A closed-loop line loss compensation device for a tethered drone system

Abstract

A closed-loop line loss compensation device for a tethered drone system includes a power output device; it also has a high-voltage detection circuit, a low-voltage detection circuit, and an electric adjustment mechanism; the electric adjustment mechanism includes a motor reduction mechanism and an upper magnet, the motor reduction mechanism is sleeved in a cylinder, the power output shaft of the motor reduction mechanism has a connecting sleeve, and the upper magnet is located under the cylinder; the adjustment handle of the power output device has a connecting rod, and a lower magnet is provided at the side end of the adjustment handle, the connecting sleeve is sleeved on the outside of the connecting rod, and the upper and lower magnets are attracted together; the high-voltage detection circuit and the low-voltage detection circuit are installed in the shell of the drone and are electrically connected to the motor reduction mechanism. When the power supply voltage at the drone changes abnormally, the present invention can adjust the output voltage of the power output device in real time, ensuring that the voltage at the drone is within the required range. It can also ensure that the management personnel can manually adjust the input voltage of the drone as needed. The present invention ensures the normal operation of the tethered drone.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle control equipment, and in particular to a closed-loop line loss compensation device for a tethered unmanned aerial vehicle system. 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 flood relief, emergency communications, major event security, and long-term fixed-point monitoring of large gatherings. In the application, under the GPS or other satellite navigation mode, the tethered drone can accurately control the horizontal accuracy of hovering.

[0003] The power supply of tethered drones is supplied by ground base stations through wires. Due to the high altitude of drones (generally between 50 and 300 meters), the wires connecting the ground base station and the drone are too long, so line loss is inevitable. That is to say, after the power supply voltage output by the ground power output device reaches the drone, the actual voltage at the drone is lower than the output voltage of the ground base station power output device (for large drones, an AC-to-DC power supply module with adjustable voltage output is generally used, with an input of AC 220V or 380V and an output of 200V-1000V DC power supply to power the drone). This voltage reduction will have a certain impact on the normal use of the drone. Another point is that even if the operator has adjusted the output power voltage of the power output device of the ground base station before use, and the voltage value at the drone is required, when the input power voltage of the power output device fluctuates, there is no doubt that the voltage at the drone will also change, which will cause the output power of the drone's lift motor to change due to voltage changes, and the lift will change (either high or low), and there is a chance of yaw, and even there is a chance of damage to the drone body due to excessive input voltage. (Even if a power output device with a regulated output is used to power the drone, the power output device will work continuously for a long time, and the performance of the internal components will change after a long time of use, and the input voltage is much lower than 220V or 380V, or more than 220V or 380V, the voltage stabilization performance of the power output device cannot be guaranteed, which will also cause the voltage at the drone to be unstable). Since the drone is tethered in the air for a long time, it is impossible for the management personnel to detect the input power voltage of the drone at any time. Therefore, when the power supply voltage changes, manually adjusting the power output device cannot effectively ensure that the drone is always working on a stable voltage basis). Based on the above, it is particularly necessary to provide a line loss compensation device that can adaptively adjust the input voltage of the drone according to the voltage change at the drone to ensure the normal operation of the tethered drone body as much as possible. Summary of the invention

[0004] In order to overcome the disadvantage that the existing tethered UAV cannot automatically adjust the input power supply voltage due to structural limitations, and when the power supply voltage changes, it will affect the normal use of the UAV, the present invention provides a closed-loop line loss compensation device for a tethered UAV system with a high-voltage detection circuit, a low-voltage detection circuit, and an electric adjustment mechanism. When working, the power supply voltage at the UAV can be monitored in real time. When the power supply voltage at the UAV changes abnormally, the electric adjustment mechanism can adjust the knob of the power output device in real time to ensure that the voltage at the UAV is within the required range. The knobs of the electric adjustment mechanism and the power output device are attracted by magnets, making disassembly and assembly more convenient. Not only can the input voltage of the UAV be electrically adjusted, but also the management personnel can manually adjust the input voltage of the UAV as needed, thereby bringing convenience to the management personnel and ensuring the normal operation of the tethered UAV.

