Omni-directional motion full-drive multi-aircraft integrated operation platform
The omnidirectional motion and full-drive multi-aircraft tandem operation platform, which passively connects the internal and external aircraft, solves the problem of attitude and thrust coupling in traditional quadcopter platforms, realizes high-precision stable control and stable operation in complex environments, and improves the attitude decoupling capability and degree of freedom characteristics of the aircraft.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-21
- Publication Date
- 2026-03-27
AI Technical Summary
Traditional quadcopter flight platforms have a high degree of coupling between attitude and thrust, making it difficult to achieve high-precision and stable control. In particular, attitude fluctuations are prone to occur during high-altitude operations or in turbulent airflow environments, affecting operational accuracy and reliability. Existing flexible connection structures have limited degrees of freedom or complex assembly, making it difficult to balance stability and lightweight design.
An omnidirectional, fully driven multi-aircraft tandem operation platform is adopted, in which the inner and outer aircraft are connected by a passive articulated structure. The inner and outer aircraft are connected by a composite ring frame. The inner and outer flight platforms achieve roll and yaw degrees of freedom while maintaining the coincidence of the center of mass. The attitude decoupling degree and degree of freedom characteristics are affected by adjusting the structural parameters of the composite ring frame. The outer flight platform provides additional attitude control torque and thrust.
It has improved the attitude stability of the flight platform, enhanced its anti-interference ability, enabled it to perform complex spatial maneuvers, supported the stable operation of high-precision loads, and allowed for the configuration of flight modes with different degrees of freedom through structural parameter adjustment.
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Figure CN121734709A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an omnidirectional motion full-drive multi-aircraft cluster operation platform. BACKGROUND
[0002] As an important part of unmanned systems, multi-rotor flight platforms have been widely used in inspection, surveying and mapping, and special operations. However, the traditional four-rotor multi-rotor flight platform is rigidly connected, and the attitude and thrust are highly coupled, making it difficult to achieve high-precision stable control. In high-altitude operation or turbulent airflow environment, attitude fluctuations are easy to occur, affecting the operation precision and reliability.
[0003] Existing improved schemes mostly rely on multi-aircraft cooperation or redundant propulsion layout to realize torque compensation, but the structure is complex, the weight increases, and the rigid connection still causes the attitude coupling problem to be difficult to eliminate. In recent years, a flexible connection type cluster flight platform has been proposed to realize passive decoupling of attitude and disturbance absorption, thereby improving the stability and self-adaptive ability of the platform.
[0004] However, the existing flexible connection structure has limited degrees of freedom or complex assembly, making it difficult to balance stability and lightweight, limiting its application in aerial operations and load support scenarios. Therefore, there is an urgent need for an omnidirectional motion full-drive multi-aircraft cluster operation platform that has attitude decoupling, structural stability, and operation function expansion capability to improve flight stability and expand aerial operation capability. SUMMARY
[0005] Therefore, the present application provides an omnidirectional motion full-drive multi-aircraft cluster operation platform with attitude decoupling and expandable operation capability, and can realize the regulation and optimization of the degree of freedom characteristics of the flight platform through reasonable configuration of the structural parameters.
[0006] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows: An omnidirectional motion full-drive multi-aircraft cluster operation platform, comprising: an inner aircraft, a composite ring frame, and an outer aircraft; The composite ring frame comprises an outer ring frame and an inner ring frame arranged vertically, the inner ring frame is arranged inside the outer ring frame, and the top end and the bottom end of the inner ring frame are rotatably connected with the vertical mounting rods on the upper top rod and the lower bottom rod of the outer ring frame, respectively; Wherein, the height and width of the composite ring frame as the structural parameters of the composite ring frame can be used to adjust the degree of freedom characteristics of the flight platform; The inner aircraft is arranged inside the inner ring frame, and the two opposite side walls of the inner aircraft are rotatably connected with the horizontal mounting rods on the two opposite side walls of the inner ring frame, and the inner aircraft and the inner ring frame constitute an inner flight platform; The outer aircraft is symmetrically fixed on two opposite sides of the outer ring frame, and the outer aircraft and the outer ring frame form an outer flight platform, and the outer flight platform and the inner flight platform form a double-layer flight structure of the omnidirectional motion full-drive multi-aircraft collective operation platform.
