CN216154033U - Tethered following unmanned aerial vehicle - Google Patents

Abstract

Providing a tethered following unmanned aerial vehicle, wherein a generator is arranged in a cabin and is connected with a tethered power box; the mooring power box is used for rectifying and boosting alternating current generated by the generator and then outputting high-voltage direct current; a high-voltage standby battery pack is also arranged in the engine room; the high-voltage direct-current voltage of the high-voltage standby battery pack is lower than the high-voltage direct-current voltage output by the mooring power box after rectification and boosting; the high-voltage direct current output by the mooring power box and the high-voltage standby battery pack is connected in parallel with the accompanying unmanned aerial vehicle through a mooring cable for power supply; the following unmanned aerial vehicle is provided with a physical correction fault-tolerant mechanism. The utility model solves the problems that the power supply form of the mooring type following unmanned aerial vehicle is single and the long-time endurance cannot be realized; the high-voltage direct current is adopted to supply power to the unmanned aerial vehicle, so that the technical problem of low effective load of the tethered following unmanned aerial vehicle is solved; the problem of seamless switching power supply of the storage battery after the generator stops running is solved by adopting differential pressure power supply.

Description

Tethered following unmanned aerial vehicle

Technical Field

The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a tethered following unmanned aerial vehicle.

Background

At present, in the unmanned aerial vehicle aerial photography system accompanying with shooting aircraft disclosed by the authorization notice number CN205353774U and the aircraft thereof and the design of the unmanned aerial vehicle, the unmanned aerial vehicle adopts a random storage battery for power supply, and the problem of non-lasting endurance exists. Therefore, when the mooring cable is adopted to continuously supply power to the unmanned aerial vehicle, how to improve the effective load of the mooring unmanned aerial vehicle and reduce the weight of the mooring load of the mooring unmanned aerial vehicle is provided, and the following improvement technical scheme is provided.

SUMMERY OF THE UTILITY MODEL

The technical problems solved by the utility model are as follows: the method comprises the steps that a generator and a high-voltage standby battery pack are connected in parallel to supply power to the unmanned aerial vehicle in a high-voltage mode, and the problems that the power supply mode of the tethered unmanned aerial vehicle is single and long-time cruising cannot be achieved are solved; the technical problem of low effective load of the tethered following unmanned aerial vehicle is solved by adopting a mode that high-voltage direct current directly supplies power to a high-voltage driving direct current motor of the unmanned aerial vehicle; the problem of seamless switching power supply of the storage battery after the generator stops running is solved by adopting differential pressure power supply.

The technical scheme adopted by the utility model is as follows: mooring accompanying unmanned aerial vehicle, including accompanying unmanned aerial vehicle and ground removal cabin, its characterized in that: a generator is arranged in the engine room and connected with a mooring power box; the mooring power box is used for rectifying and boosting alternating current generated by the generator and then outputting high-voltage direct current; a high-voltage standby battery pack is also arranged in the engine room; the high-voltage direct-current voltage of the high-voltage standby battery pack is lower than the high-voltage direct-current voltage output by the mooring power box after rectification and boosting; the high-voltage direct current output by the mooring power box and the high-voltage standby battery pack is connected with the accompanying unmanned aerial vehicle in parallel through a mooring cable for power supply; the following unmanned aerial vehicle is provided with a physical correction fault-tolerant mechanism.

In the above technical solution, further: the physical correction fault-tolerant mechanism comprises a guide sub-piece arranged at the bottom of the accompanying unmanned aerial vehicle, and the guide sub-piece is a frustum hollowed frame body with a large upper part and a small lower part; the aircraft further comprises a guide female part which is arranged in the aircraft cabin and has a frustum shape with a large upper part and a small lower part and is concavely arranged on a takeoff platform; the minimum frustum at the bottom end of the guide female part is provided with a threading hole for tying the cable; the guiding sub-element gap is matched with the guiding main element to guide the righting following unmanned aerial vehicle to accurately fall back to a cabin lifting point.