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

[0006] A closed-loop line loss compensation device for a tethered drone system comprises a power output device, wherein the power output end of the power output device is electrically connected to the total power input end of the tethered drone; the device is characterized in that it also comprises a high-voltage detection circuit, a low-voltage detection circuit and an electric adjustment mechanism; the electric adjustment mechanism comprises a motor reduction mechanism and an upper magnet, wherein the motor reduction mechanism is sleeved in a cylinder, the power output shaft of the motor reduction mechanism has a special-shaped connecting sleeve, and the upper magnet is located below the cylinder; the adjustment handle of the power output device has a special-shaped connecting rod, a lower magnet is provided in front of the housing of the power output device at the side end of the adjustment handle, the connecting sleeve of the electric adjustment mechanism is sleeved on the outside of the connecting rod, and the upper and lower magnets are attracted together; the high-voltage detection circuit and the low-voltage detection circuit are installed in the housing of the drone, and the total power input end of the drone is electrically connected to the power input ends of the high-voltage detection circuit and the low-voltage detection circuit respectively; the power output ends of the high-voltage detection circuit and the low-voltage detection circuit are electrically connected to the positive and negative poles and the negative and positive poles of the motor reduction mechanism of the electric adjustment mechanism respectively.

[0007] Furthermore, the inner diameter of the connecting sleeve of the electric adjustment mechanism is larger than the outer diameter of the connecting rod.

[0008] Furthermore, the upper magnet and the lower magnet have opposite polarities on their bonding surfaces.

[0009] Furthermore, the high-voltage detection circuit and the low-voltage detection circuit have the same structure, and both include an adjustable resistor, a three-terminal fixed voltage monitor, a resistor, an NPN transistor and a relay, which are connected via circuit board wiring; one end of the adjustable resistor is connected to the positive electrode of the relay and the positive control power input terminal, the power output terminal of the three-terminal fixed voltage monitor is connected to one end of the resistor, the other end of the resistor is connected to the base of the NPN transistor, the collector of the NPN transistor is connected to the negative power input terminal of the relay, the emitter of the NPN transistor is connected to the negative control power input terminal of the relay and the negative power input terminal of the three-terminal fixed voltage monitor, and the other end of the adjustable resistor is connected to the positive power input terminal of the three-terminal fixed voltage monitor.

[0010] The beneficial effects of the present invention are as follows: when the present invention is working, the high-voltage detection circuit and the low-voltage detection circuit can monitor the power supply voltage at the drone in real time. When the power supply voltage at the drone changes abnormally, the electric adjustment mechanism can adjust the knob of the power output device in real time. When the voltage is high, the knob of the electric adjustment mechanism turns left, and its output voltage decreases. When the voltage is low, the knob of the electric adjustment mechanism turns right, and its output voltage becomes higher. In this way, it is ensured that the voltage at the drone is within the required range. In the present invention, the knobs of the electric adjustment mechanism and the power output device are attracted by magnets, and disassembly and assembly are more convenient. Not only can the input voltage of the drone be electrically adjusted, but also the input voltage of the drone can be manually adjusted by the manager as needed. The present invention brings convenience to the managers and ensures the normal operation of the tethered drone. Based on the above, the present invention has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0012] Figure 1 It is a schematic diagram of the structure of the present invention.

[0013] Figure 2 It is a partially enlarged structural schematic diagram of the electric regulating mechanism and the power output device of the present invention.

[0014] Figure 3 It is a circuit diagram of the present invention. DETAILED DESCRIPTION

[0015] Figure 1 , 2As shown in, a closed-loop line loss compensation device for a tethered drone system includes a power output device 2 (a switching power supply module that converts AC 220V or 380V to DC 200V or 1000V. For the convenience of description, this embodiment uses an AC 220V to 200V DC switching power supply module as a representative illustration), the two ends of the power input of the power output device 2 are electrically connected to the two poles of the 220V AC power supply, and the power output end of the power output device 2 is electrically connected to the power input end of the tethered drone; it also has a high-voltage detection circuit 4, a low-voltage detection circuit 5 and an electric adjustment mechanism 6; the electric adjustment mechanism 6 includes a motor reduction mechanism 61, a ring-shaped hollow upper permanent magnet 62, and the upper end of the motor reduction mechanism 61 The power output device 2 is mounted in a cylinder 63 with a sealed upper end and an open structure at the lower end. A connecting sleeve 64 with a rectangular opening at the lower end is welded under the power output shaft of the motor reduction mechanism 61. The magnet 62 is glued to the lower end of the cylinder 63. There is an integrally formed rectangular connecting rod 21 in front of the adjusting handle of the power output device. Another hollow annular lower permanent magnet 23 is glued to the side of the adjusting handle 22 of the power output device and the front end of the shell of the power output device. The connecting sleeve 21 of the electric adjustment mechanism is mounted on the outside of the connecting rod 21, and the upper and lower magnets 62 and 23 are attracted together. The power output device 2 is located in the ground electrical control box. The high-voltage detection circuit 4 and the low-voltage detection circuit 5 are installed in the shell of the drone.

