Multi-propeller floating operation platform based on universal structure and control method

Abstract

The present application relates to the technical field of unmanned aerial vehicle, especially to a multi-propeller floating operation platform based on universal structure, which comprises a gasbag, a nacelle and a multi-propeller floating platform, the lower end of the gasbag is connected to the multi-propeller floating platform through multiple ropes, the lower end of the multi-propeller floating platform is connected to the nacelle through multiple ropes, the multi-propeller floating platform comprises an overall outer frame, a protective frame and a power ring structure, the protective frame is rotationally connected to the center position inside the overall outer frame, the power ring structure is independently arranged inside the protective frame, the left and right ends of the power ring structure are connected to the protective frame through support rods, the power ring structure is a suspended structure, can realize the deflection or attitude change of the preset angle, and the support rods can keep the power ring structure stable and have the preset mobility. The platform combines the universal structure and the power system, so that the floating platform can realize multi-degree-of-freedom power output in the processes of turning, hovering fine adjustment, air pose correction and the like, and significantly enhances the maneuverability of the platform.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and in particular to a multi-propeller floating operation platform based on an omnidirectional structure and its control method. Background Technology

[0002] With the low-altitude economy being established as a national strategic emerging industry, the development and utilization of urban three-dimensional space resources has entered a new stage. Traditional operational methods face efficiency bottlenecks and safety risks when dealing with complex scenarios such as high-rise building maintenance, large infrastructure inspection, and emergency aerial rescue. Although traditional aircraft possess vertical takeoff and landing capabilities and flexible maneuverability, their small payload, short endurance, and poor wind resistance make them unsuitable for carrying heavy specialized equipment or performing long-term, high-precision continuous operational tasks. Compared to traditional aircraft, aerobatic platforms offer advantages such as long loiter time, convenient deployment, low energy consumption, and strong adaptability to complex environments, making them an important basic operational equipment in the low-altitude economy system.

[0003] However, existing aerobatic platforms still suffer from insufficient maneuverability, low power redundancy, limited attitude control capabilities, and poor stability under multi-directional disturbances in practical use. Especially in complex urban environments, canopy spaces, and mountainous canyons, aerobatic platforms need to possess precise steering, rapid response, stable hovering, and multi-degree-of-freedom attitude adjustment capabilities. Traditional single-direction power or fixed-angle structures are insufficient to meet these multi-scenario and multi-dimensional operational requirements, resulting in limited maneuverability, insufficient wind resistance, and even affecting mission efficiency and safety.

[0004] Based on this requirement, the present invention proposes a multi-propeller floating operation platform based on an omnidirectional structure. Summary of the Invention

[0005] In view of this, the project aims to provide a multi-propeller floating work platform and control method based on a universal structure. The platform combines the universal structure with the power system, enabling the floating platform to achieve multi-degree-of-freedom power output during steering, hovering fine-tuning, and aerial attitude correction, thus significantly enhancing the platform's maneuverability.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A multi-propeller aerobatic platform based on an omnidirectional structure includes an airbag and a pod, as well as a multi-propeller aerobatic platform. The lower end of the airbag is connected to the multi-propeller aerobatic platform via multiple ropes, and the lower end of the multi-propeller aerobatic platform is connected to the pod via multiple ropes. The multi-propeller aerobatic platform includes an overall outer frame, a protective frame, and a power ring structure. The protective frame is rotatably connected to the center position inside the overall outer frame. The power ring structure is independently set inside the protective frame, and its left and right ends are connected to the protective frame in an adjustable manner via support rods. The power ring structure is a suspended structure, which can achieve a preset angle of deflection or attitude change. The support rods enable the power ring structure to remain stable and have preset mobility, serving as a component of the attitude adjustment structure.

[0007] Furthermore, the protective frame is a ring-shaped support structure, and the support rod is installed horizontally inside the ring-shaped support structure through its center. The support rod also passes through the power ring structure. One end of the support rod is rotatably and adjustablely installed on the protective frame via a universal assembly, and the other end is rotatably installed on the protective frame via a bearing.

