Coordinated Drone and Crane Lifting for Stable Load Control
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Solution Overview
Problem
The control of aerial drones used for lifting loads is complex due to forces exerted by the load, including horizontal components and dynamic forces from wind, which can cause instability and difficulty in maintaining desired positions.
Innovation Solution
A method and device where multiple aerial drones or a drone and a crane's lifting hook are connected with a common control system, allowing coordinated control to manage forces and stabilize the load, using a hydrostatic drive train for precise control and a common controller to synchronize movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple aerial drones are used to lift a load, then the lifting capacity and stability are improved, but the control complexity increases significantly
Solution Approach 1:
The patent combines multiple aerial drone control systems into a unified control architecture where a central controller coordinates the operation of multiple drones. This merging approach allows the system to manage the complexity of controlling multiple drones while maintaining improved lifting capacity and stability, as the coordinated control enables efficient force distribution and synchronized movement among all drones.
Solution Approach 2:
The control system is designed with multi-functional capabilities to handle various control tasks simultaneously - position control, attitude control, force coordination, and collision avoidance for multiple drones. This universal control architecture reduces the overall complexity by providing a single integrated system that performs multiple functions rather than requiring separate control mechanisms for each drone.
2Ease of operation
If a common control system is used for multiple aerial drones, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The patent introduces a common control system as an intermediary layer between the operator and the multiple aerial drones. This intermediary controller simplifies the operator's interface by providing unified control commands while handling the complex coordination logic internally, thus improving ease of operation without requiring the operator to directly manage the complexity of multiple drone systems.
Solution Approach 2:
The common control system incorporates feedback mechanisms that continuously monitor the position, attitude, and load status of all aerial drones. This feedback enables the control system to automatically adjust control commands to maintain stable operation, reducing the operational burden on the user while the system handles the complexity of coordinating multiple drones through real-time monitoring and adjustment.
3Power
If aerial drones carry loads, then the lifting capability is improved, but the stability deteriorates due to pendulum motions and wind forces
Solution Approach 1:
The patent employs active counterbalancing control where the common control system generates compensatory control forces to counteract the destabilizing effects of pendulum motions and wind forces. By continuously calculating and applying opposing forces through the aerial drone propulsion systems, the system maintains stability while carrying loads, effectively neutralizing the harmful dynamic forces without reducing lifting capability.
Solution Approach 2:
The control system implements dynamic adaptation by continuously adjusting control parameters based on real-time conditions including wind forces and load position. This dynamic control approach allows the system to maintain optimal stability while carrying loads, adapting to changing conditions rather than relying on fixed control parameters, thus preserving lifting capability while managing stability under varying operational conditions.
Data Source
AI summary
The present invention relates to a method and a device for lifting a load, wherein at least one aerial drone carries at least a portion of the load. In order to lift a load, it is proposed to yoke together a plurality of aerial drones or at least one aerial drone and a lifting hook of a crane, and provide a common control system for the plurality of aerial drones or the at least one aerial drone and the lifting hook of the crane, in order not to have to control a plurality of aerial drones at the same time, or also an aerial drone in addition to the crane hook, using separate control means, in a “multi-handed” manner. In addition to the at least one aerial drone which carries at least a portion of the load, it is proposed, according to the invention, that the load should be connected to a further aerial drone and/or a lifting hook of a crane, and also carried and/or directed by the further aerial drone or the crane lifting hook in part, wherein the two aerial drones are controlled together, and/or the at least one aerial drone is controlled together with the crane, in a mutually coordinated manner, by means of a common controller for controlling flight and/or crane movements.