Dual power control system for tethered aircraft

Abstract

The present invention discloses a dual-power supply control system for a tethered aircraft. The technical solution comprises a flight controller, a power supply subsystem, and a tethering subsystem. The tethering subsystem includes an operating condition detection module and a tethering identification module to detect the aircraft's operating condition and control the aircraft's return path planning. The power supply subsystem includes a main power supply, a backup power supply, and a power supply control module. The power supply control module controls the switching of the main and backup power supplies for the aircraft. The flight controller is configured with an execution strategy, which includes duty logic, go-around logic, and return logic. The execution strategy controls the aircraft's normal flight duty, go-around control when the main power supply is in use, and aircraft return control. The present invention provides a dual-power supply control system for a tethered aircraft, capable of detecting the aircraft's power supply status to ensure normal flight.

Description

Technical Field

[0001] The present invention relates to the technical field of power supply control systems, and more particularly to a dual power supply control system applied to a tethered aircraft. Background Art

[0002] A drone is an unmanned aircraft that is controlled by a radio remote control device and a self-contained program control device. With the rapid development of aircraft, it can be divided into remote-controlled aircraft and tethered aircraft in different application environments. A tethered aircraft consists of an aircraft, a tethered power supply, an optical cable, and an automatic retractable cable system. The aircraft is also equipped with an onboard backup power supply. Although the tethered power supply can provide power to the aircraft through the optical cable for normal flight operation, there is often a failure in the optical cable, causing the aircraft to be unable to fly normally, thereby causing the aircraft to crash and be damaged. Although a backup power supply is configured, the backup power supply often has a power supply failure during a go-around, causing the aircraft to crash if the go-around is unsuccessful. Therefore, a dual power supply control system that can ensure detection and go-around control of a tethered aircraft when a power failure occurs in flight is urgently needed. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a dual power supply control system for a tethered aircraft, which can detect the power supply status of the aircraft to ensure the normal flight of the aircraft.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A dual power supply control system for a tethered aircraft, comprising: a flight controller, a power supply subsystem, and a tethering subsystem;

[0006] The tethering subsystem includes an operating condition detection module and a tethering identification module. The operating condition detection module is used to detect whether the voltage value provided to the aircraft by the tethering box meets the voltage threshold requirement. The voltage threshold represents the standard voltage value when the aircraft is in operation. The tethering identification module is configured with a marking strategy. The marking strategy includes obtaining the position of the tethering box and the flight path of the aircraft, and correcting the return path of the aircraft in real time based on the position of the aircraft. The return path represents the route taken by the aircraft to return to the tethering box.

[0007] The power subsystem includes a main power supply, a backup power supply, and a power control module. The main power supply is used to supply power to the aircraft when the tethered box does not provide power to the aircraft. The backup power supply is used to assist the aircraft in controlling the aircraft to fly back when the voltage provided by the main power supply is insufficient to reach the voltage threshold of the aircraft during operation. The power control module is configured with a height difference value and a control strategy. The height difference value represents the altitude difference range between the aircraft and the operating position when the aircraft is in the operating position. The control strategy includes, upon detecting that the operating voltage value of the aircraft is lower than the voltage threshold, detecting whether the altitude of the aircraft is lower than the height difference value. If so, controlling the main power supply to supply power to the aircraft. If the voltage value is still lower than the voltage threshold while the main power supply is supplying power to the aircraft, a return signal is generated. Upon detecting the return signal, the backup power supply supplies power to the aircraft and controls the aircraft to fly back to the tethered box.

[0008] The flight controller is configured with an execution strategy, which includes duty logic, go-around logic and return logic. The duty logic includes controlling the aircraft's duty flight and return flight according to the operating instructions of the mooring box. The go-around logic includes obtaining the operating instructions of the mooring box through wireless communication to perform a go-around duty when the main power supply is powering the aircraft. The return flight logic includes obtaining the positions of the aircraft and the mooring box to correct the return flight path of the aircraft to control the aircraft to return to the mooring box.

[0009] As a further improvement of the present invention, the operating condition detection module is configured with a communication unit and a switching strategy, and the switching strategy includes:

[0010] When the real-time monitoring detects that the aircraft's input voltage is greater than or equal to the voltage threshold, a tethering signal is generated to control the tethering box to provide power to the aircraft;

[0011] When it is detected that the input voltage of the aircraft is less than the voltage threshold, a switching signal is generated and the communication unit is started to switch the tethered mode to the wireless communication mode, and the main control power supply is controlled to power the aircraft.