[0016] Figure 1 , 2As shown in , 3, the inner diameter of the connecting sleeve 64 of the electric adjustment mechanism is slightly larger than the outer diameter of the connecting rod 21 by 1 mm, and the height of the connecting sleeve 64 is less than the height of the connecting rod 21 by 1 mm. The polarities of the upper magnet 62 and the lower magnet 23 are opposite. The high-voltage detection circuit includes an adjustable resistor RP, a three-terminal fixed voltage monitor A2 (model AN051A), a resistor R, an NPN transistor Q and a relay K, which are connected through circuit board wiring; one end of the adjustable resistor RP is connected to the positive electrode of the relay K and the positive control power input terminal, the power output terminal 1 pin of the three-terminal fixed voltage monitor A2 is connected to one end of the resistor R, the other end of the resistor R is connected to the base of the NPN transistor Q, the collector of the NPN transistor Q is connected to the negative power input terminal of the relay K, the emitter of the NPN transistor Q is connected to the negative control power input terminal of the relay K and the negative power input terminal 2 pin of the three-terminal fixed voltage monitor A2, and the other end of the adjustable resistor RP is connected to the positive power input terminal 2 pin of the three-terminal fixed voltage monitor A2. The low voltage detection circuit includes an adjustable resistor RP1, a three-terminal fixed voltage monitor A3, a resistor R1, an NPN transistor Q1 and a relay K1, which are connected via circuit board wiring; one end of the adjustable resistor R1P is connected to the positive electrode of the relay K1 and the positive control power input terminal, the power output terminal 1 pin of the three-terminal fixed voltage monitor A3 is connected to one end of the resistor R1, the other end of the resistor R1 is connected to the base of the NPN transistor Q1, the collector of the NPN transistor Q1 is connected to the negative power input terminal of the relay K1, the emitter of the NPN transistor Q1 is connected to the negative control power input terminal of the relay K1 and the negative power input terminal 2 pin of the three-terminal fixed voltage monitor A3, and the other end of the adjustable resistor RP1 is connected to the positive power input terminal 2 pin of the three-terminal fixed voltage monitor A3.

[0017] Figure 3 As shown in , A1 is a power output device, the total power input terminal G at the drone and one end of the adjustable resistor RP at the power input terminal of the high-voltage detection circuit and the emitter of the NPN transistor Q, and one end of the adjustable resistor RP1 at the power input terminal of the low-voltage detection circuit and the emitter of the NPN transistor Q1 are respectively connected via wires; the two normally open contact ends of the power output terminal relay K of the high-voltage detection circuit, the two normally closed contact ends of the power output terminal relay K1 of the low-voltage detection circuit and the positive and negative poles, and the negative and positive poles of the motor reduction mechanism M of the electric adjustment mechanism are respectively connected via wires.

