Angle moving device with high centering accuracy, tethered drone and system

Abstract

The invention provides an angle moving device with high return-to-center accuracy, a tethered drone and a system. The angle moving device comprises a unidirectional angle detection component and a rocker, the unidirectional angle detection component comprises a return-to-center component and an angle sensing component; the return-to-center component comprises a first rocker arm, an elastic member, a base, a first return-to-center pressure sheet and a second return-to-center pressure sheet; a driving member is arranged on the first rocker arm, the driving member is adjacent to the first return-to-center pressure sheet and the second return-to-center pressure sheet; the elastic member is connected between the first return-to-center pressure sheet and the second return-to-center pressure sheet; the first rocker arm is arranged on the base, a limiting block is arranged on the base, the limiting block is adjacent to the first return-to-center pressure sheet and the second return-to-center pressure sheet; the rocker is used to drive the first rocker arm to rotate, the driving member drives the first return-to-center pressure sheet or the second return-to-center pressure sheet to move, the angle sensing component is used to detect the rotation angle of the first rocker arm, and the arrangement of the elastic member improves the return-to-center accuracy, thereby improving the accuracy of the angle sensing component in detecting the rotation angle of the first rocker arm.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to an angle moving device with high centering accuracy, a tethered unmanned aerial vehicle and a system. Background Art

[0002] Tethered drones are mainly used for long-term uninterrupted aerial monitoring and emergency communications. They can be equipped with special visible light cameras and infrared thermal imagers, as well as special emergency communication relay equipment. Tethered drones have now been widely used in many professional fields such as military, firefighting, petroleum, surveying and mapping, transportation, and scientific research.

[0003] At present, when a tethered drone achieves a following effect, the joystick in the tethered drone often deviates, and the joystick is often difficult to automatically return to the center without the action of external force, which affects the following effect of the tethered drone. Summary of the invention

[0004] A first object of the present invention is to provide an angular moving device with improved centering accuracy.

[0005] A second object of the present invention is to provide a tethered drone that improves the drone's followability.

[0006] A third object of the present invention is to provide a tethered drone system that improves the followability of the drone.

[0007] In order to achieve the first purpose of the present invention, the present invention provides an angle moving device, including a unidirectional angle detection component and a rocker, the unidirectional angle detection component including a return-to-center component and an angle sensing component; the return-to-center component includes a first rocker arm, an elastic member, a base, a first return-to-center pressure sheet and a second return-to-center pressure sheet; a driving member is provided on the first rocker arm, and the driving member is adjacent to the first return-to-center pressure sheet and the second return-to-center pressure sheet; the elastic member is connected between the first return-to-center pressure sheet and the second return-to-center pressure sheet; the first rocker arm is provided on the base, and a limiting block is provided on the base, and the limiting block is adjacent to the first return-to-center pressure sheet and the second return-to-center pressure sheet; the rocker is used to drive the first rocker arm to rotate, the driving member drives the first return-to-center pressure sheet or the second return-to-center pressure sheet to move, and the angle sensing component is used to detect the rotation angle of the first rocker arm.

[0008] It can be seen from the above scheme that when the rocker is not driven by external force, under the action of the elastic member, the first return centering pressure sheet and the second return centering pressure sheet are both abutted against the limit block, and the driving member is adjacent to the first return centering pressure sheet and the second return centering pressure sheet respectively. When the rocker is driven by external force, the rocker drives the first rocker arm to rotate, and the rotation of the first rocker arm causes the driving member to rotate, and the driving member drives the first return centering pressure sheet and the second return centering pressure sheet to move. The limit block is adjacent to the first return centering pressure sheet and the second return centering pressure sheet, and acts as a limit to the return centering pressure sheet, so that only one return centering pressure sheet always moves in the corresponding direction. The return centering pressure sheet returns to the center under the action of the rebound force of the elastic member, avoiding the angle sensing component from detecting the action of external force in the un-returned-to-center state. The elastic member is connected between the first return centering pressure sheet and the second return centering pressure sheet, further making the elastic force between the two return centering pressure sheets consistent, thereby improving the return centering accuracy, thereby improving the accuracy of the angle sensing component in detecting the rotation angle of the first rocker arm.

