Liquid Feeding System using Cooperative Towing by Multiple Drones -2nd report: position estimation of each drones based on catenary theory and tensile force of tube

摘要

Recently, some spraying systems have been proposed that use a drone towing a liquid tube. However, towable tube length is limited due to the payload of a drone, and there is a possibility of liquid leakage from the tube or that the drone will fall. To solve these problems, this research proposes a liquid feeding system where the tube and cables are towed cooperatively by multiple drones. By using multiple drones, the length of the towable tube can be longer, and the working space can be enlarged. In addition, if the power cable is also towed together with the tube the amount of time the drone can be used will increase because a battery will not be necessary. In particular, this paper verifies the position estimation method of each drones by applying the tensile force vector using load cell and 2 axis potentiometers into the catenary theory. The result showed that the positions of each endpoint of the tube were correctly estimated.