A passive articulated multi-aircraft joint operation platform

Abstract

The application discloses a passive-hinged multi-aircraft collective operation platform, comprising a plurality of aircrafts, a working device and a central platform carrying a central control unit, wherein the plurality of aircrafts are distributed around the central platform in a preset mode, and the plurality of aircrafts are connected with the central platform through connecting rods and hinges; the central control unit calculates force and torque information required by each aircraft to execute and sends driving instructions to the aircrafts; each aircraft adjusts a pose according to the driving instructions and feeds back adjusted attitude information of each aircraft to the central control unit to determine whether the driving instructions are executed normally; when working, the position and attitude of the working device are changed through regulating and controlling the force and torque output of each aircraft under relevant instructions, and a working task is completed. The collective operation platform can pass through a longitudinal working space, has the advantages of good adaptability, strong flexibility, high universality and the like, and can better execute complex tasks.

Description

Technical Field

[0001] This invention relates to the field of unmanned operation technology, and in particular to a passive articulated multi-aircraft tandem operation platform. Background Technology

[0002] Currently, high-altitude operations are inherently dangerous and unpredictable, typically requiring both manual labor and large machinery. However, in open ocean areas and other space-constrained regions, high-altitude operations present numerous inconveniences and safety hazards, making manual operation impractical. Aircraft platforms with operational capabilities offer a viable solution for dexterous operations such as high-altitude inspections and repairs. By using aircraft movement to adjust the position and attitude of work tools, they can accomplish tasks and have broad application prospects in the field of high-altitude operations.

[0003] However, traditional multi-aircraft tandem platforms have structural defects. The layout between aircraft and the electrical wiring restrict the platform's range of motion, making it difficult to pass through narrow areas, and its functionality also needs to be improved. This results in operations being limited to specific spatial ranges, which is not conducive to the flexibility and versatility of the work platform. Summary of the Invention

[0004] In view of the above-mentioned technical problems, the present invention provides a passively articulated multi-aircraft tandem operation platform that at least solves some of the aforementioned technical problems. Multiple aircraft are passively articulated and fixedly distributed around a central platform via linkages and hinges, allowing for flexible changes in the position and attitude of the central platform, thereby adjusting the position and attitude of the operating devices to achieve the purpose of mission execution. This tandem operation platform can open up the longitudinal workspace and has advantages such as good adaptability, high flexibility, and high versatility, enabling multi-aircraft tandem operation platforms to better perform complex tasks.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] This invention provides a passive articulated multi-aircraft tandem operation platform, which includes: multiple aircraft, operating devices, and a central platform equipped with a central control unit, wherein:

[0007] Multiple aircraft are distributed around the central platform in a preset manner, and the multiple aircraft are passively connected to the central platform through linkages and hinges;

[0008] The working device is installed on the central platform and / or connecting rod for performing task operations;

[0009] The central control unit of the central platform is used to calculate the force and torque information required by each aircraft and send drive commands to the aircraft; each aircraft adjusts its attitude according to the drive commands sent by the central control unit and feeds back the adjusted attitude information of each aircraft to the central control unit to determine whether the drive commands are executed normally.

[0010] During operation, under the relevant instructions of the central control unit, the position and attitude of the operation device are changed by adjusting the force and torque output of each aircraft to complete the operation task.

[0011] Preferably, the interconnected operation platform has workspace switching function and smooth interaction function.

[0012] Preferably, the aircraft is a multi-rotor unmanned aerial vehicle (UAV).

[0013] Preferably, the central control unit also communicates with a mobile terminal or ground station system, which remotely controls and monitors the operation status of the interconnected operation platform.

[0014] Preferably, the central control unit includes: a central processing unit, a first flight controller, and a first control bus, wherein:

[0015] The first flight controller is used to acquire the attitude information of each aircraft and transmit it to the central processing unit. The central processing unit calculates the force and torque information required by each aircraft by running a flight control algorithm, and sends drive commands to each aircraft through the first control bus.

[0016] Preferably, the aircraft includes: a computing processor, a second flight controller, and a second control bus, wherein:

[0017] The computing processor transmits the drive commands received from the central control unit to the second flight controller, enabling the aircraft to execute the force and torque information of the drive commands. Simultaneously, the second flight controller collects the attitude information of the aircraft after executing the drive commands and feeds the collected information back to the central control unit through the computing processor and the second control bus, so that the central control unit can determine whether the drive command execution is normal.

[0018] Preferably, the working device includes one or more of the following tools: clamping tools, sensing tools, rescue tools, fire-fighting tools, power tools, and plant protection tools.