[0008] Furthermore, the power ring structure includes a power ring body and a propeller assembly. The power ring body is concentric with the protective frame and is fixed on a support rod. The support rod also passes through the center of the power ring body. The propeller assembly is installed inside the power ring body and is located at its center position, and is driven by a central drive shaft motor on the support rod.

[0009] Furthermore, the protective frame of the ring support structure is fixed at the bottom of the overall outer frame by a universal joint and a lower rotating rod, and its upper end is flexibly connected to the top of the overall outer frame by a bearing and an upper rotating rod. The upper rotating rod and the lower rotating rod are on the same straight line and perpendicular to the support rod. The protective frame, along with the power ring structure, completes the attitude adjustment action inside the overall outer frame.

[0010] Furthermore, the universal assembly mainly consists of a servo motor, a two-way backstop, and a servo motor mounting base. The servo motor mounting base is installed on the inner wall of the protective frame, the servo motor is fixed on the servo motor mounting base, the two-way backstop is installed on the output end of the servo motor mounting base, and the support rod or lower rotating rod is fixedly connected to the two-way backstop.

[0011] Furthermore, the overall outer frame is a three-dimensional support frame structure, with an upper propeller, a lower spin control propeller, and a middle displacement correction propeller on the overall outer frame. The upper propeller, the lower spin control propeller, and the middle displacement correction propeller are all arranged at equal intervals in a rectangular orientation on the same plane.

[0012] Furthermore, the upper propeller has four sets, with two diagonally opposite upper propellers facing upwards and the other two diagonally opposite upper propellers facing downwards.

[0013] Furthermore, the central displacement correction propeller is provided in four sets, placed in different orientations, and facing the outside of the overall outer frame.

[0014] Furthermore, there are four sets of lower spin control propellers located inside the overall outer frame, all facing the side of the overall outer frame, with the two lower spin control propellers in diagonal directions facing different directions.

[0015] This invention also provides a control method for a multi-propeller floating work platform based on a universal structure. The method involves processing GPS positioning data, acquiring latitude and longitude coordinates in real time, converting them into a Cartesian coordinate system (X,Y), using a filtering algorithm to eliminate GPS measurement noise, calculating the error between the current position and the target position, and adjusting the motor output thrust to achieve control.

[0016] Compared with the prior art, the present invention has the following beneficial effects: I. Significantly improves maneuverability and multi-degree-of-freedom adjustment capability This invention innovatively incorporates a universal joint structure between the motor output and the power transmission assembly. A support rod connects the suspended power ring and the protective frame in an adjustable manner. Simultaneously, the protective frame, via an upper rotating rod (bearing connection) and a lower rotating rod (universal joint connection), allows for rotational adjustment perpendicular to the support rod direction. This dual universal joint adjustment structure overcomes the limitations of traditional single-direction power or fixed-angle structures, enabling the power ring and overall power system to achieve multi-degree-of-freedom angle deflection and attitude changes. Combined with the propeller assembly driven by the central drive shaft motor, it can precisely output thrust in different directions, significantly improving the platform's flexibility in steering, hovering fine-tuning, and aerial attitude correction. This allows it to easily adapt to scenarios where existing platforms struggle, such as operations in confined areas and inspections in complex terrain.

[0017] II. Enhance dynamic redundancy and attitude control stability, and reduce control coupling. Compared to the limitations of existing aerostat power systems, which suffer from single-function operation and high coupling, this invention employs a multi-propeller functional partitioning design: four diagonally arranged (two up and two down) propellers in the upper section are dedicated to lift generation and pitch / yaw adjustment; four rectangularly distributed spin control propellers in the lower section achieve rotational angular velocity control (suppressing spin or active rotation) through differential speed adjustment; and four outward-facing displacement correction propellers in the middle section are dedicated to fine-tuning position. This design allows lift, spin control, and yaw correction functions to be implemented independently, eliminating the need for a single propeller group to handle multiple tasks, significantly reducing control coupling, and improving response speed and control accuracy. Furthermore, the redundant configuration of multiple propellers avoids mission interruptions caused by the failure of a single power component, significantly improving the reliability of the power system.