[0007] The composite ring frame is used to realize passive hinged connection between the inner and outer flight platforms under the condition of ensuring the coincidence of the overall center of mass, so as to obtain two degrees of freedom of roll and yaw.
[0008] And by adjusting the structural parameters of the composite ring frame, the rotatable range and torque action margin of the inner and outer flight platforms in the corresponding rotation axis direction are changed, thereby affecting the attitude decoupling degree and degree of freedom characteristics that can be realized by the platform.
[0009] Further, when the structural height and width of the composite ring frame meet the predetermined conditions, the attitude coupling effect between the inner and outer flight platforms is significantly weakened, so that the platform has higher degree of independent control ability in the roll, yaw and other directions; when the structural height / width is insufficient, the degree of freedom of the platform in the corresponding direction is in a limited state.
[0010] Further, the center of mass positions of the outer flight platform and the inner flight platform are coincident.
[0011] Further, the inner aircraft is an X-shaped four-rotor aircraft. Both of the outer aircrafts comprise a support rod and two flight rotors, the support rod is fixedly connected with the side rod of the outer ring frame through a connecting rod, and the connecting rod is arranged vertically to the side rod, the support rod is arranged vertically to the connecting rod, and the flight rotors are fixedly arranged at both ends of the support rod, and the four flight rotors form an auxiliary four-rotor flight structure outside the inner aircraft.
[0012] Further, the outer ring frame and the inner ring frame are frame structures, and the frame structure size of the inner ring frame can be changed to realize the regulation and control of the body degrees of freedom, that is, the frame structure of the inner ring frame in the vertical / horizontal direction can be designed and adjusted according to the required degrees of freedom configuration.
[0013] Further, the frame structure can adopt a modular assembly structure.
[0014] Further, the outer ring frame can carry a work platform.
[0015] Further, the outer ring frame can carry an operation tool.
[0016] The platform can be applicable to aerial photography scenes, aerial fine operation and the like.
[0017] The technical effects achievable by this invention are: improved attitude stability; realization of complex spatial maneuvers; excellent anti-interference and vibration reduction characteristics; support for stable operation of high-precision loads; and the ability to configure flight modes with different degrees of freedom through structural parameter adjustment.
[0018] The types of operations that can be achieved by this invention include: passive yaw and roll compensation; active-passive coordinated attitude adjustment; multi-module combination configuration transformation; and adaptive adjustment of load direction. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0020] Figure 1 This is a schematic diagram of the axonal structure of the omnidirectional motion, all-drive, multi-aircraft tandem operation platform of the present invention, equipped with operation tools.
[0021] Figure 2 This is a schematic diagram of the internal flight vehicle.
[0022] Figure 3 This is a schematic diagram of the composite ring frame structure.
[0023] Figure 4 This is a schematic diagram of an external flight platform.
[0024] Figure 5 The diagram shows the yaw degree of freedom of the omnidirectional motion fully driven multi-aircraft tandem operation platform of the present invention, wherein Figure (a) is a schematic diagram of the platform yawing to the left and Figure (b) is a schematic diagram of the platform yawing to the right.
[0025] Figure 6 Figure (a) is a schematic diagram of the roll degree of freedom of the omnidirectional motion fully driven multi-aircraft tandem operation platform of the present invention, wherein Figure (b) is a schematic diagram of the platform when it is not rolling, Figure (c) is a schematic diagram of the platform when it rolls to the left, and Figure (d) is a schematic diagram of the platform when it rolls to the right.