[0012] As a further improvement of the present invention, the marking strategy is specifically as follows:

[0013] When the tethered box supplies power to the aircraft, a scanning signal is generated. A flight control model is established with the tethered box as the origin based on the scanning signal. A scanning threshold is configured on the aircraft, and the scanning threshold represents the circumferential scanning range with the aircraft as the origin. While establishing the flight control model, the surrounding markers of the tethered box are scanned according to the scanning threshold to form a tethered image. When the aircraft is flying, the surrounding markers of the aircraft are scanned in real time with the scanning threshold to form a continuation image. When controlling the aircraft to fly back, the tethered marker and the continuation image are retrieved to form a return image. Based on the return image, a return path is constructed to control the return of the aircraft.

[0014] As a further improvement of the present invention, when a clear threshold is configured in the duty strategy, the marking strategy constructs the return path specifically as follows:

[0015] When forming the flyback image, the ground clearance and axial distance of the aircraft are obtained, wherein the ground clearance represents the altitude value of the aircraft when the aircraft is airborne, and the axial distance represents the straight-line distance value between the aircraft and the mooring box. The oblique angle distance between the aircraft and the mooring box is connected to form a right triangle with the ground clearance and the axial distance as right angles and the oblique angle distance as the hypotenuse. A plurality of jump marks are formed on the oblique angle distance to form a flyback control table, and the flyback control table is sent to the flight controller;

[0016] The flight controller receives the fly-back control table and controls the aircraft to fly back according to the duty strategy. When the aircraft flies back, it obtains the markers of the jump mark in the fly-back image, controls the aircraft to fly back along the jump mark in sequence, and when it flies back to the jump mark, it stops at the empty threshold and obtains the surrounding markers in real time for comparison with the fly-back image. The empty threshold represents the time value for the aircraft to empty at the jump mark to obtain the surrounding markers. If the markers obtained when emptying are inconsistent with the fly-back image, the fly-back path is reconstructed according to the method of constructing the fly-back path according to the marking strategy and the fly-back control table is corrected until the aircraft flies back to the tethering box.

[0017] As a further improvement of the present invention, the control strategy includes:

[0018] When it is detected that the voltage value provided by the mooring box is lower than the voltage threshold, a detection signal is generated. When the detection signal is generated, the difference between the real-time power supply voltage of the aircraft and the voltage threshold is obtained to form a voltage differential value, and the backup power supply is controlled to provide a detection voltage with the voltage differential value as the voltage value to the main power supply, to detect whether the main power supply can complete the power supply of the circuit and control the aircraft to maintain the flight attitude. If the main power supply completes the conduction of the circuit, the detection voltage is cut off, and it is detected whether the aircraft is lower than the high difference value. If it is lower than the high difference value, a main supply signal is generated, and the main power supply is controlled to supply power to the aircraft at the voltage threshold.

[0019] As a further improvement of the present invention, the go-around logic includes:

[0020] When the main power supply is supplying power to the aircraft, the power storage in the main power supply is obtained, and according to the operating instructions of the tethering box, it is determined whether the main power supply can meet the power requirements of the flight mission. If the power requirements of the flight mission are met, the aircraft is controlled to perform a go-around.

[0021] If it is detected that the power storage in the main power supply is insufficient to complete the flight mission of the aircraft, it is identified whether the power storage meets the power value required to be consumed according to the return path. If it meets the requirements, the power value required to be consumed by the return path and the power storage are subtracted to form the go-around power. The flight time that the aircraft can continue to perform under the go-around power is judged according to the degree of power loss during the flight, so as to control the aircraft to complete the partial go-around within the flight time and then control the aircraft to fly back. If the go-around power is a negative value, the aircraft is controlled to fly back along the return path, and the backup power supply is controlled to assist in supplying power to the main power supply to complete the return of the aircraft.

[0022] As a further improvement of the present invention, the return logic includes:

[0023] When the voltage value of the main power supply is detected to be lower than the voltage threshold, a judgment signal is generated, and the backup power supply body uses the detection voltage to the main power supply to judge whether the voltage value of the main power supply body is lower than the voltage threshold.