In the above technical solution, further: an automatic cabin cover is arranged at the top of the cabin; a bin door is arranged on one side wall of the engine room; the bin door is provided with a handle and a door lock; and a charging wire through hole of the high-voltage standby battery pack is formed in the other side wall of the engine room.

In the above technical solution, further: the high-voltage direct-current voltage output after the mooring power supply box is rectified and boosted is 430V, and the high-voltage direct-current voltage of the high-voltage standby battery pack is 410-420V.

In the above technical solution, further: the mooring cable comprises a central optical fiber cable, and a plurality of conducting wire cables are concentrically and uniformly distributed around the optical fiber cable; the outer sheath is wrapped at the periphery of the wire cable; the adjacent conductor cables are separated by a barrier.

In the above technical solution, further: the camera is installed to the unmanned aerial vehicle load of accompanying.

In the above technical solution, further: the nacelle is used for vehicle-mounted or ship-mounted shipping.

Compared with the prior art, the utility model has the advantages that:

1. the engine room 2 is used for vehicle-mounted or ship-mounted carrying and consignment, and is used when a vehicle patrols at a border or a ship-mounted ship navigates on the sea.

2. The aerial photographing equipment-camera carried by the accompanying unmanned aerial vehicle 1 can be used for cruising and photographing at the territorial border with a farther sight range, and meanwhile, the mooring cable 7 is adopted for mooring and continuously supplying power to the accompanying unmanned aerial vehicle 1, so that the cruising is more durable.

3. According to the utility model, the mooring power box 4 and the high-voltage standby battery pack 5 are connected in parallel for supplying power at high voltage, the range of the following unmanned aerial vehicle 1 is long, the energy storage mode of the following unmanned aerial vehicle 1 is various, and the following unmanned aerial vehicle can cruise for a long time; particularly, after the fuel oil of the generator is exhausted and the generator 3 stops working, because a voltage difference power supply mode is adopted between the generator and the battery pack, when the voltage drop of the power supply end of the generator is 0, the power supply can be seamlessly and automatically switched to the storage battery for power supply to continue cruising and using.

4. The following unmanned aerial vehicle 1 is stored in the cabin 2, so that the problem of hidden storage and transfer of the following unmanned aerial vehicle 1 along with a cruising vehicle or a carrier-based ship is solved.

5. According to the unmanned aerial vehicle mooring cable 7, the image data is transmitted by adopting the optical fiber, so that the data transmission is fast and efficient; the wire cables for supplying power to the mooring cable 7 are separated by the partition 704, so that the wires are prevented from being entangled, and the mooring cable is firm, safe, reliable and durable.

6. The physical correction fault-tolerant mechanism 8 can guide the auxiliary following unmanned aerial vehicle to fall back to the flying starting point of the cabin 2.

7. The bin gate 2-2 solves the maintenance problem of the facilities in the cabin 2; the charging wire through hole 2-3 solves the problem of charging of an external power supply of a storage battery in the engine room.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a perspective view of the nacelle of the present invention in an open position;

FIG. 3 is a schematic diagram of a tethered power supply connection structure of a following unmanned aerial vehicle according to the present invention;

FIG. 4 is a schematic diagram of a following structure principle of a following unmanned aerial vehicle;

FIG. 5 is a cross-sectional schematic view of a captive cable of the present invention;

FIG. 6 is a schematic diagram of the structure of the automatic winding and unwinding device of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 6 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

(as shown in fig. 1) a tethered drone includes a drone 1 and a ground mobile nacelle 2.

It should be noted that: in the above embodiment, further: the nacelle 2 is used for vehicle or ship-based consignment. The nacelle 2 of the present invention is mounted on and moved along with a vehicle or a ship. The following unmanned aerial vehicle 1 flies along with a vehicle or a ship. The nacelle 2 of the present invention can therefore be considered as a main aircraft as disclosed in the prior art CN 205353774U. Except that the first flight controller of the prior art (i.e., the first controller on the ground named in the present invention) is installed in the nacelle 2.