[0018] III. Enhancing the ability to withstand disturbances in complex environments and improving hovering stability On the one hand, the three-dimensional support frame places the upper, lower, and middle displacement correction propellers in different spatial positions. This three-dimensional arrangement effectively reduces airflow interference between propellers, and the frame itself provides a stable torque balance structure, laying the foundation for stable platform operation. On the other hand, the bidirectional backstop in the universal joint can lock the adjustment angle after the servo-driven support rod / rotation rod is adjusted, preventing unexpected deflection caused by external disturbances (such as gusts or airflow impacts). Combined with the movable design of the suspended power ring, the platform can maintain attitude stability under multi-directional disturbances. In addition, the buffer mechanism between the external protective frame and the power ring can effectively reduce vibrations caused by external impacts, further improving the stability of the platform in complex operating environments.

[0019] IV. Optimize structural adaptability and operational practicality The overall outer frame adopts a three-dimensional support structure, which not only provides a stable installation benchmark for various functional propellers, universal components, and power rings, but also facilitates the installation of different power modules according to operational needs, enhancing the platform's scalability. The protective frame adopts a ring structure design, which effectively protects the internal rotating parts, and the connection structures at its left and right ends can be adapted to external suspension structures or attitude adjustment mechanisms, enhancing the platform's deployment flexibility. Meanwhile, the structure design, where the airbag is connected to the multi-propeller aerobatic platform via multiple ropes, and the multi-propeller aerobatic platform is then connected to the pod via ropes, combines the advantages of the aerobatic platform's long endurance and low energy consumption with the pod's effective payload capacity. This meets the requirements for carrying heavy professional equipment and solves the problems of small payload and short endurance of traditional aircraft. It is suitable for long-duration, high-precision, continuous operations such as high-rise building maintenance, large infrastructure inspection, and emergency aerial rescue.

[0020] V. Improve adjustment accuracy and operational safety The omnidirectional assembly achieves precise angle adjustment via servo motor drive, and the locking function of the bidirectional backstop significantly improves the control accuracy of power output direction and attitude adjustment angle. The mid-displacement correction propeller can fine-tune displacement without affecting lift and torque control, further ensuring the platform's positional accuracy during hovering and high-precision operations. In addition, the independent control and redundancy design of multiple propellers, the protective frame, and the vibration reduction effect of the buffer mechanism collectively reduce the risk of failure during platform operation, improving operational safety and mission success rate. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 A three-dimensional structural diagram of a propeller-driven aerial platform; Figure 3 A three-dimensional structural diagram of a propeller-driven aerial platform; Figure 4 This is a three-dimensional structural diagram of the protective frame and the dynamic ring structure.

[0023] Figure 5 Vector diagram of motor thrust; Figure 6 Thrust distribution strategy for the four motors; Figure 7 This is a flowchart of a closed-loop process.

[0024] Reference numerals: 1. Airbag; 2. Pod; 20. Trimming water tank; 21. Electromagnetic chamber; 3. Multi-propeller floating platform; 30. Overall outer frame; 30. X-shaped reinforced support; 301. Upper propeller; 302. Lower spin control propeller; 303. Middle displacement correction propeller; 304. Protective frame; 31. Power ring structure; 32. Universal assembly; 33. Servo; 330. Two-way backstop; 331 and servo mount; 332. Support rod; 34. Lower rotating rod; 35. Upper rotating rod; 36. Detailed Implementation

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figures 1 to 4 As shown, a multi-propeller floating work platform based on an omnidirectional structure includes an airbag 1, a pod 2, and a multi-propeller floating platform 3. The lower end of the airbag 1 is connected to the multi-propeller floating platform 3 by multiple ropes 4, and the lower end of the multi-propeller floating platform 3 is connected to the pod 2 by multiple ropes. A balancing water tank 20 and an electromagnetic chamber 21 are installed on the pod 2. The multi-propeller floating platform 3 and the pod 2 maintain balance.