[0026] Figure 7 This is a schematic diagram illustrating the omnidirectional motion capability of the omnidirectional motion, all-drive, multi-aircraft tandem operation platform of the present invention.
[0027] Figure 8 This is a schematic diagram illustrating the motion principle of the omnidirectional, fully driven, multi-aircraft tandem operation platform of the present invention.
[0028] Figure 9This is a schematic diagram of the omnidirectional force operation space of the omnidirectional motion, all-drive, multi-aircraft tandem operation platform of the present invention. Figure (a) is a schematic diagram of the resultant force vector generated by the inner flight platform forming a bounded three-dimensional reachable set in space. Figure (b) is a schematic diagram of the resultant force vector in the F direction generated by the inner flight platform. Figure (c) is a schematic diagram of the resultant force vector in the F direction generated by the inner flight platform. A schematic diagram of the resultant force vector, Figure (d) shows the force generated by the internal flight platform. A schematic diagram of the resultant force vector, Figure (e) shows the force generated by the internal flight platform. A schematic diagram of the resultant force vector.
[0029] Figure 10 This is a schematic diagram of the omnidirectional torque space of the omnidirectional motion, all-drive, multi-aircraft tandem operation platform of the present invention.
[0030] Figure 11 This is a schematic diagram illustrating the principle of controlling the degrees of freedom of the machine body by changing the dimensions of the inner ring frame structure.
[0031] Figure 12 This is a schematic diagram of the omnidirectional motion, all-drive, multi-aircraft tandem operation platform of the present invention when equipped with an operating platform.
[0032] Figure 13 This is a schematic diagram of the omnidirectional motion, all-drive multi-aircraft tandem operation platform of the present invention navigating through narrow passages.
[0033] Figure 14 The above diagrams show the omnidirectional motion and all-drive multi-aircraft tandem operation platform of the present invention carrying operation tools for operation in different orientations. Figure (a) shows the operation of the object located above the side of the platform, Figure (b) shows the operation of the object located directly above the platform, Figure (c) shows the operation of the object located below the side of the platform, and Figure (d) shows the operation of the object located directly below the platform. Detailed Implementation
[0034] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0035] The omnidirectional, fully driven, multi-aircraft tandem operation platform of the present invention consists of two quadrotor flight platforms with different wheelbases but overlapping centers of mass: an outer quadrotor flight platform 200 and an inner quadrotor flight platform 100, connected as a whole by a passive hinge structure. This connection structure enables the two platforms to maintain overall center of mass stability while possessing the ability to adjust their relative attitudes, thereby significantly improving the overall maneuverability and controllability of the platform.
[0036] For details, see Figures 1-14 This invention discloses an omnidirectional motion and full-drive multi-aircraft integrated operation platform, comprising: an inner aircraft 1, a composite ring frame 2, and an outer aircraft 3; The composite ring frame 2 includes an outer ring frame 21 and an inner ring frame 22, both arranged vertically. The inner ring frame 22 is located inside the outer ring frame 21, and the top and bottom ends of the inner ring frame 22 are rotatably connected (i.e., hinged connection) to the vertical mounting rods 213 on the upper top rod 211 and lower bottom rod 212 of the outer ring frame 21 through longitudinally arranged bearings. This allows the inner ring frame 22 to rotate freely relative to the outer ring frame 21 in the "yaw" direction. The inner flight vehicle 1 is installed inside the inner ring frame 22, and the two opposite side walls of the inner flight vehicle 1 are rotatably connected to the two opposite side walls of the inner ring frame 22 via horizontally arranged bearings (i.e., hinged connection). This allows the inner flight vehicle 1 to rotate freely relative to the inner ring frame 22 in the "roll" direction, and, together with the free rotation of the inner ring frame relative to the outer ring frame in the "yaw" direction, it forms a ring connection mechanism with two passive degrees of freedom. In addition, the inner flight vehicle 1 and the inner ring frame 22 can form an inner flight platform 100. The outer aircraft 3 consists of two symmetrically fixed on opposite sides of the outer ring frame 21, and the outer aircraft 3 and the outer ring frame 21 together form the outer flight platform 200. The outer flight platform 200 and the inner flight platform 100 together form a double-layer flight structure of an omnidirectional motion, fully driven multi-aircraft tandem operation platform.