Therefore, the principle and implementation of the following unmanned aerial vehicle 1 following (i.e. flying along with the ground moving cabin 2) of the present invention are specifically referred to an unmanned aerial vehicle aerial photography system along with shooting aircraft and an aircraft thereof disclosed in the publication No. CN 205353774U.

(in conjunction with fig. 4) differs from the prior art in that: the utility model only needs to change the technical name of the main aircraft disclosed in the prior art patent CN205353774U into the cabin 2 of the utility model, and the cabin 2 moves along with the running of the vehicle or the running of the ship. The technical name of the prior art, namely 'main flying aircraft', is changed into 'ground first controller' in the utility model; meanwhile, the name of the second flight controller in the prior art is changed into the accompanying second controller in the utility model. The actual internal structure, the working principle and the operation program of the ground first controller of the utility model and the prior art first aircraft controller and the actual internal structure, the working principle and the operation program of the accompanying second controller of the utility model and the prior art second aircraft controller are not changed. Therefore, the following implementation manner of the following unmanned aerial vehicle 1 of the present invention may specifically refer to the content disclosed in the specification of CN205353774U in the prior art, and is not described in detail.

It is to be emphasized that: during concrete implementation, install GPS and RTK differential positioning equipment on ground moving vehicle or the naval vessel to the real-time coordinate data of ground moving vehicle or naval vessel is sent to aerial unmanned aerial vehicle through wireless communication module to 10 MHZ's frequency, and unmanned aerial vehicle flies to control and send out the instruction after this coordinate data is received to unmanned aerial vehicle's wireless communication module, controls unmanned aerial vehicle and flies according to this coordinate position, in order to reach the purpose of following. Through tests, the highest speed per hour of the wireless follow-up application reaches 80 km/h, and the highest speed per hour of the tethered wired follow-up application reaches 60 km/h.

The improvement of the utility model lies in that: (as shown in fig. 1 and 3) a generator 3 is arranged in the engine room 2, the generator 3 can be a diesel generator set, and the diesel generator set comprises a diesel tank which can fully supply fuel oil as a combustion medium so as to meet the requirement of long-time cruising.

The generator 3 is connected with a mooring power box 4; the mooring power box 4 is used for rectifying and boosting alternating current generated by the generator 3 and then outputting high-voltage direct current.

Specifically, the power supply within the tethered power box 4 includes a rectifier and a transformer. The rectifier is used for converting 380V alternating current generated by the vehicle-mounted generator into direct current, and the direct current is used for converting 380V direct current into high-voltage direct current of 430V in a boosting mode through the transformer and outputting the high-voltage direct current.

Specifically, the method comprises the following steps: the generator 3 is fixed in the cabin 2 through a shock pad and a fastener, and the output alternating current of the generator 3 is led out through a connecting cable. Wherein, connecting cable one end lug connection is in the main winding three-phase output of generator 3 and other winding output, and the connecting cable other end is connected on the terminal of cabin electric connector, and cabin electric connector links to each other with the electric connector on the control box, and the control box passes through the shock pad and the fastener is fixed in the cabin. A frequency stabilizer, a rectifier and a transformer are arranged in the control box. The frequency stabilizer is connected with the rectifier in parallel and then connected with the transformer in series. After rectifying the alternating current into direct current by the rectifier, transforming and boosting the voltage by the transformer, rectifying 380V alternating current generated by the generator 3 into 430V high-voltage direct current for output.

And a high-voltage standby battery pack 5 is also arranged in the engine room 2. The high-voltage direct-current voltage of the high-voltage standby battery pack 5 is lower than the high-voltage direct-current voltage output by the mooring power box 4 after rectification and boosting. The high voltage backup battery 5 is used to seamlessly switch the replacement generator supply.

In the above embodiment, further: the high-voltage direct current voltage output after the mooring power box 4 is rectified and boosted is 430V, and the high-voltage direct current voltage of the high-voltage standby battery pack 5 is 410-420V.

