A tethered aerostat platform and unmanned aerial vehicle system having the same

Abstract

The application provides a tethered aerostat platform and an unmanned aerial vehicle system with the same, which comprises a top layer air bag, a plurality of configurable air bags, a tethering device, a ground power supply terminal and a charging device one, the tethering device comprises a tethering cable, the tethering cable is connected with the charging device and the ground power supply terminal, the charging device one is installed on the air bag and comprises a step-down conversion unit and a charging unit, the step-down conversion unit converts high voltage power provided by the ground power supply terminal into low voltage power used by the unmanned aerial vehicle and charges the unmanned aerial vehicle through the charging unit, the charging unit comprises a socket and a positioning group one, the positioning group one comprises cross-distributed magnets, the adjacent magnets in the rotating direction have opposite polarities, the center-to-center magnets have the same polarity, and the magnets are uniformly distributed around the socket. The application adjusts the height of the tethering state by releasing the configurable air bag on the ground, meets the requirements of different unmanned aerial vehicle tasks, and realizes the quick and safe charging of the unmanned aerial vehicle on the tethered aerostat platform by relying on the charging related devices and components.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a tethered aerostat platform and an unmanned aerial vehicle system with the same. BACKGROUND

[0002] The tethered unmanned aerial vehicle developed for improving endurance has been widely applied. Its feature is to continuously supply power through a power supply cable connected with the ground to realize 24-hour super-long endurance, and meet the requirements of all-weather patrol monitoring and exploration, investigation, high-altitude lighting and other long-time hovering tasks. However, as the height increases, the weight load of the tethered cable dragged by the unmanned aerial vehicle increases in proportion, and the energy consumption increases, which seriously limits the altitude and load carrying capacity. According to the investigation, the altitude of the general tethered unmanned aerial vehicle is generally 300 meters. And the tethered unmanned aerial vehicle can only complete the fixed-point task.

[0003] Application No. 201510704012.7, Application Publication No. CN105270627A, and the name of "a double unmanned aerial vehicle system for improving endurance by air charging" discloses a charging mode of unmanned aerial vehicle: "it contains a mother unmanned aerial vehicle, a child unmanned aerial vehicle, an air charging docking mechanism composed of a docking control mechanism fixedly installed below the mother unmanned aerial vehicle and a docking plug fixedly installed above the child unmanned aerial vehicle." The invention target of the inventor is to expect "it can solve the endurance problem of the existing unmanned aerial vehicle system, can be charged in the air, increase the endurance, and achieve the purpose of unlimited endurance: solve the defects of task interruption and inaccurate position in the execution of long-time flight of the existing two separated unmanned aerial vehicles; solve the defects of the load and flight time of the existing unmanned aerial vehicle cannot be flexible and changeable." The existing problems are: the interference of the rotor wind field and the natural wind field under the condition of close distance docking of the mother unmanned aerial vehicle and the child unmanned aerial vehicle in the air, and the control difficulty of the combination after docking is large, which increases the possibility of collision and crash, and there is a serious safety hazard, and the reliability of the connection mode is poor. SUMMARY

[0004] The present application aims at overcoming the deficiencies in the prior art, and provides a tethered aerostat platform and an unmanned aerial vehicle system with the same. The present application scheme can solve the problems existing in the prior art.

[0005] The technical solution of the present application is:

[0006] According to the first aspect, a tethered aerostat platform is provided, comprising a top layer airbag, a tethering device, a ground power supply terminal and a charging device one, the tethering device comprising a tethering cable, the tethering cable connecting the charging device and the ground power supply terminal, the charging device one being installed on the airbag, comprising a step-down conversion unit and a charging unit, the step-down conversion unit converting high voltage power provided by the ground power supply terminal into low voltage power used by the unmanned aerial vehicle and charging the unmanned aerial vehicle through the charging unit, the charging unit 234 comprising a socket and a positioning group one, the positioning group one comprising cross-distributed magnets, the adjacent magnets having opposite polarities in the rotation direction, the center-to-center magnets having the same polarity, and being uniformly distributed around the socket.

