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.
本发明涉及攀爬机器人的技术领域,更具体地,涉及一种轮翼双驱高机动攀爬机器人,包括基座、第一驱动部、第二驱动部、惯性测量单元、霍尔传感器、深度相机和控制模块,控制模块能够融合深度相机及惯性测量单元的数据推断攀爬机器人是否存在跨越边角结构趋势;当存在跨越边角结构趋势时,基于霍尔传感器数据选择是否启用第二驱动部的跨越策略。本方案中的攀爬机器人采用轮式驱动模式难以跨越边角结构时,启用涵道风扇形成轮翼双驱动模式,以弥补单一轮式驱动的不足,增强攀爬机器人的机动性,同时大幅降低攀爬机器人通过难跨越边角结构的遥控操作复杂度。
Wheel-wing double-drive high-mobility climbing robot
一种轮翼双驱高机动攀爬机器人
2025-03-28
Patent
Electronic Resource
Chinese
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