The high-voltage direct current output by the mooring power box 4 and the high-voltage standby battery pack 5 is connected with the unmanned aerial vehicle 1 in parallel through a mooring cable 7 for power supply.

The purpose is as follows: through the direct mount high pressure drive direct current motor of accompanying unmanned aerial vehicle 1, the high pressure drive direct current motor direct drive accompanying unmanned aerial vehicle 1's rotor rotates at a high speed and takes off. Simultaneously, a voltage reduction circuit is adopted to convert high-voltage direct current into a low-voltage circuit required by the aerial camera 101 through a power conversion circuit installed on the following unmanned aerial vehicle 1, so that power is supplied to the camera 101.

Simultaneously: the mode that adopts high voltage power supply supplies power for unmanned aerial vehicle, and under the same prerequisite of power, voltage is big more, and the electric current is less, and mooring cable 7 is thinner, and mooring load is lighter, and the payload of following unmanned aerial vehicle 1 is big more. Make the unmanned aerial vehicle 1 can carry more equipment such as loudspeaker, warning light.

Moreover, a mode that the generator 3 generates power and the high-voltage standby battery pack 5 are connected in parallel to supply power to the unmanned aerial vehicle 1 is adopted, the power supply voltage after the power generation and output of the generator 3 is higher than the voltage of the high-voltage standby battery pack 5, and the generator 3 is firstly used for supplying power under the default condition through the pressure difference between the voltage and the voltage; once the generator 3 cannot continue to work, the original 430V output dc voltage of the generator 3 is instantly reduced to 0; meanwhile, the high-voltage standby battery pack 5 which is connected with the generator in parallel for power supply and is lower than the generator to output direct-current voltage 410-420V automatically realizes seamless switching power supply, automatically, efficiently and quickly realizes continuous power supply of the unmanned aerial vehicle, prevents the unmanned aerial vehicle from being accidentally crashed, and solves the problem of continuous power supply of the unmanned aerial vehicle, which is more guaranteed, safer, more reliable and more lasting.

Moreover, for making things convenient for the accurate fall back of unmanned aerial vehicle to provide the direction: the following unmanned aerial vehicle 1 has a physical correction fault-tolerant mechanism 8.

(as shown in fig. 2) in the above embodiment, further: the physical correction fault-tolerant mechanism 8 comprises a guide sub-piece 801 installed at the bottom of the accompanying unmanned aerial vehicle 1, wherein the guide sub-piece 801 is a frustum hollowed frame body with a large upper part and a small lower part; the aircraft further comprises a guide female element 802 which is arranged in a manner of a frustum with a large upper part and a small lower part and is arranged in a sunken manner on a takeoff platform in the cabin 2; the lowest frustum at the bottom end of the guiding female piece 802 is provided with a threading hole 803 for tying the cable 7; the guiding sub-element 801 is in clearance fit with the guiding main element 802 to guide the righting following unmanned aerial vehicle 1 to accurately fall back to the lifting point of the cabin 2.

In the above embodiment, further: cabin 2 is used for accompanying unmanned aerial vehicle's hiding and accomodating.

(as shown in fig. 2) an automatic cabin cover 2-1 is arranged on the top of the cabin 2. The problem of unmanned aerial vehicle's storehouse lid is automatic to be opened is solved.

Specifically, the method comprises the following steps: the automatic bin cover 2-1 is provided with a roller shutter mechanism, and the roller shutter mechanism comprises a roller shutter which is unfolded and rolled in the horizontal direction, a roller shutter cover, a roller shaft speed reduction motor, a guide rail and a roller wheel.

The roller shutter speed reduction motor drives the reel to rotate, the reel wraps the roller shutter, a plurality of rollers are mounted on the left side and the right side of the rolling length direction of the roller shutter respectively, the rollers are matched with the guide rails in rolling friction, the guide rails are arranged along the left side and the right side of the cabin 2-2, and the roller shutter is rolled and unfolded along the guide rails. The friction between the roller and the guide rail is reduced to the maximum extent, and the folding resistance between the roller shutters is increased, so that the problem that the roller shutters are jammed and stacked when the bin cover is closed is prevented and solved.

