Position Estimation of the Drone Based on the Tensile Force of Cooperatively Towed Tube

IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society Pub Date : 2018-10-01 DOI:10.1109/IECON.2018.8591528

Masaya Suzuki, S. Yokota, A. Matsumoto, H. Hashimoto, D. Chugo

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引用次数: 1

Abstract

Recently, some spraying systems have been proposed that use a drone towing a liquid tube. However, towable tube length is limited due to the payload of a drone, and there is a possibility of liquid leakage from the tube or that the drone will fall. To solve these problems, this research proposes a liquid feeding system where the tube and cables are towed cooperatively by multiple drones. By using multiple drones, the length of the towable tube can be longer, and the working space can be enlarged. In addition, if the power cable is also towed together with the tube the amount of working time will be increased because a battery will not be necessary. In particular, in this paper, it verifies that it is possible to estimate the position of the drone by measuring the tensile force vector of the cooperative towed tube with the tensile force sensor attached to the other drone. In result, we showed that the position of the end points of the tube that was cooperatively towed by the drones can be estimated by using the tensile force sensor attached to the drone.

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基于协同牵引管拉力的无人机位置估计

最近，有人提出了一些使用无人机牵引液体管的喷涂系统。但是，由于无人机的载荷，牵引管的长度受到限制，而且有可能出现液体从管道泄漏或无人机坠落的情况。为了解决这些问题，本研究提出了一种由多架无人机共同牵引管道和电缆的液体输送系统。通过使用多架无人机，可以延长可拖管的长度，扩大工作空间。此外，如果电源线也被拖在一起管的工作时间的量将增加，因为电池将不需要。特别地，本文验证了通过将拉力传感器附着在另一架无人机上，测量协同拖曳管的拉力矢量来估计无人机的位置是可能的。结果表明，通过使用附着在无人机上的拉力传感器，可以估计无人机协同拖曳的管道端点的位置。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

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