Air vehicle with adaptive arms

Abstract

To provide a method for controlling an aerial vehicle including a compliant arm mechanism.SOLUTION: A propulsion system of the aerial vehicle is controlled to fly the aerial vehicle to an area proximate to a surface (1302). One or more of the propulsion system and the compliant arm mechanism are controlled such that the compliant arm mechanism contacts the surface (1304). The compliant arm mechanism is configured to extend laterally beyond a perimeter of the propulsion system. One or more sensor signals indicating contact between the compliant arm mechanism and the surface are received via a sensor (1306). A force at which the aerial vehicle presses against the surface is determined based on the one or more sensor signals (1308).SELECTED DRAWING: Figure 13

Description

[Background technology]

[0001] The present disclosure relates generally to the field of air vehicles, and more specifically to air vehicles with adaptive arm mechanisms.

[0002] Robotic arms can be used in a variety of applications, such as to pick up and place objects. Some robotic arms include an actuation system that includes a motor coupled to a high-gear ratio transmission. Such actuation systems have high torque density that allows the robotic arm to efficiently lift and move objects. However, the high friction and inertia forces inherent in such actuation systems reduce the ability of the robotic arm to react to mechanical contact. For example, when the end of such a robotic arm contacts a hard surface, the contact dynamics (i.e., the dynamic forces transmitted as a result of the contact) are nearly instantaneous, and the actuation system does not allow for significant adaptability of the robotic arm to the surface. Summary of the Invention

[0003] According to one aspect of the disclosure, an exemplary method is disclosed for controlling an aerial vehicle including an adaptive arm mechanism. A propulsion system of the aerial vehicle is controlled to fly the aerial vehicle to a proximal region of a surface. One or more of the propulsion system and the adaptive arm mechanism are controlled to bring the adaptive arm mechanism into contact with the surface. The adaptive arm mechanism is configured to extend laterally beyond a peripheral boundary of the propulsion system. One or more sensor signals indicative of contact between the adaptive arm mechanism and the surface are received via a sensor, and a force with which the aerial vehicle presses against the surface is determined based on the one or more sensor signals.

[0004] The above-described features, functions, and advantages may be realized individually in various examples or may be combined in yet other examples, further details of which may be found in the following description and with reference to the drawings. [Brief description of the drawings]

[0005] [Figure 1] FIG. 1 illustrates an embodiment of an air vehicle including an adaptive arm mechanism. [Diagram 2] FIG. 1 illustrates one embodiment of an active adaptive arm mechanism. [Diagram 3] FIG. 1 illustrates one embodiment of a passive adaptive arm mechanism. [Figure 4] FIG. 1 illustrates one embodiment of an adaptive arm mechanism with three degrees of freedom of movement. [Diagram 5] FIG. 1 illustrates one embodiment of an adaptive arm mechanism configured to hold an object via adhesive. [Figure 6] FIG. 1 illustrates an embodiment of an adaptive arm mechanism configured to hold an object by vacuum. [Figure 7] FIG. 1 illustrates an embodiment of an adaptive arm mechanism configured to hold an object by a magnet. [Figure 8] FIG. 1 illustrates an embodiment of an adaptive arm mechanism configured to hold an object through friction-based grip. [Figure 9] FIG. 1 illustrates one embodiment of an adaptive arm mechanism configured to hold an object by actuatable fingers. [Figure 10A-10C] 1A-1C depict an example scenario in which an air vehicle places an object on a vertical surface via an adaptive arm mechanism. [Fig. 10D-10F] 1A-1C depict an example scenario in which an air vehicle places an object on a vertical surface via an adaptive arm mechanism. [Figures 11A-11C] 1A-1C are diagrams illustrating an example scenario when an air vehicle places an object on an inclined surface via an adaptive arm mechanism. [Fig. 11D-11E] 1A-1C are diagrams illustrating an example scenario when an air vehicle places an object on an inclined surface via an adaptive arm mechanism. [Figures 12A-12C]FIG. 1 illustrates an exemplary scenario in which an air vehicle places an object on a vertical surface via a passive adaptive arm mechanism. [Figure 13] FIG. 1 is a flow diagram of one embodiment of a method for controlling an air vehicle that includes an adaptive arm mechanism. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0006] When the end of a robotic arm driven by an actuation system including one or more motors coupled to a gearbox with a high gear ratio (e.g., 50:1 or greater) contacts a hard surface, the high friction and inertia forces inherent in the actuation system do not allow significant active control of the motor(s) to control the mechanical impedance of the robotic arm relative to the hard surface. If such a robotic arm is coupled to an air vehicle such that the forces generated by the robotic arm may significantly interfere with the flight dynamics of the air vehicle, this non-compliance of the robotic arm causes the contact dynamics to be transferred through the robotic arm to the air vehicle. Similarly, the flight dynamics of the air vehicle may also interfere with the positioning of the robotic arm.

[0007] Thus, examples relating to adaptive arm mechanisms of an aerial vehicle including the adaptive arm mechanism and methods for controlling such an aerial vehicle are disclosed. As described in more detail below, adaptive arm mechanisms according to the present disclosure control the mechanical impedance of an end of the aerial vehicle by damping contact dynamics resulting from contact with a surface and / or decoupling such contact dynamics from the flight dynamics of the aerial vehicle. In addition, such adaptive arm mechanisms may be used to provide force sensing capabilities when the adaptive arm mechanism contacts a surface in order to control the mechanical impedance. In some examples, such force sensing capabilities are used to characterize a spatial relationship between the aerial vehicle and a surface that allows control of the orientation of the aerial vehicle relative to the surface. In other examples, the geometry of the adaptive arm mechanism defines the relative position of the aerial vehicle and the surface when the end of the adaptive arm mechanism contacts the surface. Furthermore, in some examples, such force sensing capabilities are used to assist in placing an object on a surface. Such a surface may be a substantially vertical surface (such as a wall) or may be sloped at any suitable angle (e.g., upwards or downwards). Furthermore, in some examples, the adaptive arm mechanism is controlled to contact the surface to stabilize the position of the aerial vehicle. For example, if the aerial vehicle experiences a wind gust, the adaptive arm mechanism is controlled to contact the surface and / or apply a force to the surface to stabilize the aerial vehicle.

