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

Aerial Manipulator System for Safe Path Planning via Physical Property Estimation of Transported Objects

This technology is a safe flight transport system and real-time path planning method that estimates physical properties, such as the mass of an object during aerial manipulator transport operations, and generates safe paths in real-time by considering 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 tether or gripper methods suffer from low transport stability, as they are unable to 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 during post-takeoff hovering, and determines the operational workspace by comparing these with propulsion limits. By using inverse kinematics and priority-based task allocation to generate safe paths, it enables transport without the risk of crashing. Applicable to drone delivery, aerial operations, 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:

• End-effector path generation unit that acquires kinematic information about the object to be transported to generate the end-effector's path
• Transport capability assessment unit that determines the operational workspace for the end-effector by identifying the drone's transport capacity
• Physical property estimation unit that estimates physical properties while the drone hovers after taking off with the object
• Drone path generation unit that modifies the drone's path by considering transport capabilities based on the estimated physical properties

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This invention was developed with support from the Ministry of Education's Convergence Knowledge-based Creative Mechanical and Aerospace Talent Training Program and the Ministry of Trade, Industry and Energy's development of drone autonomy and vision-based operation technology for high-precision aerial manipulation.