[0027] The multi-propeller floating platform 3 includes an overall outer frame 30, a protective frame 31, and a power ring structure 32. The detailed structural description is as follows: The protective frame 31 is rotatably connected to the center position inside the overall outer frame 30 via the universal component 33, and the protective frame 31 is a ring support structure.

[0028] The power ring structure 32 is independently installed inside the protective frame 31, and its left and right ends are connected to the protective frame 31 through support rods 34. The power ring structure 32 is a suspended structure, which can realize the deflection of a preset angle or the change of attitude. The support rods 34 can keep the power ring structure 32 stable and have preset mobility, as a component of the attitude adjustment structure.

[0029] The support rod 34 is horizontally installed inside the annular support structure, passing through its center, and also passes through the power ring structure. One end of the support rod 34 is rotatably and adjustablely mounted on the protective frame 31 via a universal joint 33, while the other end is rotatably mounted on the protective frame 31 via a bearing. In this way, the universal joint 33 can carry the power ring structure 32 to rotate around the support rod 34, achieving angle adjustment in multiple degrees of freedom to assist in attitude control.

[0030] The power ring structure 32 includes a power ring body 320 and a propeller assembly 321. The power ring body 320 is concentric with the protective frame 31 and is fixed on a support rod 34. The support rod 34 also passes through the center of the power ring body 320. The propeller assembly 321 is installed inside the power ring body 320 and is located at its center. It is driven by a central drive shaft motor on the support rod 34 to provide lift and horizontal thrust.

[0031] In this embodiment, the design reference for motor 2 Figure 5 The vector diagram of motor thrust shows the direction of the force generated by each motor. The positive X-axis is defined as pointing to the right, and the positive Y-axis as pointing upwards. Since the motors are mounted on the diagonal of the positive direction, the force generated by the motors is perpendicular to the diagonal. The motor in the first quadrant is named Motor1, and rotating counterclockwise one full revolution, they are named Motor2, Motor3, and Motor4.

[0032] Decomposing the motor's force onto the X and Y axes, we have:

[0033] The resultant forces along the X and Y axes are: Given a vector force of arbitrary magnitude and direction in the XY plane exist Given a force of arbitrary magnitude and direction in the XY plane, and the direction and magnitude of the spin force, it can be controlled via commands. That is... The derivation process of breaking down this control command into each motor is as follows: From the formula achievable Based on the data above, the matrix calculation can be obtained as follows: Let the allocation matrix be B: Execution output matrix u: We can obtain V_d=B Since the number of actuators (4) exceeds the dimension of virtual control instructions (3), multiple solutions can be obtained. Here, the pseudo-inverse method is chosen to obtain one solution. The Euclidean norm of this solution is... Minimum means low energy consumption.

[0034] Then the pseudo-inverse B have: The solutions with the minimum norm are: Since each motor can only generate force in one direction, the solution is... To meet , , If all values ​​must be greater than or equal to 0, then the calculated values ​​need to be judged and biased.

[0035] ① First calculate the minimum value among all the theoretical thrusts of the motors: T_min=min(T1,T2,T3,T4); ② If T_min>0, then the solution meets the requirements and can be used directly. ③ If T_min<0, then add an offset equal to |T_min| to the thrust of all four motors: T_i_new=T_i+|T_min|.

[0036] The control process of this process is as follows: Figure 6 As shown.

[0037] To achieve motion in the XY plane and ensure yaw attitude, GPS and gyroscope data are used in conjunction. GPS provides the X and Y errors between the current position and the target point, while the gyroscope provides the yaw error. The pitch and roll data from the gyroscope are not used here for the following reason: under the influence of the hot air balloon, the pitch and roll angles are very small, and the motor will not cause excessive changes in these angles. Therefore, GPS data is used to achieve position closed-loop control, while pitch and roll data, combined with the GPS error value, are used for fixed-point closed-loop control.