[0008] 1 illustrates an embodiment of an air vehicle 100 including an adaptive arm mechanism 102. The air vehicle 100 includes an airframe 104 (e.g., a fuselage or other structure), a number of booms 106A-F extending radially from the airframe 104, and a corresponding number of landing gears 108A-F (whereby one landing gear is provided for each boom). In some examples, the airframe 104 and the number of booms 106A-F may be fabricated as an integral unit. In other examples, the airframe 104 and the number of booms 106 may be fabricated as separate components that are coupled together. In various examples, the components of the airframe 100 may be fabricated from metals, composite materials, polymeric materials, ceramic materials, and / or combinations thereof.

[0009] A propulsion system 109 is coupled to the airframe 104. In the illustrated example, the propulsion system 109 includes a number of rotor propellers 110A-F. Each of the rotor propellers 110 is coupled to a distal end of a corresponding boom 106. Each of the rotor propellers 110 is configured to rotate to direct thrust upwards or downwards relative to the airframe 104 and may include any suitable type of motor for rotating the rotor propellers. The clockwise / counterclockwise orientation of the rotor propellers 110A-F may be selected to provide zero net yaw moment to the airframe 100 in normal hovering and forward flight. Although the propulsion system 109 is illustrated having six rotor propellers, it will be appreciated that the propulsion system 109 may include a greater or lesser number of rotor propellers to achieve desired functionality (e.g., to meet particular thrust requirements). In the illustrated example, the airframe is configured as a vertical take-off and landing type vehicle. In other examples, the propulsion system may take any other suitable form. Propulsion system 109 is controlled by aircraft control system (also referred to herein as controller) 112 to fly air vehicle 100.

[0010] The air vehicle is equipped with an adaptive arm mechanism 102 to control the mechanical impedance of the end of the air vehicle 100 to provide force sensing capabilities as well as shape contact dynamics when the end of the air vehicle 100 contacts a surface. The adaptive arm mechanism 102 is configured to control the mechanical impedance by controlling one or both of the adaptability (e.g., force as a function of a position) and damping (e.g., force as a function of a velocity) of the adaptive arm mechanism 102. In some examples, the adaptive arm mechanism 102 is configured to control other force / kinematic relationships. Furthermore, in some examples, the force sensing capabilities are used to characterize the spatial relationship between the air vehicle 100 and a surface such that the orientation of the air vehicle 100 can be controlled relative to the surface. In some examples, the force sensing capabilities are used to control the flight stability of the air vehicle 100. Additionally, in some examples, the adaptive arm mechanism 102 is configured to releasably hold an object, and the ability to sense such forces is used to assist in placing the object on a surface.

[0011] The adaptive arm mechanism 102 is coupled to the underside of the airframe 104 so as not to interfere with the operation of the propulsion system 109. The adaptive arm mechanism 102 has a compact configuration during flight of the air vehicle 100 to simplify flight dynamics (e.g., the center of gravity of the adaptive arm mechanism 102 is proximate to the center of gravity of the air vehicle 100 during flight). Additionally, the adaptive arm mechanism 102 is sized and positioned to allow the multiple landing gears 108 to touch down when the air vehicle 100 lands.

[0012] In some examples, the adaptive arm mechanism 102 is integrated with the air vehicle 100. In other examples, the adaptive arm mechanism 102 is configured as an add-on system for removably mounting to the air vehicle 100 or to any other aircraft capable of carrying the adaptive arm mechanism 102.

[0013] The adaptive arm mechanism 102 provides one or more degrees of freedom of movement to extend laterally from the air vehicle 100 beyond the peripheral boundary of the propulsion system 109 to interact with a surface while preventing the propulsion system 109 from contacting the surface.

[0014] The adaptive arm mechanism 102 includes an adaptive leg 114 coupled to a hand 116. The adaptive leg 114 includes a first leg portion 115 and a second leg portion 117 coupled together by an extendable joint 118. The extendable joint 118 is configured to move the adaptive leg 114 between a retracted position and an extended position. In the retracted position, the second leg portion 117 is retracted into the first leg portion 115. In the extended position, the second leg portion 117 moves outward and extends laterally beyond the peripheral boundary of the propulsion system 109. For example, the adaptive leg 114 may be retracted by the extendable joint 118 during dynamic flight of the air vehicle 100 and extended by the extendable joint 118 when the air vehicle 100 is hovering proximate to a surface (such as a wall). The extensible joint 118 may take any suitable form. For example, the extensible joint may include a prismatic joint or a telescopic joint.

[0015] The adaptive arm mechanism 102 includes a wrist joint 120 formed between the adaptive legs 114 and the hand 116. The wrist joint 120 provides at least one degree of freedom of movement of the adaptive hand 116 relative to the adaptive legs 114. This at least one degree of freedom of movement provided by the wrist joint 120 allows the adaptive hand 116 to be oriented substantially tilted against a surface when in contact with the surface, even if the adaptive legs 114 are not perpendicular to the surface. In the illustrated example, the wrist joint 120 provides one degree of freedom for the adaptive hand 116 so that the adaptive hand 116 can rotate to press against an inclined surface or compensate for the adaptive legs 114 not being perpendicular to the surface. In other examples, the wrist joint 120 provides two or more degrees of freedom of movement. In either case, the adaptability provided by the wrist joint 120 aids the air vehicle 100 in some examples in placing objects on a surface. Additionally, the extensible joint 118 and the wrist joint 120 cooperate to reduce the effects of contact dynamics when the adaptive arm mechanism 102 contacts a surface on the flight dynamics of the air vehicle 100 .

[0016] In some examples, the adaptive arm mechanism includes one or more motor-driven actuators to provide active impedance control (e.g., adaptive and / or damping). FIG. 2 illustrates an example of an active adaptive arm mechanism 200. For example, the active adaptive arm mechanism 200 corresponds to the adaptive arm mechanism 102 illustrated in FIG. 1. The active adaptive arm mechanism 200 includes an adaptive leg 202 coupled to a hand 204. The adaptive leg 202 includes an extendable joint 206 configured to actively extend and retract the adaptive leg 202 via a motor 208. In the illustrated example, the motor 208 drives a screw 210 that engages a nut 211 that is coupled to the adaptive joint 206 to extend and retract the adaptive leg 202. In other examples, the extendable joint is driven by another type of active drive mechanism (e.g., a motor-driven rack and pinion or a belt).

