用磁吸设计的无人机可空中安全抓取多负载，无需复杂机械结构。
A Ducted Fan UAV for Safe Aerial Grabbing and Transfer of Multiple Loads Using Electromagnets
- 外置电磁铁+共轴涵道风扇，实现安全近距离抓取
- 飞行测试验证从人手直接抓取多个负载并保持姿态稳定
- 适合需要空中货品交接的物流与救援场景
近年来，空中抓取、操作和运输物体的研究受到广泛关注。这些任务通常要求无人机在靠近环境或物体时安全运行，并高效抓取负载。然而，当前广泛使用的飞行平台存在安全隐患：高速旋转的螺旋桨可能对周围造成伤害。此外，机身载荷空间有限，负载位置受限也影响抓取效率。为此，本文提出一种共轴涵道风扇无人机，其机身外部安装电磁铁，可在不依赖复杂附加执行器的情况下，实现多负载的空中安全抓取与转移，并具备空中直接与人进行货物交接的能力。分析了磁性附着过程中负载受力及其影响因素，采用ADRC控制器抑制抓取扰动，实现姿态控制。最终通过飞行实验验证了该无人机在飞行中直接从人手抓取多个负载并保持姿态跟踪的能力。
原文摘要 · Abstract (English)
In recent years, research on aerial grasping, manipulation, and transportation of objects has garnered significant attention. These tasks often require UAVs to operate safely close to environments or objects and to efficiently grasp payloads. However, current widely adopted flying platforms pose safety hazards: unprotected high-speed rotating propellers can cause harm to the surroundings. Additionally, the space for carrying payloads on the fuselage is limited, and the restricted position of the payload also hinders efficient grasping. To address these issues, this paper presents a coaxial ducted fan UAV which is equipped with electromagnets mounted externally on the fuselage, enabling safe grasping and transfer of multiple loads in midair without complex additional actuators. It also has the capability to achieve direct human-UAV cargo transfer in the air. The forces acting on the loads during magnetic attachment and their influencing factors were analyzed. An ADRC controller is utilized to counteract disturbances during grasping and achieve attitude control. Finally, flight tests are conducted to verify the UAV's ability to directly grasp multiple loads from human hands in flight while maintaining attitude tracking.
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