Drone System Capable of Inserting an Object While Moving on a High-Rise Building Wall

Hui Chang Park; Hyun Soo Park; Jun Seok Lee; Man Gwon Han; Dong Hwan Kim

doi:10.3795/KSME-A.2023.47.5.447

Drone System Capable of Inserting an Object While Moving on a High-Rise Building Wall

Hui Chang Park, Hyun Soo Park, Jun Seok Lee, Man Gwon Han, Dong Hwan Kim

Dept. of Mechanical System and Design Engineering

Seoul National University of Science and Technology (SNUST)

Research output: Contribution to journal › Article › peer-review

Abstract

This work describes the designed a drone and controller capable of inserting a vent cap on the wall of building, moving on the wall, and attaching the drone to the wall. The drone system is composed of the mechanism attaching to wall and inserting a vent cap with 3-axis robot arm. For the drone flight stability, the drone system was controlled by triple PID control using angular velocity, angle, and linear velocity values received from several sensors. Additional two motors and propellers in the front side of the drone generates force to make the drone attach to wall. In recognition of the vent hole on the wall, the least squares method and RANSAC algorithm were used. Small errors in the hole recognition were overcome using a designed RCC(remote center compliance) devise to increase the success rate of vent cap insertion.

Original language	English
Pages (from-to)	447-458
Number of pages	12
Journal	Transactions of the Korean Society of Mechanical Engineers, A
Volume	47
Issue number	5
DOIs	https://doi.org/10.3795/KSME-A.2023.47.5.447
State	Published - 2023

Keywords

3-Axis Robot Arm
Vent Cap Inserting Drone
Vent Hole Detection
Wall Moving

Access to Document

10.3795/KSME-A.2023.47.5.447

Cite this

@article{fb2083f05d854689a3e33980ecdbc01b,

title = "Drone System Capable of Inserting an Object While Moving on a High-Rise Building Wall",

abstract = "This work describes the designed a drone and controller capable of inserting a vent cap on the wall of building, moving on the wall, and attaching the drone to the wall. The drone system is composed of the mechanism attaching to wall and inserting a vent cap with 3-axis robot arm. For the drone flight stability, the drone system was controlled by triple PID control using angular velocity, angle, and linear velocity values received from several sensors. Additional two motors and propellers in the front side of the drone generates force to make the drone attach to wall. In recognition of the vent hole on the wall, the least squares method and RANSAC algorithm were used. Small errors in the hole recognition were overcome using a designed RCC(remote center compliance) devise to increase the success rate of vent cap insertion.",

keywords = "3-Axis Robot Arm, Vent Cap Inserting Drone, Vent Hole Detection, Wall Moving",

author = "Park, \{Hui Chang\} and Park, \{Hyun Soo\} and Lee, \{Jun Seok\} and Han, \{Man Gwon\} and Kim, \{Dong Hwan\}",

note = "Publisher Copyright: {\textcopyright} 2023 The Korean Society of Mechanical Engineers.",

year = "2023",

doi = "10.3795/KSME-A.2023.47.5.447",

language = "English",

volume = "47",

pages = "447--458",

journal = "Transactions of the Korean Society of Mechanical Engineers, A",

issn = "1226-4873",

number = "5",

}

TY - JOUR

T1 - Drone System Capable of Inserting an Object While Moving on a High-Rise Building Wall

AU - Park, Hui Chang

AU - Park, Hyun Soo

AU - Lee, Jun Seok

AU - Han, Man Gwon

AU - Kim, Dong Hwan

PY - 2023

Y1 - 2023

N2 - This work describes the designed a drone and controller capable of inserting a vent cap on the wall of building, moving on the wall, and attaching the drone to the wall. The drone system is composed of the mechanism attaching to wall and inserting a vent cap with 3-axis robot arm. For the drone flight stability, the drone system was controlled by triple PID control using angular velocity, angle, and linear velocity values received from several sensors. Additional two motors and propellers in the front side of the drone generates force to make the drone attach to wall. In recognition of the vent hole on the wall, the least squares method and RANSAC algorithm were used. Small errors in the hole recognition were overcome using a designed RCC(remote center compliance) devise to increase the success rate of vent cap insertion.

AB - This work describes the designed a drone and controller capable of inserting a vent cap on the wall of building, moving on the wall, and attaching the drone to the wall. The drone system is composed of the mechanism attaching to wall and inserting a vent cap with 3-axis robot arm. For the drone flight stability, the drone system was controlled by triple PID control using angular velocity, angle, and linear velocity values received from several sensors. Additional two motors and propellers in the front side of the drone generates force to make the drone attach to wall. In recognition of the vent hole on the wall, the least squares method and RANSAC algorithm were used. Small errors in the hole recognition were overcome using a designed RCC(remote center compliance) devise to increase the success rate of vent cap insertion.

KW - 3-Axis Robot Arm

KW - Vent Cap Inserting Drone

KW - Vent Hole Detection

KW - Wall Moving

UR - https://www.scopus.com/pages/publications/85167566818

U2 - 10.3795/KSME-A.2023.47.5.447

DO - 10.3795/KSME-A.2023.47.5.447

M3 - Article

AN - SCOPUS:85167566818

SN - 1226-4873

VL - 47

SP - 447

EP - 458

JO - Transactions of the Korean Society of Mechanical Engineers, A

JF - Transactions of the Korean Society of Mechanical Engineers, A

IS - 5

ER -

Drone System Capable of Inserting an Object While Moving on a High-Rise Building Wall

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this