A tethered drone control device

Abstract

A tethered drone control device includes a voltage-stabilized power supply, an axial-flow fan, and also has an orientation detection device and a control circuit; the axial-flow fan is installed on both sides of the lower body of the tethered drone; the orientation detection device includes a frame, an outer frame, and an inner frame; the inner slide plate of the inner frame has inner slide bars at the front and rear side ends, and the front and rear inner side ends of the inner frame have inner slide grooves, respectively, and the inner slide bars are in the grooves of the inner slide grooves; the left and right side ends of the inner slide plate have magnets; the inner left and right side ends of the inner frame have reed switches; the middle of the outer left and right side ends of the inner frame have outer slide bars; the left and right inner side ends of the outer frame have outer slide grooves, respectively, and the outer slide bars are located in the grooves of the outer slide grooves; the front and rear side ends of the inner frame have magnets; the inner front and rear side ends of the outer frame have reed switches; the lower end of the tethering rope of the tethered drone body is installed together with the inner slide plate; the outer frame is installed at the upper end of the frame; the voltage-stabilized power supply and the control circuit are installed in the component box; and are electrically connected to the reed switch and the axial-flow fan. The present invention can ensure that the tethered drone hovers in a set airspace.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle control equipment, in particular to a tethered unmanned aerial vehicle control device. Background Art

[0002] Because of the existence of the tethered rope, the ground equipment supplies power to the drone through the cable, which can achieve 24-hour flight time for the drone, perfectly solving the flight time problem of ordinary drones. It has the advantages of large payload and low cost, and is increasingly used in emergency communications for flood relief, security of major events, and long-term fixed-point monitoring of large gatherings. In the GPS or other satellite navigation mode, the tethered drone can accurately control the horizontal accuracy of hovering. However, if there is a special need to turn off the GPS or other satellite navigation mode, or in the case of strong electromagnetic confrontation or strong interference, it may cause the drone to deviate, that is, it cannot hover in the airspace position set by the ground personnel, which will bring certain restrictions to its effective application.

[0003] In the prior art, when a tethered drone deviates, the operator usually performs a correction operation on the ground to control the drone to fly back to the set airspace. Since manual operation is required, it will bring inconvenience to the operator, and the operator cannot detect the drone's deviation in real time, so it cannot effectively ensure that the drone is always hovering in the set airspace. Based on the above, it is particularly necessary to provide a control device that does not require manual control, can monitor whether the drone is yawed in real time, and can correct the deviation in time when it deviates. Summary of the invention

[0004] In order to overcome the disadvantages that when the existing tethered UAV deviates, the operator is required to perform manual correction, which brings inconvenience to the operator, and the operator cannot detect the deviation of the UAV in real time and cannot effectively ensure that the UAV is always hovering in the set airspace, the present invention provides a tethered UAV control device that can realize multi-angle real-time monitoring of whether the tethered UAV deviates, and when deviation occurs, the hovering position of the tethered UAV can be adjusted in the opposite direction in time under the joint action of relevant mechanisms, so as to ensure that the tethered UAV is hovering in the set airspace as much as possible.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A tethered drone control device, comprising a voltage-stabilized power supply and an axial-flow fan, characterized in that it also has an orientation detection device and a control circuit; the axial-flow fans are provided in two identical sets, and the two sets of axial-flow fans are respectively installed on the lower two sides of the body of the tethered drone; the orientation detection device comprises a frame, an outer frame, and an inner frame, and the middle parts of the outer frame and the inner frame are both hollow structures; the inner frame is equipped with an inner slide plate, and the front and rear side ends of the inner slide plate are respectively provided with inner slide bars, and the front and rear inner side ends of the inner frame are respectively provided with inner slide grooves, and the inner slide bars are located in the grooves of the inner slide grooves; the left and right side ends of the inner slide plate are respectively provided with magnets; the inner left and right side ends of the inner frame are respectively provided with reed switches; the outer left and right side ends of the inner frame are respectively provided with outer slide bars; the left and right inner ends of the outer frame are respectively provided with outer slide grooves, and the outer slide bars are located in the grooves of the outer slide grooves; the front and rear side ends of the inner frame are respectively provided with magnets; the inner front and rear side ends of the outer frame are respectively provided with reed switches; the system of the tethered drone body The lower end of the retention rope is installed together with the inner slide; the lower end of the outer frame is installed at the upper end of the frame; the voltage-stabilized power supply and the control circuit are installed in the component box; the positive output terminal of the voltage-stabilized power supply is electrically connected to one end of the four reed switches, and the other ends of the four reed switches are electrically connected to the four signal input terminals of the control circuit respectively; the positive power output terminal of the voltage-stabilized power supply is electrically connected to the positive control power input terminal of the control circuit, and the negative power output terminal of the voltage-stabilized power supply is electrically connected to the negative pole and the negative control power input terminal of the control circuit; the first and second power output terminals of the control circuit are electrically connected to the positive and negative poles and the negative and positive poles power input terminals of the axial flow fan at one end under the tethered drone body respectively, and the third and fourth power output terminals of the control circuit are electrically connected to the positive and negative poles and the negative and positive poles power input terminals of the axial flow fan at the other end under the tethered drone body respectively.