[0007] Further, the tethered aerostat platform comprises n configurable airbags in addition to the top layer airbag, the top layer airbag and the n configurable airbags being connected in series, the top layer airbag being arranged at the uppermost end of the tethering cable, and the n configurable airbags being arranged on the tethering cable at a certain distance.

[0008] Further, the configurable airbag is a hollow ring type, and a center locking ring is arranged in the middle, and the tethering cable is installed inside the center locking ring.

[0009] Further, a tapered limiting device is arranged on the tethering cable, and the outer diameter of the tapered limiting device is greater than the inner diameter of the center locking ring of the configurable airbag fixed thereon.

[0010] Further, the outer diameter of the tapered limiting device and the inner diameter of the center locking ring of the configurable airbag decrease from top to bottom, the inner diameter of the center locking ring of the configurable airbag being smaller than the outer diameter of the tapered limiting device matched therewith, and being greater than the outer diameter of all the tapered limiting devices below the tapered limiting device.

[0011] Further, the charging device one further comprises a positioning module, a relay communication module and a modulation and demodulation module, the positioning module providing the unmanned aerial vehicle with position information of the socket, the information being transmitted to the unmanned aerial vehicle through the relay communication module and the modulation and demodulation module, and being transmitted to the ground power supply terminal through the tethering cable.

[0012] Further, the charging unit further comprises a tapered inflatable fence, and the end with a large diameter of the tapered inflatable fence is a free end, and the end with a small diameter is fixed around the socket.

[0013] According to the second aspect, a UAV system is provided, comprising the tethered aerostat platform and at least one dual-powered UAV, the UAV is provided with a second charging device, the second charging device comprises a charging cable, a plug and a positioning group II, the charging cable is connected with the plug, the positioning group II comprises cross-distributed magnets, the adjacent magnets have opposite polarities in the rotation direction, the center magnets have the same polarity, and the magnets are uniformly distributed around the plug, and the plug is matched with the socket.

[0014] Further, the second charging device further comprises a cable winding and unwinding device, the cable winding and unwinding device is provided with a tension testing unit and a cable winding and unwinding unit, the tension testing unit detects the tension on the charging cable and transmits the tension to the cable winding and unwinding unit, and the cable winding and unwinding unit automatically adjusts the winding and unwinding of the cable according to the tension of the cable.

[0015] Further, the dual-powered UAV adopts a wired communication mode to communicate with the ground in the tethered mode, and adopts a wireless remote control mode to communicate with the ground in the free mode.

[0016] Further, in the wired communication mode, the information of the UAV is transmitted to the relay communication module through the cable, is modulated by the modem module, is transmitted to the tethering cable, and is transmitted to the ground power supply terminal through the tethering cable.

[0017] Further, the dual-powered UAV is provided with a camera, the camera is used to shoot the positions of the plug and the socket, and the plug and the socket can be connected when the UAV is charging.

[0018] The beneficial effects of the present application compared with the prior art are as follows:

[0019] (1) The present application realizes the fast and safe charging of the UAV on the tethered aerostat platform through the setting of the charging device.

[0020] (2) The present application can adjust the height of the top layer air bag by adjusting the number of the configurable air bags, thereby adjusting the height of the tethered state, and meeting the requirements of different UAVs.

[0021] (3) The present application meets the wired communication requirements of the UAV without increasing additional cables by setting the relay communication module and the modem module in the charging device. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is apparent that the accompanying drawings are only some embodiments of the application and other drawings can be obtained by those skilled in the art without creative effort based on the accompanying drawings.

[0023] Figure 1 A schematic diagram of a UAV system according to an embodiment of the application is shown;

[0024] Figure 2 A schematic diagram of a configurable airbag lifting task height according to an embodiment of the application is shown;

[0025] Figure 3 A schematic diagram of a plug and socket positioning group docking according to an embodiment of the application is shown;

[0026] Figure 4 A schematic diagram of a charging device according to an embodiment of the application is shown.

