CN207292473U - It is tethered at unmanned plane and is tethered at unmanned plane positioning following control system - Google Patents
It is tethered at unmanned plane and is tethered at unmanned plane positioning following control system Download PDFInfo
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- CN207292473U CN207292473U CN201721390990.XU CN201721390990U CN207292473U CN 207292473 U CN207292473 U CN 207292473U CN 201721390990 U CN201721390990 U CN 201721390990U CN 207292473 U CN207292473 U CN 207292473U
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Abstract
The utility model provides one kind and is tethered at unmanned plane positioning following control system, which includes ground handling station, is tethered at unmanned plane and mooring line, and ground handling station includes control centre and anchoring case；Being tethered at unmanned plane includes fuselage, rocker regulation resistance and flight controller, fuselage is provided with motor, motor driving flight component operation towards fixed arm, the free end of fixed arm is provided outside, rocker regulation resistance is arranged on the downside of fuselage, and flight controller is arranged in fuselage；The first end volume of mooring line is placed in anchoring case, the second end connection rocking bar of mooring line, mooring line drive rocker potentiometer is to flight controller resistance value variable signal, flight controller is tethered at the flight of unmanned plane according to the control of change in resistance signal, using above structure, being tethered at unmanned plane and not depending on navigator fix technology completely can follow anchoring case mobile and move, and effectively reduce the probability being disturbed, and accurate positioning.
Description
Technical field
The utility model is related to unmanned plane field, be tethered at unmanned plane more particularly, to one kind and be tethered at unmanned plane positioning follow
Control system.
Background technology
At present, more rotors are tethered at unmanned plane and common unmanned plane is respectively provided with identical flight control assemblies, flight control
Containing sensors such as chip, guider, three-axis gyroscope, three axis accelerometer, barometers in device, the difference is that common nothing
Man-machine is all usually to carry the power supply energy of oneself, such as battery or fuel tank；Wireless data transmission system can also be carried and led to
News system, can be in interior control flight in a big way, but the time flown is short.And the power source of unmanned plane is tethered at from ground
The electric power system in face, energy source, communication and data transfer are carried out by being tethered at cable.At present, flight controller passes through GPS
Navigator fix technical controlling unmanned plane moves, and unmanned plane is hovered in required position, carries out prolonged continuous firing, still
GPS navigation is positioned, and is easy to be interfered, and the phenomenon of position inaccurate occurs, and the operation effectiveness for being tethered at unmanned plane is made
Into influence.
The content of the invention
First purpose of the utility model be to provide it is a kind of can exempt interference and accurate positioning be tethered at unmanned plane.
Second purpose of the utility model be to provide it is a kind of can exempt interference and accurate positioning be tethered at unmanned plane positioning
Following control system.
To realize the first above-mentioned purpose, the unmanned plane provided by the utility model that is tethered at includes：Fuselage, fuselage are set outwardly
There is fixed arm, the free end of fixed arm is provided with motor, motor driving flight component operation；
Rocker regulation resistance, rocker regulation resistance are arranged on the downside of fuselage；
Flight controller, flight controller are arranged in fuselage, and rocker regulation resistance changes to flight controller resistance value
Signal, flight controller are tethered at the flight of unmanned plane according to the control of change in resistance signal.
As it can be seen that the rocking bar being arranged in the rocker regulation resistance on the downside of fuselage is downward, rocking bar connection mooring line, when being tethered at nobody
In the case of the mooring line under tension of machine, when mooring line offset drives rocking bar inclination, the inclination triggering rocker regulation resistance of rocking bar
For resistance value variable signal into flight controller, flight controller controls the responsible posture of unmanned plane according to change in resistance signal
Component working, control the state of flight of unmanned plane so that be tethered at unmanned plane and follow the offset of mooring line and move, this practicality is new
The unmanned plane that is tethered at of type drives the rocking bar of rocker regulation resistance to tilt and the change of drive rocker potentiometer resistance value by mooring line
Value controls flight so as to be tethered at unmanned plane and do not depend on aeronautical satellite location technology completely can follow the movement of mooring line and reach
To desired position, and effectively reduce and be tethered at the probability that unmanned plane is disturbed, what is greatly improved is tethered at unmanned plane work system
Stability.
