Deployable Hook Retrieval System for UAV Rescue and Delivery

Abstract

The rapid development of unmanned aerial vehicles (UAVs) has helped expand their practical use to many industrial applications. However, UAVs sometimes suffer from a flight time limitation and/or a loss in communication. Such undesired malfunctions can endanger public safety and incur economic losses. This paper presents a new class of UAV that can retrieve a disabled or malfunctioned UAV from the ground. We developed a deployable hook retrieval system (DHRS) which integrates three principal mechanisms ( i.e., deployment, slider-linkage-release, and hook release). Each mechanism plays a role in deploying and retrieving multiple hooks while using a simple control strategy. Through a Finite Element Method simulation, the hook was topologically optimized in order to achieve a high strength while reducing weight. The deployed multiple hooks allow the device to capture the target regardless of its orientation. Due to these design strategies, object recognition using a computer vision was simply demonstrated by exploiting ORB and FLANN algorithms. Through an experimental study, we discussed the target range, success rate, and the practical uses that the DHRS could achieve. The results show that the proposed designs were versatile and consistently successful in capturing the targets while addressing constraints such as power consumption, computational load, and lack of prior knowledge or information about the target.