One side wall of the engine room 2 is provided with a nearly fully open door 2-2, and the door 2-2 is used for facilitating the overhaul of the generator and other facilities in the engine room. The bin door 2-2 is provided with a handle and a door lock.

And a charging wire through hole 2-3 of a high-voltage standby battery pack 5 is formed in the other side wall of the engine room 2. The charging wire through hole 2-3 exposes the charging wire connection base of the high-voltage standby battery pack 5 and is used for charging an external power line.

(as shown in fig. 5) in the above embodiment, further: the mooring cable 7 comprises a central optical fiber cable 701, and a plurality of conducting wire cables 702 are concentrically and uniformly distributed around the optical fiber cable 701; the outer sheath 703 is wrapped around the wire cable 702; adjacent conductor cables 702 are individually separated by a barrier 704. The barrier 704 is used to prevent the adjacent wire cables 702 from tangling, improving power supply safety.

On the basis of the above (as shown in fig. 6), it should be noted that: the mooring cable 7 comprises an automatic take-up and pay-off device; the automatic pay-off and take-up device can be directly purchased.

Specifically, automatic take-up and pay-off device includes PLC, servo driver, servo motor, roll-up axle, tension sensor and unmanned aerial vehicle flight control. The automatic take-up and pay-off device is similar to the winch of a winch in function and structure of taking-up and pay-off of a cable, and is used for achieving automatic take-up and pay-off of the mooring cable 7.

The servo motor is used for controlling the cable action of the accompanying unmanned aerial vehicle; when the following unmanned aerial vehicle suspends, the operation is stopped; when the accompanying unmanned aerial vehicle rises, the line is paid out in a positive rotation manner; when the following unmanned aerial vehicle is lowered, the winding is reversely performed.

The input end of the servo driver is connected with the output end of the PLC, and the output end of the servo driver is connected with the input end of the servo motor and used for controlling the positive and negative rotation of the servo motor.

The tension sensor is used for sensing the tension value of the cable and is connected with the input end of the PLC.

The flight control of the following unmanned aerial vehicle, namely the following second controller of the utility model, is used for controlling the flight state of the following unmanned aerial vehicle and is connected with the input end of the PLC.

The PLC is used for controlling the servo driver to send forward rotation, stop rotation and reverse rotation instructions according to the information of the tension sensor and the unmanned aerial vehicle flight control, namely the accompanying second controller. The PLC controls the servo driver to send forward rotation, stop rotation and reverse rotation instructions according to flight control of the unmanned aerial vehicle of the following unmanned aerial vehicle, namely flight height, speed and acceleration transmitted back by the following second controller of the unmanned aerial vehicle and tension values of the tension sensors.

The upper computer system takes a computer or a tablet or a mobile phone as an example and is used for setting the PLC.

It should be noted that: when the tethered unmanned aerial vehicle needs to execute task take-off, the PLC receives a pulse signal sent by the unmanned aerial vehicle flight control, the signal is output to the servo driver after D/A (digital/analog) conversion, and the servo driver drives the servo motor to rotate forward to realize pay-off; according to the flying speed of mooring unmanned aerial vehicle, unmanned aerial vehicle flies to control and gives PLC with signal transmission, and servo motor's slew velocity changes along with mooring unmanned aerial vehicle's flying speed, has certain damped unwrapping wire all the time, makes the cable keep at the tensioning state. When suspending, because of height and the position that mooring unmanned aerial vehicle hovered along with external influence, there is the drift condition, when mooring unmanned aerial vehicle produced the displacement, PLC can fly the signal of accuse sending according to unmanned aerial vehicle and carry out the action of receiving and releasing the line through servo driver, makes the cable keep the tensioning state constantly under certain dynamics. In a similar way, when mooring unmanned aerial vehicle needs to return to the journey and descend, PLC receives unmanned aerial vehicle and flies the control signal, will fly control signal output and give servo driver, and servo driver driving motor servo motor reverses and realizes receiving the line to according to the descending speed control take-up speed of mooring unmanned aerial vehicle, make the cable still be in the tensioning state when receiving the line. Therefore, the cable is always in a tensioning state, and knotting and other external forces are prevented from influencing the cable. When PLC can't receive unmanned aerial vehicle flight control signal, tension sensor feeds back the signal to PLC through the response cable pulling force condition, and PLC is according to PID control algorithm, realizes automatic receipts and releases the line to servo driver drive servo motor just reversing through converter output signal.