[0024] If the value is true, the main control power supply is cut off and the circuit is switched to control the backup power supply to power the aircraft. At the same time, fly-back power supply data is generated, wherein the fly-back power supply data represents the flight voltage data for controlling only the operation of the aircraft rotor and the flight controller. The aircraft is controlled to fly back to the tethered box according to the fly-back power supply data and the fly-back image.

[0025] If the value is false, a repair signal is generated, and the power supply of the main control power supply is repaired according to the repair signal to determine the voltage value provided by the main control power supply to the aircraft.

[0026] As a further improvement of the present invention, the wireless communication mode includes Weibo communication and Bluetooth communication.

[0027] The beneficial effects of the present invention are as follows: the working condition detection module in the mooring subsystem monitors in real time whether the voltage provided by the mooring box meets the voltage requirement for normal operation of the aircraft. If it does not meet the voltage requirement for normal operation of the aircraft, the power subsystem controls the main power supply to control the power supply for the aircraft. Under the action of the mooring identification module, the positions of the aircraft and the mooring box can be monitored, and the optimal return path can be planned for the aircraft when flying back, so as to control the aircraft to fly back to the mooring box for recovery. Under the action of the backup power supply, the main power supply provides backup power when it is insufficient to provide normal flight of the aircraft. At the same time, it also plays the role of a detection power supply for circuit detection of the main power supply. Under the action of the flight controller, the flight information of the flight signal is analyzed and processed, and different control logics are allocated to control the normal flight of the aircraft under different working conditions, so as to achieve the effect of detecting the power supply condition of the aircraft to ensure the normal flight of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram showing the overall structure of the tethered aircraft and tethered box;

[0029] Figure 2 A system diagram that reflects the control system. DETAILED DESCRIPTION

[0030] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom," "top," "inner," and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

[0031] refer to Figure 1 and Figure 2 As shown, a specific embodiment of a dual power supply control system for a tethered aircraft according to the present invention includes: a flight controller, a power supply subsystem, and a tethering subsystem;

[0032] The tethering subsystem includes an operating condition detection module and a tethering identification module. The operating condition detection module is used to detect whether the voltage value provided to the aircraft by the tethering box meets the voltage threshold requirement. The voltage threshold represents the standard voltage value when the aircraft is in operation. The tethering identification module is configured with a marking strategy. The marking strategy includes obtaining the position of the tethering box and the flight path of the aircraft, and correcting the return path of the aircraft in real time based on the position of the aircraft. The return path represents the route taken by the aircraft to return to the tethering box.

[0033] The power subsystem includes a main power supply, a backup power supply, and a power control module. The main power supply is used to supply power to the aircraft when the tethered box does not provide power to the aircraft. The backup power supply is used to assist the aircraft in controlling the aircraft to fly back when the voltage provided by the main power supply is insufficient to reach the voltage threshold of the aircraft during operation. The power control module is configured with a height difference value and a control strategy. The height difference value represents the altitude difference range between the aircraft and the operating position when the aircraft is in the operating position. The control strategy includes, upon detecting that the operating voltage value of the aircraft is lower than the voltage threshold, detecting whether the altitude of the aircraft is lower than the height difference value. If so, controlling the main power supply to supply power to the aircraft. If the voltage value is still lower than the voltage threshold while the main power supply is supplying power to the aircraft, a return signal is generated. Upon detecting the return signal, the backup power supply supplies power to the aircraft and controls the aircraft to fly back to the tethered box.

[0034] The flight controller is configured with an execution strategy, which includes duty logic, go-around logic and return logic. The duty logic includes controlling the aircraft's duty flight and return flight according to the operating instructions of the tethering box. The go-around logic includes obtaining the operating instructions of the tethering box through wireless communication to perform a go-around duty when the main power supply is powering the aircraft. The wireless communication mode includes Weibo communication and Bluetooth communication. The return flight logic includes obtaining the positions of the aircraft and the tethering box to correct the return flight path of the aircraft to control the aircraft to return to the tethering box.

[0035] The working condition detection module is configured with a communication unit and a switching strategy, and the switching strategy includes:

[0036] When the real-time monitoring detects that the aircraft's input voltage is greater than or equal to the voltage threshold, a tethering signal is generated to control the tethering box to provide power to the aircraft;

[0037] When it is detected that the input voltage of the aircraft is less than the voltage threshold, a switching signal is generated and the communication unit is started to switch the tethered mode to the wireless communication mode, and the main control power supply is controlled to power the aircraft.