[0007] Furthermore, the voltage-stabilized power supply is an AC-to-DC switching power supply module.

[0008] Furthermore, the length and width of the outer side of the inner frame are smaller than the length and width of the hollow portion inside the outer frame.

[0009] Furthermore, the length and width of the outer side of the inner slide plate are smaller than the length and width of the hollow portion inside the inner frame.

[0010] Furthermore, the internal moving contacts and static contacts of the four reed switches are normally open structures.

[0011] Furthermore, the control circuit is four relays, which are connected via circuit board wiring, the positive poles of the four relays are connected to the control power input terminals, and the negative poles of the four relays are connected to the control power input terminals.

[0012] The beneficial effect of the present invention is that when the present invention is working, no manual operation is required. When the tethered drone yaws to the left or right, the lower end of the tether rope will drive the inner slide to move to the left or right, and then the internal contacts of the reed switch on the left and right sides of the inner frame are connected respectively. Under the action of the control circuit, the positive and negative poles or the negative and positive poles of the axial fan at the left end of the tethered drone body are respectively energized, generating a rightward pulling force or a leftward pulling force, and keeping the left and right headings of the tethered drone in the airspace set by the user when the drone is released as much as possible. When the tethered drone yaws forward or backward, the lower end of the tether rope will drive the inner frame to move forward or backward, and then the internal contacts of the reed switch on the front and rear sides of the outer frame are respectively connected. Under the action of the control circuit, the positive and negative poles or the negative and positive poles of the axial fan at the front end of the tethered drone body are respectively energized, generating a backward pulling force or a forward pulling force, and keeping the front and rear headings of the tethered drone in the airspace set by the user when the drone is released as much as possible. Through the combined action of the above-mentioned mechanisms and circuits, the present invention can monitor whether the tethered drone is yawed in real time from multiple angles, and when yaw occurs, the hovering position of the tethered drone can be adjusted in the opposite direction in time under the combined action of the relevant mechanisms, so as to ensure that the tethered drone is hovering in the set airspace as much as possible. Based on the above, the present invention has a good application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 It is a schematic diagram of the structure of the present invention.

[0015] Figure 2 It is a structural schematic diagram of the azimuth detection device of the present invention. DETAILED DESCRIPTION