[0017] The hand 204 is coupled to the adaptive leg 202 via a wrist joint 212 that is configured to actively rotate the hand 204 via a motor 214. The motor 214 is configured to drive a belt 216 that is coupled to the hand 204. For example, the motor 214 may rotate the belt 216 in a counterclockwise direction to rotate the hand 204 upwards and may rotate the belt 216 in a clockwise direction to rotate the hand 204 downwards.

[0018] The active drive mechanism (e.g., drive screw 210 driven by motor 208 and / or drive belt 216 driven by motor 214) is configured to have a degree of inherent compliance or damping such that when active adaptive arm mechanism 200 contacts a surface, contact dynamics are transmitted through and absorbed by the drive mechanism. Such contact dynamics are then identified as a force based on one or more sensor signals received via one or more sensors of the air vehicle, and one or more of motors 208 and 214 are controlled to adjust active adaptive arm mechanism 200 to counteract the identified force based on the sensor signals. In this manner, active adaptive arm mechanism 200 reduces the impact of the contact dynamics on the flight dynamics of the air vehicle when active adaptive arm mechanism 200 contacts a surface.

[0019] The drive screw 210 and drive belt 216 are examples of actively adaptive components driven by one or more motors that control the primary mechanical impedance performance of the adaptive arm mechanism. In other examples, the active adaptive arm mechanism 200 may include any suitable type of actively adaptive motor-driven components. In the illustrated example, the active adaptive arm mechanism 200 has movement in two degrees of freedom, but in other examples it may have three or more degrees of freedom of movement.

[0020] In some examples, the adaptive arm mechanism includes one or more passive components to provide passive adaptability through physical deformation of the passive components. Figure 3 illustrates an embodiment of a passive adaptive arm mechanism 300 suitable for use as the adaptive arm mechanism 102 shown in Figure 1. The passive adaptive arm mechanism 300 includes an adaptive leg 302 coupled to a hand 304. The adaptive leg 302 includes a compressible joint 306 configured to passively compress the adaptive leg 302 in response to a contact force applied to the passive adaptive arm mechanism 300. In this example, the compressible joint 306 includes a wrap spring 308 that biases the adaptive leg 302 laterally outward and is configured to be compressed in response to a contact force that exceeds the spring force of the wrap spring 308. In some examples, a damper (eg, an elastic material) is used as an adaptive component in the adaptive arm mechanism 300 in addition to or instead of the wrap spring 308.

[0021] The hand 304 is coupled to a wrist joint 310 that is configured to passively rotate the hand 304 in response to a contact force applied to the hand 304. In particular, the wrist joint 310 includes an opposing pair of torsion springs 312 that cooperate to bias the hand 304 to a centered position when the passive adaptive arm mechanism 300 is not in contact with a surface. Additionally, the opposing pair of torsion springs 312 allow the hand 304 to rotate in a particular direction in response to a contact force that is not perpendicular to the plane of the hand 304 overcoming the spring force of the torsion springs. As an example, the hand 304 rotates upward in response to contact with a surface that is not parallel to the contact plane of the hand 304 and that is angled outward toward the passive adaptive arm mechanism 300. As another example, the hand 304 rotates downward in response to contact with a surface that is not parallel to the contact surface of the hand 304 and that is angled away from the passive adaptive arm mechanism 300 .

[0022] In some examples, including fully passive adaptive arm mechanisms, the adaptive arm mechanisms are configured to permanently extend laterally beyond the peripheral boundary of the propulsion system, rather than extending and retracting.

[0023] The wrap spring 308 and torsion spring pair 312 are examples of passive adaptive components, and the passive adaptive arm mechanism 300 may include any suitable type of passive adaptive components. For example, the passive adaptive arm mechanism may include one or more other types of springs and / or one or more dampers. In the illustrated example, the passive adaptive arm mechanism 300 provides two degrees of freedom of movement. The impedance control characteristics (e.g., spring force and damping force) of the passive adaptive components may be selected such that when the adaptive arm mechanism contacts a surface, the contact dynamics of the adaptive arm mechanism do not become too great to disturb the positioning of the air vehicle.

[0024] In some examples, the adaptive arm mechanism includes both active and passive adaptive components, for example, an adaptive leg may include both a wrap spring to passively absorb contact forces and a motor to actively extend and retract the adaptive leg.

[0025] FIG. 4 illustrates an embodiment of an adaptive arm mechanism 400 suitable for use as the adaptive arm mechanism 102 of FIG. 1, providing three degrees of freedom of movement. The adaptive arm mechanism 400 includes an adaptive leg 402 coupled to a wrist joint 404. The wrist joint 404 is coupled to a hand 406. The adaptive leg 402 includes an extendable joint 408 configured to actively extend and retract the adaptive leg 402 via a motor 410. The adaptive leg 402 may be driven by the motor 410 via any suitable drive mechanism. The wrist joint 404 is configured to actively rotate the hand 406 to any suitable radial position within 360 degrees via a motor 412, and the wrist joint 404 may be actively rotated via any suitable drive mechanism. Additionally, the hand 406 is configured to actively rotate up and down via a motor 414. Motor 414 may actively rotate hand 406 via any suitable drive mechanism. Additionally, motors 410, 412, and 414 are cooperatively controlled in three degrees of freedom of movement to orient hand 406 in any suitable position to interact with a surface.

[0026] Referring again to FIG. 1 , the adaptive arm mechanism 102 comprises one or more sensors 122 configured to output one or more sensor signals indicative of a force applied by the adaptive arm mechanism 102 to a surface when the adaptive arm mechanism 102 contacts and / or presses against the surface. The one or more sensors 122 may take any suitable form. For example, the one or more sensors may include one or more of a linear potentiometer, an encoder, a strain gauge, and a Hall effect sensor. As an example, the one or more sensors sense the operation of a motor configured to actuate the extendable joint 118. The adaptive arm mechanism 102 may additionally or alternatively include further sensors disposed at other joints of the adaptive arm mechanism. Such further sensors may include position sensors configured to measure the position of a component of the adaptive arm mechanism 102 (such as a wrist joint, a hand, a finger, etc.) and / or force sensors configured to measure a force applied to such a component of the adaptive arm mechanism 102. In some examples, signals from both the force sensor and the position sensor may be used cooperatively to control the mechanical impedance of the adaptive arm mechanism.