[0038] Based on the thrust distribution algorithm described above, a complete closed-loop control system was designed. The system adopts a hierarchical control structure, including a position control loop and a yaw angle control loop.

[0039] 1. Process GPS positioning data by acquiring latitude and longitude coordinates in real time, converting them to a Cartesian coordinate system (X,Y), and employing appropriate filtering algorithms to eliminate GPS measurement noise. Then, calculate the error between the current position and the target position for closed-loop processing.

[0040] 2. Process gyroscope data, monitor yaw angle changes in real time, calculate yaw angle error, and perform closed-loop processing.

[0041] Complete closed-loop flowchart process reference Figure 7 .

[0042] The protective frame 31 of the ring support structure is fixed at the bottom of the overall outer frame through the universal assembly 33 and the lower rotating rod 35 at its lower end, and flexibly connected to the top of the overall outer frame 30 through the bearing and the upper rotating rod 36 at its upper end. The upper rotating rod 36 and the lower rotating rod 35 are on the same straight line and perpendicular to the support rod 34. The protective frame 31, with the power ring structure 32, completes the attitude adjustment action inside the overall outer frame 30.

[0043] The universal assembly 33 mainly consists of a servo motor 330, a bidirectional backstop 331, and a servo motor mounting base 332. The servo motor mounting base 332 is installed on the inner side wall of the protective frame 31. The servo motor 330 is fixed on the servo motor mounting base 332. The bidirectional backstop 331 is installed on the output end of the servo motor mounting base 332. The support rod 34 or the lower rotating rod 35 is fixedly connected to the bidirectional backstop.

[0044] The overall outer frame 30 is a three-dimensional support frame structure, which places different functional propellers in different positions to facilitate the installation of different power modules. The three-dimensional arrangement reduces mutual interference of airflow, and the frame itself can also provide a stable torque balance structure. In this embodiment, it is a rectangular support frame structure, with X-shaped reinforcing supports 301 at the top and bottom. The upper rotating rod 36 and the lower rotating rod 35 are fixed at the intersection of the X-shaped reinforcing supports 301.

[0045] The overall outer frame is equipped with an upper propeller 302, a lower spin control propeller 303, and a middle displacement correction propeller 304. The upper propeller, the lower spin control propeller, and the middle displacement correction propeller are all arranged at equal intervals in a rectangular orientation on the same plane.

[0046] Specifically, the upper propeller 302 has four sets: two diagonally opposite upper propellers facing upwards, and the other two diagonally opposite upper propellers facing downwards. These upper propellers generate lift and provide pitch / yaw adjustment. Their speed is adjusted via a motor drive to adapt to different attitude control requirements, greatly improving control stability and response speed. This eliminates the need for the system to handle multiple control tasks through a single set of propellers, reducing coupling.

[0047] Specifically, the mid-displacement correction propeller 304 has four sets, which are placed in different positions and face the outside of the overall outer frame. Its function is to correct yaw deviation and to fine-tune the displacement without affecting lift and torque control.

[0048] Specifically, at the four corners of the X-shaped reinforcing support 301 at the bottom, a 7-shaped support 305 is provided in the Z-direction. The central displacement correction propeller is fixed at the corner of the 7-shaped support 305. There are four sets of lower spin control propellers 303, located inside the overall outer frame 30, all facing the side of the overall outer frame 30. The two lower spin control propellers diagonally have opposite directions. The four lower spin control propellers 303 are installed in a rectangular distribution within the bottom structure to control the rotational angular velocity of the overall mechanism. By adjusting the differential speed of the four lower spin control propellers, rotational suppression or active rotational control of the device around the central axis can be achieved.

[0049] This platform integrates a omnidirectional structure with a power system, enabling the aerobatic platform to achieve multi-degree-of-freedom power output during steering, hovering fine-tuning, and aerial attitude correction, significantly enhancing the platform's maneuverability. The omnidirectional structure can work in conjunction with the motors to provide thrust in multiple directions and angles, allowing the aerobatic platform to maintain higher stability and control precision in complex environments, thereby improving the platform's overall capabilities in emergency patrols, low-altitude monitoring, fixed-point hovering, confined area operations, and high-precision mission execution.

