Legged/wheeled vehicle surface-transition locomotion.
A vehicles configured for navigating surface transitions. Navigation of surface transitions is controlled by information obtained by sensors carried by the vehicle. The vehicle may be propelled forward using force generated by tiltable propellers carried by the vehicle.
FIELD
The disclosure relates to vehicles configured for navigating surface transitions.BACKGROUND
Technology exists for allowing a vehicle climb a wall including magnetic force field, static electricity, and suction technology.SUMMARY
The disclosure relates to a vehicle configured for navigating surface transitions. The vehicle may include a chassis, and/or other components. The chassis may include one or more of a first end, a second end, and/or other components.
The chassis may house one or more of one or more sensors, one or more motors, a controller, a power supply, a controller subsystem, one or more physical processors, an electronic storage, a remote controller and/or other components.
A first drive component may be connected to the chassis via a first carrier component and/or other components. A second drive component may be connected to the chassis via a second carrier component, and/or other components.
A first set of support components may be configured to be at or near the first end of the chassis. A second set of support components may be configured to be at or near the second end of the chassis. The first set of support components and the second set of set of support components may be configured to carry the vehicle by creating contact between the vehicle and a surface on which the vehicle is navigating on. By way of non-limiting illustration, the first set of support and/or the second set of support components may comprise on
1. A vehicle configured for navigating surface transitions, the vehicle comprising: a chassis having a first end and a second end; a first set of support components connected at or near the first end of the chassis, the first set of support components configured for contact with a surface on which the vehicle is navigating on; a second set of support components connected at or near the second end of the chassis, the second set of support components configured for contact with the surface on which the vehicle is navigating on; a first drive component, the first drive component comprising a first motor and a first propeller, the first drive component being connected to the chassis via a first carrier component, the first carrier component being configured to provide at least two degrees of rotational freedom of the first propeller with respect to the chassis; a second drive component, the second drive component comprising a second motor and a second propeller, the second drive component being connected to the chassis via a second carrier component, the second carrier component being configured to provide two degrees of rotational freedom of the second propeller with respect to the chassis; one or more proximity sensors, the one or more proximity sensors being configured to generate output signals conveying distance from the chassis to one or more objects detected in the vicinity of the chassis; one or more orientation sensors, the one or more orientation sensors being configured to generate an output signal conveying an angle between the chassis and the surface in contact with the second set of support components; a gravitational sensor, the gravitational sensor being configured to generate an output signal conveying a direction of gravitational forces upon the vehicle; and a controller configured to control individual ones of the first set of support components, the first drive component, the second drive component, the first carrier component, and the second carrier component based on the sensor output from individual ones of the one or more of the proximity sensors, the one or more of the orientation sensors, and the gravitational sensor, the control being configured to facilitate transitioning between surfaces.
10. A method for navigating surface transitions via a vehicle, the method comprising: determining a first set of support components included within the vehicle in contact with a surface has made contact with a second surface based on an output from one or more proximity sensors included within the vehicle; adjusting orientation of a first carrier component included within the vehicle and a second carrier component included within the vehicle to control thrust generated by a first drive component included within the vehicle and a second drive component included within the vehicle based on an angle between the chassis included in the vehicle and the surface, such that: based on a determination that the angle is between a first value and a second value, control the first drive component to generate a first thrust force, control the first carrier component to direct the first thrust force perpendicular to the chassis, control the second drive component to generate a second thrust force, and control the second carrier component to direct the second thrust force parallel to the chassis; based on a determination that the angle is between a second value and a third value, control the first drive component to generate a third thrust force, control the first carrier component to direct the third thrust force parallel to the chassis, control the second drive component to generate a fourth thrust force, and control the second carrier component to direct the fourth thrust force parallel to the chassis; and based on a determination that the angle is between a third value and a fourth value, control the first drive component to generate a fifth thrust force, control the first carrier component to direct the fifth thrust force parallel to the chassis, control the second drive component to generate a sixth thrust force, and control the second carrier component to direct the sixth thrust force parallel to the chassis.