[0027] In some examples, the adaptive arm mechanism is configured to releasably hold an object such that the aerial vehicle is used to place the object on a surface. In one example, the aerial vehicle is used to mount a surveillance camera on a vertical surface (e.g., a wall of a building that is difficult for a human to access). The adaptive arm mechanism may be configured to releasably hold any suitable type of object for placing such an object on a surface. Figures 5-9 depict examples of adaptive arm mechanisms suitable for use as the adaptive arm mechanism of Figure 1 having various configurations for releasably holding an object.

[0028] 5, adaptive arm mechanism 500 includes a hand 502 configured to hold an object 504 by an adhesive 506. The adhesive 506 has bonding properties that allow the object to be released from the hand 502. In some examples, the object 504 is configured to allow the object to be attached to a surface by a mechanical attachment mechanism and / or another adhesive and released from the adhesive 506. Any suitable adhesive may be used to releasably hold the object 504 to the hand 502.

[0029] 6, adaptive arm mechanism 600 includes a hand 602 configured to hold an object 604 via a vacuum 606. In one example, adaptive arm mechanism 600 includes a pump that creates a vacuum 606 between the hand 602 and the object 604. In other examples, the vacuum 606 applied to the hand 602 and / or object 604 is maintained passively, such as through a suction cup or an external vacuum generating device (e.g., for drawing a vacuum prior to flight).

[0030] In the example of Figure 7, the adaptive arm mechanism 700 includes a hand 702 configured to hold an object 704 by a magnet 706, where the object includes a material that is attracted by a magnetic force. In some examples, the magnet 706 is a ferromagnetic material (e.g., a rare earth magnet). In other examples, the magnet 706 is an electromagnet. Further, in some examples, the object 704 includes a ferromagnetic material or an electromagnet and the hand 702 includes a material that is attracted by a magnetic force. Furthermore, in some examples, the object 704 is configured to be attached to a surface by magnetic attraction to the surface.

[0031] 8, the adaptive arm mechanism 800 includes a hand 802 with a number of fingers 804. The number of fingers 804 is configured to hold an object 806 through a friction-based grip. The number of fingers 804 may be sized and shaped to specifically match the shape of the object 806 to releasably hold the object 806. In the illustrated example, the number of fingers 804 have fixed locations for friction-based gripping of the object 806. In some examples, the object 806 includes an adhesive or mechanical attachment mechanism to attach the object 806 securely enough to overcome the friction-based grip of the hand 804.

[0032] 9, the adaptive arm mechanism 900 includes a hand with multiple actuatable fingers 904 configured to hold an object 906. The multiple actuatable fingers 904 are actively driven by motors 908. In some examples, multiple motors are used such that each of the fingers 904 is individually actuatable to open and close around the object 906. Additionally, in some examples, each of the actuatable fingers 904 articulates to form separate grasps around objects of different shapes.

[0033] The above examples are presented by way of example, and the adaptive arm mechanism may be configured to releasably hold an object in any suitable manner. In any of the above examples, the adaptive arm mechanism is in a compact configuration during normal flight to simplify flight dynamics, yet extends to provide sufficient freedom of movement to adaptively place an object on a surface. The adaptive arm mechanism has inherent adaptive control that provides beneficial dynamics for the air vehicle and the adaptive arm mechanism during placement of an object on a surface.

[0034] In some examples, the adaptive arm mechanism is configured to releasably hold multiple objects for placement at separate locations. As an example, the adaptive arm mechanism includes a magazine configured to hold multiple objects. The magazine is configured such that when an object is placed, the next object in the magazine moves into position for placement. Further, in some examples, the air vehicle includes multiple adaptive arm mechanisms. In some such examples, each of the multiple adaptive arm mechanisms is configured to releasably hold a different object. Additionally, in some examples, the multiple adaptive arm mechanisms are configured to cooperatively releasably hold a single object. In some such examples, the different adaptive arm mechanisms may have separate functions. As an example, one adaptive arm mechanism is used to sense contact with and forces pressing against a surface, and another adaptive arm mechanism is used to place an object on the surface.

[0035] 1, aircraft control system 112 is configured to control various aircraft components and functions of air vehicle 100. For example, aircraft control system 112 is configured to control the operation of various actuators (e.g., rotor propellers 110, actuators of adaptive arm mechanism 102, sensors, such as optical sensors) in response to commands from an operator, an autopilot, a navigation system, or other higher-level systems. Aircraft control system 112 is configured to dynamically (i.e., in real-time or near real-time) and individually adjust thrust from each of rotor propellers 110 to control the roll, pitch, or yaw of air vehicle 100 during various phases of flight (e.g., takeoff, flight, landing, etc.) in operation. In one example, aircraft control system 112 individually varies the speed (revolutions per minute (RPM)) of rotor propellers 110 to control the flight of air vehicle 100.

[0036] The aircraft control system 112 includes one or more processors communicatively coupled to one or more memory devices. The one or more processors are configured to execute instructions stored in the one or more memory devices. For example, the one or more processors may be configured to execute instructions that are part of one or more applications, services, programs, routines, libraries, objects, components, data structures, or other logical constructs. The one or more processors may be configured to execute software instructions. Additionally or alternatively, the one or more processors may be configured to execute hardware or firmware instructions. The one or more processors may be single-core or multi-core, and the instructions executed by the processors may be configured for sequential, parallel, and / or distributed processing. The one or more storage devices may include volatile, non-volatile, dynamic, static, read / write, read-only, random access, sequential access, location addressable, file addressable, and / or content addressable devices. Aspects of the processor(s) and memory device(s) may be embodied in one or more hardware logic components, which may include, for example, a field programmable gate array (FPGA), a program specific integrated circuit / application specific integrated circuit (PASIC / ASIC), a program specific standard product / application specific standard product (PSSP / ASSP), a system on a chip (SOC), and a complex programmable logic device (CPLD).