[0037] The platform structure is supported by bearings and hinged to a ring structure, enabling the inner and outer flight platforms to maintain a consistent center of mass and rotate relative to each other in spatial attitude.
[0038] In the above scheme, the inner aircraft 1 can be an X-shaped quadcopter, including a central fuselage and four flight arms symmetrically arranged along the central axis. The inner aircraft 1 is located in the central area of the platform and provides the main lift and attitude control. Its arms are arranged in an "X" shape, and the central fuselage houses a control module, a power supply module, and an inertial measurement unit (IMU) to ensure sensitive and stable attitude response. This inner aircraft provides basic lift for the entire aircraft and achieves stable attitude control of the inner ring frame through the control module.
[0039] Both outer aircraft 3 include: a support rod 31 and two flight rotors 32. The support rod 31 is fixedly connected to the side rod 214 of the outer ring frame 21 via a connecting rod 311 on it, and the connecting rod 311 is arranged perpendicular to the side rod 214. The support rod 31 is arranged perpendicular to the connecting rod 311. Flight rotors 32 (composed of a propulsion motor and a propeller assembly) are fixed at both ends of the support rod 31. The four flight rotors 32 form an auxiliary quadcopter flight structure on the outside of the inner aircraft 1.
[0040] From the perspective of the platform as a whole, the outer flight platform adopts an "I"-shaped structure, and the wheelbase of the outer flight platform is greater than that of the inner flight platform. The four relatively arranged flight rotors provide additional attitude control torque and outward thrust, thereby realizing six degrees of freedom controllable flight of the entire platform. That is, by controlling the thrust difference, the four flight rotors can independently apply additional roll torque or yaw torque, thereby realizing the all-drive control of the entire platform.
[0041] The above-described design of this invention enables layered distribution of force and torque on the inner and outer two-stage quadrotor platform under the condition of coincident center of mass, achieving fully-actuated motion control without additional mechanical actuators. The combination of passive articulation and composite ring structure gives the system good decoupling and adaptive capabilities when subjected to disturbances, thereby expanding the stable control range of the flight platform in complex environments.
[0042] The control system of the omnidirectional motion all-drive multi-aircraft integrated operation platform of the present invention includes an inner flight platform control unit, an outer flight platform control unit, and a central control unit disposed on the inner flight platform.
[0043] The central control unit is used to realize the coordinated control and task allocation of the entire platform. Its core consists of a central processing unit, flight controller I, and control bus I. The central processing unit runs a multi-aircraft cooperative control algorithm based on the mission instructions sent by the mission planning module or the ground station system, combined with the real-time attitude feedback information of the platform. It calculates the force and torque information required by each sub-aircraft module in the internal and external flight platforms, and sends drive commands to each sub-aircraft module through control bus I.
[0044] The internal and external flight platforms can be viewed as quadcopter sub-flight modules with different wheelbases. Each sub-flight module has an independent computing processor, flight control unit II, and control bus II. The computing processor of each sub-flight module is responsible for receiving drive commands from the central control unit, parsing them, and transmitting them to flight control unit II. Flight control unit II adjusts the attitude and thrust output of the module's aircraft according to the received target force and torque commands, thereby achieving corresponding attitude response and thrust control.
[0045] During the execution of control commands, Flight Controller II collects information such as attitude angle, angular velocity, and acceleration of the sub-aircraft modules in real time. The feedback information is then uploaded to the local control nodes of the internal or external flight platform via the computing processor and control bus II. The information is then aggregated by the central control unit to achieve comprehensive judgment and closed-loop control of the execution status of each sub-aircraft module.
