Distributed Drone-Payload Control for Modular Force-Intensive Tasks
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Solution Overview
Problem
Current drone systems face challenges in performing heavy industrial tasks due to limitations in force exertion and control complexity, leading to the need for specialized and expensive drones designed for specific tasks. Additionally, there is a lack of modular capability to switch between tasks, and responsibility issues arise when drones operate payloads designed by third parties.
Innovation Solution
A loosely coupled distributed control system is introduced, where a drone controller and a payload controller operate independently to manage different degrees of freedom, allowing the drone to carry various payloads and switch between tasks quickly. This system enables the drone to exert forces stronger than its native capabilities in specific directions without compromising flight controllability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a drone is designed with specialized components for specific heavy industrial tasks, then the force exertion capability is improved, but the device complexity and cost increase
Solution Approach 1:
The system divides the drone into modular components: a base drone platform and interchangeable active payloads. Each payload is a self-contained module with its own controller and thrust sources, allowing the drone to perform different tasks by simply swapping payloads rather than redesigning the entire system.
Solution Approach 2:
The base drone is designed as a universal platform capable of carrying multiple different active payloads. The drone controller can identify and adapt to different payload types, enabling a single drone to perform multiple heavy industrial tasks by changing payloads rather than requiring specialized drones for each task.
2Reliability
If the drone controller manages all degrees of freedom, then the flight controllability is maintained, but the payload capability and force exertion are limited
Solution Approach 1:
The control system is segmented into two independent controllers: the drone controller manages flight-related DOFs (position, orientation, hovering) while the payload controller manages task-related DOFs (thrust application, payload positioning). This division allows each controller to specialize in its domain without compromising overall system control.
Solution Approach 2:
The mechanical coupling between the drone and active payload acts as an intermediary that transmits forces while allowing independent control. The drone controller exerts forces through the coupling to the payload, enabling the payload to achieve force levels higher than the drone could produce alone while the drone maintains flight control.
3Force
If the drone is designed for heavy industrial tasks, then the force exertion is improved, but the cost and device complexity increase
Solution Approach 1:
The system separates the expensive, task-specific components into interchangeable payloads that can be manufactured independently from the base drone. This allows standard drones to be used with specialized payloads only when needed, reducing the overall cost compared to manufacturing specialized drones for each task.
Solution Approach 2:
A single standard drone platform can serve multiple heavy industrial tasks by changing payloads, eliminating the need to manufacture and maintain multiple specialized drones. This universal approach reduces manufacturing costs and simplifies inventory management.
4Productivity
If the drone carries a fixed specialized payload, then the task performance is optimized, but the adaptability to switch tasks is reduced
Solution Approach 1:
The payload is designed as a detachable, modular unit that can be quickly swapped with other active payloads. The standardized coupling mechanism allows for rapid task switching while maintaining optimized performance for each specific task through specialized payload design.
Solution Approach 2:
The system transitions from a static, fixed payload configuration to a dynamic, interchangeable payload system. The drone can adapt its payload configuration based on task requirements, enabling quick switching between different industrial tasks while maintaining optimized performance for each task.
Data Source
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AI summary
A system and method for distributing control over a drone and an active-payload carried by the drone to loosely coupled drone controller and payload controller, are disclosed. The active-payload includes a self-embedded payload controller and at least one controllable thrust source or moving weight. The drone controller identifies a current active-payload type that is coupled to the drone for performing one or more tasks and selects a control-type, which defines degrees of freedom (DOFs) to be controlled by the drone controller and released DOFs to be controlled by the payload controller, accordingly. The drone and active-payload perform the one or more task, wherein the drone controller controls maneuver instructions in drone controller controlled DOFs and simultaneously and asynchronously the payload controller controls maneuver instructions in the released DOFs by exerting controllable force or torque in the released DOFs by the at least one thrust source and/or moving weight.