[0037] Aircraft control system 112 may include various sensors, including a global positioning system (GPS), an inertial navigation system (INS), and / or an inertial measurement unit (IMU), which may include one or more gyroscopes and / or accelerometers. Such sensors provide inertial stabilization data used to control the orientation of air vehicle 100. In some examples, air vehicle 100 may be equipped with one or more cameras (e.g., optical instruments for recording and capturing images and / or video, including light detection and ranging (LIDAR) devices), acoustic devices (e.g., microphones, echolocation sensors, etc.), and other sensors (e.g., motion capture sensors, radio beacons, infrared sensors, acoustic sensors, etc.).

[0038] In some examples, aircraft control system 112 includes a wireless transceiver configured to communicate data between air vehicle 100 and a remote device (e.g., a smart phone, a tablet, a laptop computer, a base station, etc.). For example, the wireless transceiver is configured to communicate data (e.g., processed data and raw data) with the remote device over a wireless network using one or more wireless standards (e.g., Bluetooth, Near Field Communication (NFC), Wi-Fi, etc.). In some examples, the remote device may facilitate monitoring and / or control of air vehicle 100. In other examples, air vehicle 100 is partially or fully autonomous.

[0039] Aircraft control system 112 is configured to control air vehicle 100 to perform various operations related to positioning air vehicle 100 relative to a surface (e.g., a wall). Aircraft control system 112 uses one or more sensors 122 of adaptive arm mechanism 102 to provide feedback for controlling air vehicle 100 relative to the surface. In some cases, aircraft control system 112 is configured to place an object held by adaptive arm mechanism 102 on the surface based on feedback provided by one or more sensors 122.

[0040] Figures 10-12 depict various exemplary scenarios in which an air vehicle interacts with a surface via an adaptive arm mechanism. Figures 10A-10F depict one exemplary scenario in which an air vehicle 1000 places an object 1006 on a vertical surface 1002 via an adaptive arm mechanism 1004.

[0041] In Figure 10A, the air vehicle 1000 is flying toward a proximal region of a vertical surface 1002. The region may be identified, for example, by optical sensors, beacons on the surface, visual observation by a human controller, or other recognition methods. In Figure 10B, the air vehicle 1000 extends the adaptive arm mechanism 1004 laterally toward the vertical surface 1002, beyond a perimeter boundary 1008 of the propulsion system 1010 of the air vehicle 1000. The air vehicle 1000 controls the propulsion system 1010 and / or the adaptive arm mechanism 1004 such that the adaptive arm mechanism 1004 contacts the vertical surface 1002 via the object 1006. The air vehicle 1000 receives one or more sensor signals through one or more sensors 1012 indicative of contact between the adaptive arm mechanism 1004 and the vertical surface 1002 via the object 1006. Based on the one or more sensor signals, air vehicle 1000 determines the force with which air vehicle 1000 contacts vertical surface 1002. In some examples, the same sensor(s) are used to determine both the contact and the force. In other examples, the contact and the force are determined using separate sensors.

[0042] 10C, the air vehicle 1000 bounces off a vertical surface 1002 as a result of contact by the adaptive arm mechanism 1004. The contact with the vertical surface 1002 changes the orientation of the air vehicle 1000 relative to the vertical surface 1002. The air vehicle 1000 experiences the bounce based on a force signature determined from one or more sensor signals of one or more sensors 1012. In this case, the adaptive arm mechanism 1004 is able to absorb some of the force resulting from contacting the vertical surface 1002, but the force was generally large enough to move the air vehicle 1000 away from the vertical surface 1002. It should be noted that in some examples, the impedance control characteristics of the adaptive arm mechanism may be selected such that the contact dynamics are not too large to affect the positioning of the air vehicle.

[0043] In FIG. 10D, the air vehicle 1000 controls one or more of the propulsion system 1010 and the adaptive arm mechanism 1004 to move the object 1006 toward the vertical surface 1002 again to bring the object 1006 into contact with the vertical surface 1002. Due to the change in orientation of the air vehicle 1000 as a result of the bounce, the object 1006 is no longer oriented flush with the vertical surface 1002, which is identified by the air vehicle 1000 through a sensor signal from one or more sensors 1012. Because the force from the previous contact is now known, the air vehicle 1000 may control one or more of the propulsion system 1010 and the adaptive arm mechanism 1004 based on the force to mitigate the disturbance force as the air vehicle 1000 re-contacts the vertical surface. The hand 1014 of the adaptive arm mechanism 1004 rotates to align the object 1006 to abut the vertical surface 1002. Depending on the configuration of the aerial vehicle 1000, the hand 1014 may be actively rotated by a motor or passively rotated based on control of the propulsion system 1010. Additionally or alternatively, the aerial vehicle 1000 may reorient itself through control of the propulsion system 1010 to assist in aligning the object 1006 against the vertical surface 1002. The aerial vehicle 1000 controls one or more of the propulsion system 1010 and the adaptive arm mechanism 1004 to control the force applied by the object 1006 to the vertical surface 1002 during placement of the object 1006 on the vertical surface 1002 based on one or more sensor signals indicative of the force applied by the object 1006 to the vertical surface 1002 during placement of the object 1006 on the vertical surface 1002. In some examples, controlling the force applied to the vertical surface 1002 during placement of the object 1006 on the vertical surface 1002 includes maintaining the force above a threshold force for at least a threshold duration. The threshold force and threshold duration may be set at a suitable level to allow attachment of the object 1006 to the vertical surface 1002.

[0044] In some examples, the forces determined based on contact of the adaptive arm mechanism with a vertical surface may optionally be used by the air vehicle to control flight stability. For example, when the air vehicle experiences a lateral disturbance of 10 Newtons (e.g., as a result of contact with a surface), the air vehicle may respond to the forces measured by the adaptive arm mechanism more quickly than if the air vehicle had to wait for the center of gravity position measured by an aircraft control system sensor to shift as a result of the disturbance sufficiently to counteract the disturbance.

[0045] In FIGURE 10E, an object 1006 is attached to a vertical surface 1002. The airborne vehicle 1000 releases the object 1006 from the adaptive arm mechanism 1004 and moves the adaptive arm mechanism 1004 from an extended position to a retracted position within a perimeter boundary 1008 of a propulsion system 1010 of the airborne vehicle 1000. In FIGURE 10F, the airborne vehicle 1000 controls the propulsion system 1010 to fly away from the vertical surface 1002 to perform another mission.