[0046] The internal flight platform, serving as the carrier of the central control unit, is responsible not only for maintaining its own stability but also for acting as the coordination benchmark for the entire platform. By controlling the outputs of its subordinate sub-flight modules, it enables the overall platform to translate and adjust its attitude. Under the coordination of the central control unit, the external flight platform is primarily responsible for providing additional thrust and attitude torque support to compensate for attitude deviations caused by operational loads or environmental disturbances, thereby achieving high-precision attitude control and stable operational performance.
[0047] Through the above control architecture, the internal flight platform and the external flight platform form a multi-level force-torque distribution system under the unified coordination of the central control unit. This enables the tandem platform to achieve high-precision collaborative control and dynamic stability adjustment while maintaining the motion freedom brought by the passive articulated structure, thereby significantly improving the platform's execution efficiency and reliability in complex operating scenarios.
[0048] In some embodiments, both the outer ring frame 21 and the inner ring frame 22 are rectangular frame structures, making the frame structure simple and easy to manufacture. Of course, for ease of transportation and maintenance, the rectangular frame structure can adopt a modular assembly structure. Specifically, the sections can be interlocked and then fastened with screws to achieve quick assembly and disassembly, ensuring overall rigidity and repeatability accuracy.
[0049] In addition, the outer ring frame 21 of the interconnected platform can be equipped with operating tools 5, such as... Figure 1 As shown, the operating tool can be replaced or replaced according to the specific task to be performed. For example, the operating tool 5 can be a wrench to turn the valve 300 on the wall or pipe. Specifically, the outer ring frame 21 has a detachable (plug-in or threaded connection) wrench rod 51, and the end of the wrench rod 51 is fixed with a toggle claw 52, which can turn the valve 300.
[0050] Based on the above embodiments, the present invention achieves the omnidirectional force and omnidirectional torque output capability of the flight platform by adopting an integrated structure design of internal and external quadrotor modules, breaking through the technical limitation of traditional quadrotor platforms that can only generate coplanar thrust and cannot achieve complete decoupling between attitude and position.
[0051] For details, see Figure 9 In the internal flight platform, the internal aircraft generates thrust through its rotor system, and the direction of the thrust changes with the attitude of the internal aircraft relative to the inner ring frame. Because there are rotating connection structures between the inner and outer ring frames, and between the internal aircraft and the inner ring frame, the internal flight platform can achieve attitude adjustment within a certain angular range. Under conditions where the rotor thrust amplitude and rotation angle are limited, the resultant force vector generated by the internal flight platform constitutes a bounded three-dimensional reachable set in space. This reachable resultant force set takes the platform's center of mass as a reference point, its direction covers all directions in three-dimensional space, and its amplitude is constrained by the maximum rotor thrust. Therefore, the platform of this invention can achieve resultant force output in all directions without changing the overall platform attitude or with only minor attitude adjustments, significantly improving the maneuverability and operational flexibility of the flight platform.
[0052] See Figure 10The outer ring rotors generate counter-torque only along their own axis of rotation during operation, the direction of which is determined by the rotor's rotation direction. Simultaneously, the rotor thrust forms a lever arm through its mounting position relative to the platform's center of mass, thus generating equivalent torque components in the platform coordinate system. By adjusting the magnitude and speed distribution of the thrust of each outer ring rotor, the platform can achieve continuous direction and adjustable amplitude torque output within the torque space, forming a bounded and continuous set of achievable torques in the three-dimensional torque space. This set of achievable torques possesses torque output capability in all directions of space, thus constituting the platform's omnidirectional torque space.
