Thrust-Vector UAGV Deflector Control for Precision Grasping
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Solution Overview
Problem
Unmanned aerial and ground vehicles (UAGVs) face challenges in precise real-time position control, especially in outdoor environments, due to the inaccuracy of GPS sensors, which is critical for tasks like aerial grasping and manipulation.
Innovation Solution
A thrust vector-controlled UAGV with pivotable deflectors and propellers, combined with a nonlinear model predictive control (NMPC) system, allows for precise airflow redirection and control, enabling both aerial and ground mode operations, including precise object grasping and manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS sensors are used for position estimation in outdoor environments, then the vehicle can operate outdoors with cheap sensors, but the position control precision is insufficient for aerial grasping tasks
Solution Approach 1:
The patent combines multiple sensing modalities (GPS, IMU, computer vision sensors) into an integrated sensing system. The fusion of these sensors compensates for the limitations of individual sensors, particularly GPS inaccuracies, by using visual feedback from cameras and depth information from depth sensors to achieve precise position control for aerial grasping tasks.
Solution Approach 2:
The patent introduces computer vision sensors (cameras, depth sensors) as intermediary systems that provide visual feedback for position estimation. These sensors act as mediators between the vehicle's motion control system and the external environment, enabling precise position control by detecting visual features and depth information rather than relying solely on GPS data.
2Adaptability or versatility
If rigid or soft graspers are equipped for aerial grasping, then the vehicle can perform manipulation tasks, but extremely precise real-time position control is required which is almost impossible due to ground effect
Solution Approach 1:
The patent implements a visual feedback control system using computer vision sensors to continuously monitor the vehicle's position and orientation relative to the target object. This feedback loop enables real-time adjustment of control parameters, compensating for ground effect disturbances and achieving the extremely precise position control required for successful aerial grasping with rigid or soft graspers.
Solution Approach 2:
The patent uses computer vision sensors to detect and track the target object before grasping, preliminarily estimating its position, orientation, and dimensions. This preliminary action allows the control system to pre-calculate the required approach trajectory and grasping parameters, reducing the complexity of real-time position control during the actual grasping maneuver.
3Measurement precision
If thrust-vector control with deflectors is implemented, then the vehicle achieves improved maneuverability and precision, but the device complexity increases
Solution Approach 1:
The patent implements deflectors that can dynamically change their orientation angles during flight to redirect thrust vectors. This dynamic adjustment capability allows the vehicle to achieve precise position and orientation control by modulating thrust direction in real-time, rather than requiring complex mechanical structures for direct position control. The deflectors provide a simple yet effective means of achieving high precision through aerodynamic thrust vectoring.
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
The solution enhances the vehicle's maneuverability and precision in both air and ground environments, allowing for successful object grasping and manipulation with improved accuracy and reliability.
Implementation Method 1
Each of the plurality of arms includes a respective rotatable propeller and a deflector located underneath the propeller. Each deflector is operable for controlled upward or downward rotation to redirect airflow underneath and around the vehicle as the propeller rotates.
Implementation Method 2
redirect airflow underneath and around the vehicle as the propeller rotates... allowing for precise airflow redirection and control, enabling both aerial and ground mode operations
Data Source
AI summary
Various embodiments of a system and associated method for a thrust-vector controlled unmanned aerial and ground vehicle are disclosed herein.