Further scheme is that rocker regulation resistance is arranged in housing, and it is recessed that side of the housing away from fuselage is provided with first
Hole, the first shrinkage pool is interior to set rotatable protruding block, and protruding block is run through in the free end of rocking bar.
As it can be seen that the inclination of the mobile drive rocking bar due to mooring line, and then rocker regulation resistance is triggered, rocking bar runs through can be free
The protruding block of universal rotational, can be easy to the mooring line for coordinating all-around mobile, improve the feasibility of rocking bar omnibearing tilt, lifting
The operating accuracy of rocker regulation resistance.
Further scheme is that the first shrinkage pool is in truncated cone-shaped, and the radical length of the first shrinkage pool becomes larger away from fuselage.
As it can be seen that since the free end of rocking bar is tilted with the movement of mooring line, truncated cone-shaped and radical length is away from machine
The first shrinkage pool that body becomes larger provides the inclination movement that enough spaces are used for rocking bar, in order to which rocker regulation resistance is exported with shaking
The corresponding change in resistance signal in bar angle of inclination.
Further scheme is that housing includes upper shell and lower housing shell, and connecting portion, connecting portion connection are provided with lower housing shell
Fuselage, is provided with the second shrinkage pool on the downside of fuselage, upper shell is arranged in the second shrinkage pool.
As it can be seen that the connecting portion connection fuselage of lower housing shell, and upper shell is arranged in the second shrinkage pool of fuselage, completes rocking bar
The housing of potentiometer and the assembling being tethered between unmanned plane.
To realize second purpose of the utility model, the utility model provides one kind and is tethered at unmanned plane positioning model- following control system
System, including：
Anchor case；
Unmanned plane is tethered at, being tethered at unmanned plane includes fuselage, rocker regulation resistance and flight controller, and fuselage is solid towards being provided outside
Fixed arm, the free end of fixed arm are provided with motor, motor driving flight component operation；
Rocker regulation resistance is arranged on the downside of fuselage；
Flight controller is arranged in fuselage；
Mooring line, mooring line are connected between anchoring case and rocking bar, and the first end volume of mooring line is placed in anchoring case, is tethered at
The second end connection rocking bar of rope, mooring line drive rocker potentiometer is to flight controller resistance value variable signal；
Flight controller is tethered at the flight of unmanned plane according to the control of change in resistance signal.
It can be seen from the above that anchoring case curls inward is placed with the first end of mooring line, it is arranged in the rocker regulation resistance on the downside of fuselage
Downward, rocking bar connects the second end of mooring line to rocking bar, when case movement of anchoring drives the second end movement of mooring line, when being tethered at nothing
When mooring line and being tethered at unmanned plane when man-machine motionless and will necessarily be angularly offset, and then driving the rocking bar to tilt, the inclination of rocking bar
Rocker regulation resistance resistance value variable signal is triggered into flight controller, flight controller controls nobody according to change in resistance value
The component working of the responsible posture of machine, controls the state of flight of unmanned plane so that is tethered at unmanned plane and follows anchoring case and mooring line
Movement and move, completion follow action；And influenced by external force when being tethered at unmanned plane, when such as wind-force and wind direction of change, cause
The position for being tethered at the opposite anchoring case of unmanned plane changes, i.e. the second end of mooring line is moved, and the first end of mooring line is not
It is dynamic, when causing mooring line and be tethered at unmanned plane to be angularly offset, and then driving rocking bar inclination, the mobile triggering of rocking bar
For rocker regulation resistance resistance value variable signal into flight controller, flight controller controls unmanned plane according to change in resistance value
It is responsible for the component working of posture, controls the state of flight of unmanned plane, is tethered at unmanned plane during flying to position before, it is outstanding to complete positioning
Stop, the utility model is tethered at inclination of the unmanned plane by the rocking bar of mooring line drive rocker regulation resistance and drive rocker potentiometer
The change in resistance value of output is flown to control so that is tethered at unmanned plane and is not depended on navigator fix technology completion positioning flight completely
The movement of anchoring case can be followed and moved, reach desired position, continue to be tethered at the fixed point work of unmanned plane, this practicality is new
The following control system of type effectively reduces and is tethered at the probability that unmanned plane is disturbed during positioning and following, and what is greatly improved is
Stay the stability of unmanned plane work system.