[0046] 11A-11E are diagrams illustrating an exemplary scenario in which an air vehicle 1100 places an object 1106 on a sloped surface 1102 via an adaptive arm mechanism 1104. In FIG. 11A, the air vehicle 1100 flies toward a proximal region of the sloped surface 1102. In FIG. 11B, the air vehicle 1100 extends the adaptive arm mechanism 1104 laterally toward the sloped surface 1102 beyond a peripheral boundary 1108 of the propulsion system 1110 of the air vehicle 1100. The air vehicle 1100 controls one or more of the propulsion system 1110 and the adaptive arm mechanism 1104 such that the adaptive arm mechanism 1104 contacts the sloped surface 1102 via the object 1106. The air vehicle 1100 receives, via one or more sensors 1112, one or more sensor signals indicative of contact between the adaptive arm mechanism 1104 and the ramp 1102 via the object 1106. The air vehicle 1100 determines the force with which the air vehicle 1100 contacted the ramp 1102 based on the one or more sensor signals.

[0047] In FIGURE 11C, the hand 1114 of the adaptive arm mechanism 1104 rotates to align the object 1106 against the inclined surface 1102 based on the determined force. The hand 1114 may be actively rotated by a motor or passively rotated based on control of the propulsion system 1110, depending on the configuration of the air vehicle 1100. Additionally or alternatively, the air vehicle 1100 may reorient itself through control of the propulsion system 1110 to assist in aligning the object 1106 flush with the inclined surface 1102. The air vehicle 1100 controls the force exerted by the object 1106 on the inclined surface 1102 during placement of the object 1106 on the inclined surface 1102 based on one or more sensor signals indicative of the force exerted by the object 1106 on the inclined surface 1102 during placement of the object 1106 on the inclined surface 1102.

[0048] In Figure 11D, object 1106 is attached to ramp 1102. The air vehicle 1100 releases object 1106 from adaptive arm mechanism 1104 and moves adaptive arm mechanism 1104 from an extended position to a retracted position within a perimeter boundary 1108 of a propulsion system 1110 of the air vehicle 1100. In Figure 11E, the air vehicle 1100 controls the propulsion system 1110 to fly away from ramp 1102 to return to base or fly to another mission.

[0049] 12A-12C are diagrams illustrating an exemplary scenario in which an air vehicle 1200 places an object 1206 on a vertical surface 1202 via a passive adaptive arm mechanism 1204. Rather than actively moving between retracted and extended positions, the passive adaptive arm mechanism 1204 is configured to permanently extend laterally beyond a peripheral boundary 1208 of a propulsion system 1210 of the air vehicle 1200. In FIG. 12A, the air vehicle 1200 is flying toward a proximal region of the vertical surface 1202. In FIG. 12B, the air vehicle 1200 controls the propulsion system 1210 such that the passive adaptive arm mechanism 1204 contacts the vertical surface 1202 via the object 1206. The air vehicle 1200 receives one or more sensor signals through one or more sensors 1212 indicative of contact between the passive adaptive arm mechanism 1204 and the vertical surface 1202 via the object 1206. The air vehicle 1200 determines the force with which the air vehicle 1200 contacts the vertical surface 1202 based on the one or more sensor signals. The air vehicle 1200 controls the force applied by the object 1206 to the vertical surface 1202 during placement of the object 1206 on the vertical surface 1202 based on the one or more sensor signals indicative of the force applied by the object 1206 to the vertical surface 1202 during placement of the object 1206 on the vertical surface 1202. In FIG. 12C, the object 1206 is attached to the vertical surface 1202 and the air vehicle 1200 controls the propulsion system 1210 to fly away from the vertical surface 1202 to fly back to base or to another mission.

[0050] FIG. 13 is a flow diagram of an example method 1300 for controlling an aerial vehicle including an adaptive arm mechanism. For example, the method 1300 may be implemented by the aerial vehicle 100 shown in FIG. 1. At 1302, a propulsion system of the aerial vehicle is controlled to fly the aerial vehicle to a proximal region of a surface. At 1304, one or more of the propulsion system of the aerial vehicle and the adaptive arm mechanism of the aerial vehicle are controlled to bring the adaptive arm mechanism into contact with the surface. The adaptive arm mechanism is configured to passively or actively extend laterally beyond a perimeter boundary of the propulsion system to contact the surface. In some examples, controlling the adaptive arm mechanism includes moving the adaptive arm mechanism from a retracted position to an extended position with an extendable joint. In some examples, controlling the adaptive arm mechanism includes moving a wrist joint to control a force applied to the surface by a hand of the adaptive arm mechanism.

[0051] At 1306, one or more sensor signals are received from one or more sensors. The sensor(s) may be located, for example, on the air vehicle, on the surface, or on another air vehicle. The one or more sensor signals are indicative of contact between the adaptive arm mechanism and the surface. At 1308, a force with which the air vehicle presses against the surface is determined based on the one or more sensor signals.

[0052] In some examples, at 1310, a propulsion system of the air vehicle may optionally be controlled to orient the air vehicle relative to the surface based on the forces determined based on the one or more sensor signals. For example, the propulsion system may be controlled to orient a surface of the adaptive arm mechanism parallel to the surface. In another example, the adaptive arm mechanism may be controlled to orient a surface of the adaptive arm mechanism parallel to the surface.

[0053] In some examples, at 1312, optionally, one or more of the propulsion system and the adaptive arm mechanism may be controlled based on forces determined from the one or more sensor signals such that the adaptive arm mechanism presses against a surface to stabilize the air vehicle.

[0054] In some examples, the adaptive arm mechanism may be configured to releasably hold an object. Thus, at 1314, optionally after receiving one or more sensor signals indicative of contact between the object and the surface, one or more of the propulsion system and the adaptive arm mechanism may be controlled to control a force applied by the object to the surface during placement of the object on the surface based on one or more sensor signals indicative of a force applied by the object to the surface during placement of the object on the surface.

[0055] The concepts described herein may be broadly applied to any suitable type of aircraft, including fixed-wing aircraft, as well as manned and unmanned aircraft.