[0027] The above drawings contain the following reference signs:

[0028] 1, UAV; 2, top airbag; 3, ground power supply terminal; 4, tethered cable; 5, configurable airbag; 6, conical limiting device; 7, center locking ring; 11, cable winding and unwinding unit; 12, charging cable; 13, plug; 14, tension test unit; 21, conical inflatable fence; 22, socket; 23, charging device one; 131, magnet; 132, conductive contact; 133, negative pole of communication line; 134, positive pole of communication line. DETAILED DESCRIPTION

[0029] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0030] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0031] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless otherwise specifically stated. It is to be understood that the drawings are not necessarily to scale as the dimensions of the parts shown are for the purpose of illustration and description only and not to limit the scope of the application. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail but are intended to be understood as a part of the specification when appropriate. In all examples shown and discussed herein, any specific values are to be interpreted as illustrative only and not as a limitation. Thus, other examples of the exemplary embodiments can have different values. It is noted that like numbers and letters on the figures identify like parts throughout the disclosure, thus, once a part is defined in one figure, it is not necessary to discuss it further in connection with other figures.

[0032] As shown in Figure 1 According to the first aspect of the present application, a tethered aerostat platform is provided, comprising a top layer airbag 2, a tethering device, a ground power supply terminal 3 and a charging device 23, the tethering device comprising a tethering cable 4, the tethering cable 4 connecting the charging device 23 and the ground power supply terminal 3, the charging device 23 being installed on the airbag, comprising a step-down conversion unit 235 and a charging unit 234, the step-down conversion unit 235 converting high voltage power provided by the ground power supply terminal 3 into low voltage power used by the unmanned aerial vehicle 1 and charging the unmanned aerial vehicle through the charging unit 234, the charging unit 234 comprising a socket 22 and a positioning group 1, the positioning group 1 comprising cross-distributed magnets 131, the adjacent magnets in the rotation direction having opposite polarities, the center magnets having the same polarity, and being uniformly distributed around the socket 22.

[0033] Further, in one embodiment, as shown in Figure 2As shown, the tethered aerostat platform comprises n configurable airbags 5 in addition to a top airbag 2, the top airbag 2 and the n configurable airbags 5 are connected in series, the top airbag 2 is arranged at the uppermost end of the tethering cable 4, and the n configurable airbags 5 are arranged on the tethering cable 4 at a certain distance in sequence. The weight of the tethering cable 4 is shared by the multiple series connection of the airbags, the cable tension borne by each airbag is reduced, and the strength requirement of the cable is reduced. When the buoyancy of the top airbag 2 and the gravity of the tethering cable 4 are balanced, the unmanned aerial vehicle cannot continue to rise, and when it is necessary to continue to increase the height, the configurable airbags 5 can be released along the cable from the ground to increase the overall buoyancy of the aerostat platform, thereby increasing the height of the top airbag 2 and the unmanned aerial vehicle, until the newly added buoyancy and the gravity of the newly released part of the cable are balanced again.

[0034] Further, in one embodiment, the configurable airbag 5 is a hollow ring type, and a center locking ring 7 is arranged in the middle, and the tethering cable 4 is arranged inside the center locking ring 7. In this embodiment, the center locking ring 7 is used to guide the configurable airbag 5 when it slides along the tethering cable 4. Each configurable airbag 5 has an opening from the locking ring to the outermost side, and the tethering cable 4 is arranged in the opening during use, and then the locking ring and the airbag opening are closed in sequence. After inflation, the configurable airbag 5 slides along the tethering cable 4 and rises by relying on its own buoyancy.