Further scheme is that rocker regulation resistance is arranged in housing, and it is recessed that side of the housing away from fuselage is provided with first
Hole, the first shrinkage pool is interior to set rotatable protruding block, and protruding block is run through in the free end of rocking bar.
Further scheme is that shrinkage pool is in truncated cone-shaped, and the radical length of shrinkage pool becomes larger away from fuselage.
Further scheme is that housing includes upper shell and lower housing shell, and connecting portion, connecting portion connection are provided with lower housing shell
Fuselage, is provided with the second shrinkage pool on the downside of fuselage, upper shell is arranged in the second shrinkage pool.
Further scheme is to be placed with tray, high voltage power supply and electric organ in anchoring case, tray is put for volume
Mooring line, high voltage power supply and power supply of the electric organ for being tethered at unmanned plane.
Brief description of the drawings
Fig. 1 is the system block diagram that the utility model is tethered at unmanned plane positioning following control system embodiment.
Fig. 2 is the structure chart that the utility model is tethered at unmanned plane positioning following control system embodiment.
Fig. 3 is the stereogram that the utility model is tethered at unmanned aerial vehicle example.
Fig. 4 is the stereogram that the utility model is tethered at rocker regulation resistance in unmanned aerial vehicle example.
Fig. 5 is the state that the utility model is tethered at after case movement of anchoring in unmanned plane positioning following control system embodiment
Figure.
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
Embodiment
The unmanned plane that is tethered at of the utility model follows positioning control system application to follow anchor when being tethered at unmanned plane fixed point work
Case movement is moored during flight, anchoring case movement drives the movement of the first end for the mooring line in case that anchors and then drive connects
The rocking bar for connecing mooring line second end tilts, and the inclination of rocking bar triggers rocker regulation resistance and changes letter to flight controller resistance value
Number, flight controller is tethered at the flight of unmanned plane according to the control of the control signal and change in resistance signal of ground work station, this
The unmanned plane that is tethered at of utility model does not depend on navigator fix technology and can position and follow anchoring case mobile and move completely, reaches
To desired position, continue to be tethered at the fixed point work of unmanned plane, the following control system of the utility model, which effectively reduces, is
The probability that unmanned plane is disturbed during following is stayed, accurate positioning, what is greatly improved is tethered at the stabilization of unmanned plane work system
Property.
Referring to Fig. 1 and Fig. 2, the unmanned plane positioning following control system that is tethered at of the utility model includes ground handling station 1, is
The mooring line 3 for staying unmanned plane 2 and being connected to ground handling station 1 and being tethered between unmanned plane 2.
Ground handling station 1 includes control centre 11 and anchoring case 12, and control centre 11 believes to 2 output control of unmanned plane is tethered at
Number control is tethered at the flying height of unmanned plane 2, and tray 121, high voltage power supply 122 and electric organ are placed with the case 12 that anchors
123, tray 121 puts mooring line 3, high voltage power supply 122 and power supply of the electric organ 123 for being tethered at unmanned plane 2 for volume.
Referring to Fig. 3, being tethered at unmanned plane 2 includes fuselage 23, rocker regulation resistance 21 and flight controller 22, and fuselage 23 is towards peripheral hardware
Fixed arm 231 is equipped with, in the present embodiment, 4 fixed arms 231 are provided with fuselage 23；The free end of 4 fixed arms 231 is equal
Motor 232 is provided with, motor 232 drives flight component operation, and wherein flight component can be multi-disc blade or jet component
Deng depending on being tethered at unmanned plane 2 realizes flight by which kind of mode.