[0016] Figure 1As shown in the figure, a tethered drone control device includes a voltage-stabilized power supply 1, axial flow fans 21 and 22, and also has an orientation detection device 3 and a control circuit 4; the axial flow fans are of the same two sets, and the upper ends of the frames of the two sets of axial flow fans 21 and 22 are respectively vertically installed at the lower left end and the middle of the lower front end of the body of the tethered drone 13 through screws and nuts; the orientation detection device 3 includes a rectangular frame 31, a rectangular outer frame 32, and a rectangular inner frame 33, and the middle parts of the outer frame 32 and the inner frame 33 are hollow The inner frame 33 is equipped with an inner slide plate 34, and the middle of the front and rear side ends of the inner slide plate 34 each have an integrally formed rectangular inner slide bar 35, and the front and rear inner side ends of the inner frame 33 each have an inner slide groove 36 in the horizontal direction, and the front and rear inner slide bars 35 of the inner slide plate 34 are respectively located in the grooves of the inner slide grooves 36 of the front and rear inner side ends of the inner frame, and the inner slide plate 34 can slide left and right along the inner slide groove 36 through the inner slide bar; the upper middle of the left and right side ends of the inner slide plate 36 are each longitudinally glued with a strip permanent The inner frame 33 is provided with a permanent magnet 5 and 6; a reed switch 7 and 8 are glued longitudinally in the middle of the inner left and right sides of each inner frame 33; a rectangular outer slide bar 37 is formed in the middle of the outer left and right sides of each inner frame 33; the left and right inner sides of each outer frame 32 are longitudinally provided with an outer slide groove 38, and the outer slide bars 37 in the middle of the outer left and right sides of each outer frame 33 are respectively located in the grooves of the outer slide grooves 38 of the left and right inner sides of each outer frame; a strip permanent magnet is glued transversely in the middle of the upper front and rear sides of each inner frame 33 with a strip permanent magnet 7 and 8; the inner frame 33 is provided with a rectangular outer slide bar 37 in the middle of the outer left and right sides of each inner frame 33; the outer slide bars 38 are respectively longitudinally provided with an outer slide groove 38 of the left and right inner sides of each outer frame 32; the inner frame 33 is provided with a permanent magnet 5 and 6; the inner frame 33 is provided with a permanent magnet 7 and 8 in the middle of the upper left and right sides of each inner frame 33; the inner frame 33 is provided with a permanent magnet 3 The outer frame 32 has a reed switch 11 and 12 glued to the middle of the inner front and rear ends of the outer frame 32; the lower end of the tethering rope 14 of the tethered drone body 13 and the middle opening of the inner slide 34 are fixed together through screws and nuts; the lower end of the outer frame 32 is installed around the upper end of the frame 31 through screws and nuts, and the frame is installed on the ground; the voltage-stabilized power supply 1 and the control circuit 4 are installed in the component box 15, and the component box 15 is installed at the front left end of the frame 31. The outer length and width of the inner frame 33 are smaller than the length and width of the inner hollow part of the outer frame 32 (less than 9cm in front and back, less than 1cm in left and right). The outer length and width of the inner slide 36 are smaller than the length and width of the inner hollow part of the inner frame 33 (less than 9cm in left and right, less than 1cm in front and back).

[0017] Figure 2As shown, the voltage stabilizer A1 is a finished product of an AC 220V to 24V DC switching power supply module with a power of 1KW (model LRS-1000-24). The axial fans M1 and M2 have a power of 50W each and a working voltage of 24V DC. The internal moving contacts and static contacts of the four reed switches GH, GH1, GH2, and GH3 are normally open structures, and the moving contacts of the reed switches GH, GH1, GH2, and GH3 are horizontally located on the outside of the inner frame 33 and the outer frame 32. The control circuit is four relays K1, K2, K3, and K4, which are connected by circuit board wiring. The positive control power input terminals of the four relays K1, K2, K3, and K4 are connected, and the negative poles of the four relays K1, K2, K3, and K4 are connected to the negative control power input terminals. The 1st and 2nd feet of the power input of the voltage-stabilized power supply A1 are connected to the two poles of the AC 220V power supply via wires, respectively; the positive 3rd foot of the output end of the voltage-stabilized power supply A1 is connected to one end of the four reed switches GH, GH1, GH2, and GH3 via wires; the other ends of the four reed switches GH, GH1, GH2, and GH3 are connected to the positive power input ends of the four relays K1, K2, K3, and K4 of the four signal input ends of the control circuit via wires; the positive power output end 3rd foot of the voltage-stabilized power supply A1 is connected to the positive control power input ends of the four relays K1, K2, K3, and K4 of the control circuit via wires, and the voltage-stabilized power supply A1 is connected to the positive control power input ends of the four relays K1, K2, K3, and K4 of the control circuit via wires. The negative power output terminal 4 pins of the power supply A1 and the negative poles and negative control power input terminal of the four relays K1, K2, K3, and K4 of the control circuit are connected via wires; the two normally open contact terminals of the first and second power output terminal relays K1 and K2 of the control circuit and the positive and negative poles, and the negative and positive poles power input terminals of the axial flow fan M1 at the lower left end of the tethered drone body are respectively connected via wires, and the two normally open contact terminals of the third and fourth power output terminal relays K3 and K4 of the control circuit and the positive and negative poles, and the negative and positive poles power input terminals of the axial flow fan M2 at the lower front end of the tethered drone body are respectively connected via wires.