[0009] A further solution is that the limit block is located above the driving member, and the elastic member is located below the driving member.

[0010] A further solution is that the first rocker arm is located between the first back middle pressing plate and the rocker; and the driving member extends from the first rocker arm toward the first back middle pressing plate.

[0011] As can be seen from the above, the driving member extends from the first rocker arm toward the first return-centering pressing plate, so that the driving member can fully drive the return-centering pressing plate to move.

[0012] A further solution is that the angle sensing assembly includes an angle sensor, and the angle sensor is connected to the first rocker arm.

[0013] As can be seen from the above, the angle sensor is connected to the first rocker arm, which further improves the accuracy of the angle sensor component in monitoring the rotation angle of the first rocker arm.

[0014] A further solution is that the angle sensing assembly also includes a second rocker arm, the second rocker arm and the first rocker arm are coaxially rotatable, a limit bar is set between the second rocker arm and the first rocker arm, the rocker passes through the limit bar, and the angle sensor is connected to the second rocker arm.

[0015] As can be seen from the above, the first rocker arm and the second rocker arm rotate coaxially, and the rotation range of the rocker arm is limited by setting a limit bar, thereby preventing damage to the rocker arm.

[0016] A further solution is that the angle sensor assembly also includes a driving gear and a driven gear that mesh with each other, the driving gear is connected to the first rocker arm, and the driven gear is connected to the angle sensor.

[0017] As can be seen from the above, the driving gear is connected to the first rocker arm, and the driven gear is connected to the angle sensor, which converts the deflection angle of the first rocker arm into the deflection amount of the potentiometer. By adjusting the gear transmission ratio, the speed of the potentiometer offset is adjusted, and then the execution and feedback speeds are adjusted.

[0018] A further solution is that the first and second press plates are coaxially rotatably arranged on the base.

[0019] A further solution is that the first rocker arm, the first back-intermediate pressing plate and the second back-intermediate pressing plate are coaxially rotatably arranged on the base.

[0020] As can be seen from the above, the first rocker arm and the return center pressure plate are coaxially rotatably arranged on the base, so that the first rocker arm, the first return center pressure plate and the second return center pressure plate are coaxial. Driven by the first rocker arm, the first return center pressure plate and the second return center pressure plate can rotate synchronously, reducing delay. The coaxial rotation setting makes the overall size of the angle rotation device more compact and the center force arm is small, which in turn affects the deflection torque. It further improves the angle sensor's monitoring accuracy of the angle deviation of the return center pressure plate.

[0021] In order to achieve the second objective of the present invention, the present invention provides a tethered drone with improved followability, comprising an angle moving device.

[0022] In order to achieve the third objective of the present invention, the present invention provides a tethered drone system for improving the followability of a drone, comprising a ground control device and a tethered drone.

[0023] It can be seen from the above scheme that when the rocker is not driven by external force, under the action of the elastic member, the first return centering sheet and the second return centering sheet are both in contact with the limit block, and the driving member is adjacent to the first return centering sheet and the second return centering sheet respectively. When the rocker is driven by external force, the rocker drives the first rocker arm to rotate, and the rotation of the first rocker arm causes the driving member to rotate, and the driving member drives the first return centering sheet and the second return centering sheet to move. The limit block is adjacent to the first return centering sheet and the second return centering sheet, and acts as a limit to the return centering sheet, so that only one return centering sheet moves in the corresponding direction at all times. The return centering sheet returns to the center under the action of the rebound force of the elastic member, avoiding the angle sensing component from detecting the action of external force in the un-returned-to-center state. The elastic member is connected between the first return centering sheet and the second return centering sheet, further making the elastic force between the two return centering sheets consistent, thereby improving the return centering accuracy, thereby improving the accuracy of the angle sensing component in detecting the rotation angle of the first rocker arm, and further improving the followability of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of a first embodiment of a tethered drone system of the present invention.

[0025] Figure 2 2 is a schematic diagram of the first embodiment of the tethered drone system of the present invention from another angle.

[0026] Figure 3 It is a cross-sectional view of the first embodiment of the tethered drone system of the present invention.

[0027] Figure 4 It is a partial structural diagram of the angle moving device in the first embodiment of the tethered drone system of the present invention.