Rocker regulation resistance 21 is arranged on the downside of fuselage 23, and the downside of fuselage 23 is side of the fuselage 23 towards ground.
Referring to Fig. 4, rocker regulation resistance 21 is arranged in housing 211, and housing 211 includes upper shell 212 and lower housing shell 213,
Connecting portion 214 is provided with lower housing shell 213, connecting portion 214 connects fuselage 23, and the downside of fuselage 23 is provided with the second shrinkage pool, on
Housing 212 is arranged in the second shrinkage pool, and pilot hole 215 is provided with connecting portion 214, runs through pilot hole 215 using screw, by shell
Body 211 is connected on fuselage 23, the assembling completed the housing 211 of rocker regulation resistance 21 and be tethered between unmanned plane 2.As optimal
Scheme, the second shrinkage pool may be provided at the center of geometric position in the downside of fuselage 23, be conducive to keep rocker regulation resistance 21
Balance, improves rocking bar 210 with the mobile and inclined precision of mooring line.
Side of the housing 211 away from fuselage 23 is provided with the first shrinkage pool 216, and being set in the first shrinkage pool 216 can universal rotational
Protruding block 217, protruding block 217 is run through in the free end of the rocking bar 210 of rocker regulation resistance 21, due to the mobile drive of mooring line 3
The inclination of rocking bar 210, and then 21 resistance value variable signal of rocker regulation resistance is triggered, rocking bar 210 runs through rotatable protruding block
217, the mooring line 3 for coordinating all-around mobile can be easy to, the feasibility of 210 omnibearing tilt of rocking bar is improved, lift rocking bar current potential
The operating accuracy of device 21.First shrinkage pool 216216 is in truncated cone-shaped, and the radical length of the first shrinkage pool 216 gradually becomes away from fuselage 23
Greatly, the free end of rocking bar 210 is tilted with the movement of mooring line 3, truncated cone-shaped and radical length gradually becomes away from fuselage 23
The first big shrinkage pool 216 provides the inclination that enough spaces are used for rocking bar 210, in order to which rocker regulation resistance 21 exports and rocking bar
The corresponding change in resistance signal in 210 angles of inclination.
Flight controller 22 is arranged in fuselage 23, and the output terminal 218 of rocker regulation resistance 21 connects flight controller 22
Input terminal.
Mooring line 3 is connected between the tray 121 and rocking bar 210 in anchoring case 12, and the first end volume 31 of mooring line 3 is put
In anchoring case 12, the second end 32 of mooring line 3 connects rocking bar 210, and the wherein second end 32 of mooring line 3 connects rocking bar 210
Conventional means can be used in mode, such as rivet or through connection mode；3 drive rocker potentiometer 21 of mooring line is to flight controller
22 resistance value variable signals.
To 22 output control signal of flight controller, control signal, which is used to control, is tethered at flying for unmanned plane 2 for control centre 11
Row height, flight controller 22 are tethered at the heading and posture of unmanned plane 2 according to control signal and the control of change in resistance signal.
Rocker regulation resistance 21 in this implementation is two shaft potential devices, and rocker regulation resistance 21 can be recessed first according to rocking bar 210
All-around mobile triggering rocker regulation resistance 21 exports the change in resistance value of corresponding X/Y axis in hole 216, and change in resistance value is from shaking
The 218 resistance value variable signal of output terminal of rod potentiometer 21 is to flight controller 22.
In this embodiment, protruding block 217 is spherical in shape, and protruding block 217 is freely rotated in the first shrinkage pool 216 around the centre of sphere, convex
Bittiness 217 are arranged between rocking bar 216 and potentiometer, and rocking bar is through protruding block 217 and is connected with protruding block 217, protruding block 217
It is connected with potentiometer, when rocking bar 210 tilts, protruding block 217 rotates in the first shrinkage pool 216, so as to drive potentiometer to change X/Y
The resistance value of axis.