[0056] Additionally, the disclosure includes examples according to the following clauses:

[0057] Clause 1. A method (1300) for controlling an air vehicle, comprising: Controlling (1302) a propulsion system of the air vehicle to fly the air vehicle to a proximal region of a surface; Controlling (1304) one or more of a propulsion system and an adaptive arm mechanism of the air vehicle such that the adaptive arm mechanism contacts a surface, the adaptive arm mechanism being configured to extend laterally beyond a peripheral boundary of the propulsion system; receiving 1306, via the sensor, one or more sensor signals indicative of contact between the adaptive arm mechanism and a surface; and determining (1308) a force with which the air vehicle presses against the surface based on the one or more sensor signals. Method (1300).

[0058] Article 2. 13. The method (1300) of claim 1, further comprising controlling (1310) the propulsion system to orient the air vehicle relative to the surface based on the forces determined based on the one or more sensor signals.

[0059] Clause 3. The method (1300) of clause 1 or 2, further comprising: the adaptive arm mechanism being configured to releasably hold an object, and one or more sensor signals indicative of contact between the object and the surface, and after receiving the one or more sensor signals indicative of contact between the object and the surface, controlling (1314) one or more of the propulsion system and the adaptive arm mechanism to control a force applied by the object to the surface during placement of the object on the surface based on one or more sensor signals indicative of a force applied by the object to the surface during placement of the object on the surface.

[0060] Clause 4. The method (1300) of clause 3, wherein controlling the force applied to the surface during placement of the object on the surface comprises maintaining the force above a threshold force for at least a threshold duration.

[0061] Clause 5. The method (1300) of any one of clauses 1 to 4, wherein controlling the adaptive arm mechanism includes moving the adaptive arm mechanism from a retracted position to an extended position by an extendable joint.

[0062] Clause 6. A method (1300) according to any one of clauses 1 to 5, wherein the adaptive arm mechanism comprises legs, a wrist joint connected to the legs, and a hand connected to the wrist joint, the wrist joint having at least one degree of freedom of movement, and controlling the adaptive arm mechanism comprises moving the wrist joint to control a force applied by the hand to the surface.

[0063] Article 7. Aircraft (104), a propulsion system (109) coupled to the airframe (104); an airborne vehicle (100) comprising: an adaptive arm mechanism (102) coupled to an airframe (104), the adaptive arm mechanism (102) including legs (114), a wrist joint (120) coupled to the legs (114), and a hand (116) coupled to the wrist joint (120), the adaptive arm mechanism (102) having at least one degree of freedom of movement and configured to extend laterally beyond a peripheral boundary of a propulsion system (109) to contact a surface; Air vehicles (100).

[0064] Article 8. a sensor (122) configured to output a sensor signal indicative of a force applied to the surface by the adaptive arm mechanism (102); A controller (112), controlling one or more of the propulsion system (109) and the adaptive arm mechanism (102) such that the adaptive arm mechanism (102) contacts the surface; receiving, via a sensor (122), one or more sensor signals indicative of contact between the adaptive arm mechanism (102) and a surface; and determining a force with which the air vehicle presses against the surface based on the one or more sensor signals. An air vehicle (100) as described in clause 7.

[0065] Clause 9. The air vehicle (100) described in clause 8, wherein the controller (112) is configured to control the propulsion system (109) to orient the air vehicle (100) relative to the surface based on forces identified based on one or more sensor signals.

[0066] Clause 10. An air vehicle (100) as described in clause 8 or 9, wherein the hand (116) is configured to releasably hold an object, and one or more sensor signals indicate contact between the object and the surface, and the controller (112) is configured to control one or more of the propulsion system (109) and the adaptive arm mechanism (102) to control a force applied by the object to the surface during placement of the object on the surface based on one or more sensor signals indicative of a force applied by the object to the surface during placement of the object on the surface after receiving the one or more sensor signals indicative of contact between the object and the surface.

[0067] Clause 11. An air vehicle (100) as described in any one of clauses 7 to 10, wherein the adaptive arm mechanism (102) comprises an extendable joint (118) configured to move between a retracted position and an extended position, and in the extended position, the adaptive arm mechanism (102) extends laterally beyond the peripheral boundary of the propulsion system.

[0068] Clause 12. The air vehicle (100) of any one of clauses 7 to 11, wherein the adaptive arm mechanism (102) includes one or more of a spring (308) and a damper to provide passive compliance.

[0069] Clause 13. An air vehicle (100) as described in any one of clauses 7 to 12, wherein the adaptive arm mechanism (102) includes one or more motor-driven actuators (208) for providing active adaptability.

[0070] Clause 14. The air vehicle (100) of any one of clauses 7 to 13, wherein the wrist joint (120) is of the passive adaptive type.

[0071] Clause 15. The air vehicle (100) of any one of clauses 7 to 14, wherein the wrist joint (120) has at least two degrees of freedom of movement.

[0072] Clause 16. An adaptive arm mechanism (102) removably mountable to a body (104) of an air vehicle (100), comprising: A leg portion (115); a wrist joint (120) connected to the leg (115); a hand (116) coupled to a wrist joint (120), the hand having at least one degree of freedom of movement and configured to extend laterally beyond a peripheral boundary of the propulsion system (109) of the air vehicle (100) to contact a surface; An adaptive arm mechanism (102).

[0073] Clause 17. The adaptive arm mechanism (102) of clause 16, wherein the hand (116) is configured to releasably hold an object and is configured to extend laterally beyond a peripheral boundary of the propulsion system (109) to place the object on a surface.

[0074] Clause 18. The adaptive arm mechanism (102) of clause 16 or 17, wherein the leg (115) includes an extendable joint (120) configured to move between a retracted position and an extended position, and in the extended position, the adaptive arm mechanism (102) extends laterally beyond the peripheral boundary of the propulsion system (109).

[0075] Clause 19. The adaptive arm mechanism (102) of any one of clauses 16 to 18, comprising one or more of a spring (308) and a damper to provide passive compliance.

[0076] Clause 20. An adaptive arm mechanism (102) according to any one of clauses 16 to 19, comprising one or more adaptive actuators (208) for providing active adaptability.