[0028] Figure 5 It is a structural diagram of the return centering component in the first embodiment of the tethered drone system of the present invention.

[0029] Figure 6 It is an exploded view of the return centering component in the first embodiment of the tethered drone system of the present invention.

[0030] Figure 7 Schematic diagram of the mobile state of the return centering component in the first embodiment of the tethered drone system of the present invention.

[0031] Figure 8 1 is a schematic diagram of a centering assembly in a stationary state in the first embodiment of a tethered drone system of the present invention.

[0032] Fig. 9 It is a partial structural diagram of the angle moving device in the first embodiment of the tethered drone system of the present invention.

[0033] Fig.10 It is a partial structural diagram of the angle moving device in the first embodiment of the tethered drone system of the present invention.

[0034] Fig.11 It is a partial exploded view of the angle moving device in the first embodiment of the tethered drone system of the present invention.

[0035] Fig.12 Schematic diagram of the angle moving device in the second embodiment of the tethered drone system of the present invention.

[0036] Fig.13 2 is a cross-sectional view of an angle moving device in a second embodiment of a tethered drone system of the present invention.

[0037] The present invention is further described below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0038] The first embodiment of the tethered drone system of the present invention:

[0039] Reference Figures 1 to 11The tethered UAV system includes a ground control device and a tethered UAV. The tethered UAV includes a shell, a driving device, a main circuit board, blades and an angle moving device 1. The angle moving device 1 is connected to the shell. The angle moving device 1 includes a mounting seat 2, a rocker 3, a tethering rope 4, a bearing 5, a retaining spring assembly 6, a transmission part, a conductive slip ring 8 and two unidirectional angle detection assemblies 9.

[0040] The mounting seat 2 includes a mounting base 21, a mounting block 22 and a fixing block 23. The mounting base 21 is located between the mounting block 22 and the fixing block 23. The mounting base 21 is arranged on the shell of the tethered drone. The mounting base 21 and the mounting block 22 are provided with mounting holes through them. The mounting base 21 and the mounting block 22 are provided with mounting grooves on the periphery of the mounting holes. The fixing block 23 is provided with a fixing hole through it. The fixing block 23 is provided with a fixing peripheral wall on the periphery of the fixing hole.

[0041] The bearing 5 is configured as a joint bearing 51. The joint bearing 51 is a spherical sliding bearing whose sliding contact surface is an inner spherical surface and an outer spherical surface. It can rotate and swing at any angle during movement. The joint bearing 51 includes an outer ring 511 and an inner ring 512. The outer ring 511 is configured as a convex arc surface, and the inner ring 512 is configured as a concave arc surface. The joint bearing 51 is fixed in the mounting seat 2. The joint bearing 51 is installed in the mounting hole. The joint bearing 51 and the mounting groove are limited in position. The bottom of the outer ring 511 of the joint bearing 51 is installed in the fixing hole, and the outer ring 511 and the fixed peripheral wall are limited in position.

[0042] The rocker 3 is arranged in a slender shape. The rocker 3 passes through the mounting block 22, the mounting base plate 21 and the fixing block 23 in sequence, and passes through the inner ring 512 of the spherical bearing 51 and the fixing hole in the fixing hole 23. The rocker 3 is connected to the spherical bearing 51. A threading hole 31 is provided through the rocker 3. The rocker 3 and the threading hole 31 are arranged coaxially. The threading hole 31 passes through the inner ring 512 of the spherical bearing 51 and the fixing hole in the fixing hole 23. Two clamping grooves 32 are provided on the rocker 3. The two clamping grooves 32 are respectively arranged at the upper and lower ends of the spherical bearing 51. A shaft sleeve 33 is also provided at the axial upper end of the rocker 3. The shaft sleeve 33 is connected to the upper end of the rocker 3. A spiral groove 331 is provided on the shaft sleeve 33, and the spiral groove 331 covers the surface of the shaft sleeve 33.