[0035] Further, in one embodiment, a tapered limiting device 6 is arranged on the tethering cable 4, and the outer diameter of the tapered limiting device 6 is greater than the inner diameter of the center locking ring 7 of the configurable airbag 5 fixed thereon, so as to ensure that the tapered limiting device 6 can fix the configurable airbag 5 at the corresponding position and prevent the configurable airbags 5 from gathering. In a specific embodiment, the distance between the tapered limiting devices 6 is determined according to the needs.

[0036] Further, in one embodiment, the outer diameter of the tapered limiting device 6 and the inner diameter of the center locking ring 7 of the configurable airbag 5 decrease in sequence from top to bottom. The inner diameter of the center locking ring 7 of the configurable airbag 5 is smaller than the outer diameter of the tapered limiting device 6 matched therewith, and greater than the outer diameter of all the tapered limiting devices 6 below the tapered limiting device 6. In this embodiment, in order to arrange the airbags released in sequence from top to bottom and reach the designed height position to facilitate the sharing of the weight of the tethering cable 4, a tapered limiting device 6 is arranged every certain length from the top of the tethering cable 4 downwards, as shown in the accompanying drawings. Figure 1 The limiting device to which each configurable airbag 5 belongs is numbered from 1 to n (n≥1) from top to bottom, and the inner diameter of the airbag locking ring and the maximum outer diameter of the limiting device decrease in sequence from top to bottom. The maximum outer diameter of the i-th limiting device is greater than the inner diameter of the i-th airbag locking ring and smaller than the inner diameter of the i+1-th airbag locking ring, so as to ensure that the i-th airbag locking ring can smoothly pass through the i+1-th to n-th limiting devices and finally be clamped to the i-th limiting device belonging thereto when rising.

[0037] In one embodiment, the charging device is installed on the air bag, including a step-down conversion unit 235 and a charging unit 234, the step-down conversion unit 235 converts the high voltage power provided by the ground power supply terminal 3 into low voltage power used by the drone for charging, and the charging unit 234 charges the drone. In this embodiment, the charging device is installed at the top end of the center of the top air bag 2. Multiple charging devices can be provided to meet the demand for simultaneous charging of multiple drones; the electrical connection between the charging device and the tethered cable 4 can be through the design of a through pipeline between the top and bottom of the floating platform, or the connection of the climbing line outside the floating platform wall. The ground power supply terminal 3 outputs high-voltage direct current, usually 400V or higher, because increasing the voltage can effectively reduce the power transmission loss caused by the impedance of the long cable. The power reaches the charging device at the top of the floating platform via the tethered cable 4, and the step-down conversion unit 235 inside the charging device further reduces the high-voltage direct current to slightly higher than the voltage of the battery on the drone to charge the drone. The charging unit 234 includes a socket 22 and a positioning group one, which includes cross-distributed magnets 131, the adjacent magnets in the rotation direction have opposite polarities, and the center-to-center magnets have the same polarity, and are uniformly distributed around the socket 22. In this embodiment, as shown in the attached Figure 3 The design can ensure the self-alignment of the position of each conductive contact 132 when the interface is attracted. The middle outer ring is the negative pole 133 of the communication line, and the center is the positive pole 134 of the communication line. The conductive contact 132 on the attraction surface is arranged in a central symmetric manner, and the opposite contacts have the same function, so that even if the attraction is rotated by 180°, the correctness of the electrical connection can be guaranteed.

[0038] Further in one embodiment, the charging device further includes a positioning module 231, a relay communication module and a modulation and demodulation module 233, the positioning module 231 provides the position information of the socket 22 to the drone, which is transmitted to the drone through the relay communication module and the modulation and demodulation module 233, and is transmitted to the ground power supply terminal 3 through the tethered cable 4. The ground power supply terminal 3 includes a modulation and demodulation module 233, which obtains the position information after modulating and demodulating the received signal. In this embodiment, the ground power supply terminal 3 and the charging device both have signal modulation and demodulation functions, and the modulated high-frequency signal is transmitted by superimposing it on the high-voltage power transmission power of the tethered cable 4, realizing wired communication between the relay communication module 23 and the ground, and the relay communication module 23 further establishes contact between the drone body through a special communication interface in the charging cable 12, such as CAN communication, RS485 communication, etc. Finally, wired communication between the ground and the drone in the tethered mode is realized, eliminating the disadvantages of increasing power consumption and being easily disturbed by long-term wireless communication.