When ground work station 1 does homework, anchoring 12 curls inward of case is placed with the first end 31 of mooring line 3, is arranged on machine
The rocking bar directed downwardly 210 of the remote-rod potentiometer 21 of the downside of body 23 connects the second end 32 of mooring line 3, is tethered at unmanned plane 2 from anchor
Platform on pool case 12 takes off, and the tray 121 to anchor in case 12 starts unwrapping wire, during being tethered at the lasting rising of unmanned plane 2,
Mooring line 2 need to keep certain rate of tension, to ensure to be tethered at unmanned plane 2 with mooring line 3 in anchoring 12 in the vertical direction of case
Vertical center line 124 in, easy to which rocking bar 210 can clearly follow the change of mooring line 3 and change so that system for tracking
Precision reaches best.Referring to Fig. 5, when being tethered at unmanned plane and changing work, the first end of the mobile drive mooring line 3 for the case 12 that anchors
21 movements so that the first end 31 of mooring line 3 forms the first deviation angle 125, the shifting of the first end 31 of mooring line 3 with second end 32
It is dynamic and then when driving the rocking bar 210 to tilt, formed between the vertical center line 124 on rocking bar 210 and anchoring 12 vertical direction of case with
The second similar deviation angle 126 of first deviation angle 125, the mobile triggering rocker regulation resistance 21 output X/Y axis resistance value of rocking bar 210 become
Change value, X/Y axis change in resistance values are converted into change in resistance signal output into flight controller 22 through output terminal 218, simultaneously
The control centre 11 of face work station 1 is tethered at the flying height of unmanned plane 2, flight to the conveying control signal control of flight controller 22
Controller 22 is tethered at the gesture stability component working of unmanned plane 2 according to control signal and the control of change in resistance value, and control is tethered at nothing
Man-machine 2 state of flight so that be tethered at the movement that unmanned plane 2 follows anchoring case 12 and mooring line 3.Such as：When rocking bar 210 is along X
The left or right movement of axis, potentiometer export the resistance value signal of corresponding X-axis change into flight controller 22, flight control
Device 22 controls corresponding motor 232 to change the modes such as power, and control is tethered at left or right corresponding side of the unmanned plane 2 to X-axis
To movement.Similarly, when rocking bar 210 is moved along the left or right of Y-axis, potentiometer exports the resistance value signal of corresponding Y-axis change
Into flight controller 22, flight controller 22 controls corresponding motor 232 to change the modes such as power, and control is tethered at nobody
Machine 2 is moved to the corresponding direction of left or right of Y-axis.And then when rocking bar 210 is moved along the direction between X-axis and Y-axis, potentiometer
Corresponding X-axis is exported at the same time with the resistance value signal of Y-axis change into flight controller 22, and flight controller 22 controls relatively
The motor 232 answered changes the modes such as power, and control is tethered at unmanned plane 2 and is moved to corresponding direction.When being tethered at 2 direction of unmanned plane
During the case 12 that anchors all around moves, vertical centre of the unmanned plane 2 closer to anchoring 12 in the vertical direction of case is tethered at
During line 124, the first deviation angle 125 is gradually reduced with the second deviation angle 126, is tethered at the speed of unmanned plane 2 and will be gradually reduced, most
Afterwards complete be tethered at unmanned plane 2 with amiable positioning.
Influenced when being tethered at unmanned plane 2 by external force, such as change wind-force and wind direction when, be tethered at unmanned plane 2 depart from original position lead
The position for causing to be tethered at the opposite anchoring case 12 of unmanned plane 2 changes, i.e. the second end of mooring line is moved, and the first of mooring line
When holding motionless, cause mooring line 3 and be tethered at unmanned plane 2 and will necessarily be angularly offset, and then driving the rocking bar 210 to tilt, rocking bar
210 inclination triggers 21 resistance value variable signal of rocker regulation resistance into flight controller 22, and flight controller 22 is according to resistance
Be worth the component working of the responsible posture of changing value control unmanned plane, control the state of flight of unmanned plane, be tethered at unmanned plane 2 fly to
Position before, completes positioning hovering, the positioning following control system for being tethered at unmanned plane 2 is real-time dynamic system, can be passed through
The change of rocking bar 210 is accurately controlled the flight for being tethered at unmanned plane 2.