[0077] The present disclosure includes all novel and nonobvious combinations and subcombinations of the various features and techniques disclosed herein. The various features and techniques disclosed herein are not necessarily required in all examples of the present disclosure. Moreover, the various features and techniques disclosed herein may define patent eligible subject matter apart from the disclosed examples and may find utility in other implementations not expressly disclosed herein.

Claims

1. A method (1300) for controlling an air vehicle, comprising: Controlling a propulsion system of the air vehicle to fly the air vehicle to a proximal region of a surface for placing an object, the surface may be inclined at any angle (1302); controlling (1304) one or more of an adaptive arm mechanism of the air vehicle configured to extend laterally beyond a peripheral boundary of the propulsion system, the adaptive arm mechanism including a magazine configured to releasably hold a plurality of the objects for placement at different locations, and the propulsion system such that the adaptive arm mechanism contacts the surface; receiving 1306 one or more sensor signals via a sensor indicative of a force applied to a component of the adaptive arm mechanism, thereby indicative of contact of the adaptive arm mechanism with the surface; and determining 1308 a force with which the aerial vehicle presses against the surface based on the one or more sensor signals; The method (1300), wherein the magazine is configured such that once an object is placed, the next object in the magazine moves into position for placement.

2. 10. The method (1300) of claim 1, further comprising controlling (1310) the propulsion system to orient a surface of the adaptive arm mechanism parallel to the surface based on the force determined based on the one or more sensor signals.

3. 3. The method (1300) of claim 1 or 2, wherein the adaptive arm mechanism is configured to releasably hold the object, and the one or more sensor signals are indicative of contact between the object and the surface, and further comprising, after receiving the one or more sensor signals indicative of contact between the object and the surface, controlling (1314) one or more of the propulsion system and the adaptive arm mechanism to control a force applied to the surface by the object during placement of the object on the surface based on the one or more sensor signals indicative of a force applied to the surface by the object during placement of the object on the surface.

4. controlling the force applied to the surface during placement of the object on the surface comprises maintaining the force above a threshold force for at least a threshold duration; 4. The method (1300) of claim 3, wherein the threshold force and the threshold duration are set at a level suitable to allow the object to attach to the surface.

5. 5. The method (1300) of any one of claims 1 to 4, wherein controlling the adaptive arm mechanism comprises moving the adaptive arm mechanism from a retracted position to an extended position by an extendable joint.

6. 6. The method (1300) of any one of claims 1 to 5, wherein the adaptive arm mechanism includes a leg, a wrist joint coupled to the leg, and a hand coupled to the wrist joint, the wrist joint having at least one degree of freedom of movement, and controlling the adaptive arm mechanism includes moving the wrist joint to control a force applied to the surface by the hand.

7. An aircraft (104); a propulsion system (109) coupled to the airframe (104); an adaptive arm mechanism (102) coupled to the airframe (104), the adaptive arm mechanism (102) including legs (114), a wrist joint (120) coupled to the legs (114), and a hand (116) coupled to the wrist joint (120), the adaptive arm mechanism (102) having at least one degree of freedom of movement, the adaptive arm mechanism (102) configured to extend laterally beyond a peripheral boundary of the propulsion system (109) to contact a surface for placing an object, the surface may be tilted at any angle, and the adaptive arm mechanism (102) comprises a magazine configured to releasably hold a plurality of the objects for placement at separate locations; The magazine is configured such that once an object is loaded, the next object in the magazine moves into position for loading, the air vehicle (100).

8. a sensor (122) configured to output a sensor signal indicative of a force applied to the surface by the adaptive arm mechanism (102); A controller (112), controlling one or more of the propulsion system (109) and the adaptive arm mechanism (102) such that the adaptive arm mechanism (102) contacts the surface; receiving, via the sensor (122), one or more sensor signals indicative of a force applied to a component of the adaptive arm mechanism (102) thereby indicative of contact of the adaptive arm mechanism (102) with the surface; and determining a force with which the air vehicle presses against the surface based on the one or more sensor signals. The air vehicle (100) of claim 7.

9. 9. The air vehicle (100) of claim 8, wherein the controller (112) is configured to control the propulsion system (109) to orient a surface of the adaptive arm mechanism (102) parallel to the surface based on the force identified based on the one or more sensor signals.

10. 9. The air vehicle (100) of claim 8, wherein the hand (116) is configured to releasably hold the object, and the one or more sensor signals are indicative of contact between the object and the surface, and the controller (112) is configured, after receiving the one or more sensor signals indicative of contact between the object and the surface, to control one or more of the propulsion system (109) and the adaptive arm mechanism (102) to control a force applied to the surface by the object during placement of the object on the surface based on the one or more sensor signals indicative of a force applied to the surface by the object during placement of the object on the surface.

11. 11. The air vehicle (100) of any one of claims 7 to 10, wherein the adaptive arm mechanism (102) comprises an extendable joint (118) configured to move between a retracted position and an extended position, and in the extended position, the adaptive arm mechanism (102) extends laterally beyond the peripheral boundary of the propulsion system.

12. The air vehicle (100) of any one of claims 7 to 11, wherein the adaptive arm mechanism (102) includes one or more of a spring (308) and a damper to provide passive compliance.

13. The air vehicle (100) of any one of claims 7 to 12, wherein the adaptive arm mechanism (102) includes one or more motorized actuators (208) for providing active adaptability.

14. An adaptive arm mechanism (102) removably attachable to a body (104) of an air vehicle (100), comprising: A leg portion (115); a wrist joint (120) connected to said leg (115); a hand (116) coupled to the wrist joint (120), the adaptive arm mechanism (102) having at least one degree of freedom of movement, the adaptive arm mechanism (102) configured to extend laterally beyond a peripheral boundary of a propulsion system (109) of the air vehicle (100) to contact a surface for placing an object, the surface may be tilted at any angle, and the adaptive arm mechanism (102) comprises a magazine configured to releasably hold a plurality of the objects for placement at separate locations; The magazine is configured such that once an object is loaded, the next object in the magazine moves into position for loading, an adaptive arm mechanism (102).

15. 15. The adaptive arm mechanism (102) of claim 14, wherein the hand (116) is configured to releasably hold the object, and the adaptive arm mechanism (102) is configured to extend laterally beyond the peripheral boundary of the propulsion system (109) to place the object on the surface.

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