The implementation of the related algorithm is as follows: the tension sensor is used for sensing the tension value of the cable and is connected with the input end of the PLC. When the tension value is greater than the damping tension set value, paying off by the servo motor; when the tension value is smaller than the damping tension set value, the servo motor takes up the wire. When the tension value is equal to the damping tension set value, the servo motor stops taking up and paying off the wire.

In the above embodiment, further: the unmanned aerial vehicle 1 is loaded with a camera 101.

It should be noted that: the following unmanned aerial vehicle 1 is provided with aerial photographing equipment, namely a camera 101, the aerial photographing equipment, namely the camera 101 is used for acquiring video image information of a longer distance required in a cruising range to obtain image data, carrying out border or sea daily patrol monitoring, and outputting the image data shot by the aerial photographing camera through a data link; and the captured image data is transmitted by the tethered cable. During specific implementation, can convey to ground monitoring station, ground monitoring station includes the display, and ground monitoring station receives and shows image data, and handles image data to show the unmanned aerial vehicle video of taking photo by plane through the display, in order to be used for unmanned aerial vehicle's daily patrol. The tethered cable includes fiber optic cables to transmit data at high speeds. What need supplement is, because adopt high-voltage direct current to supply power for following unmanned aerial vehicle 1, consequently, following unmanned aerial vehicle 1 still carries on power conversion circuit, and power conversion circuit output connects in series camera 101, and power conversion circuit adopts step-down circuit to be used for converting the high-voltage direct current that the mooring cable supplied with into the required low-voltage circuit of surveillance camera head.

The working principle of the utility model is as follows: the engine room is carried and installed on a border patrol car or a sea-surface ship-borne cruise ship. The shape structure of the engine room is similar to the shape of a container, and the engine room is hoisted to get on the vehicle or the ship. The captive unmanned aerial vehicle 1 carries aerial photographing equipment, namely a camera, the camera 101 monitors sea surface remote places or border remote places to obtain image data, the captive unmanned aerial vehicle 1 converts the image data into optical signals through a coder which is mounted and based on 5G communication and transmits the optical signals to a ground monitoring station through optical fibers in a captive cable 7, and the ground monitoring station converts the optical signals into digital signals and displays the digital signals on a display through decoding; and, ground monitor station shows the unmanned aerial vehicle 1 state of accompanying, and receives and shows image data, and handles image data to warn on the ground. The border patrol can be used in a longer distance and a wider sight range. Meanwhile, the mooring cable 7 is used for mooring and continuously supplying power for the following unmanned aerial vehicle 1, and the long-time endurance problem of the following unmanned aerial vehicle 1 is solved.

From the above description it can be found that: the engine room 2 is used for vehicle-mounted or ship-mounted carrying and consignment, and is used when a vehicle patrols at a border or a ship-mounted ship navigates on the sea.

The aerial photographing equipment-camera carried by the accompanying unmanned aerial vehicle 1 can be used for cruising and photographing at the territorial border with a farther sight range, and meanwhile, the mooring cable 7 is adopted for mooring and continuously supplying power to the accompanying unmanned aerial vehicle 1, so that the cruising is more durable.

According to the utility model, the mooring power box 4 and the high-voltage standby battery pack 5 are connected in parallel for supplying power at high voltage, the range of the following unmanned aerial vehicle 1 is long, the energy storage mode of the following unmanned aerial vehicle 1 is various, and the following unmanned aerial vehicle can cruise for a long time; particularly, after the fuel oil of the generator is exhausted and the generator 3 stops working, because a voltage difference power supply mode is adopted between the generator and the battery pack, when the voltage drop of the power supply end of the generator is 0, the power supply can be seamlessly and automatically switched to the storage battery for power supply to continue cruising and using.

