is the installation angle of the ducted fan 92, that is, the angle between the central axis of the ducted fan 92 and the Z axis in the XOZ plane of the climbing robot coordinate system; is the magnetic force exerted on the climbing robot at the bottom of the horizontal steel plate; When the climbing robot crosses the horizontal steel plate and the vertical steel plate from top to bottom and reaches the bottom, the climbing robot receives the maximum thrust in the opposite direction of the movement of the climbing robot provided by the ducted fan 92; is the overall mass of the climbing robot; is the safety margin angle.

[0124] Specifically, in step 4, the force condition of the climbing robot in the most difficult scenario of the corner structure type that needs to be crossed by the ducted fan 92 is analyzed, and it can be obtained that the height between the center of the ducted fan 92 wind tube and the contact point between the climbing robot and the corner structure is The following equation should be satisfied:

[0125]

[0126] in, is the magnetic force exerted on the climbing robot at the bottom of the vertical steel plate; When the climbing robot crosses the horizontal steel plate from bottom to top and reaches the side thereof, the ducted fan 92 provides a positive thrust in the same direction as the movement direction of the climbing robot; is the installation height of the ducted fan 92, that is, the length from the center of the ducted fan 92 to the contact point between the climbing robot and the spanning corner structure; is the moment of inertia of the climbing robot around the Y-axis of the coordinate system.

[0127] The beneficial effects of this embodiment are as follows: after the climbing robot whose ducted fan 92 parameters are determined according to the steps in this embodiment is installed with the wing-driven ducted fan 92, not only can the operating difficulty of the operator be reduced for scenes that need to be crossed with the help of the ducted fan 92, but also the operating difficulty of the operator will not be increased when the climbing robot crosses scenes that do not need the help of the ducted fan 92.

[0128] Embodiment 3

[0129] This embodiment is the third embodiment of a wheel-wing dual-drive high-mobility climbing robot. Based on the first and second embodiments, this embodiment further limits the process of the climbing robot crossing the corner structure.

[0130] Specifically, Figure 8 As shown in FIG. 1 , the process of the climbing robot crossing the corner structure includes the following steps:

[0131] Step 1: Edge detection, judging whether the climbing robot intends to cross the corner structure according to the sensor module 6, if yes, proceed to step 2; if no, continue detection;

[0132] Step 2: Identify the corner structure type and gravity direction. The inertial measurement unit in the sensor module 6 measures the motion posture of the climbing robot in real time, and obtains the angle between the normal vector of the current motion plane of the climbing robot and the gravity direction according to the geometric relationship between the climbing robot and the motion plane. Then, the Hall sensor 62 in the sensor module 6 obtains the corner structure information to be crossed.

[0133] Step 3: Select a crossing strategy, and calculate whether the climbing robot needs to use the ducted fan 92 to cross the current corner structure according to the current motion state and corner structure information of the climbing robot. If yes, proceed to step 4; if not, proceed to step 5;

[0134] Step 4: ducted fan 92 thrust control, before the climbing robot crosses the corner structure, the thrust range of the ducted fan 92 required for the climbing robot to cross the corner structure is calculated according to the current state of the climbing robot and the corner structure information, and the thrust of the ducted fan 92 is kept within the range during the crossing process of the climbing robot;

[0135] Step 5: The climbing robot crosses the corner structure.

[0136] Specifically, in step 1, when the sensor module 6 determines whether the climbing robot intends to cross the corner structure, it first determines the distance between the climbing robot and the corner structure. When the distance between the climbing robot and the corner structure is less than a preset value, it then determines whether the angle between the climbing robot's forward direction and the edge line of the climbing robot of the corner structure is within a preset range. When the angle between the climbing robot and the edge line of the corner structure is within the preset range, the climbing robot intends to cross the corner structure. The preset range of the angle between the climbing robot's forward direction and the edge line of the climbing robot of the corner structure is 80°-100°.

