Design and Evaluation of a Perching Hexacopter Drone for Energy Harvesting from Power Lines
Design and Evaluation of a Perching Hexacopter Drone for Energy Harvesting from Power Lines
复制标题
用于从电力线收集能量的栖息六轴无人机的设计和评估
DOI：
10.1109/iros45743.2020.9341100
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
M. Minor
中科院分区：
文献类型：
--
作者：
Ryan L. Kitchen;Nick Bierwolf;Sean Harbertson;Brage Platt;Dean Owen;Klaus Griessmann;M. Minor
随着世界上越来越多的无人机应用，对于延长电池寿命的需求存在明显的限制。在目前的飞行时间内，许多用户将从这些设备的现场充电创新选项中受益匪浅。该项目的目标是研究从电力电缆中感应收集能量的可行性，用于为无人机无人机充电等应用。研究调查了一种双钩栖息设备，该设备安全地连接到电力电缆，并将感应芯与电缆对齐，以从其电磁场中获取能量。核心的建模和分析突出了关键的设计参数，导致评估圆形，半圆柱形和U形原型设计与1”电力电缆接口。在线圈的每一端的欠驱动的两个钳口操纵器被提出用于抓住电缆并将其与充电线圈对准，最终提供牢固的抓握和栖息。在这项研究中使用了一个开源的hexacopter无人机来整合充电的新奇。所提供的结果可以用作研究这种充电方法的可靠性和进一步调查无人机的栖息能力的起点。
With a growing number of applications in the world for UAVs, there is a clear limitation regarding the need for extended battery life. With the current flight times, many users would benefit greatly with an innovative option of field charging these devices. The objective of this project is to investigate feasibility of inductively harvesting energy from a power line cable for applications such as charging a UAV drone. Research investigates a dual hook perching device that securely attaches to a power cable and aligns an inductive core with the cable for harvesting energy from its electro-magnetic field. Modeling and analysis of the core highlights critical design parameters, leading to evaluation of circular, semi-cylindrical, and u-shaped prototypes designed to interface with a 1" power cable. Underactuated two jaw manipulators at each end of the coil are proposed for grasping the cable and aligning it with the charging coil, ultimately providing a firm grasp and perch. An open source hexacopter drone was used in this study to integrate with the charging novelty. The results provided can be used as a starting point to study the reliability of this method of charging and to further investigate perching abilities of UAVs.