アドオン型水平並進駆動モジュールを備えたマルチロータUAVと高圧洗浄作業への応用

抄録

In this study, a multi-rotor UAV equipped with an add-on planar translational driving system (ATD) was used to realize high-pressure cleaning work at high altitude. The ATD module consists of three ducted fans, which can generate force in all directions on the horizontal plane as a combined force, and can move in translation while maintaining the horizontal posture of the multirotor. In order to realize high-pressure washing work, it is required to generate appropriate reaction force to support the high-pressure washer nozzle, which sprays high-pressure water, and to accurately spray water toward the target position. In this study, we propose a method to precisely spray water by installing an ATD module in the aircraft and using its driving force to suppress the reaction force and move the aircraft while keeping its posture horizontal. In this study, we developed an aircraft that can perform high-pressure cleaning work, and verified the effectiveness of the proposed method through the experiment.