[0019] Preferably, when the tandem operation platform needs to traverse narrow passages during the execution of a mission, under the drive command control of the central control unit, each aircraft moves accordingly, causing the attitude of the central platform to change to adapt to the narrow passage environment; after reaching the work area, each aircraft moves under the drive command control, causing the attitude of the central platform to change to the configuration of the work state to carry out the mission operation.

[0020] Compared with the prior art, the technical solution of the present invention has at least the following beneficial technical effects:

[0021] 1. This invention provides a passively articulated multi-aircraft tandem operation platform, in which multiple aircraft are passively articulated and fixedly distributed around a central platform via linkages and hinges. This facilitates flexible changes in the position and attitude of the central platform, thereby adjusting the position and attitude of the operating devices (tools) to achieve the purpose of mission execution. This tandem operation platform can open up the longitudinal workspace and has the advantages of good adaptability, high flexibility, and high versatility, enabling multi-aircraft tandem operation platforms to better perform complex tasks.

[0022] 2. The passive articulated multi-vehicle tandem operation platform of this invention is an integral unit composed of each sub-vehicle connected to the central platform through a hinge structure. This tandem operation platform adopts a centralized control mode, with the central control unit making decisions and generating instructions to each vehicle, and receiving feedback information from each vehicle in real time. It has a high degree of integration and high degree of coordination, thus enabling the tandem operation platform to have multiple functions such as workspace switching and compliant interaction, which can meet various needs of high-altitude operations while ensuring safety and flexibility.

[0023] 3. The passive articulated multi-aircraft tandem operation platform of this invention can realize the function of switching between upper and lower spaces, expand the working space range of the platform, simplify the installation position of the operation tools, and at the same time, the operation tools can be selected and replaced as needed, improving the versatility and operation efficiency of the operation platform, and has broad application prospects.

[0024] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0025] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0028] Figure 1 A schematic diagram of the passive articulated two-aircraft tandem operation platform provided by the present invention.

[0029] Figure 2 A schematic diagram of the passive articulated three-aircraft tandem operation platform provided by the present invention.

[0030] Figure 3 A schematic diagram of the passive articulated four-aircraft tandem operation platform provided by the present invention.

[0031] Figure 4 A schematic diagram of the aircraft component structure of the tandem operation platform provided by the present invention.

[0032] Figure 5 This is a schematic diagram of the lateral movement of the cascaded operation platform provided by the present invention.

[0033] Figure 6 This is a schematic diagram of the longitudinal movement of the cascaded operation platform provided by the present invention.

[0034] Figure 7 This is a schematic diagram of the rotational motion of the cascaded operation platform provided by the present invention.

[0035] Figure 8 This is a schematic diagram illustrating the switching between upper and lower workspaces on the interconnected operation platform provided by the present invention.

[0036] Figure 9 This is a schematic diagram of the cascaded operation platform provided by the present invention traversing a narrow passage.

[0037] Figure 10 This is a schematic diagram illustrating the side operation of the interconnected operation platform provided by the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, various serial numbers and terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0041] See Figures 1-3 As shown, this embodiment of the invention provides a passive articulated multi-aircraft tandem operation platform. The tandem operation platform includes: multiple aircraft, operating devices, and a central platform equipped with a central control unit, wherein:

[0042] In this embodiment, multiple aircraft are preferably distributed symmetrically around a central platform, and are passively connected to the central platform via linkages and hinges. A working device is mounted on the central platform and / or linkages to perform tasks. The central control unit of the central platform calculates the forces and torques required by each aircraft and sends drive commands to them. Each aircraft adjusts its attitude according to the drive commands sent by the central control unit and feeds back its adjusted attitude information to the central control unit to determine if the drive commands are executed correctly. During operation, under the relevant commands of the central control unit, the position and attitude of the working device are changed by adjusting the force and torque output of each aircraft to achieve the purpose of task execution. In this embodiment, the tandem operation platform has workspace switching and compliant interaction functions, enabling the multi-aircraft tandem operation platform to better perform complex tasks.

[0043] The working principle of this invention will be explained in detail below using a tandem operation platform comprising two sub-aircraft as an example:

[0044] In one embodiment, see Figure 4As shown, the motion principle of this tandem operation platform is as follows: In sub-aircraft module 1, rotors ① and ④ increase their rotational speed, while rotors ② and ③ decrease their rotational speed, allowing them to rotate clockwise around axis one. In sub-aircraft module 2, rotors ① and ④ increase their rotational speed, while rotors ② and ③ decrease their rotational speed, allowing them to rotate clockwise around axis two. In sub-aircraft module 1, rotors ① and ④ decrease their rotational speed, while rotors ② and ③ increase their rotational speed, allowing them to rotate counterclockwise around axis one. In sub-aircraft module 2, rotors ① and ④ decrease their rotational speed, while rotors ② and ③ increase their rotational speed, allowing them to rotate counterclockwise around axis two.