[0018] Figure 1 , 2As shown in Figure 3, when the present invention is working, the ground power output device A1 provides working power (such as DC 200V) for the tethered drone, so the drone is in normal working state. In the high-voltage detection circuit: when the power supply voltage input to the drone is 200V, the power supply voltage is lower than the internal 4.75V threshold voltage of the three-terminal fixed voltage monitor A2 after the adjustable resistor RP reduces the voltage and limits the current, so the 1st pin of the three-terminal fixed voltage monitor A2 will not output a high level, then the relay K and the motor reduction mechanism M will not be powered on, and the drone body is working at normal voltage. When the power supply voltage input to the drone is above 200V, the power supply voltage is higher than the internal 4.75V threshold voltage of the three-terminal fixed voltage monitor A2 after the adjustable resistor RP reduces the voltage and limits the current. Therefore, the pin 1 of the three-terminal fixed voltage monitor A2 outputs a high level and enters the base of the NPN transistor Q through the resistor R reducing the voltage and limiting the current. The NPN transistor Q conducts and the collector outputs a low level and enters the negative power supply input terminal of the relay K. The relay K is energized to attract its two control power supply input terminals and two normally open contact terminals to be closed respectively. Since the two normally open contact terminals of the relay K are respectively connected to the positive and negative power supply input terminals of the motor reduction mechanism M of the electric adjustment mechanism, the motor reduction mechanism M will be energized to work at this moment. At the same time, its power output shaft drives the handle 22 of the power output device to slowly rotate to the left through the connecting sleeve 64 and the connecting rod 21. In this way, the output voltage of the power output device M will slowly decrease. When the voltage drops to 200V, the pin 1 of the three-terminal fixed voltage monitor A2 stops outputting a high level, and then the relay K and the motor reduction mechanism M will stop working successively. Through the action of the above circuit, the high-voltage detection circuit of the present invention can effectively ensure that the drone operates at a voltage of 200V, thereby preventing the voltage from being too high, causing abnormal operation, or even damaging the drone.

[0019] Figure 1 , 2As shown in Figure 3, in the low voltage detection circuit: when the power supply voltage input to the drone is 200V, the power supply voltage is higher than the internal 4.75V threshold voltage of the three-terminal fixed voltage monitor A3 after voltage reduction and current limiting by the adjustable resistor RP1, so the 1st pin of the three-terminal fixed voltage monitor A3 will output a high level and enter the base of the NPN transistor Q1 through the voltage reduction and current limiting by the resistor R1, so the collector of the NPN transistor Q1 is turned on and the output low level enters the negative power input terminal of the relay K1, and the relay K1 is energized to attract its two control power input terminals and two normally closed contact terminals to open the circuit respectively; because the two normally closed contact terminals of the relay K1 are respectively connected to the negative and positive power input terminals of the motor reduction mechanism M of the electric adjustment mechanism, the motor reduction mechanism M will not be energized to work at this moment, so the drone body is working at a normal voltage. When the power supply voltage input to the drone is below 200V, the power supply voltage is lower than the internal 4.75V threshold voltage of the three-terminal fixed voltage monitor A3 after voltage reduction and current limiting by the adjustable resistor RP1, so the pin 1 of the three-terminal fixed voltage monitor A3 will stop outputting a high level and enter the base of the NPN transistor Q1, so the NPN transistor Q1 is cut off, the relay K1 loses power and no longer attracts its two control power input terminals and two normally closed contact terminals, respectively closing; since the two normally closed contact terminals of the relay K1 are respectively connected to the negative and positive power input terminals of the motor reduction mechanism M of the electric adjustment mechanism, the motor reduction mechanism M will be powered to work at this moment, and at the same time, its power output shaft drives the handle 22 of the power output device to slowly rotate to the right through the connecting sleeve 64 and the connecting rod 21, so that the output voltage of the power output device M will slowly increase, and when the voltage rises to 200V, the pin 1 of the three-terminal fixed voltage monitor A3 outputs a high level again, then the relay K1 is powered again, and the motor reduction mechanism M stops working. Through the action of the above circuit, the low voltage detection circuit of the present invention can effectively ensure that the drone operates at a voltage of 200V, thereby preventing the voltage from being too low, causing abnormal operation, or even damaging the drone.