[0038] The marking strategy is specifically as follows:

[0039] When the tethered box supplies power to the aircraft, a scanning signal is generated. A flight control model is established with the tethered box as the origin based on the scanning signal. A scanning threshold is configured on the aircraft, and the scanning threshold represents the circumferential scanning range with the aircraft as the origin. While establishing the flight control model, the surrounding markers of the tethered box are scanned according to the scanning threshold to form a tethered image. When the aircraft is flying, the surrounding markers of the aircraft are scanned in real time with the scanning threshold to form a continuation image. When controlling the aircraft to fly back, the tethered marker and the continuation image are retrieved to form a return image. Based on the return image, a return path is constructed to control the return of the aircraft.

[0040] When the duty strategy is configured with an empty threshold, the marking strategy constructs the return path specifically as follows:

[0041] When forming the flyback image, the ground clearance and axial distance of the aircraft are obtained, wherein the ground clearance represents the altitude value of the aircraft when the aircraft is airborne, and the axial distance represents the straight-line distance value between the aircraft and the mooring box. The oblique angle distance between the aircraft and the mooring box is connected to form a right triangle with the ground clearance and the axial distance as right angles and the oblique angle distance as the hypotenuse. A plurality of jump marks are formed on the oblique angle distance to form a flyback control table, and the flyback control table is sent to the flight controller;

[0042] The flight controller receives the fly-back control table and controls the aircraft to fly back according to the duty strategy. When the aircraft flies back, it obtains the markers of the jump mark in the fly-back image, controls the aircraft to fly back along the jump mark in sequence, and when it flies back to the jump mark, it stops at the empty threshold and obtains the surrounding markers in real time for comparison with the fly-back image. The empty threshold represents the time value for the aircraft to empty at the jump mark to obtain the surrounding markers. If the markers obtained when emptying are inconsistent with the fly-back image, the fly-back path is reconstructed according to the method of constructing the fly-back path according to the marking strategy and the fly-back control table is corrected until the aircraft flies back to the tethering box.

[0043] The control strategy includes:

[0044] When it is detected that the voltage value provided by the mooring box is lower than the voltage threshold, a detection signal is generated. When the detection signal is generated, the difference between the real-time power supply voltage of the aircraft and the voltage threshold is obtained to form a voltage differential value, and the backup power supply is controlled to provide a detection voltage with the voltage differential value as the voltage value to the main power supply, to detect whether the main power supply can complete the power supply of the circuit and control the aircraft to maintain the flight attitude. If the main power supply completes the conduction of the circuit, the detection voltage is cut off, and it is detected whether the aircraft is lower than the high difference value. If it is lower than the high difference value, a main supply signal is generated, and the main power supply is controlled to supply power to the aircraft at the voltage threshold.

[0045] The go-around logic includes:

[0046] When the main power supply is supplying power to the aircraft, the power storage in the main power supply is obtained, and according to the operating instructions of the tethering box, it is determined whether the main power supply can meet the power requirements of the flight mission. If the power requirements of the flight mission are met, the aircraft is controlled to perform a go-around.

[0047] If it is detected that the power storage in the main power supply is insufficient to complete the flight mission of the aircraft, it is identified whether the power storage meets the power value required to be consumed according to the return path. If it meets the requirements, the power value required to be consumed by the return path and the power storage are subtracted to form the go-around power. The flight time that the aircraft can continue to perform under the go-around power is judged according to the degree of power loss during the flight, so as to control the aircraft to complete the partial go-around within the flight time and then control the aircraft to fly back. If the go-around power is a negative value, the aircraft is controlled to fly back along the return path, and the backup power supply is controlled to assist in supplying power to the main power supply to complete the return of the aircraft.

[0048] The return logic includes:

[0049] When the voltage value of the main power supply is detected to be lower than the voltage threshold, a judgment signal is generated, and the backup power supply body uses the detection voltage to the main power supply to judge whether the voltage value of the main power supply body is lower than the voltage threshold.

[0050] If the value is true, the main control power supply is cut off and the circuit is switched to control the backup power supply to power the aircraft. At the same time, fly-back power supply data is generated, wherein the fly-back power supply data represents the flight voltage data for controlling only the operation of the aircraft rotor and the flight controller. The aircraft is controlled to fly back to the tethered box according to the fly-back power supply data and the fly-back image.

