Attractive Force Estimation of a Magnetic Adsorption Unit for Inspection UAVs

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2021-12-20 DOI:10.20965/jrm.2021.p1349

Yoshiyuki Higashi, Kenta Yamazaki, A. Masuda, N. Miura, Y. Sawada

引用次数: 2

Abstract

This paper presents an attractive force estimation system and an automatic activation system for an electropermanent magnet (EPM) for an inspection UAV. Adsorption to infrastructures for inspection at a distance is extremely difficult to perform safely because the operator cannot detect the state of adsorption of the drone equipped with a magnetic adsorption device. Therefore, in this paper, we clarify the relationship between the magnetic flux density and attractive force of the EPM through experiments, and develop an estimation algorithm for the attractive force based on the results. An automatic activation system, using the induced voltage in the coil when the EPM approaches the magnetic substance, is developed and mounted on a quadrotor for a flight experiment along with the estimation system for the attractive force. The developed system is verified using flight and adsorption experiments on the quadrotor.

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一种用于检测无人机的磁吸附装置的吸引力估计

介绍了一种用于巡检无人机的电永磁体(EPM)的吸引力估计系统和自动激活系统。由于操作人员无法检测配备磁性吸附装置的无人机的吸附状态，因此对基础设施进行远距离吸附以进行安全检查是极其困难的。因此，本文通过实验阐明了EPM的磁通密度与引力之间的关系，并在此基础上开发了一种引力估计算法。研制了一种利用EPM接近磁性物质时线圈中感应电压的自动激活系统，并将其与引力估计系统一起安装在四旋翼飞行器上进行飞行实验。利用四旋翼飞行器的飞行和吸附实验对所开发的系统进行了验证。

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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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.