During being tethered at unmanned plane 2 and following flight, mooring line 3 need to keep certain pulling force, reduce arc sag, therefore volume is put
The tray 121 of mooring line 3 needs automatic takeup unwrapping wire in time, may be accomplished by：On the stent of tray 121
Potentiometer and tension force sensing arm are provided with, tension force sensing arm connects the sliding handle of potentiometer, and the free end of tension force sensing arm is provided with
Pulley, mooring line 3 abut pulley and extend around pulley, be provided with the stent of tray 121 along the direction of motion of mooring line 3
Wire casing, mooring line 3 run through crossed beam trunking.Spring on tension force sensing arm connection tray 121.It is being tethered at 2 flight course of unmanned plane
In, tension force sensing arm is subject to the pulling force of spring and the tractive force of mooring line 3, the pulling force of spring and the traction force direction of mooring line 3
Conversely.When being tethered at unmanned plane 2 and drawing mooring line and need to carry out unwrapping wire, the tractive force of mooring line 3 is more than the pulling force of spring, tension force
Sensing arm rotates under the traction of mooring line 3 to the direction that tension force becomes larger, and the rotation of tension force sensing arm drives the sliding handle of potentiometer
It is mobile, change the resistance value of potentiometer output, potentiometer exports unwrapping wire signal to control unit, after control unit receives unwrapping wire signal
Output control signals to bidirectional driving apparatus, the Bidirectional speed regulator in bidirectional driving apparatus starts output electricity after receiving control signal
Stream, the motor being electrically connected with Bidirectional speed regulator are started to work, and motor driving tray 121 carries out unwrapping wire；When mooring line 3
Tension force is reduced when needing take-up, and the pulling force of spring is more than the tractive force of mooring line 3, and under the action of spring tension, tension sense should
Arm drives the sliding handle of potentiometer to be moved along the opposite direction of sliding handle moving direction during unwrapping wire, changes the resistance value of potentiometer output, electricity
Position device exports take-up signal to control unit, and control unit outputs control signals to bidirectional driving apparatus after receiving take-up signal,
Bidirectional driving apparatus driving tray 121 carries out take-up.Timely retractable cable is conducive to keep the rate of tension of mooring line 3, improve with
With the precision of control system.
The utility model be tethered at unmanned plane 2 moved by mooring line 3 tilted and drive rocker 210 so that drive rocker electricity
Change in resistance value that position device 21 exports controls flight so that be tethered at unmanned plane 2 do not depend on navigator fix technology completely can be with
Move and move with anchoring case 12, reach desired position, continue to be tethered at the fixed point work of unmanned plane 2, the utility model
Following control system the change in location of unmanned plane 2 is tethered at by the change control of mooring line 3, effectively reduce being tethered at unmanned plane 2
The probability being disturbed during following, and accurate positioning, what is greatly improved is tethered at the stability of unmanned plane work system.
Finally it is emphasized that the above is only the preferred embodiment of the present invention, this reality is not limited to
With new, for those skilled in the art, the utility model can have various change and change, all in the utility model
Spirit and principle within, any modification, equivalent substitution, improvement and etc. done should be included in the protection model of the utility model
Within enclosing.
Claims (9)
1. it is tethered at unmanned plane, it is characterised in that including：
Fuselage, the fuselage are provided with motor towards fixed arm, the free end of the fixed arm is provided outside, and the motor drives
Dynamic flight component operation；
Rocker regulation resistance, the rocker regulation resistance are arranged on the downside of the fuselage；
Flight controller, the flight controller are arranged in the fuselage, and the rocker regulation resistance is to the flight controller
Resistance value variable signal, the flight controller are tethered at the flight of unmanned plane according to controlling the change in resistance signal.