[0045] For the principle of lateral movement of the cascaded operation platform, please refer to [link / reference]. Figure 5 As shown, when sub-aircraft modules 1 and 2 rotate counterclockwise around the axis so that the pull vector direction points to the left, the entire tandem operating platform shifts to the left. When sub-aircraft modules 1 and 2 rotate clockwise around the axis so that the pull vector direction points to the right, the entire tandem operating platform shifts to the right.

[0046] For the longitudinal motion principle of the cascaded operation platform, please refer to [link / reference]. Figure 6 As shown, when the tension of sub-aircraft modules 1 and 2 increases, the platform as a whole shows an upward trend. When the tension of sub-aircraft modules 1 and 2 decreases, the platform as a whole shows a downward trend.

[0047] The principle of rotational motion of the cascaded operation platform is described in [reference needed]. Figure 7 As shown, sub-aircraft module 1 has a large pulling force, while sub-aircraft module 2 has a small pulling force, causing the platform to generate a torque and tend to rotate clockwise. Conversely, sub-aircraft module 1 has a small pulling force, while sub-aircraft module 2 has a large pulling force, causing the platform to generate a torque and tend to rotate counterclockwise.

[0048] In another embodiment, when the tandem operation platform contains three or four or more aircraft, the working principle is similar, and will not be described in detail here.

[0049] In one specific embodiment, the central control unit is mounted in the central platform. The central control unit includes a central processing unit (CPU), a flight controller I (first flight controller), and a control bus I (first control bus). The CPU can use various embedded development boards with computing and data storage functions, such as TX2, depending on the functions to be implemented and the amount of data to be stored. The CPU can be connected to the flight controller I via USB. The flight controller I is used to acquire the attitude information of the sub-aircraft modules and transmit it to the CPU. The CPU calculates the force and torque information required by each sub-aircraft module by running flight control algorithms and sends drive commands to each sub-aircraft module through the control bus I.

[0050] In one specific embodiment, the mechanical structure of the aircraft can be selected as a quadcopter or other multi-rotor aircraft as needed; each sub-aircraft includes a computing processor, a flight controller II (second flight controller), and a control bus II (second control bus). The computing processor transmits the drive commands received from the central control unit to the flight controller II, so that each sub-aircraft executes the force and torque information of the drive commands. At the same time, the flight controller II collects the attitude information of the sub-aircraft after executing the drive commands and feeds the collected information back to the central control unit through the computing processor and the control bus II, so that the central control unit can determine whether the drive command execution is normal.

[0051] In one specific embodiment, the working device is the tool required for the operation. Depending on the task being performed, different tools with different loads can be selected. When performing operational tasks, gripping tools such as robotic arms can be selected. When performing inspection tasks, sensing tools such as cameras and lidar can be selected, as well as fire-fighting tools such as fire extinguishing bombs. The device can be configured according to actual needs, and the application scenarios are wide-ranging. No further examples will be given.

[0052] In one specific embodiment, the central control unit of the central platform can also communicate with mobile terminals and ground station systems via 4G, 5G or local area network. The mobile terminals can be devices such as mobile phones, tablets and laptops, which facilitates remote control and monitoring of the operation status of the interconnected operation platform by the mobile terminals or ground station systems.

[0053] In one embodiment, the interconnected operation platform has workspace switching and compliant interaction functions, the principle of which is as follows:

[0054] The principle of the workspace switching function: Assuming the working tool (working device) is installed on the lower side of the platform, if work needs to be performed on the upper or side workspace, the various sub-vehicles can move in coordination. Because the central platform is hinged to each vehicle, the central platform will also change its tilt angle, allowing the working tool to change its orientation from below to above or side, thus opening up the longitudinal workspace. For example... Figure 8 As shown, the robotic arm mounted on the lower side of the central platform moves upwards via the movement and adjustment of the aircraft, enabling operations such as top repairs. For a two-aircraft tandem operation platform, when it needs to traverse a narrow passage, the central control unit senses and assesses the degree of narrowness and issues force and torque commands to allow the platform to pass smoothly. Each aircraft then moves accordingly under the drive commands, causing the central platform to tilt and reduce its horizontal dimensions to pass through the narrow passage. Figure 9 As shown.

[0055] The principle of compliant interaction: The cascaded operation platform maintains the stability of the central platform's position and attitude by adjusting the magnitude and direction of the forces and torques generated by each aircraft. When its operating devices need to exert forces and torques on the work object, compliant interaction control methods such as admittance control are used to provide the work object with corresponding interactive forces and torques, while maintaining its own stability during the operation. Figure 10 As shown, the rod-shaped tool installed on the side of the central platform rotates with the central platform to enable the operation of tightening the valve.