[0039] Further in one embodiment, the charging unit 234 further comprises a conical inflatable enclosure 21, the diameter of the large end of the conical inflatable enclosure is free, and the diameter of the small end is fixed on the periphery of the socket 22, that is, it does not occupy additional weight, and it is also conducive to the quick guidance of the magnetic plug 13 during docking, thereby improving the docking efficiency.

[0040] According to the second aspect, a tethered aerostat platform and at least one dual-power unmanned aerial vehicle 1 are provided, the unmanned aerial vehicle 1 is provided with a second charging device, the second charging device comprises a charging cable 12, a plug 13 and a second positioning group, the charging cable 12 is connected with the plug 13, the second positioning group comprises cross-distributed magnets 131, the adjacent magnets in the rotation direction of the magnets 131 have opposite polarities, the center-to-center magnets have the same polarity, and the magnets are uniformly distributed around the plug 13, the plug 13 is adapted with the socket 22, and the plug 13 is adapted with the socket 22, such as Figure 3 The design can ensure the self-alignment of the positions of the conductive contacts 132 during docking and suction. The middle outer ring is a negative pole 133 of a communication line, the center is a positive pole 134 of the communication line, the conductive contacts 132 on the suction surface are arranged in a central symmetric manner, and the facing contacts have the same function, that is, even if the suction is rotated by 180°, the correct docking electrical connection can be ensured.

[0041] Further in one embodiment, the charging device further comprises a cable winding and unwinding device, the cable winding and unwinding device is provided with a tension test unit 14 and a cable winding and unwinding unit 11, the tension test unit 14 detects the tension on the cable and transmits it to the cable winding and unwinding unit 11, and the cable winding and unwinding unit 11 automatically adjusts the winding and unwinding of the cable according to the tension of the cable. Specifically, in this embodiment, the cable winding and unwinding unit 11 is a winch, the tension test unit 14 is a tension measuring sensor arranged on the charging cable 12 and a reading unit arranged on the charging device, the tension value of the tension measuring sensor is read, and the cable winding and unwinding unit 11 automatically controls the winding of the cable according to the tension value to prevent the magnetic docking device from being pulled, thereby ensuring reliable suction, and when the charging cable 12 is completely released, the unmanned aerial vehicle 1 releases the magnetic docking device by appropriately reducing the height to release the pulling stress. Because the charging cable 12 is relatively short, in order to improve the charging efficiency, a thick cable with large current is used for charging, and in this embodiment, the charging cable 12 adopts a flat cable, which is convenient for winding and unwinding and self-recovery of twisted wires in the hanging state.

[0042] Further in one embodiment, the dual-power unmanned aerial vehicle 1 adopts a wired communication mode to communicate with the ground in the tethered mode, and adopts a wireless remote control mode to communicate with the ground in the free mode.

[0043] Further in one embodiment, in the wired communication mode, the information of the unmanned aerial vehicle 1 is transmitted to the relay communication module through the charging cable 12 and the plug 13 and the socket 22, is modulated by the modem module 233, is transmitted to the tethered cable 4, and is transmitted to the ground power supply terminal 3 through the tethered cable 4. In the embodiment, the relay communication module 23 establishes a connection between the unmanned aerial vehicle 1 body through a special communication interface in the charging cable 12, such as CAN communication, RS485 communication and the like, and finally realizes the wired communication between the ground and the unmanned aerial vehicle 1 in the tethered mode, and eliminates the disadvantages of increasing power consumption and being easily disturbed in long-time wireless communication.