The following unmanned aerial vehicle 1 is stored in the cabin 2, so that the problem of hidden storage and transfer of the following unmanned aerial vehicle 1 along with a cruising vehicle or a carrier-based ship is solved.

According to the unmanned aerial vehicle mooring cable 7, the image data is transmitted by adopting the optical fiber, so that the data transmission is fast and efficient; the wire cables for supplying power to the mooring cable 7 are separated by the partition 704, so that the wires are prevented from being entangled, and the mooring cable is firm, safe, reliable and durable.

The physical correction fault-tolerant mechanism 8 can guide the auxiliary following unmanned aerial vehicle to fall back to the flying starting point of the cabin 2.

The bin gate 2-2 solves the maintenance problem of the facilities in the cabin 2; the charging wire through hole 2-3 solves the charging problem of the storage battery in the engine room after being connected with an external power wire.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (7)

1. Mooring trailing unmanned aerial vehicle, including trailing unmanned aerial vehicle (1) and ground removal cabin (2), its characterized in that: a generator (3) is arranged in the engine room (2), and the generator (3) is connected with a mooring power box (4); the mooring power box (4) is used for rectifying and boosting alternating current generated by the generator (3) and then outputting high-voltage direct current; a high-voltage standby battery pack (5) is also arranged in the engine room (2); the high-voltage direct-current voltage of the high-voltage standby battery pack (5) is lower than the high-voltage direct-current voltage output by the mooring power box (4) after rectification and boosting; the high-voltage direct current output by the mooring power box (4) and the high-voltage standby battery pack (5) is connected in parallel with the unmanned aerial vehicle (1) through a mooring cable (7) for power supply; the following unmanned aerial vehicle (1) is provided with a physical correction fault-tolerant mechanism (8).

2. The tethered drone of claim 1, wherein: the physical correction fault-tolerant mechanism (8) comprises a guide sub-piece (801) installed at the bottom of the accompanying unmanned aerial vehicle (1), wherein the guide sub-piece (801) is a frustum hollowed frame body with a large upper part and a small lower part; the aircraft further comprises a guide female element (802) which is arranged in the cabin (2) and has a frustum shape with a large upper part and a small lower part and is arranged in a sunken manner on a takeoff platform; the minimum frustum at the bottom end of the guiding female piece (802) is provided with a threading hole (803) for tying the cable (7); the guiding sub-element (801) is in clearance fit with the guiding main element (802) to guide the righting unmanned aerial vehicle (1) to accurately fall back to a lifting point of the cabin (2).

3. The tethered drone of claim 1, wherein: an automatic cabin cover (2-1) is arranged at the top of the cabin (2); a bin door (2-2) is arranged on one side wall of the engine room (2); the bin door (2-2) is provided with a handle and a door lock; and a charging wire passing hole (2-3) of the high-voltage standby battery pack (5) is formed in the other side wall of the engine room (2).

4. The tethered drone of claim 1, wherein: the high-voltage direct-current voltage output after rectification and boosting of the mooring power box (4) is 430V, and the high-voltage direct-current voltage of the high-voltage standby battery pack (5) is 410-420V.

5. The tethered drone of claim 1, wherein: the mooring cable (7) comprises a central optical fiber cable (701), and a plurality of conducting wire cables (702) are concentrically and uniformly distributed around the optical fiber cable (701); the outer sheath (703) is wrapped on the periphery of the wire cable (702); adjacent conductor cables (702) are individually separated by a barrier (704).

6. The tethered drone of claim 1, wherein: the unmanned aerial vehicle (1) loads and installs the camera (101).

7. The tethered drone of claim 1, wherein: the nacelle (2) is used for vehicle-mounted or ship-mounted shipping.

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