Research on an Air‑Ground Community Governance System with Wheel‑Leg Composite Chassis and UAV Visual‑Aided Collaboration

Siyu Wang; Jiayi Hao; Shiyi Yu; Bo Cui

doi:10.54097/szs6b370

Authors

Siyu Wang North China University of Science and Technology, Tangshan 063210, China
Jiayi Hao North China University of Science and Technology, Tangshan 063210, China
Shiyi Yu North China University of Science and Technology, Tangshan 063210, China
Bo Cui North China University of Science and Technology, Tangshan 063210, China

DOI:

https://doi.org/10.54097/szs6b370

Keywords:

Air-ground collaborative robot; wheel-legged composite chassis; LAF-YOLOv10; multi-sensor fusion localization; MOCHA opportunistic communication; smart community governance; digital twin.

Abstract

To address three prominent challenges prevailing in aging residential districts, including omnipresent three-dimensional sensing blind zones, insufficient traversal capability over unstructured terrains and lagged emergency disposal responses, the proposed "Zhikan-Yunxun" system equips the robot with a wheel-legged composite chassis to achieve stable traversal over steps and diverse ground obstacles. An unmanned aerial vehicle (UAV) is pre-stored inside the roof-mounted cabin and kept in standby mode; upon the occurrence of visual occlusion, the UAV takes off on demand and leverages the lightweight LAF-YOLOv10 detection algorithm to compensate for ground-level sensing blind zones from the aerial viewpoint. The UAV and unmanned ground vehicle (UGV) perform coordinated operation relying on UWB/IMU/vision hierarchical fusion localization and MOCHA opportunistic communication framework, which sustains centimeter-level navigation precision under complete GNSS signal deprivation. Furthermore, a SCARA manipulator is deployed to conduct flexible manipulation tasks such as litter retrieval and on-site emergency support. Benefiting from the integrated air-ground coordination architecture, raw sensing data can be directly converted into executable community governance interventions.

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