[0053] Furthermore, this invention can control the degrees of freedom of the machine body by changing the frame structure dimensions of the inner ring frame 22, see [link to related document]. Figure 11 The maximum rotational envelope radius of the X-type quadrotor aircraft centered on the longitudinal bearing axis is defined as... (in, (Depending on the distance from the blade tip to the center of rotation); the total height of the inner frame, i.e., the inner ring frame, in the vertical direction is defined as... Furthermore, the rotation axis of the longitudinal bearing is located on the central axis in the height direction of the inner frame. This refers to the thickness of the fuselage.
[0054] Under the premise that the yaw motion of the inner frame about the vertical axis remains independent and unrestricted, its maximum roll angle Limited by the physical interference of the inner frame. Specifically, the maximum roll angle of the aircraft. The following geometric relationship must be satisfied:
[0055] Based on the above formula, by adjusting the total height H of the inner frame and the rotation diameter of the aircraft... (i.e., the ratio of 2R) This allows for a percentage release of the aircraft's roll degree of freedom: 1. Low degree of freedom mode: when the proportional relationship At that time, the maximum roll angle on one side of the aircraft was constrained to approximately Within 30°, the corresponding roll freedom release rate is approximately 33.3% (based on 180° full scale), which is suitable for scenarios with extremely high requirements for attitude stability and only requires fine-tuning; 2. Balanced Mode: When the proportional relationship At that time, the maximum roll angle on one side of the aircraft was constrained to approximately Within 45°, the roll freedom release rate is about 50%, which ensures the compact frame structure while meeting the maneuverability required for conventional flight missions; 3. High degree of freedom mode: when the proportional relationship At that time, the maximum roll angle on one side of the aircraft can reach or exceed At 90°, the roll freedom is 100% released, allowing the aircraft to perform large-angle roll or even vertical hovering maneuvers within the frame.
[0056] See Figure 12 This invention provides an application example of a platform: An information acquisition device is mounted on a work platform 4. This device can be connected to the outer ring frame of the external flight platform of the integrated platform via a sleeve-type linkage structure. When the integrated flight operation platform adjusts its attitude, the external flight platform can maintain its attitude stability relative to the ground through independent control, thus ensuring that the information acquisition device mounted on it maintains a stable working attitude even under complex airflow or flight disturbances. This design enables the information acquisition device to achieve high-precision data acquisition during flight, and is particularly suitable for sensors with high requirements for working environment stability, such as optical cameras, laser rangefinders, spectrometers, and other precision detection devices, thereby improving the reliability and accuracy of aerial information acquisition.
[0057] See Figure 13 This invention provides an example of platform application after the ring frame height is extended: The platform can navigate and maneuver within narrow or irregular passages. When the platform needs to enter unstructured spaces with limited cross-sectional dimensions, it can perform oblique maneuvers at a non-orthogonal angle to the passage axis, based on its omnidirectional motion capability.
[0058] Specifically, in the channel environment where traditional multi-rotor aircraft must align their nose with the direction of motion for effective propulsion, the tandem flight operation platform of this invention, through decoupled inner and outer ring frame control, allows the quadcopters of the inner ring to adjust their attitude, thereby adjusting the direction of rotor thrust. This enables the platform to generate translational thrust in any direction along the three spatial axes, achieving linear or oblique motion at any angle to the channel axis. Simultaneously, the quadcopters of the outer ring can generate three-axis rotational torque in any spatial direction. During this process, the attitude of the platform itself can be independently adjusted according to spatial constraints or mission requirements, without needing to maintain a fixed relationship with the direction of motion. For example, the inner flight platform can maintain its horizontal attitude while the outer flight platform smoothly traverses along an oblique trajectory at any angle to the channel axis; or the operation platform can adjust its roll attitude to adapt to the cross-sectional shape of the channel while moving along any preset oblique path. This motion mode enables the platform to navigate through complex and narrow spaces with more flexible path planning and attitude adaptability, effectively avoiding obstacles or protruding structures in the passageway. It avoids the risk of repeated adjustments or collisions caused by the difficulty of turning traditional aircraft, and significantly improves the flight platform's passability, safety and operational efficiency in confined spaces.