[0050] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A multi-propeller floating work platform based on an omnidirectional structure, comprising an airbag and a pod, characterized in that, It also includes a multi-propeller air platform, with the lower end of the airbag connected to the multi-propeller air platform via multiple ropes, and the lower end of the multi-propeller air platform connected to the pod via multiple ropes. The multi-propeller floating platform includes an overall outer frame, a protective frame, and a power ring structure. The protective frame is rotatably connected to the center position inside the overall outer frame. The power ring structure is independently installed inside the protective frame, and its left and right ends are connected to the protective frame through support rods. The power ring structure is a suspended structure, which can realize the deflection or attitude change of a preset angle. The support rods can keep the power ring structure stable and have preset mobility, serving as a component of the attitude adjustment structure.

2. The multi-propeller floating work platform based on an omnidirectional structure according to claim 1, characterized in that, The protective frame is a ring-shaped support structure. The support rod is installed horizontally inside the ring-shaped support structure through its center and also through the power ring structure. One end of the support rod is rotatably and adjustablely mounted on the protective frame via a universal assembly, and the other end is rotatably mounted on the protective frame via a bearing.

3. A multi-propeller floating work platform based on an omnidirectional structure according to claim 2, characterized in that, The power ring structure includes a power ring body and a propeller assembly. The power ring body is concentric with the protective frame and is fixed on a support rod. The support rod also passes through the center of the power ring body. The propeller assembly is installed inside the power ring body and is located at its center. It is driven by a central drive shaft motor on the support rod.

4. A multi-propeller floating work platform based on a universal structure according to claim 2, characterized in that, The protective frame of the ring support structure is fixed at the bottom of the overall outer frame by a universal joint and a lower rotating rod at its lower end, and flexibly connected to the top of the overall outer frame by a bearing and an upper rotating rod at its upper end. The upper rotating rod and the lower rotating rod are on the same straight line and perpendicular to the support rod. The protective frame, along with the power ring structure, completes the attitude adjustment action inside the overall outer frame.

5. A multi-propeller floating work platform based on a universal structure according to claim 4, characterized in that, The universal joint mainly consists of a servo motor, a two-way backstop, and a servo motor mounting base. The servo motor mounting base is installed on the inner wall of the protective frame, the servo motor is fixed on the servo motor mounting base, the two-way backstop is installed on the output end of the servo motor mounting base, and the support rod or lower rotating rod is fixedly connected to the two-way backstop.

6. A multi-propeller floating work platform based on a universal structure according to claim 4, characterized in that, The overall outer frame is a three-dimensional support frame structure. An upper propeller, a lower spin control propeller, and a middle displacement correction propeller are provided on the overall outer frame. The upper propeller, the lower spin control propeller, and the middle displacement correction propeller are all arranged at equal intervals in a rectangular orientation on the same plane.

7. A multi-propeller floating work platform based on a universal structure according to claim 6, characterized in that, The upper propeller has four sets, with two diagonally opposite upper propellers facing upwards and the other two diagonally opposite upper propellers facing downwards.

8. A multi-propeller floating work platform based on a universal structure according to claim 6, characterized in that, The central displacement correction propeller has four sets, which are placed in different positions and face the outside of the overall outer frame.

9. A multi-propeller floating work platform based on a universal structure according to claim 6, characterized in that, There are four sets of lower spin-controlled propellers, located inside the overall outer frame, all facing the side of the overall outer frame. The two lower spin-controlled propellers diagonally opposite each other have different orientations.

10. A control method for a multi-propeller floating work platform based on a universal joint structure, characterized in that, The GPS positioning data is processed to obtain latitude and longitude coordinates in real time, convert them into a plane rectangular coordinate system (X,Y), use filtering algorithms to eliminate GPS measurement noise, calculate the error between the current position and the target position, and adjust the motor output thrust to achieve control.

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