[0043] The mooring rope 4 includes a sheath, a copper wire braided layer, a reinforcement unit, a core filling and a power conductor unit. The mooring rope 4 passes through the threading hole 31, and a conductive part is provided at the top of the mooring rope 4, which is used to electrically connect with the tethered drone. A limit block 41 is provided at the upper end of the mooring rope 4, and the limit block 41 is located below the conductive part. The outer contour of the limit block 41 is spherical, and the limit block 41 is limited with the upper end of the rocker 3. The limit block 41 is set in the shaft sleeve 33. Of course, the outer contour of the limit block 41 can also be square, curved, conical, etc.

[0044] The clamp spring assembly 6 includes a first clamp spring 61 and a second clamp spring 62. The clamp spring assembly 6 is arranged in the clamping groove 32. The first clamp spring 61 is clamped with the axial upper end surface of the inner ring 512 of the spherical bearing 51, and the second clamp spring 62 is clamped with the axial lower end surface of the inner ring 512 of the spherical bearing 51. The first clamp spring 61 and the second clamp spring 62 are limited at both axial ends of the spherical bearing 51, which makes it easy to stabilize the connection with the spherical bearing 51 and realizes quick and easy assembly and disassembly.

[0045] The transmission member is configured as a coil spring 7, one end of the coil spring 7 is sleeved on the first connecting end 82, and the other end of the coil spring 7 is sleeved on the shaft sleeve 33 and used in conjunction with the spiral groove 331. The conductive slip ring 8, the coil spring 7 and the rocker 3 are coaxially configured.

[0046] The conductive slip ring 8 is located above the rocker 3. The conductive slip ring 8 includes a first connection end 82 and a second connection end 81. The first connection end 82 and the second connection end 81 can rotate relative to each other and maintain electrical connection. The first connection end 82 is electrically connected to the conductive part of the tethering rope 4, and the second connection end 81 is electrically connected to the main circuit board of the tethered drone. The angle moving device 1 also includes a shell 83 and a fixing frame 84. The main body of the conductive slip ring is arranged in the shell 83. The shell 83 is installed on the mounting substrate 21 through the fixing frame 84. The fixing frame 84 is set as four aluminum columns and is arranged around the shell 83.

[0047] The unidirectional angle detection component 9 includes a return center component 91 and an angle sensor component 92. The return center component 91 includes a first rocker arm 911, an elastic member 912, a base 913, a first return center pressure sheet 914 and a second return center pressure sheet 915. A driving member 9111 is provided on the first rocker arm 911. The driving member 9111 is adjacent to the first return center pressure sheet 914 and the second return center pressure sheet 915. The rocker 3 is used to drive the first rocker arm 911 to rotate, and the driving member 9111 drives the first return center pressure sheet 914 or the second return center pressure sheet 915 to move. The driving member 9111 extends from the first rocker arm 911 toward the first return center pressure sheet 914, which is conducive to the driving member 9111 to fully drive the return center pressure sheet to move. The limit block 9131 is located above the driving member 9111, the elastic member 912 is located below the driving member 9111, and the first rocker arm 911 is set on the base 91 3, a limit block 9131 is arranged on the base 913, the limit block 9131 is adjacent to the first back middle pressing piece 914 and the second back middle pressing piece 915, the elastic member 912 is connected between the first back middle pressing piece 914 and the second back middle pressing piece 915, the first rocker arm 911, the first back middle pressing piece 914 and the second back middle pressing piece 915 are coaxially rotatably arranged on the base 913, so that the first rocker arm 911, the first back middle pressing piece 914 and the second back middle pressing piece 915 reach coaxiality, under the drive of the first rocker arm 911, the first back middle pressing piece 914 and the second back middle pressing piece 915 can synchronously rotate, reducing the delay, and the coaxial rotation setting makes the overall size of the angle rotation device more compact, the central force arm is small, and then the deflection torque is small, which further improves the monitoring accuracy of the angle sensor for the angle deviation of the back middle pressing piece.

[0048] The first rocker arm 911 is provided with a connecting column, and the first return centering sheet 914 and the second return centering sheet 915 are provided with a through hole at the matching position. The return centering assembly 91 is integrated by passing a bolt through the through hole and through the connecting hole in the connecting column. A bearing is also provided in the base 913 to reduce the friction coefficient, which is conducive to improving the service life of the return centering assembly. A hooking part is also provided on the first return centering sheet 914 and the second return centering sheet 915. One end of the elastic member 912 is connected to the hooking part of the first return centering sheet 914, and the other end of the elastic member 912 is connected to the hooking part of the second return centering sheet 915. The elastic member 912 can be a spiral tension spring, and of course, a pressure spring tube, a torsion spring, a spring sheet, a rubber ring, etc. can also be used.