[0044] Further in one embodiment, the dual power supply type unmanned aerial vehicle 1 is provided with a camera, the camera is used for shooting the positions of the plug 13 and the socket 22, and when the unmanned aerial vehicle charges, it is ensured that the plug 13 and the socket 22 can be connected.

[0045] The working flow of the unmanned aerial vehicle system adopts the following steps:

[0046] Step 1) The unmanned aerial vehicle is synchronously lifted with the top air bag, and the unmanned aerial vehicle is always above the top air bag;

[0047] Step 2) The unmanned aerial vehicle and the top air bag reach the predetermined height and stay, and the unmanned aerial vehicle works in the tethered mode and has wired communication with the ground;

[0048] Step 3) When the unmanned aerial vehicle needs to fly freely, it is separated by quick lifting and dragging magnetic suction docking, the unmanned aerial vehicle is automatically switched to the wireless remote control mode, the charging cable is retracted, and the unmanned aerial vehicle flies away from the floating platform;

[0049] Step 4) After the unmanned aerial vehicle completes the task in the free mode, it can directly fly back to the ground platform, and the floating platform is retracted;

[0050] Step 5) When the unmanned aerial vehicle needs to be charged in the air, according to the position information returned to the ground by the top air bag positioning module 231, the unmanned aerial vehicle flies above the top air bag, uses the self-provided camera to assist in finding the top air bag and completes the docking;

[0051] Step 6) The unmanned aerial vehicle releases the charging cable and docks with the magnetic suction socket of the top air bag, after the docking, the wireless remote control communication function of the unmanned aerial vehicle is closed, is switched to wired communication, and the unmanned aerial vehicle works in the tethered mode;

[0052] Step 7) When the task in the tethered mode is completed and retracted, the ground tethered cable is retracted to reduce the floating platform, and the unmanned aerial vehicle is synchronously lowered until it returns to the ground.

[0053] The application is especially suitable for tasks of long-term high-altitude detection, timed range patrol or short-time rapid response attack by using the unmanned aerial vehicle.

[0054] In conclusion, the tethered aerostat platform and the unmanned aerial vehicle system having the same provided by the present application have at least the following advantages compared with the prior art.

[0055] (1) The present application realizes fast and safe charging of the unmanned aerial vehicle on the tethered aerostat platform through the setting of the charging device.

[0056] (2) The present application adjusts the height of the top layer air bag by adjusting the number of the configurable air bags, thereby adjusting the height of the tethered state, and meeting the requirements of different unmanned aerial vehicles.

[0057] (3) The present application meets the wired communication requirements of the unmanned aerial vehicle without increasing additional cables by setting the relay communication module and the modem module in the charging device.

[0058] For the convenience of description, spatial relative terms such as "above", "upper", "top", "up", etc. can be used herein to describe the spatial positional relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device as described in the drawings. For example, if the device in the drawings is inverted, the device described as "above" or "on" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0059] In addition, it should be noted that the use of the words "first", "second", etc. to define parts only facilitates the differentiation of the corresponding parts, and the above words have no special meaning unless otherwise stated, and therefore cannot be understood as limiting the scope of protection of the present application.

[0060] The above is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A tethered aerostat platform, characterized by, The tethered aerostat platform comprises a top air bag, a tethering device, a ground power supply terminal and a charging device I, the tethering device comprises a tethering cable, the tethering cable is connected with the charging device and the ground power supply terminal, the charging device I is installed on the air bag and comprises a step-down conversion unit and a charging unit, the step-down conversion unit converts high voltage power provided by the ground power supply terminal into low voltage power used by the unmanned aerial vehicle and charges the unmanned aerial vehicle through the charging unit, the charging unit comprises a socket and a positioning group I, the positioning group I comprises cross-distributed magnets, adjacent magnets in the rotating direction have opposite polarities, and center-opposed magnets have the same polarity and are uniformly distributed around the socket. The tethered aerostat platform comprises n configurable air bags in addition to the top air bag, the top air bag and the n configurable air bags are connected in series, the top air bag is arranged at the uppermost end of the tethering cable, and the n configurable air bags are arranged on the tethering cable at a certain distance. The configurable air bag is a hollow ring type and is provided with a center locking ring in the middle, and the tethering cable is installed in the center locking ring. The outer diameter of the taper limiting device is greater than the inner diameter of the center locking ring of the configurable air bag fixed thereon.