[0051] If the value is false, a repair signal is generated, and the power supply of the main control power supply is repaired according to the repair signal to determine the voltage value provided by the main control power supply to the aircraft.

[0052] Working principle and its effect:

[0053] The working condition detection module in the tethering subsystem monitors in real time whether the voltage provided by the tethering box meets the voltage requirements for normal operation of the aircraft. If it does not meet the voltage requirements for normal operation of the aircraft, the power subsystem controls the main power supply to control the power supply for the aircraft. Under the action of the tethering identification module, the position of the aircraft and the tethering box can be monitored, and the best return path can be planned for the aircraft when it flies back, so as to control the aircraft to fly back to the tethering box for recovery. Under the action of the backup power supply, the main power supply provides backup power when it is insufficient to provide normal flight of the aircraft. At the same time, it also plays the role of a detection power supply for circuit detection of the main power supply. Under the action of the flight controller, the flight information of the flight signal is analyzed and processed, and different control logics are allocated to control the normal flight of the aircraft under different working conditions, so as to achieve the effect of detecting the power supply condition of the aircraft to ensure the normal flight of the aircraft.

[0054] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A dual power supply control system for a tethered aircraft, characterized in that: include: Flight controller, power subsystem and tether subsystem; The tethering subsystem includes an operating condition detection module and a tethering identification module. The operating condition detection module is used to detect whether the voltage value provided to the aircraft by the tethering box meets the voltage threshold requirement. The voltage threshold represents the standard voltage value when the aircraft is in operation. The tethering identification module is configured with a marking strategy. The marking strategy includes obtaining the position of the tethering box and the flight path of the aircraft, and correcting the return path of the aircraft in real time based on the position of the aircraft. The return path represents the route taken by the aircraft to return to the tethering box. The power subsystem includes a main power supply, a backup power supply, and a power control module. The main power supply is used to supply power to the aircraft when the tethered box does not provide power to the aircraft. The backup power supply is used to assist the aircraft in controlling the aircraft to fly back when the voltage provided by the main power supply is insufficient to reach the voltage threshold of the aircraft during operation. The power control module is configured with a height difference value and a control strategy. The height difference value represents the altitude difference range between the aircraft and the operating position when the aircraft is in the operating position. The control strategy includes, upon detecting that the operating voltage value of the aircraft is lower than the voltage threshold, detecting whether the altitude of the aircraft is lower than the height difference value. If so, controlling the main power supply to supply power to the aircraft. If the voltage value is still lower than the voltage threshold while the main power supply is supplying power to the aircraft, a return signal is generated. Upon detecting the return signal, the backup power supply supplies power to the aircraft and controls the aircraft to fly back to the tethered box. The flight controller is configured with an execution strategy, which includes duty logic, go-around logic and return logic. The duty logic includes controlling the aircraft's duty flight and return flight according to the operating instructions of the mooring box. The go-around logic includes obtaining the operating instructions of the mooring box through wireless communication to perform a go-around duty when the main power supply is powering the aircraft. The return flight logic includes obtaining the positions of the aircraft and the mooring box to correct the return flight path of the aircraft to control the aircraft to return to the mooring box.

2. The dual power supply control system for a tethered aircraft according to claim 1, characterized in that: The working condition detection module is configured with a communication unit and a switching strategy, and the switching strategy includes: When the real-time monitoring detects that the aircraft's input voltage is greater than or equal to the voltage threshold, a tethering signal is generated to control the tethering box to provide power to the aircraft; When it is detected that the input voltage of the aircraft is less than the voltage threshold, a switching signal is generated and the communication unit is started to switch the tethered mode to the wireless communication mode, and the main control power supply is controlled to power the aircraft.

3. The dual power supply control system for a tethered aircraft according to claim 2, characterized in that: The marking strategy is specifically as follows: When the tethered box supplies power to the aircraft, a scanning signal is generated. A flight control model is established with the tethered box as the origin based on the scanning signal. A scanning threshold is configured on the aircraft, and the scanning threshold represents the circumferential scanning range with the aircraft as the origin. While establishing the flight control model, the surrounding markers of the tethered box are scanned according to the scanning threshold to form a tethered image. When the aircraft is flying, the surrounding markers of the aircraft are scanned in real time with the scanning threshold to form a continuation image. When controlling the aircraft to fly back, the tethered marker and the continuation image are retrieved to form a return image. Based on the return image, a return path is constructed to control the return of the aircraft.