[0137] Specifically, in step three, the angle of the corner structure that the climbing robot needs to cross during the actual climbing process varies between 0°-360°, and the angle between the movement direction of the climbing robot and the gravity direction also changes. In order to determine whether the climbing robot needs to use the ducted fan 92 when crossing corner structures with different corner structures, it is necessary to establish a unified standard to determine whether the climbing robot can complete the crossing movement without using the ducted fan 92. In the analysis process, two key positions are mainly analyzed. One is the sharp corner position of the corner structure when the climbing robot is in the crossing process, such as Fig. 9 As shown in , the magnetic force of the climbing robot is the smallest at this time; the second is the position of the climbing robot at the second plane after completing the crossing movement from top to bottom, as shown in Fig.10 As shown, at this time, the kinetic energy of the climbing robot is the largest and the centrifugal force it is subjected to is the largest. At these two positions, the climbing robot is most likely to fall off or fail to cross. When analyzing the climbing robot's crossing process of corner structures at different angles, the following formula is used to calculate whether the climbing robot needs to use a ducted fan 92 to cross the current corner structure: in, It is the magnetic force that the climbing robot is subjected to when it is in the middle of the corner structure during the crossing process; is the component of gravity in the direction of the centripetal force, is the magnetic force received by the climbing robot when it is located on the second plane just after completing the crossing motion; is the projection of the distance from the initial position of the climbing robot to the center of mass of the two key positions in the direction of gravity, wherein one key position is the middle position of the climbing robot at the corner structure during the crossing process, and the other key position is the position of the climbing robot at the second plane just after completing the crossing movement; is the angle between the second plane and the direction of gravity; is the angle between the two planes of the corner structure; is the height of the center of mass of the climbing robot; is the overall mass of the climbing robot; is the moment of inertia of the climbing robot around the Y-axis of the coordinate system.

[0138] Specifically, in step 4, when determining to use the ducted fan 92 to cross the corner structure, it is necessary to reasonably control the thrust of the ducted fan 92 to keep the kinetic energy of the climbing robot within a reasonable range to prevent the climbing robot from peeling off due to excessive centrifugal force and being unable to complete the crossing action due to insufficient centrifugal force. The minimum value of the thrust range of the ducted fan 92 is the minimum reverse thrust when the climbing robot uses the ducted fan 92 for reverse thrust; the maximum value of the thrust range of the ducted fan 92 is the maximum forward thrust when the climbing robot uses the ducted fan 92 for forward thrust.

[0139] The minimum reverse thrust should meet the following conditions:

[0140] in, is the minimum reverse thrust of the ducted fan 92; is the length from the center of the ducted fan 92 to the contact point between the climbing robot and the corner structure;

[0141] The maximum forward thrust should meet the following conditions:

[0142] in, is the maximum forward thrust of the ducted fan 92.

[0143] Specifically, in step five, if the climbing robot has a tendency to peel off when crossing the corner structure, the climbing robot can adjust the positive and reverse thrusts of the ducted fan 92 to keep its driving speed within a safe range to prevent the climbing robot from peeling off the working surface and falling and damaging the climbing robot body.

[0144] The beneficial effects of this embodiment are as follows:

[0145] The climbing robot control method in this embodiment analyzes the movement state of the climbing robot during the movement across the corner structure. When the climbing robot is about to be peeled off or cannot complete the crossing action, the ducted fan 92 module can be used to adjust the movement state of the climbing robot through forward or reverse thrust, so that the climbing robot can complete the crossing movement smoothly and safely.

[0146] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0147] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A wheel-wing dual-drive high-mobility climbing robot, characterized in that: The invention comprises a base (1), a first driving unit, a second driving unit (9), an inertial measurement unit, a Hall sensor (62), a depth camera (61) and a control module (7): A first driving unit: comprising a magnetic wheel module (2) rotatably mounted on both sides of the base (1); A second driving unit comprising a ducted fan (92) mounted on the base (1) and an electronic speed regulator (93) capable of controlling the rotation speed and rotation direction of the ducted fan (92); Inertial measurement unit: used to obtain the current motion state information of the climbing robot and the angle between the normal vector of the current motion plane of the climbing robot and the direction of gravity. The motion state information includes the motion direction of the climbing robot and the angular velocity of the climbing robot when crossing the corner structure; Depth camera (61): used to obtain external environment information and determine whether there is a corner structure and obtain the position information of the corner structure in combination with the inertial measurement unit data; Hall sensor (62): used to obtain type information of corner structure; Control module (7): judging whether the climbing robot has a tendency to cross the corner structure based on the corner structure, the position information of the climbing robot and the motion state information of the climbing robot; When there is a trend of crossing corner structures, a crossing strategy is selected based on the type information of the corner structures; The crossing strategy includes a crossing strategy 1 and a crossing strategy 2. The crossing strategy 1 is: the first drive unit works and the second drive unit does not work; the crossing strategy 2 is: the first drive unit and the second drive unit work simultaneously. When executing the crossing strategy 2, the control module (7) controls the rotation speed and rotation direction of the ducted fan (92) through the electronic speed regulator.