[0049] Reference Figure 7 and Figure 8When the rocker 3 is not driven by an external force, under the action of the elastic member 912, the first return middle pressing piece 914 and the second return middle pressing piece 915 are both in contact with the limit block 9131, and the driving member 9111 is adjacent to the first return middle pressing piece 914 and the second return middle pressing piece 915 respectively. When the rocker 3 is driven by an external force, the rocker 3 drives the first rocker arm 911 to rotate, and the rotation of the first rocker arm 911 causes the driving member 9111 to rotate, and the driving member 9111 drives the first return middle pressing piece 914 and the second return middle pressing piece 915 to move, and the limit block 9131 is adjacent to the first return middle pressing piece 914 and the second return middle pressing piece 915, so as to limit the return middle pressing piece. The driving member 9111 extends from the first rocker arm 911 toward the first rocker arm 914, so that the driving member 9111 can fully drive the rocker arm 914 to move the rocker arm 914. The rocker arm 914 is in a state of being centered when the angle sensor 92 senses the external force. The elastic member 912 is connected between the first rocker arm 914 and the second rocker arm 915, so that the elastic force between the two rocker arm 914 is consistent, thereby improving the accuracy of the return to center and the accuracy of the angle sensor 92 in detecting the rotation angle of the first rocker arm 911.

[0050] In this embodiment, the conductive slip ring 8 is fixed to the mounting block 22 in the mounting seat 2 through the housing 83 and the fixing frame 84, the second connection end 81 of the conductive slip ring 8 is electrically connected to the drone, the first connection end 82 of the conductive slip ring 8 is electrically connected to the tethering rope 4, one end of the coil spring 7 is sleeved on the first connection end 82, the other end of the coil spring 7 is sleeved on the shaft sleeve 33 on the rocker 3, the shaft sleeve 33 is provided with a spiral groove 331, the other end of the coil spring 7 is engaged in the spiral groove 331, the mounting block 22 and the mounting base 21 are provided with mounting holes, the spherical bearing 51 is installed in the mounting hole, and the mounting base 2 1 and the mounting block 22 are provided with mounting grooves on the periphery of the mounting hole, the joint bearing 51 is limitedly matched with the mounting groove, the first retaining spring 61 is clamped with the axial upper end face of the inner ring 512 of the joint bearing 51, and the second retaining spring 62 is clamped with the axial lower end face of the inner ring 512 of the joint bearing 51, the joint bearing 51 is penetrated with a rocker 3, the mooring rope 4 passes through the inner ring 512 of the joint bearing through the threading hole 31 in the rocker 3, the fixing block 23 is installed below the mounting base 21, the fixing block 23 is penetrated with a fixing hole, the fixing block 23 is provided with a fixing peripheral wall along the periphery of the fixing hole, and the rocker 3 passes through the fixing hole. The mounting base 21 is provided with mounting holes around the mounting block 22, and two unidirectional angle detection components 9 are respectively arranged in the mounting holes, one unidirectional angle detection component 9 includes a return center component 91 and an angle sensor component 92, and a limit fence 925 is arranged between the return center component 91 and the angle sensor component 92.

[0051] The angle sensing assembly 92 is used to detect the rotation angle of the first rocker arm 911. The angle sensing assembly 92 includes an angle sensor 921, a second rocker arm 922, a driving gear 923 and a driven gear 924. The driving gear 923 and the driven gear 924 are meshed with each other. The second rocker arm 922 and the first rocker arm 911 are coaxially arranged for rotation. A limit bar 925 is arranged between the second rocker arm 922 and the first rocker arm 911. The rocker arm 3 passes through the limit bar 925. The movement of the mooring rope 4 drives the rocker arm 3 to move, and the limit bar 925 moves accordingly. Through the limit bar 925, the angle sensor 921 converts the deflection angle of the first rocker arm 911 into the deflection amount of the potentiometer. In addition, the gear transmission ratio is adjusted to adjust the speed of the potentiometer offset, thereby adjusting the execution and feedback speeds. In addition to this embodiment, the angle moving device 1 can also adopt a unidirectional angle detection component 9. The angle sensor in the angle sensing component can also be set on the first rocker arm to directly detect the angle of the first rocker arm. A potentiometer or angle encoder can also be used to detect the angle, or other conventional angle sensors such as optical fiber sensors, grating sensors, etc. can be used to achieve the acquisition of the above-mentioned angle.

