Autonomous UAV Object Pickup Using Ground Travel and Robotic Arm
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Solution Overview
Problem
Existing UAVs face challenges in high-precision manipulation, acquisition, and emplacement of large payloads in unimproved environments due to aerodynamic instability and inaccuracy, leading to potential damage and operational inefficiencies.
Innovation Solution
An aircraft-based autonomous object acquisition system with an airframe, sensors, and an object acquisition mechanism, including a robotic arm, that allows for autonomous identification, landing away from objects, ground travel, and secure object manipulation and transport without human intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If UAVs are used to transport large payloads in unimproved environments, then payload delivery capability is improved, but aerodynamic instability and inaccuracy increase leading to potential damage
Solution Approach 1:
The system divides the payload transport task into two independent phases: aerial transport phase and ground manipulation phase. The payload is suspended during flight and only contacted by the robotic arm during ground operations, separating the aerodynamic stability requirements from the precision manipulation requirements.
Solution Approach 2:
The ground-based robotic arm acts as an intermediary between the UAV and the payload during ground operations. The arm extends from the UAV to manipulate the payload without requiring the UAV itself to achieve high precision, transferring the precision requirement from the aerial platform to the ground-based manipulator.
2Measurement precision
If UAVs attempt high-precision manipulation of objects, then manipulation precision is improved, but system complexity and risk of damage increase
Solution Approach 1:
Instead of having the UAV achieve precision through complex flight control and positioning systems, the system inverts the approach by using a ground-based robotic arm that operates from a stable platform. The precision is achieved through the arm's manipulation capabilities rather than the UAV's flight precision.
Solution Approach 2:
The system uses sensors and cameras to create a digital representation of the payload and environment, allowing the robotic arm to manipulate objects based on this copied information rather than requiring direct real-time visual feedback during flight, reducing system complexity.
3Productivity
If UAVs land close to objects for acquisition, then acquisition efficiency is improved, but risk of damage to objects and aircraft increases
Solution Approach 1:
The UAV performs preliminary actions by landing at a safe distance from the payload and extending the robotic arm to acquire the object. This preliminary positioning avoids the need for high-risk close-quarters landing while maintaining acquisition efficiency through the extended arm's reach.
4Adaptability or versatility
If human operators manually handle package delivery, then operational flexibility is improved, but labor requirements and operational time increase
Solution Approach 1:
The system enables the UAV to perform package acquisition and manipulation autonomously using onboard sensors, processors, and a robotic arm. The UAV identifies, approaches, manipulates, and secures payloads without human intervention, eliminating manual labor while maintaining operational flexibility through programmable autonomy.
Data Source
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AI summary
An aircraft based object acquisition system includes an airframe capable of flight. The system includes one or more sensors configured to identify a physical characteristic of an object or an environment. An object acquisition mechanism is coupled to the airframe and configured to manipulate and secure the object to the airframe. A ground based movement system may be configured to position the airframe such that the object is accessible to the object acquisition mechanism. A processor is communicatively configured to control operation of the ground based movement system to approach the object based at least in part on information from the one or more sensors, and to control the object acquisition mechanism to pick up the object based at least in part on information from the one or more sensors.