[0018] Figure 1 , 2As shown, after the 220V AC power enters the 1st and 2nd pins of the voltage stabilizer A1, the 3rd and 4th pins of the voltage stabilizer A1 will output a stable 24V DC power to the control power input ends and the positive power input ends of the four reed switches GH, GH1, GH2, and GH3. When the tethered drone body 13 is not yawed and is in a nearly vertical state with the inner slide 34, the inner slide 34 will not move left and right, the inner frame 33 will not move forward and backward, the internal contacts of the four reed switches are in an open circuit state, and the two sets of axial flow fans will not be powered on. In actual situations, when the tethered drone yaws to the left due to various reasons, the lower end of the tethering rope will drive the inner slide 34 to move to the left along the inner slide 36 via the inner slide bar 35. When the yaw to the left is greater, the inner slide 34 moves a greater distance, so the magnet CT at its upper left end approaches the reed switch GH, and the internal contacts of the reed switch GH are closed by the magnetic force, and then the relay K1 is energized to attract its two control power input terminals and two normally open contact terminals to close respectively. Since the two normally open contact ends of the relay K1 and the positive and negative power input ends of the axial fan M1 at the lower left end of the tethered drone body are connected via wires respectively, at this moment, after the positive and negative poles of the axial fan M1 are energized, its blades will rotate clockwise, thereby generating a pulling force toward the right, driving the tethered drone body 13 to move toward the right end as a whole; at the same time, the tethering rope of the drone body drives the inner slide 34 to move to the right. When the tethered drone body 13 reaches a certain position after the deviation correction to the right, the inner slide 34 moves to the right to a suitable position, then the magnetic force of the magnet CT no longer acts on the reed switch GH, and the internal contacts of the reed switch GH are open, and then the axial fan M1 no longer works, and the drone body 13 no longer moves toward the right end, completing the entire deviation correction procedure after the drone body 13 deviates to the left.

[0019] Figure 1 , 2As shown in , in actual situations, when the tethered drone yaws to the right due to various reasons, the lower end of the tethering rope will drive the inner slide 34 to move to the right along the inner slide groove 36 via the inner slide bar 35. When the yaw to the right is greater, the inner slide 34 moves a greater distance, so the magnet CT1 at its upper right end approaches the reed switch GH1, and the internal contacts of the reed switch GH1 are closed by the magnetic force, and then the relay K2 is energized to attract its two control power input terminals and two normally open contact terminals to close respectively. Since the two normally open contact ends of the relay K2 and the negative and positive power input ends of the axial fan M1 at the lower left end of the tethered drone body are connected via wires, the blades of the axial fan M1 will rotate counterclockwise after the negative and positive poles are energized, thereby generating a pulling force toward the left side, driving the tethered drone body 13 to move toward the left end as a whole; at the same time, the tethering rope of the drone body drives the inner slide 34 to move to the left side. When the tethered drone body 13 reaches a certain position after the deviation correction to the left side, the inner slide 34 moves to the left side to a suitable position, then the magnetic force of the magnet CT1 no longer acts on the reed switch GH1, and the internal contacts of the reed switch GH1 are open, and then the axial fan M1 no longer works, and the drone body 13 no longer moves toward the left end, completing the entire deviation correction procedure after the drone body 13 deviates to the right.

[0020] Figure 1 , 2 As shown, in actual situations, when the tethered drone yaws forward due to various reasons, the lower end of the tethering rope will drive the inner frame 33 as a whole to move forward along the outer slide 37 and the outer slide groove 38 through the inner slide plate 34. When the forward yaw is large, the inner frame 33 moves a large distance, so the magnet CT2 at its front upper end approaches the reed switch GH2, and the internal contacts of the reed switch GH2 are closed by the magnetic force, and then the relay K3 is energized to attract its two control power input terminals and two normally open contact terminals to close respectively. Since the two normally open contact ends of the relay K3 and the positive and negative power input ends of the axial fan M2 at the lower front end of the tethered drone body are connected via wires respectively, at this moment, after the positive and negative poles of the axial fan M2 are energized, its blades will rotate clockwise, thereby generating a pulling force toward the rear side, driving the tethered drone body 13 to move toward the rear side as a whole; at the same time, the tethering rope of the drone body drives the inner frame 33 to move toward the rear side. When the tethered drone body 13 reaches a certain position after the deviation correction toward the rear side, the inner frame 33 moves to a suitable position toward the rear side, then the magnetic force of the magnet CT2 no longer acts on the reed switch GH2, and the internal contacts of the reed switch GH2 are open, and then the axial fan M2 no longer works, and the drone body 13 no longer moves toward the rear end, completing the entire deviation correction procedure of the drone body 1 after the front deviation.

