Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine
Design and Development of Tether-Powered Multirotor Micro Unmanned Aerial Vehicle System for Remote-Controlled Construction Machine
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遥控工程机械系绳动力多旋翼微型无人机系统设计与开发
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
K. Nagatani
中科院分区：
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作者：
Seiga Kiribayashi;Kaede Yakushigawa;K. Nagatani
在日本，洪水、地震、火山爆发等几种自然灾害已经发生，未来也可能发生。因此，在这种自然灾害之后，需要土木工程来进行恢复，并且已经开发了遥控施工机器来促进这种工程。在远程操作的建筑机械的操作期间，来自各种视点的图像，从机器的角度或从铲斗的侧面的图像对于有效地执行任务是必不可少的。然而，在对自然灾害作出初步反应的情况下，特别是在灾害发生后的一个月内，很难使用专门的、传统的装有摄像机的车辆和安装在外部塔上的固定摄像机来获得这种透视图像。因此，在这项研究中，我们提出了一个系绳供电的多旋翼微型无人机（MUAV）系统，从各种角度获得图像的遥控工程机械的操作员。所提出的系统的特征是（1）通过细系绳传输电力的高电压，（2）在振动和倾斜条件下系绳的张力控制，以及（3）MUAV和直升机停机坪之间的有线VDSL通信。在本文中，我们介绍了该系统的设计和实现。此外，我们报告的系留MUAV安装在工程机械的现场测试的结果。
In Japan, several types of natural disasters such as floods, earthquakes, and volcanic eruptions have occurred and will likely occur in the future. Therefore, civil engineering works are required for restoration after such natural disasters, and teleoperated construction machines have been developed to facilitate such works. During the operation of teleoperated construction machines, images from various viewpoints e.g., an image from the perspective of the machines or that from the side of the bucket is essential for carrying out tasks efficiently. However, in the case of the initial response to natural disasters, it is difficult to use dedicated, conventional camera-equipped vehicles and fixed cameras on external towers to obtain such perspective images, particularly within a month after the disaster. Therefore, in this research, we propose a tether-powered multirotor micro unmanned aerial vehicle (MUAV) system to obtain images from various perspectives for the operator of a teleoperated construction machine. The features of the proposed system are (1) high voltage for transmitting electric power through thin tether, (2) tension control of the tether in vibration and inclined conditions, and (3) wired VDSL communication between the MUAV and the helipad. In this paper, we introduce the design and implementation of the proposed system. In addition, we report the results of the field test of the tethered MUAV mounted on a construction machine.