Safe Flight Transport System and Real-Time Path Planning Method Considering Actuator Capabilities

This technology is a safe flight transport system and real-time path planning method for aerial manipulators. It estimates physical properties, such as the mass of an object during transport, and generates safe, real-time paths by accounting for the drone's propulsion capabilities and the kinematic constraints of the robotic arm.

There is a risk of crashing if the additional torque caused by the weight of the transported object exceeds the drone's allowable thrust range. Existing methods, such as cables or grippers, suffer from low transport stability because they cannot perform precise motion control or estimate physical properties in complex environments.

This technology proposes a method that acquires kinematic information based on the object's external dimensions, estimates physical properties in real-time while hovering after takeoff, and determines the operational envelope by comparing these values against propulsion limits. By using inverse kinematics and priority-based task allocation to generate safe paths, the system enables transport without the risk of crashing. Applicable to drone delivery, aerial work, and industrial facility maintenance, it prevents crash risks during transport and enhances the practical commercial viability of aerial manipulators.

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Key Features:

• Configuration for acquiring kinematic information based on the object's external dimensions
• Estimation unit that calculates physical properties, such as the mass of the transported object, in real-time while hovering after takeoff
• Configuration for determining the operational envelope by comparing estimated values with the drone's propulsion limits
• Generates safe, real-time paths using Jacobian null-space matrix adjustment and priority-based task allocation