Hybrid Aerial-Wheel Vehicle for Vertical Surface Traction
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Solution Overview
Problem
Current robotic systems for cleaning large windows and solar panels face challenges in maneuverability and maintenance, particularly on inclined or vertical surfaces, due to limitations in anchoring, traction, and force application, leading to inefficiencies and safety concerns.
Innovation Solution
A flying-driving device equipped with propellers and driving wheels or tracks that can reverse thrust direction to increase engagement forces, allowing it to drive on inclined surfaces and vertically, combined with a cleaning module and sensors for stability and navigation, enabling efficient cleaning and inspection of windows, solar panels, and rooftops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If traditional driving wheels are used on inclined surfaces, then the device can maintain simple structure, but it cannot generate sufficient engagement forces to drive on slopes of 20° and more
Solution Approach 1:
The patent merges flying capabilities (propellers) with driving capabilities (wheels/tracks) into a single hybrid device. The propellers generate additional engagement forces by pushing against the air to create downforce, while the wheels provide ground contact for stable driving. This combination resolves the contradiction by achieving sufficient engagement forces on steep slopes without requiring an overly complex separate system for each function.
Solution Approach 2:
The device dynamically adjusts between different propulsion modes (flying vs. driving) and combines them based on terrain requirements. The propellers can be activated to provide additional engagement force when needed, while the wheels handle stable ground contact. This dynamic adaptation allows the device to overcome the force limitation of traditional wheels without permanently increasing structural complexity.
2Reliability
If cable robots with multiple anchoring points are used, then the device can achieve stable positioning, but its accuracy is limited by cable tension and it requires multiple anchoring points
Solution Approach 1:
The patent extracts the positioning stability function from the complex cable anchoring system and implements it through the hybrid flying-driving mechanism. The propellers provide active force control for stable positioning without requiring multiple physical anchoring points, while the wheels ensure ground contact stability. This extraction resolves the contradiction by achieving reliability without the complexity of multiple cables and anchoring points.
3Ease of operation
If flying drones are used to clean panels, then the device can achieve mobility, but it cannot apply forces on the panels and has localization difficulties in windy conditions
Solution Approach 1:
The patent merges flying mobility with ground-based force application capability. The propellers provide aerial mobility and positioning, while the wheels/tracks provide stable ground contact for effective force application during cleaning operations. This combination resolves the contradiction by achieving both mobility and force application capability that neither flying drones nor traditional ground robots can achieve alone.
4Adaptability or versatility
If robots with passive wheels are used that can stick to walls and roll, then the device can achieve vertical surface capability, but it cannot fly and is limited to rolling motion
Solution Approach 1:
The patent implements dynamic motion capability by combining passive wheels (for surface adherence and rolling) with active propellers (for flying and position adjustment). The device can switch between rolling motion on gentle slopes and flying capability for steeper surfaces or vertical transitions. This dynamic adaptability resolves the contradiction by providing both surface adaptability and enhanced motion capability without limiting the device to a single mode of operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device effectively cleans and inspects surfaces with varying inclines by maintaining contact and applying necessary forces, enhancing maneuverability and safety through reversible thrust and sensor-controlled propulsion, facilitating efficient maintenance and operation on complex surfaces.
Implementation Method 1
The device comprises a flight controller that allows it to reverse the rotation direction of its propellers. Using its propellers and wheels/tracks, the device can fly like a regular quadcopter and drive over surfaces. When driving over an inclined or vertical surface, the robot can reverse the thrust direction of the propellers to provide negative thrust (forces from top to bottom). The negative thrust is essential to increase the engagement (normal) forces and friction forces of the device with the surface it is driving or standing on.
Implementation Method 2
The device comprises a body; a driving interface coupled to the body, configured to enable the body to drive on a surface; a set of propellers coupled to the body; wherein the propellers' movement keep the vehicle in place when the surface is inclined relative to the ground
Data Source
AI summary
A flying driving vehicle having a body, a driving interface coupled to the body configured to enable the body to drive on a surface, and one or more driving actuators configured to provide power to the driving interface, a set of propellers coupled to the body, where the propellers' movement keeps the vehicle in place when the surface is in slope, and a controller for controlling the speed of the driving interface, a rotation speed of the set of propellers and a magnitude and direction of thrust applied by the set of propellers.