[0059] See Figure 14This invention provides application examples of the platform operating under different orientation conditions. Because the platform of this invention possesses six-dimensional all-drive flight capability and omnidirectional torque adjustment capability, it can achieve stable operation in any orientation within space. Figure 13 Four typical operating conditions are selected as examples: the object being operated is located above, directly above, below, and directly below the platform. These four operating conditions cover representative operating positions such as vertical, inclined, and reverse space, which can fully demonstrate the omnidirectional operating characteristics of the platform of the present invention under different spatial orientations.
[0060] The implementation principles and control methods of the above-mentioned operating conditions are basically the same. The following will take the side-above operating condition as an example to describe the specific operation process of the platform of the present invention in detail. The other operating conditions will not be described in detail here. An operating tool 5, such as a rod-shaped working tool, is installed on the side of the outer ring frame of the cascaded operating platform. It includes a wrench lever 51 and a turning claw 52. The cascaded operating platform maintains the stability of the position and attitude of the platform center by coordinating the thrust and torque generated by the inner and outer flight platforms, and positions the rod-shaped working tool in a side-above working position on the valve 300. During operation, when the turning claw 52 of the rod-shaped working tool contacts the valve 300 and requires the application of operating force and operating torque, the platform outputs the corresponding interactive force and interactive torque to the valve through compliant interactive control methods such as admittance control, while compensating for the disturbance caused by the working load and maintaining the overall flight stability of the platform. Through platform attitude adjustment, the rod-shaped working tool rotates around the center with the platform to realize the side-above turning operation of the valve 300.
[0061] The specific beneficial effects of this invention include the following aspects: 1. Six-dimensional full-drive capability: The internal flight platform of this invention is mainly used to generate the resultant force of the flight platform. Its thrust direction can change with the attitude change of the internal aircraft relative to the inner ring frame, thereby achieving the resultant force output in any direction in three-dimensional space without relying on a large tilt of the overall airframe attitude. The external flight platform is mainly used to generate the attitude control torque of the flight platform. Its structure is symmetrical and its layout is uniform, and it can independently adjust the output torque in the three directions of roll, pitch and yaw.
[0062] Through the functional division and cooperation between the internal and external flight platforms, the platform of this invention can independently adjust the resultant force vector and attitude torque vector in three-dimensional space, thereby realizing full drive control of the platform's six degrees of freedom (position three degrees of freedom and attitude three degrees of freedom), which is a typical six-dimensional full drive flight platform.
[0063] Therefore, the flight operation platform operation tool of the present invention can apply six-dimensional independent forces and torques to the environment, realizing contact operation under six-dimensional contact forces.
[0064] 2. The reachable operating space covers the entire three-dimensional special Euclidean group (SE(3)): The inner and outer flight platforms of this invention can rotate without angle restrictions, thus the operating tool on the outer flight platform can reach any posture in SE(3). When the outer flight platform is in any posture, the position of the operating tool can be changed by adjusting the pull direction of the inner flight platform, so that it can reach any position. Therefore, the flight operation platform of this invention can cover the entire SE(3) in the operating space.
[0065] 3. Six-dimensional omnidirectional motion capability at arbitrary configurations: When the outer flight platform is in any attitude, the operating tool can generate three-dimensional linear velocity and three-dimensional angular velocity in any direction by adjusting the pull direction of the inner flight platform and the torque of the outer flight platform, thus possessing omnidirectional motion capability.
[0066] 4. High structural integration and centroid stability: This invention employs a composite ring connection structure, integrating inner and outer double-layer quadrotor platforms into a single unit with coaxial centers of mass. The centers of mass of both platforms are designed to coincide at the center of the inner ring frame, resulting in a symmetrical overall inertial distribution and excellent disturbance resistance. Under external wind conditions or sudden loads, the platform can maintain high attitude stability and vibration resistance.
