Design and Implementation of Hexacopter Drone with Integrated Suction and Lift Mechanism with Real-Time Depth Sensing for Precision Object Handling

摘要

This paper presents the design and implementation of an advanced hexacopter drone equipped with a novel suction and lift mechanism for precise object handling. The drone incorporates a dual-motor suction system affixed to a rotatable servo-controlled platform, enabling a 180-degree range of motion for accurate object placement. Integrated with a real-time camera system, the drone performs depth sensing, object detection, and size estimation, ensuring efficient and accurate operations. The control algorithm enables the drone to approach a target, lower the lift mechanism, and suction the object. Upon successful acquisition, the drone transports the object to a designated drop-off point, where it gently releases it. This versatile system is capable of handling various objects, including flat plates, small papers, and cylindrical items. The comprehensive functionality of this drone makes it a significant contribution to aerial robotics, with potential applications in logistics, warehousing, and precision delivery systems.