[0052] Two one-way angle detection components 9 are adjacently arranged on 21, the return-to-center component 91 of one one-way angle detection component 9 is opposite to the angle sensing component 92, the return-to-center components 91 of the two one-way angle detection components 9 are adjacent, the two limit bars 925 form a "well" shape, and the rocker 3 and the mooring rope 4 both pass through the two limit bars 925.

[0053] It can be seen from the above scheme that when the rocker 3 is not driven by external force, under the action of the elastic member 912, the first back middle pressure piece 914 and the second back middle pressure piece 915 are both in contact with the limit block 9131, and the driving member 9111 is adjacent to the first back middle pressure piece 914 and the second back middle pressure piece 915 respectively. When the rocker 3 is driven by external force, the rocker 3 drives the first rocker arm 911 to rotate, and the rotation of the first rocker arm 911 causes the driving member 9111 to rotate, and the angle sensor assembly 92 monitors the rotation angle of the first rocker arm 911. By setting the limit bar 925, the rotation range of the rocker 3 is limited, thereby preventing damage to the rocker arm. The rocker 3 is connected by the joint bearing 51, and the threading hole 31 is used to penetrate the rocker 3, so that the mooring rope 4 can swing along the axial direction after passing through the rocker 3, so that the deflection force in each direction is uniform, thereby effectively improving the angle monitoring accuracy. In addition, the retaining spring assembly 5 is used to achieve quick and easy assembly and disassembly. The first retaining spring 61 and the second retaining spring 62 are limited at both axial ends of the rocker 3, so as to achieve a stable connection with the joint bearing 51. Furthermore, the mounting seat 2 is used to achieve stable installation. The fixed peripheral wall of the fixed block 23 limits the rotation of the rocker 3, and then limits the rotation stroke of the rocker 3 to avoid damage to the angle moving device 1. At the same time, a unidirectional angle detection assembly 9 is provided to achieve single-direction angle monitoring and improve the accuracy of angle monitoring. The rotation angle of the first rocker arm 911 is detected by the angle sensing assembly 92, so as to achieve the detection of the rotation angle of the rocker 3. The tethered drone receives the rotation angle signal of the rocker 3, so as to achieve the following effect of the tethered drone.

[0054] The second embodiment of the tethered drone system of the present invention:

[0055] Reference Fig.12 and Fig.13 Based on the basic concept of the first embodiment, the spherical bearing 51 of the present invention can also be replaced by an angular contact ball bearing 52, or the spiral spring 7 can be replaced by a coupling 71, which can easily achieve the purpose of anti-twisting.

[0056] The conductive slip ring 8 is fixed on the mounting base 21 through the housing 83 and the fixing frame 84. The first connection end 82 of the conductive slip ring 8 is electrically connected to the drone, and the second connection end 81 of the conductive slip ring 8 is electrically connected to the mooring rope 4. The coupling 71 includes an upper seat and a lower seat. The upper seat is fixed on the first connection end 82, and the lower seat is fixed on the rocker 3. A threading hole 31 is provided in the rocker 3, and the mooring rope 4 passes through the threading hole 31. A limit block 41 is provided at the upper end of the mooring rope 4, and the limit block is located on the rocker 3. The rocker 3 is provided on the mounting base 21. An angular contact ball bearing 52 is provided between the lower seat and the mounting base 21, and the rocker 3 passes through the angular contact ball bearing 52. Two clamping grooves 32 are also provided on the rocker 3. The first clamping spring 61 and the second clamping spring are respectively matched with one clamping groove 32. The clamping spring can realize quick and easy assembly and disassembly, and limit the axial ends of the rocker 3 at the same time, thereby improving stability.