2. according to claim 1 be tethered at unmanned plane, it is characterised in that：
The rocker regulation resistance is arranged in housing, and side of the housing away from the fuselage is provided with the first shrinkage pool, described
Rotatable protruding block is set in the first shrinkage pool, and the protruding block is run through in the free end of the rocking bar.
3. according to claim 2 be tethered at unmanned plane, it is characterised in that：
First shrinkage pool is in truncated cone-shaped, and the radical length of first shrinkage pool becomes larger away from the fuselage.
4. according to claim 2 be tethered at unmanned plane, it is characterised in that：
The housing includes upper shell and lower housing shell, and connecting portion is provided with the lower housing shell, and the connecting portion connects the machine
Body, is provided with the second shrinkage pool on the downside of the fuselage, the upper shell is arranged in second shrinkage pool.
5. it is tethered at unmanned plane positioning following control system, it is characterised in that including：
Anchor case；
Unmanned plane is tethered at, the unmanned plane that is tethered at includes fuselage, rocker regulation resistance and flight controller, and the fuselage is set outwardly
There is fixed arm, the free end of the fixed arm is provided with motor, and the motor drives flight component operation；
The rocker regulation resistance is arranged on the downside of the fuselage；
The flight controller is arranged in the fuselage；
Mooring line, the mooring line are connected between the anchoring case and the rocking bar, and the first end volume of the mooring line is placed on
In the anchoring case, the second end of the mooring line connects the rocking bar, and the mooring line drives the rocker regulation resistance to institute
State flight controller resistance value variable signal；
The flight controller is tethered at the flight of unmanned plane according to controlling the change in resistance signal.
6. according to claim 5 be tethered at unmanned plane positioning following control system, it is characterised in that：
The rocker regulation resistance is arranged in housing, and side of the housing away from the fuselage is provided with the first shrinkage pool, described
Rotatable protruding block is set in the first shrinkage pool, and the protruding block is run through in the free end of the rocking bar.
7. according to claim 6 be tethered at unmanned plane positioning following control system, it is characterised in that：
First shrinkage pool is in truncated cone-shaped, and the radical length of first shrinkage pool becomes larger away from the fuselage.
8. according to claim 6 be tethered at unmanned plane positioning following control system, it is characterised in that：
The housing includes upper shell and lower housing shell, and connecting portion is provided with the lower housing shell, and the connecting portion connects the machine
Body, is provided with the second shrinkage pool on the downside of the fuselage, the upper shell is arranged in second shrinkage pool.
9. unmanned plane positioning following control system is tethered at according to claim 5 to 8 any one of them, it is characterised in that：
Tray, high voltage power supply and electric organ are placed with the anchoring case, the tray puts mooring line for volume, described
High voltage power supply is used for the power supply for being tethered at unmanned plane with the electric organ.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721390990.XU CN207292473U (en) | 2017-10-25 | 2017-10-25 | It is tethered at unmanned plane and is tethered at unmanned plane positioning following control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721390990.XU CN207292473U (en) | 2017-10-25 | 2017-10-25 | It is tethered at unmanned plane and is tethered at unmanned plane positioning following control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667878A (en) * | 2018-07-03 | 2020-01-10 | 松下知识产权经营株式会社 | Information processing method, control device, and tethered mobile unit |
| CN112394738A (en) * | 2019-08-14 | 2021-02-23 | 杭州海康机器人技术有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle remote controller |
-
2017
- 2017-10-25 CN CN201721390990.XU patent/CN207292473U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110667878A (en) * | 2018-07-03 | 2020-01-10 | 松下知识产权经营株式会社 | Information processing method, control device, and tethered mobile unit |
| CN110667878B (en) * | 2018-07-03 | 2024-02-13 | 松下知识产权经营株式会社 | Information processing method, control device, and tethered mobile object |
| CN112394738A (en) * | 2019-08-14 | 2021-02-23 | 杭州海康机器人技术有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle remote controller |
| CN112394738B (en) * | 2019-08-14 | 2024-04-02 | 杭州海康威视数字技术股份有限公司 | Unmanned aerial vehicle control method and unmanned aerial vehicle remote controller |
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