Tiltable Coaxial-Rotor UAV for Stable Surface Interaction
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Solution Overview
Problem
Current unmanned aerial vehicles (UAVs) lack the ability to robustly interact with the environment while maintaining stability, limiting their use to remote sensing tasks and preventing applications that require physical interaction, such as inspections or maintenance of difficult-to-reach places.
Innovation Solution
An aerial vehicle design featuring a central frame with tiltable arms and coaxial rotors that can rotate and tilt independently, allowing for omnidirectional force application and stable positioning, equipped with sensors and manipulators for interaction with the environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a normal drone is tilted to exert forces on the environment, then physical interaction capability is improved, but stability deteriorates because the configuration becomes unstable and a small wind gust or disturbance could lead to a crash
Solution Approach 1:
The patent employs dynamic stabilization through active control of the drone's attitude and thrust vectors. The system continuously adjusts rotor speeds and arm positions to maintain stability during physical interaction tasks, transforming the static unstable configuration into a dynamically stable system through real-time control feedback
Solution Approach 2:
The patent changes key operational parameters including thrust magnitude, thrust direction, and arm configuration angles to enable stable physical interaction. By dynamically adjusting these parameters based on task requirements and environmental feedback, the system achieves both stability and interaction capability
2Adaptability or versatility
If fully actuated MAVs are equipped with aerial manipulators to achieve high degree of versatility and robustness, then physical interaction capability is improved, but device complexity increases
Solution Approach 1:
The patent implements a universal aerial manipulator system where the same robotic arm and end-effector configuration can perform multiple tasks including gripping, pushing, pulling, and sensing. This multi-functional design achieves high versatility without proportionally increasing device complexity by using a standardized modular architecture
Solution Approach 2:
The patent divides the aerial manipulator system into modular segments including the robotic arm, end-effector, and sensor packages that can be independently controlled and configured. This segmentation allows for simplified control of each module while achieving complex overall functionality
3Adaptability or versatility
If omnidirectional drones are designed to interact with environment including applying force, then adaptability is improved, but stability deteriorates because current designs cannot maintain stable position during physical interaction
Solution Approach 1:
The patent implements feedback control systems that continuously monitor the drone's position, orientation, and applied forces during environmental interaction. This feedback enables real-time adjustments to maintain stable positioning while performing physical interaction tasks, resolving the contradiction between adaptability and position stability
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 stable and versatile interaction with surfaces, facilitating tasks like inspection and maintenance by maintaining orientation and applying forces in all directions, enhancing control and versatility for industrial and scientific applications.
Implementation Method 1
at least three rotors arranged at the vertices of an equilateral triangle, each rotor comprising a rotating element that generates aerodynamic forces
Implementation Method 2
The rotors are configured to generate thrust forces that enable the aerial vehicle to hover, move, and maintain stable positioning
Implementation Method 3
The rotors are tiltable with respect to the main body of the aerial vehicle, enabling redirection of the thrust vector to apply forces in different directions
Data Source
AI summary
An aerial vehicle including: a central frame, a tail extending from the central frame along a first axis, arms extending from the central frame and able to rotate around a second axis, the angular position of the arm with respect to the second axis defining an arm rotation angle. The tail has a tail rotor spinning around a tail rotor axis, the tail rotor axis being parallel to a third axis orthogonal to both first axis and second axis. The free end of each arm is equipped with two thrust motors controlling spinning in opposite direction of two coaxial rotors. The two coaxial rotors define a double rotor axis and can tilt together with respect to another tilting axis, the tilting axis being perpendicular to the second axis, the angular position of the double rotor with respect to the double rotor axis defining a double rotor tilting angle.