[0067] 5. Achieve multi-degree-of-freedom passive linkage motion: The inner and outer ring frames employ a passive bearing hinge design, allowing the inner and outer platforms to achieve relative rotational degrees of freedom in the "roll" and "yaw" directions. This enables composite motion modes without introducing additional actuators or complex mechanisms. During flight, this structure can adaptively adjust its attitude based on aerodynamic changes, improving flight stability and anti-interference capabilities.
[0068] 6. Strong multitasking adaptability: The platform structure has good modularity and versatility. Different sensor payloads or different mounting platforms can be selected according to task requirements, such as sensors, robotic arms, vision modules, etc., as well as different operating tools.
[0069] 7. Scalability: The omnidirectional motion and full-drive multi-aircraft tandem operation platform of the present invention can be expanded to include aircraft of different sizes and with different control coupling by replacing the composite ring frame 2 of different sizes, or by adjusting the hinge stiffness between the outer ring frame and the inner ring frame and the hinge stiffness between the inner aircraft and the inner ring frame, thus having good expansion potential.
[0070] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0071] 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. An omnidirectional, fully driven, multi-aircraft integrated operation platform, characterized in that, include: Internal aircraft (1), composite ring frame (2), external aircraft (3); The composite ring frame (2) includes an outer ring frame (21) and an inner ring frame (22) arranged vertically. The inner ring frame (22) is located inside the outer ring frame (21), and the top and bottom ends of the inner ring frame (22) are rotatably connected to the vertical mounting rods (213) on the upper top rod (211) and lower bottom rod (212) of the outer ring frame (21), respectively. The inner flight vehicle (1) is located inside the inner ring frame (22), and the two opposite side walls of the inner flight vehicle (1) are rotatably connected to the horizontal mounting rods (221) on the two opposite side walls of the inner ring frame (22), and the inner flight vehicle (1) and the inner ring frame (22) constitute an inner flight platform (100). The outer aircraft (3) consists of two symmetrically fixed on opposite sides of the outer ring frame (21), and the outer aircraft (3) and the outer ring frame (21) constitute an outer flight platform (200). The outer flight platform (200) and the inner flight platform (100) constitute a double-layer flight structure of an omnidirectional, fully driven, multi-aircraft tandem operation platform.
2. The omnidirectional motion, all-drive, multi-aircraft integrated operation platform according to claim 1, characterized in that, The centers of mass of the outer flight platform (200) and the inner flight platform (100) are arranged to coincide.
3. The omnidirectional motion, all-drive, multi-aircraft integrated operation platform according to claim 1, characterized in that, The internal aircraft (1) is an X-type quadcopter; Both of the outer aircraft (3) include: a support rod (31) and two flight rotors (32). The support rod (31) is fixedly connected to the side rod (214) of the outer ring frame (21) through a connecting rod (311) on it, and the connecting rod (311) is arranged perpendicularly to the side rod (214). The support rod (31) is arranged perpendicularly to the connecting rod (311). The two ends of the support rod (31) are respectively fixed with the flight rotors (32). The four flight rotors (32) form an auxiliary quadcopter flight structure on the outside of the inner aircraft (1).
4. The omnidirectional motion, all-drive, multi-aircraft integrated operation platform according to claim 1, characterized in that, Both the outer ring frame (21) and the inner ring frame (22) are frame structures, and the degree of freedom of the machine body can be controlled by changing the frame structure size of the inner ring frame (22).
5. The omnidirectional motion, all-drive, multi-aircraft integrated operation platform according to claim 4, characterized in that, The frame structure can adopt a modular assembly structure.
6. An omnidirectional, fully driven, multi-aircraft integrated operation platform according to any one of claims 1-5, characterized in that, The outer ring frame (21) can be equipped with a working platform (4).
7. An omnidirectional, fully driven, multi-aircraft integrated operation platform according to any one of claims 1-5, characterized in that, The outer ring frame (21) can be equipped with operating tools (5).