Flexible Robot Arm Sensing for Aerial Collision Recovery

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Solution Overview

Problem

Robots and aerial vehicles often suffer damage from collisions, necessitating the development of collision-resilient systems that can detect and recover from such events to maintain functionality.

Innovation Solution

An apparatus for aerial vehicles featuring a flexible arm with a sensing system, including a Hall effect sensor, to detect changes in length due to collisions, coupled with a collision recovery control system that enables the vehicle to sustain flight by processing collision signals and adjusting thrust to stabilize after impacts.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If a rigid arm structure is used in aerial vehicles, then structural strength is improved, but collision damage increases

Engineering Contradiction:

Improvestructural strengthVSAvoidcollision damage

Core Design Contradiction:

StrengthVSObject-affected harmful factors

Solution Approach 1:

The arm structure transitions from a fixed rigid configuration to a dynamic reconfigurable structure that can change its mechanical properties. The arm includes multiple segments with adjustable joints that allow the structure to adapt its rigidity and configuration in real-time, enabling it to be rigid during normal operation and flexible during collision events.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The mechanical parameters of the arm structure are dynamically changed through actuation of joints and segments. The system modifies parameters such as arm length, segment angles, and joint stiffness to optimize performance for different operational states, including collision avoidance and post-collision recovery configurations.

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If complex sensing systems are added to detect collisions, then collision detection precision is improved, but device complexity increases

Engineering Contradiction:

Improvecollision detection precisionVSAvoiddevice complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The sensing system is divided into multiple independent sensor units distributed along different segments of the arm structure. Each sensor monitors specific local conditions, and the system integrates these segmented measurements to achieve comprehensive collision detection with high precision while maintaining modular simplicity.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The sensing system is designed to perform multiple functions using the same hardware components. The sensors not only detect collisions but also monitor arm position, structural integrity, and operational status, eliminating the need for separate dedicated systems and reducing overall device complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Reliability

If active collision recovery operations are implemented, then operational reliability is improved, but energy consumption increases

Engineering Contradiction:

Improveoperational reliabilityVSAvoidenergy consumption

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The system performs preliminary actions by pre-positioning arm segments and storing mechanical energy in spring elements during normal operation. When a collision is detected, these pre-positioned components and stored energy automatically engage to mitigate impact, reducing the need for high-energy active recovery operations.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

Spring elements and energy storage mechanisms are pre-loaded during normal operation to provide passive cushioning during collisions. This beforehand cushioning reduces impact forces without requiring active energy input at the moment of collision, thereby maintaining reliability while minimizing energy consumption.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

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 aerial vehicles to effectively detect and recover from collisions, maintaining flight stability and functionality by accurately identifying collision intensity and initiating recovery operations, thereby extending their operational lifespan.

Implementation Method 1

The sensing system comprises a signal source mounted on the first substrate. In some embodiments, the signal source comprises a magnet. In some embodiments, the sensing system comprises a Hall effect sensor mounted on the flexible member.

Methodology Applied

Scientific EffectHall effect: Hall Effect

Data Source

PatentUS20230399124A1Design methods and motion control algorithms for impact-resilient mobile robots

Publication Date: 2023.12.14 RGT UNIV OF CALIFORNIA

AI summary

An apparatus and method for detecting a collision of an aerial vehicle and recovery from the collision is disclosed. An apparatus for use in an aerial vehicle includes an arm, a flexible member and a sensing system. A processor is configured to receive a collision signal after deformation of the collision-resilient robot from a collision, recover control of the collision-resilient robot after the collision, and plan a post-collision trajectory for the collision-resilient robot using a global search-based planner.