Flying Robot Posture Control Against Work Reaction Forces
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Solution Overview
Problem
Unmanned flying bodies, such as drones, face balance issues when performing work due to reaction forces from target objects or external forces, hindering smooth operation.
Innovation Solution
A flying robot equipped with a contact support unit and propulsion units that can be controlled to resist reaction forces, maintaining balance through posture control based on sensor-detected inclination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manipulators such as arms are attached to the unmanned flying body to perform work, then the flying robot can execute predetermined work, but the flying robot may be out of balance due to reaction forces from the target object or external forces
Solution Approach 1:
The flying robot is divided into functional modules: a body unit, propulsion units for flight, and a contact support unit for stabilization. This segmentation allows the contact support unit to independently handle balance stabilization while the propulsion units focus on flight and positioning, resolving the contradiction between work execution capability and balance stability.
Solution Approach 2:
The contact support unit acts as an intermediary between the flying robot and the ground surface. It provides a stable contact interface that counteracts reaction forces from work operations and external forces, thereby maintaining balance stability without interfering with the manipulator's work execution capability.
2Stability of the object's composition
If the contact support unit contacts the ground to resist reaction forces, then balance stability is improved, but the flying robot requires additional components increasing device complexity
Solution Approach 1:
The contact support unit is designed with multi-functionality: it serves as both a balance stabilization device and a structural component of the flying robot. By integrating it into the body unit framework, the patent avoids adding separate complex stabilization mechanisms, thus improving balance stability without proportionally increasing device complexity.
Solution Approach 2:
The contact support unit is merged with the propulsion units and body unit into an integrated system. The control unit coordinates all components together, allowing the contact support unit to function effectively as part of the overall flight and stabilization system rather than as a separate add-on, thereby minimizing the increase in device complexity.
3Productivity
If posture control is implemented using propulsion units to maintain inclination within a predetermined angle range, then work smoothness is improved, but energy consumption increases
Solution Approach 1:
The posture control system dynamically adjusts the inclination of the body unit within a predetermined angle range rather than maintaining a fixed position. This dynamic approach allows the flying robot to adapt to varying work conditions and external forces, improving work smoothness while optimizing energy consumption by making adjustments only when necessary.
Solution Approach 2:
The control unit implements feedback control by monitoring the inclination of the body unit and adjusting the propulsion units accordingly to maintain the predetermined angle range. This feedback mechanism ensures work smoothness by continuously correcting posture deviations while avoiding excessive energy consumption through precise, demand-based adjustments rather than continuous full-power operation.
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 the flying robot to perform predetermined work smoothly by resisting external forces and maintaining posture within a predetermined angle range, ensuring stable execution of tasks.
Implementation Method 1
a plurality of propulsion units configured to cause propulsion to occur by driving rotor blades
Implementation Method 2
a sensor configured to detect an inclination of the body unit
Data Source
AI summary
A flying robot executing predetermined work, the flying robot comprising: a body unit; and a propulsion portion comprising a plurality of propulsion units configured to cause propulsion to occur by driving rotor blades, the plurality of propulsion units being provided on the body unit; the flying robot further comprising: a contact support unit configured to contact a predetermined contact surface to be capable of supporting at least a part of the body unit; a sensor configured to detect an inclination of the body unit; and a control unit configured to, when the contact support unit contacts the predetermined contact surface, and the predetermined work is being performed, execute posture control to drive at least one of the plurality of propulsion units based on the inclination of the body unit detected by the sensor so that the inclination of the body unit is kept within a predetermined angle range.