2. A tethered aerostat platform according to claim 1, wherein, The outer diameter of the taper limiting device and the inner diameter of the center locking ring of the configurable air bag decrease from top to bottom, the inner diameter of the center locking ring of the configurable air bag is smaller than the outer diameter of the taper limiting device matched therewith and greater than the outer diameter of all the taper limiting devices below the taper limiting device.

3. The tethered aerostat platform of claim 1 wherein, The charging device I further comprises a positioning module, a relay communication module and a modem module, the positioning module provides the unmanned aerial vehicle with position information of the socket, the information is transmitted to the unmanned aerial vehicle through the relay communication module and the modem module and is transmitted to the ground power supply terminal through the tethering cable.

4. A drone system, characterized by The charging unit further comprises a taper inflatable fence, and the taper inflatable fence has a free end at one end with a large diameter and is fixed at the periphery of the socket at one end with a small diameter.

5. The unmanned aerial vehicle system of claim 4, wherein, The tethered aerostat platform comprises a top air bag, a tethering device, a ground power supply terminal and a charging device I, the tethering device comprises a tethering cable, the tethering cable is connected with the charging device and the ground power supply terminal, the charging device I is installed on the air bag and comprises a step-down conversion unit and a charging unit, the step-down conversion unit converts high voltage power provided by the ground power supply terminal into low voltage power used by the unmanned aerial vehicle and charges the unmanned aerial vehicle through the charging unit, the charging unit comprises a socket and a positioning group I, the positioning group I comprises cross-distributed magnets, adjacent magnets in the rotating direction have opposite polarities, and center-opposed magnets have the same polarity and are uniformly distributed around the socket.

6. The unmanned aerial vehicle system of claim 4, wherein, The charging device I further comprises a positioning module, a relay communication module and a modem module, the positioning module provides the unmanned aerial vehicle with position information of the socket, the information is transmitted to the unmanned aerial vehicle through the relay communication module and the modem module and is transmitted to the ground power supply terminal through the tethering cable. The charging unit further comprises a taper inflatable fence, and the taper inflatable fence has a free end at one end with a large diameter and is fixed at the periphery of the socket at one end with a small diameter. The tethered aerostat platform comprises a top air bag, a tethering device, a ground power supply terminal and a charging device I, the tethering device comprises a tethering cable, the tethering cable is connected with the charging device and the ground power supply terminal, the charging device I is installed on the air bag and comprises a step-down conversion unit and a charging unit, the step-down conversion unit converts high voltage power provided by the ground power supply terminal into low voltage power used by the unmanned aerial vehicle and charges the unmanned aerial vehicle through the charging unit, the charging unit comprises a socket and a positioning group I, the positioning group I comprises cross-distributed magnets, adjacent magnets in the rotating direction have opposite polarities, and center-opposed magnets have the same polarity and are uniformly distributed around the socket. The charging device I further comprises a positioning module, a relay communication module and a modem module, the positioning module provides the unmanned aerial vehicle with position information of the socket, the information is transmitted to the unmanned aerial vehicle through the relay communication module and the modem module and is transmitted to the ground power supply terminal through the tethering cable. The charging unit further comprises a taper inflatable fence, and the taper inflatable fence has a free end at one end with a large diameter and is fixed at the periphery of the socket at one end with a small diameter.

7. The unmanned aerial vehicle system of claim 6, wherein, In the wired communication mode, the information of the unmanned aerial vehicle is transmitted to the relay communication module through the cable, modulated by the modulation and demodulation module, transmitted to the tethered cable, and transmitted to the ground power supply terminal through the tethered cable.

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