[0057] The angle moving device of the present invention is applied to a tethered drone, and the threading hole is used to thread the tethering rope. Since the tethered drone often changes its flight posture during flight, it is easy to perform rotation movements at different angles. However, the end of the tethering rope that is pulled to the ground (generally connected to the vehicle, and the tethered drone follows the vehicle in flight) often does not rotate, which causes the tethering rope to easily twist, affecting the normal flight of the tethered drone; and in this technical solution, it is necessary to sense the positional relationship between the ground vehicle and the tethered drone by detecting the angle of the tethering rope, and then determine the flight direction and speed of the tethered drone. If the tethering rope twists, it is easy for the tethering rope to deviate from the connection position, which can easily cause the tethered drone to have a large error in detecting the angle of the tethering rope. The present invention adopts the structural design of the angle moving device. On the one hand, since the tethering rope is passed through the rocker, the tethered drone can sense the position relationship between the ground vehicle and the tethered drone by detecting the angle of the rocker, so as to realize the tethered drone following the vehicle. In this way, even if the tethering rope is slightly twisted, it will not affect the angle of the rocker, and will not cause angle detection error. The angle of the rocker can better reflect the relative position relationship between the tethered drone and the vehicle, which is conducive to accurately sensing the position relationship between the tethered drone and the vehicle, and is conducive to better realizing the tethered drone following the vehicle.

[0058] On the other hand, due to the design of the slip ring and the bearing, the rocker is not easy to rotate with the tethered drone during its rotation. The rotation of the tethered drone relative to the rocker will not affect the connection position of the rocker and will not cause the angle of the rocker to change. Therefore, it is not easy for the tethering rope to deviate from the connection position, which is further conducive to accurately sensing the positional relationship between the tethered drone and the vehicle, and is conducive to better realizing the tethered drone following the vehicle. A one-way angle detection component is provided to realize the detection of angle in a single direction, improve the accuracy of angle detection, and detect the rotation angle of the first rocker arm through the angle sensing component, and then realize the detection of the rotation angle of the rocker.

Claims

1. An angle moving device with high centering accuracy, comprising a unidirectional angle detection component and a rocker, characterized in that: The one-way angle detection component includes a centering component and an angle sensing component; The return centering assembly includes a first rocker arm, an elastic member, a base, a first return centering pressing sheet and a second return centering pressing sheet; The first rocker arm is provided with a driving member, and the driving member is adjacent to the first middle pressing sheet and the second middle pressing sheet; The elastic member is connected between the first middle pressing sheet and the second middle pressing sheet; The first rocker arm is arranged on the base, and a limit block is arranged on the base, and the limit block is adjacent to the first middle pressing sheet and the second middle pressing sheet; The rocker is used to drive the first rocker arm to rotate, the driving member drives the first back-mid-pressing sheet or the second back-mid-pressing sheet to move, and the angle sensor assembly is used to detect the rotation angle of the first rocker arm; The first rocker arm is located between the first return middle pressing sheet and the rocker; The driving member extends from the first rocker arm toward the first return pressing sheet; The angle sensing assembly includes an angle sensor, and the angle sensor is connected to the first rocker arm; The angle sensor assembly further includes a second rocker arm, the second rocker arm and the first rocker arm are coaxially rotatable, a limit bar is provided between the second rocker arm and the first rocker arm, the rocker passes through the limit bar, and the angle sensor is connected to the second rocker arm; The angle sensing assembly further includes a driving gear and a driven gear meshing with each other, wherein the driving gear is connected to the first rocker arm, and the driven gear is connected to the angle sensor.

2. The angle moving device according to claim 1, characterized in that: The limiting block is located above the driving member, and the elastic member is located below the driving member.

3. The angle moving device according to claim 1 or 2, characterized in that: The first-return middle-pressing sheet and the second-return middle-pressing sheet are coaxially rotatably arranged on the base.

4. The angle moving device according to claim 3, characterized in that: The first rocker arm, the first mid-return pressing plate and the second mid-return pressing plate are coaxially rotatably arranged on the base.

5. A tethered drone, characterized in that: The invention comprises the angle moving device as claimed in any one of claims 1 to 4.

6. A tethered drone system, characterized in that: It comprises a ground control device and the tethered drone as claimed in claim 5.

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