Drone Payload Weight Estimation Using Flight Control Signals
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Solution Overview
Problem
Existing flying apparatuses require dedicated load cells or weight sensors to measure the weight of transported objects, leading to high costs and potential inaccuracies due to varying flight conditions.
Innovation Solution
A flying apparatus equipped with a rotor, motor, flight sensor, electric power conversion unit, and computation control unit, which calculates an estimated weight of the transported object based on instruction signals generated to maintain the fuselage in a predetermined position and attitude, eliminating the need for a dedicated weight sensor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a dedicated load cell or weight sensor is used to measure the weight of the transported object, then measurement accuracy is improved, but device cost increases
Solution Approach 1:
The instruction signal generation unit, originally designed solely for flight control, is made multi-functional by also using it for weight measurement. The same signal that controls motor power to maintain flight attitude is reused to calculate the weight of the transported object, eliminating the need for dedicated weight sensors and reducing device cost while maintaining measurement capability
Solution Approach 2:
The flight control system serves itself by using its own instruction signal to perform both flight control and weight measurement functions. The system leverages its existing operational data (instruction signals) to derive weight information without requiring external or additional measurement devices,实现自服务式的多功能测量
2Difficulty of detecting and measuring
If a dedicated load cell or weight sensor is used to measure the weight of the transported object, then weight detection capability is improved, but device complexity increases
Solution Approach 1:
The instruction signal generation unit is designed to perform multiple functions: flight control and weight measurement. By extracting weight information from the same signal used for controlling motor power during flight, the system eliminates the need for separate weight detection hardware, thereby reducing device complexity while maintaining weight detection capability
Solution Approach 2:
The patent replaces the mechanical/physical weight sensing system (load cells, strain gauges) with an electrical control signal-based measurement approach. Instead of using physical sensors to detect weight, the system uses the electrical instruction signals already present in the flight control system to calculate weight, substituting a complex mechanical sensing system with a simpler signal processing approach
3Adaptability or versatility
If flight conditions vary, then adaptability to different operating environments is improved, but measurement accuracy deteriorates when using load cells
Solution Approach 1:
The system uses feedback from the flight control loop to maintain accurate weight measurements under varying conditions. The instruction signal, which is continuously adjusted based on real-time flight state (altitude, attitude, speed), provides up-to-date information that reflects current operating conditions, allowing the weight calculation to adapt automatically to environmental changes without losing accuracy
Solution Approach 2:
The weight measurement system is made dynamic by using the time-varying instruction signal that continuously adapts to changing flight conditions. Instead of relying on static load cell readings that may drift or become inaccurate under varying gravitational or vibrational conditions, the system dynamically calculates weight from the real-time control signal, ensuring measurement accuracy across different operating environments
Data Source
AI summary
The present invention provides a flying apparatus that can accurately measure a weight of a transported objected in a simple configuration. The flying apparatus 10 includes rotors 11, motors 12, a flight sensor 13, an electric power conversion unit 14, and a computation control unit 15. The flight sensor 13 measures physical quantities acting on a fuselage base portion 16. The computation control unit 15 generates instruction signals based on the physical quantities to cause the fuselage base portion 16 to be at a predetermined position in a predetermined attitude. The electric power conversion unit 14 adjusts amounts of electric power supplied to the motors 121 and the like based on the received instruction signals. Moreover, the computation control unit 15 calculates an estimated weight that is an estimation value of a weight of the transported object, based on magnitudes of the instruction signals.