2. A wheel-wing dual-drive high-mobility climbing robot according to claim 1, characterized in that: The second driving unit (9) comprises a ducted fan fixing frame (91), the ducted fan fixing frame (91) is detachably mounted on the top of the base (1), the ducted fan (92) is fixedly connected to the ducted fan fixing frame (91), and the electronic speed regulator (93) is mounted on the base.

3. The wheel-wing dual-drive high-mobility climbing robot according to claim 1, characterized in that: The control module (7) determines whether the climbing robot has a tendency to cross the corner structure according to the following steps: First, determine whether the distance between the climbing robot and the edge line of the corner structure is less than a preset value, if not, continue to detect; if yes, determine whether the angle between the current movement direction of the climbing robot and the edge line of the corner structure is within a preset range, if not, continue to detect; If so, there is a tendency to cross the corner structure.

4. The wheel-wing dual-drive high-mobility climbing robot according to claim 1, characterized in that: When selecting a crossing strategy, the control module (7) makes the selection based on the following conditions: in, It is the magnetic force that the climbing robot is subjected to when it is in the middle of the corner structure during the crossing process; is the component of gravity in the direction of the centripetal force, is the magnetic force received by the climbing robot when it is located on the second plane just after completing the crossing motion; is the projection of the distance from the initial position of the climbing robot to the center of mass of the two key positions in the direction of gravity, wherein one key position is the middle position of the climbing robot at the corner structure during the crossing process, and the other key position is the position of the climbing robot at the second plane just after completing the crossing movement; is the angle between the second plane and the direction of gravity; is the angle between the two planes of the corner structure; is the height of the center of mass of the climbing robot; is the overall mass of the climbing robot; is the moment of inertia of the climbing robot around the Y axis of the coordinate system; If the above conditions are met, the leap strategy 1 is selected; if the above conditions are not met, the leap strategy 2 is selected.

5. The wheel-wing dual-drive high-mobility climbing robot according to claim 1, characterized in that: When executing the second crossing strategy, the minimum thrust value of the ducted fan (92) is the minimum reverse thrust when the climbing robot uses the ducted fan (92) for reverse thrust; the maximum thrust value of the ducted fan (92) is the maximum forward thrust when the climbing robot uses the ducted fan (92) for forward thrust. The minimum reverse thrust of the climbing robot when using the ducted fan (92) for reverse thrust should meet the following conditions: in, It is the magnetic force that the climbing robot is subjected to when it is in the middle of the corner structure during the crossing process; is the magnetic force received by the climbing robot when it is located on the second plane just after completing the crossing motion; is the minimum reverse thrust of the ducted fan (92); is the height of the center of mass of the climbing robot; is the overall mass of the climbing robot; is the angle between the central axis of the ducted fan (92) and the Z axis in the XOZ plane of the climbing robot coordinate system; is the angle between the second plane and the direction of gravity; is the angle between the two planes of the corner structure; is the moment of inertia of the climbing robot around the Y axis of the coordinate system; is the length from the center of the ducted fan (92) to the contact point between the climbing robot and the corner structure; When the climbing robot uses the ducted fan (92) for forward thrust, the maximum forward thrust should meet the following conditions: in, is the maximum forward thrust of the ducted fan (92).