[0020] Figure 1 , 2As shown in Figure 3, through the joint action of all the above circuits and mechanisms, when the present invention is working, the high-voltage detection circuit and the low-voltage detection circuit can monitor the power supply voltage at the drone in real time. When the power supply at the drone changes abnormally, the electric adjustment mechanism can adjust the knob of the power output device in real time. When the voltage is high, the knob of the electric adjustment mechanism turns left, and its output voltage decreases. When the voltage is low, the knob of the electric adjustment mechanism turns right, and its output voltage becomes higher. In this way, it is ensured that the voltage at the drone is within the required range. In the present invention, the knobs of the electric adjustment mechanism and the power output device are attracted by magnets 62 and 23, and disassembly and assembly are more convenient. Not only can the input voltage of the drone be electrically adjusted, but also the management personnel can manually adjust the input voltage of the drone as needed. The present invention brings convenience to the management personnel and ensures the normal operation of the tethered drone. The present invention needs to determine the resistance values ​​of the adjustable resistors RP and RP1 during initial production. Before the determination, the power input terminals of the high-voltage detection circuit and the low-voltage detection circuit are connected to the power output terminals of the voltage regulator with adjustable output voltage. The output power voltage of the voltage regulator is first adjusted to be above 200V, and then the resistance value of the adjustable resistor RP is slowly adjusted from large to small. When the relay K is just energized, the resistance value of the adjustable resistor RP is adjusted to the required value. In subsequent practical applications, when the power supply voltage is just higher than 200V, the motor reduction mechanism M of the electric adjustment mechanism will be energized to work and lower the voltage. Then adjust the output power supply of the voltage regulator to be below 200V, and then slowly adjust the resistance value of the adjustable resistor RP1 from large to small. When the relay K1 loses power, the resistance value of the adjustable resistor RP1 is adjusted to the required value. In subsequent practical applications, when the power supply voltage is just lower than 200V, the motor reduction mechanism M of the electric adjustment mechanism will be energized to work and increase the voltage. After adjustment, disconnect the power supply, remove the adjustable resistors RP and RP1 from the circuit and measure the resistance with an ohmmeter (restore the connection between the adjustable resistors RP and RP1 and the circuit after measurement). In subsequent production, fixed resistors with the same resistance can be used instead (or the adjustable resistors RP and RP1 can be directly adjusted to the desired resistance). There is no need to determine the resistance of the adjustable resistors RP and RP1. It should be noted that the detection of the 200V voltage of the drone in the present invention is only for the convenience of description and is not a fixed value. For specific voltage adjustment, the manufacturer can make appropriate adjustments according to the power supply voltage requirements of the drone. The resistance of resistors R and R1 is 4.3K; the model of NPN transistors Q and Q1 is 9013; the relays K and K1 are DC200V relays; the specification of adjustable resistors RP and RP1 is 10M.

[0021] 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.

[0022] 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 closed-loop line loss compensation device for a tethered drone system, comprising a power output device, wherein a power output end of the power output device is electrically connected to a main power input end of the tethered drone; characterized in that It also has a high-voltage detection circuit, a low-voltage detection circuit and an electric adjustment mechanism; the electric adjustment mechanism includes a motor reduction mechanism and an upper magnet, the motor reduction mechanism is sleeved in the cylinder, the power output shaft of the motor reduction mechanism has a special-shaped connecting sleeve, and the upper magnet is located under the cylinder; the adjustment handle of the power output device has a special-shaped connecting rod, and a lower magnet is provided in front of the housing of the power output device at the side end of the adjustment handle, the connecting sleeve of the electric adjustment mechanism is sleeved on the outside of the connecting rod, and the upper and lower magnets are attracted together; the high-voltage detection circuit and the low-voltage detection circuit are installed in the housing of the drone, and the total power input end of the drone is electrically connected to the power input end of the high-voltage detection circuit and the low-voltage detection circuit respectively; the power output end of the high-voltage detection circuit and the low-voltage detection circuit are electrically connected to the positive and negative poles and the negative and positive poles of the motor reduction mechanism of the electric adjustment mechanism respectively; the polarity of the upper magnet and the lower magnet bonding surface is opposite; The high voltage detection circuit and the low voltage detection circuit have the same structure, and both include an adjustable resistor, a three-terminal fixed voltage monitor, a resistor, an NPN transistor and a relay, which are connected via circuit board wiring; one end of the adjustable resistor is connected to the positive electrode of the relay and the positive control power input terminal, the power output terminal of the three-terminal fixed voltage monitor is connected to one end of the resistor, the other end of the resistor is connected to the base of the NPN transistor, the collector of the NPN transistor is connected to the negative power input terminal of the relay, the emitter of the NPN transistor is connected to the negative control power input terminal of the relay and the negative power input terminal of the three-terminal fixed voltage monitor, and the other end of the adjustable resistor is connected to the positive power input terminal of the three-terminal fixed voltage monitor.

2. A closed-loop line loss compensation device for a tethered drone system according to claim 1, characterized in that: The inner diameter of the connecting sleeve of the electric adjustment mechanism is larger than the outer diameter of the connecting rod.

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