[0056] As will be apparent to those skilled in the art from the above description of the embodiments, the passive articulated multi-aircraft tandem operation platform provided by the present invention differs from traditional multi-aircraft tandem platforms. The passive articulated multi-aircraft tandem operation platform is an integral unit composed of each aircraft connected to a central platform via linkages and hinges. Each sub-aircraft applies force and torque to the central platform, allowing for flexible changes in the central platform's position and attitude, thereby adjusting the position and attitude of the work tools to achieve the purpose of performing the task. Furthermore, this tandem operation platform adopts a centralized control mode, with the central control module making decisions and generating instructions for each sub-aircraft, and receiving feedback information from the sub-aircraft in real time. It exhibits a high degree of integration and coordination, enabling the tandem operation platform to possess multiple functions such as workspace switching and compliant interaction, meeting various needs of high-altitude operations while maintaining both safety and flexibility.

[0057] The present invention provides a passive articulated multi-aircraft tandem operation platform that enables switching between upper and lower spaces, expands the platform's working space, simplifies the installation position of work tools, and allows work tools to be selected and replaced as needed, thereby improving the versatility and operational efficiency of the operation platform and having broad application prospects.

[0058] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0059] It should be noted that the word "comprising" does not exclude the presence of components or steps not listed in the claims. The words "a" or "an" preceding a component do not exclude the presence of a plurality of such components. This invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer.

[0060] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A passive hinged multi-aircraft gang operation platform, characterized in that, The collective operation platform comprises a plurality of aircrafts, a working device and a central platform with a central control unit, wherein: The plurality of aircrafts are distributed around the central platform in a central symmetry manner, and the plurality of aircrafts are connected with the central platform through passive hinging of connecting rods and hinges; the connecting rods and the hinges form a plurality of frames, the plurality of frames are connected through a common connecting rod, the central platform is arranged on the common connecting rod, and the plurality of aircrafts are respectively arranged on the connecting rods on each side of the common connecting rod and can rotate around the connecting rod axis; The working device is installed on the central platform and / or the connecting rod and is used for performing task work; the working device can be operated from above, from the side or from below; the working device comprises one or more of the following tools: a clamping tool, a sensing tool, a rescue tool, a fire-fighting tool, an electric power tool and a plant protection tool; The central control unit of the central platform is used for calculating force and torque information required to be executed by each aircraft and sending driving instructions to the aircraft; each aircraft adjusts the pose according to the driving instructions sent by the central control unit, and feeds back the adjusted pose information of each aircraft to the central control unit to determine whether the driving instructions are executed normally; During work, the position and attitude of the working device are changed by adjusting the force and torque output of each aircraft under the related instructions of the central control unit, so as to complete the task work; The collective operation platform has a working space switching function and a compliant interaction function, wherein: When the collective operation platform needs to pass through a narrow channel during task execution, each aircraft moves correspondingly under the driving instruction control of the central control unit, so that the attitude of the central platform changes to adapt to the narrow channel environment; after reaching the work area, each aircraft moves under the driving instruction control, so that the attitude of the central platform is converted into a working state configuration to carry out task work; The collective operation platform adjusts the size and direction of the force and torque generated by each aircraft, so that the position and attitude of the central platform remain stable; when the working device needs to generate force and torque on the work object, the compliant interaction control means of the admittance control is used to give the work object corresponding interaction force and interaction torque, while keeping its own stability during work.

2. A passive hinged multi-aircraft swarm operating platform according to claim 1, characterized in that, The aircraft is a multi-rotor unmanned aerial vehicle.

3. A passive hinged multi-aircraft swarm operating platform according to claim 1, characterized in that, The central control unit also communicates with a mobile terminal or a ground station system, and the mobile terminal or the ground station system remotely controls and monitors the running state of the collective operation platform.

4. The passively articulated multi-aircraft swarm operating platform of claim 1, wherein, The central control unit comprises a central processor, a first flight control and a first control bus, wherein: The first flight control is used to obtain the attitude information of each aircraft and transmit it to the central processor; the central processor calculates the force and torque information required to be executed by each aircraft through a flight control algorithm, and sends driving instructions to each aircraft through the first control bus.

5. A passive hinged multi-aircraft swarm operating platform according to claim 4, characterized in that, The aircraft comprises a computing processor, a second flight control and a second control bus, wherein: The computing processor delivers the driving instruction received from the central control unit to the second flight control, so that the aircraft executes the force and torque information of the driving instruction; meanwhile, the second flight control collects the attitude information after the aircraft executes the driving instruction, and feeds back the collected information to the central control unit through the computing processor and the second control bus, so that the central control unit judges whether the execution of the driving instruction is normal.

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