6. The wheel-wing dual-drive high-mobility climbing robot according to claim 2, characterized in that: The parameters of the ducted fan (92) are determined according to the following steps: Step 1: Determine and select a ducted fan with sufficient thrust margin that meets the installation conditions according to the climbing robot's own parameters and application scenarios; Step 2: according to the actual movement of the climbing robot, obtain the type of corner structure that the climbing robot needs to use the ducted fan (92) to complete the crossing, and obtain the most difficult crossing scene, analyze the climbing robot's crossing process and obtain the thrust size conditions required by the ducted fan (92); Step 3: Obtain the installation angle of the ducted fan (92) based on the climbing robot parameters when the climbing robot passes through the most difficult crossing scene, the mass of the second driving unit (9), and the thrust of the ducted fan (92) required by the climbing robot ; Step 4: Based on the parameters of the climbing robot when the climbing robot passes through the most difficult crossing scene, the mass of the second driving unit (9), the thrust of the ducted fan (92) required by the climbing robot, and the installation angle of the ducted fan (92) Get the length from the center of the ducted fan (92) to the contact point between the climbing robot and the corner structure .

7. The wheel-wing dual-drive high-mobility climbing robot according to claim 6, characterized in that: In step 1, the installation conditions of the ducted fan include: Determining the installation height range of the ducted fan (92) on the climbing robot and the maximum volume of the ducted fan (92) according to the climbing robot's own parameters and application scenarios; The maximum permissible value of the mass of the second drive unit (9) is determined based on the climbing robot's own parameters and the range of the center of mass installation height of the ducted fan (92), wherein the center of mass installation height of the ducted fan (92) is less than the installation height of the ducted fan (92) on the climbing robot.

8. The wheel-wing dual-drive high-mobility climbing robot according to claim 7, characterized in that: The mass of the second driving part (9) and the center of mass height of the climbing robot as a whole after the ducted fan (92) is installed The relationship between them should satisfy the following conditions: in, The height of the center of mass of the entire climbing robot after the ducted fan (92) is installed; The height of the center of mass of the climbing robot before the second drive unit (9) is installed; is the height of the center of mass of the ducted fan (92); is the overall mass of the climbing robot; is the radial magnetic force magnitude of the magnetic wheel module (2) when the climbing robot is at 45° during the outer right-angle crossing process; is the mass of the robot; is the mass of the second driving part (9); is the initial speed of the climbing robot; is the moment of inertia of the climbing robot around the Y-axis of the coordinate system.

9. The wheel-wing dual-drive high-mobility climbing robot according to claim 6, characterized in that: In step 3, the installation angle of the ducted fan (92) is The following conditions should be met: in, is the installation angle of the ducted fan (92), that is, the angle between the central axis of the ducted fan (92) and the Z axis in the XOZ plane of the climbing robot coordinate system; is the magnetic force exerted on the climbing robot at the bottom of the horizontal steel plate; The maximum thrust in the opposite direction of the movement of the climbing robot is provided by the ducted fan (92) when the climbing robot crosses the horizontal steel plate and the vertical steel plate from top to bottom and reaches the bottom; is the overall mass of the climbing robot; is the safety margin angle.

10. The wheel-wing dual-drive high-mobility climbing robot according to claim 6, characterized in that: In step 4, the installation height of the ducted fan (92) is The following equation should be satisfied: in, is the magnetic force exerted on the climbing robot at the bottom of the horizontal steel plate; The maximum thrust in the opposite direction of the movement of the climbing robot is provided by the ducted fan (92) when the climbing robot crosses the horizontal steel plate and the vertical steel plate from top to bottom and reaches the bottom; is the magnetic force exerted on the climbing robot at the bottom of the vertical steel plate; When the climbing robot crosses the horizontal steel plate from bottom to top and reaches the side thereof, the ducted fan (92) provides a positive thrust in the same direction as the movement direction of the climbing robot; The height of the center of mass of the entire climbing robot after the ducted fan (92) is installed; is the overall mass of the climbing robot; is the installation height of the ducted fan (92), that is, the length from the center of the ducted fan (92) to the contact point between the climbing robot and the spanning corner structure; is the moment of inertia of the climbing robot around the Y-axis of the coordinate system.

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