[0021] Figure 1 , 2As shown, in actual situations, when the tethered drone yaws backwards due to various reasons, the lower end of the tethering rope will drive the inner frame 33 as a whole to move backwards along the outer slide 37 and the outer slide groove 38 through the inner slide plate 34. When the backward yaw is large, the inner frame 33 moves a large distance, so the magnet CT3 at the upper end approaches the reed switch GH3, and the internal contacts of the reed switch GH3 are closed by the magnetic force, and then the relay K4 is energized to attract its two control power input terminals and two normally open contact terminals to close respectively. Since the two normally open contact ends of relay K4 and the negative and positive power input ends of the axial fan M2 at the lower front end of the tethered drone body are connected via wires, the blades of the axial fan M2 will rotate counterclockwise after the negative and positive poles are energized, thereby generating a pulling force toward the front side, driving the tethered drone body 13 to move toward the front side as a whole; at the same time, the tethering rope of the drone body drives the inner frame 33 to move toward the front side. When the tethered drone body 13 reaches a certain position after the deviation correction toward the front side, the inner frame 33 moves toward the appropriate position toward the front side, then the magnetic force of the magnet CT3 no longer acts on the reed switch GH3, and the internal contact of the reed switch GH3 is open, and then the axial fan M2 no longer works, and the drone body 13 no longer moves toward the front end, completing the entire deviation correction procedure of the drone body 1 after the deviation. Relays K1, K2, K3, and K4 are DC24V relays; reed switches GH, GH1, GH2, and GH3 are glass shell normally closed contact type reed switches (model MKA14103).

[0022] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0023] In addition, it should be understood that although the present specification is described according to the implementation mode, the implementation mode does not only include an independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A tethered drone control device, comprising a voltage-stabilized power supply and an axial-flow fan, characterized in that It also has an orientation detection device and a control circuit; the axial flow fans are provided in two identical sets, and the two sets of axial flow fans are respectively installed on the lower sides of the body of the tethered UAV; the orientation detection device includes a frame, an outer frame, and an inner frame, and the middle of the outer frame and the inner frame are both hollow structures; the inner frame is equipped with an inner slide plate, and the front and rear side ends of the inner slide plate are respectively provided with inner slide bars, and the front and rear inner side ends of the inner frame are respectively provided with inner slide grooves, and the inner slide bars are located in the grooves of the inner slide grooves; the left and right side ends of the inner slide plate are respectively provided with magnets; the left and right inner side ends of the inner frame are respectively provided with reed switches; The outer left and right sides of the inner frame are respectively provided with outer slide bars; the left and right inner sides of the outer frame are respectively provided with outer slide grooves, and the outer slide bars are located in the grooves of the outer slide grooves; the front and rear sides of the inner frame are respectively provided with magnets; the inner front and rear sides of the outer frame are respectively provided with reed switches; the lower end of the tethering rope for tethering the drone body is installed together with the inner slide plate; the lower end of the outer frame is installed at the upper end of the frame; the voltage-stabilized power supply and the control circuit are installed in the component box; the positive output terminal of the voltage-stabilized power supply is electrically connected to one end of the four reed switches, and the other ends of the four reed switches are electrically connected to the four signal input terminals of the control circuit respectively; the positive power supply output terminal of the voltage-stabilized power supply is electrically connected to the positive control power supply input terminal of the control circuit, and the voltage-stabilized power supply is electrically connected to the positive control power supply input terminal of the control circuit. The negative power output terminal of the source is electrically connected to the negative pole and the negative control power input terminal of the control circuit; the first and second power output terminals of the control circuit are electrically connected to the positive and negative poles and the negative and positive poles power input terminals of the axial flow fan at one end under the tethered drone body, respectively, and the third and fourth power output terminals of the control circuit are electrically connected to the positive and negative poles and the negative and positive poles power input terminals of the axial flow fan at the other end under the tethered drone body, respectively; the internal moving contacts and static contacts of the four reed switches are normally open structures; the control circuit is four relays, which are connected through circuit board wiring, the positive control power input terminals of the four relays are connected, and the negative poles and the negative control power input terminals of the four relays are connected.

2. A tethered drone control device according to claim 1, characterized in that: The regulated power supply is an AC to DC switching power supply module.

3. A tethered drone control device according to claim 1, characterized in that: The length and width of the outer side of the inner frame are smaller than the length and width of the hollow part inside the outer frame.

4. A tethered drone control device according to claim 1, characterized in that: The length and width of the outer side of the inner slide plate are smaller than the length and width of the hollow portion inside the inner frame.

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