Attractive Force Estimation of a Magnetic Adsorption Unit for Inspection UAVs
Yoshiyuki Higashi, Kenta Yamazaki, Arata Masuda, Nanako Miura, and Yuichi Sawada
Kyoto Institute of Technology
Goshokaido-cho, Matsugasaki, Sakyo-ku, Kyoto 606-8585, Japan
This paper presents an attractive force estimation system and an automatic activation system for an electropermanent magnet (EPM) for an inspection UAV. Adsorption to infrastructures for inspection at a distance is extremely difficult to perform safely because the operator cannot detect the state of adsorption of the drone equipped with a magnetic adsorption device. Therefore, in this paper, we clarify the relationship between the magnetic flux density and attractive force of the EPM through experiments, and develop an estimation algorithm for the attractive force based on the results. An automatic activation system, using the induced voltage in the coil when the EPM approaches the magnetic substance, is developed and mounted on a quadrotor for a flight experiment along with the estimation system for the attractive force. The developed system is verified using flight and adsorption experiments on the quadrotor.
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