4. The dual power supply control system for a tethered aircraft according to claim 3, characterized in that: When the execution strategy is configured with a null threshold, the marking strategy constructs the return path specifically as follows: When forming the flyback image, the ground clearance and axial distance of the aircraft are obtained, wherein the ground clearance represents the altitude value of the aircraft when the aircraft is airborne, and the axial distance represents the straight-line distance value between the aircraft and the mooring box. The oblique angle distance between the aircraft and the mooring box is connected to form a right triangle with the ground clearance and the axial distance as right angles and the oblique angle distance as the hypotenuse. A plurality of jump marks are formed on the oblique angle distance to form a flyback control table, and the flyback control table is sent to the flight controller; The flight controller receives the fly-back control table and controls the aircraft to fly back according to the duty strategy. When the aircraft flies back, it obtains the markers of the jump mark in the fly-back image, controls the aircraft to fly back along the jump mark in sequence, and when it flies back to the jump mark, it stops at the empty threshold and obtains the surrounding markers in real time for comparison with the fly-back image. The empty threshold represents the time value for the aircraft to empty at the jump mark to obtain the surrounding markers. If the markers obtained when emptying are inconsistent with the fly-back image, the fly-back path is reconstructed according to the method of constructing the fly-back path according to the marking strategy and the fly-back control table is corrected until the aircraft flies back to the tethering box.

5. The dual power supply control system for a tethered aircraft according to claim 4, characterized in that: The control strategy includes: When it is detected that the voltage value provided by the mooring box is lower than the voltage threshold, a detection signal is generated. When the detection signal is generated, the difference between the real-time power supply voltage of the aircraft and the voltage threshold is obtained to form a voltage differential value, and the backup power supply is controlled to provide a detection voltage with the voltage differential value as the voltage value to the main power supply, to detect whether the main power supply can complete the power supply of the circuit and control the aircraft to maintain the flight attitude. If the main power supply completes the conduction of the circuit, the detection voltage is cut off, and it is detected whether the aircraft is lower than the high difference value. If it is lower than the high difference value, a main supply signal is generated, and the main power supply is controlled to supply power to the aircraft at the voltage threshold.

6. The dual power supply control system for a tethered aircraft according to claim 5, characterized in that: The go-around logic includes: When the main power supply is supplying power to the aircraft, the power storage in the main power supply is obtained, and according to the operating instructions of the tethering box, it is determined whether the main power supply can meet the power requirements of the flight mission. If the power requirements of the flight mission are met, the aircraft is controlled to perform a go-around. If it is detected that the power storage in the main power supply is insufficient to complete the flight mission of the aircraft, it is identified whether the power storage meets the power value required to be consumed according to the return path. If it meets the requirements, the power value required to be consumed by the return path and the power storage are subtracted to form the go-around power. The flight time that the aircraft can continue to perform under the go-around power is judged according to the degree of power loss during the flight, so as to control the aircraft to complete the partial go-around within the flight time and then control the aircraft to fly back. If the go-around power is a negative value, the aircraft is controlled to fly back along the return path, and the backup power supply is controlled to assist in supplying power to the main power supply to complete the return of the aircraft.

7. The dual power supply control system for a tethered aircraft according to claim 6, characterized in that: The return logic includes: When the voltage value of the main power supply is detected to be lower than the voltage threshold, a judgment signal is generated, and the backup power supply body uses the detection voltage to the main power supply to judge whether the voltage value of the main power supply body is lower than the voltage threshold. If the value is true, the main control power supply is cut off and the circuit is switched to control the backup power supply to power the aircraft. At the same time, fly-back power supply data is generated, wherein the fly-back power supply data represents the flight voltage data for controlling only the operation of the aircraft rotor and the flight controller. The aircraft is controlled to fly back to the tethered box according to the fly-back power supply data and the fly-back image. If the value is false, a repair signal is generated, and the power supply of the main control power supply is repaired according to the repair signal to determine the voltage value provided by the main control power supply to the aircraft.

8. The dual power supply control system for a tethered aircraft according to claim 2, characterized in that: The wireless communication modes include microwave communication and Bluetooth communication.

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