Boom-Propeller UAV Control for Independent Six-DOF Interaction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current unmanned aerial vehicles (UAVs) lack the ability to independently control all six degrees of freedom due to inherent coupling between translational and rotational dynamics, limiting their capability to perform complex tasks that require precise movement and interaction with their environment.
Innovation Solution
A UAV system with a chassis and propeller assemblies configured for vertical take-off and landing, providing propulsion in six degrees of freedom, including a tiltable propeller assembly and a boom propeller assembly that can generate positive and negative thrust vectors, along with an end-effector equipped with a force sensor for environmental interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional VTOL UAVs with fixed propeller assemblies are used, then cost is reduced and structure is simplified, but the ability to independently control all six degrees of freedom is lost due to coupling between translational and rotational dynamics
Solution Approach 1:
The UAV divides its propulsion system into multiple independent propeller assemblies (main body propellers and boom propeller) that can be controlled separately. This segmentation allows independent control of different degrees of freedom, enabling the vehicle to achieve both simplified structure and full six-DOF control capability.
Solution Approach 2:
The boom propeller assembly can dynamically adjust its thrust vector direction and magnitude independently of the main body propellers. This dynamic adjustment capability allows the system to decouple translational and rotational control, providing adaptability for complex maneuvers while maintaining structural simplicity.
2Adaptability or versatility
If a tiltable propeller assembly is added to provide six degrees of freedom control, then adaptability is improved, but device complexity increases
Solution Approach 1:
The invention adds a spatial dimension by extending a boom structure from the main body, positioning the boom propeller assembly in a different spatial location. This dimensional extension allows the boom propeller to control translational movement along the boom axis independently, achieving six-DOF control without requiring complex tilting mechanisms on all propellers.
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
Enables UAVs to perform complex tasks by decoupling propulsion in multiple degrees of freedom, allowing for precise control and interaction with objects, such as attaching sensors or opening doors, through autonomous operation.
Implementation Method 1
the end-effector having a force sensor configured to provide contact force between the end-effector and an object
Implementation Method 2
a plurality of propeller assemblies configured to provide vertical take-off and landing (VTOL) for the chassis with propulsion in 6 degrees of freedom
Data Source
AI summary
An unmanned ground-based system is disclosed which includes a chassis, a plurality of wheels coupled to the chassis and configured to allow the chassis to move about a surface, a plurality of propeller assemblies configured to provide on-ground motion propulsions, a boom having a boom propeller assembly with a propeller disposed on a plane generally perpendicular to the plurality of propeller assemblies, configured to independently and selectively provide positive and negative rectilinear thrust vectors, and an end-effector coupled to a distal end of the boom, the end-effector having a force sensor configured to provide contact force between the end-effector and an object, wherein the contact force is used as a feedback signal to determine magnitude of the positive and negative rectilinear thrust vectors that is generated by the propeller of the boom propeller assembly.