Offset lighting system for tethered hover platform

Abstract

The application discloses a kind of offset illumination systems applied to tethered hovering platform, and technical solution points are including setting on the lighting lamp group of tethered unmanned plane, the flight controller is arranged in the tethered unmanned plane, the lighting control system is integrated in the flight controller, the hovering platform is arranged on the tethered unmanned plane, the lighting lamp group is set on the hovering platform, the lighting lamp group includes main spotlight and compensation lamp;The lighting control system includes light compensation control module, offset control module and lamp control module, the light compensation control module is used to form the compensation data of control compensation light compensation, the lamp control module is used to control compensation light, the offset control module is used to form the adjustment data of correction tethered unmanned plane position and compensation light spot.The application provides a kind of offset illumination systems applied to tethered hovering platform, with the adjustment of height keeps sufficient light spot illumination.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft lighting system, more particularly, to a offset lighting system applied to tethered hovering platform. BACKGROUND

[0002] The unmanned aerial vehicle is a non-crewed aircraft that is operated by using radio remote control equipment and self-provided program control device. With the rapid development of aircraft, the unmanned aerial vehicle can be divided into remote control aircraft and tethered aircraft in different application environments. The tethered aircraft is composed of an aircraft, a tethered power supply, an optical cable and an automatic line winding and unwinding system. The tethered unmanned aerial vehicle can be widely applied to maintenance and detection in practical application.

[0003] The Chinese patent with publication number CN110937124A discloses a lighting unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a tethered cable and a mooring unit. The bottom of the unmanned aerial vehicle body is provided with a belly lamp. The mooring unit comprises a generator, a direct current high-voltage power supply and a cable winch. The generator is electrically connected with the direct current high-voltage power supply. The tethered cable is wound on the cable winch, and the two ends of the tethered cable are electrically connected with the direct current high-voltage power supply and the unmanned aerial vehicle body respectively.

[0004] The above-mentioned lighting unmanned aerial vehicle can perform lighting, but the light spot is an elliptical light spot during lighting. With the adjustment of the height of the unmanned aerial vehicle, the light spot generated by irradiation gradually becomes larger and fades, so that the lighting cannot meet the needs of different scenes. Therefore, an offset lighting system applied to tethered hovering platform is urgently needed to provide stable lighting. SUMMARY

[0005] In view of the deficiencies in the prior art, the purpose of the present application is to provide an offset lighting system applied to tethered hovering platform, which can maintain sufficient light spot lighting with the adjustment of height.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0007] An offset lighting system applied to tethered hovering platform, comprising a lighting lamp group arranged on a tethered unmanned aerial vehicle, a flight control device arranged in the tethered unmanned aerial vehicle, an integrated lighting control system in the flight control device, a hovering platform arranged on the tethered unmanned aerial vehicle, and the lighting lamp group arranged on the hovering platform, wherein the lighting lamp group comprises a main spotlight and a compensation lamp.

[0008] The illumination control system comprises a light compensation control module, an offset control module and a lamp control module, the light compensation control module is configured with a light spot threshold and a compensation strategy, the light spot threshold comprises a light spot area and a light spot brightness, the compensation strategy comprises identifying a main light spot formed by a main light, comparing the light spot area and the light spot brightness of the main light spot with the light spot area and the light spot brightness in the light spot threshold, and forming compensation data if the main light spot does not reach the light spot threshold, the lamp control module is configured with an analysis strategy, the analysis strategy is used to analyze the compensation data to form compensation information and offset information, and the compensation light is controlled to form a compensation light spot to compensate for the main light spot according to the compensation information and the offset information, so that the main light spot meets the light spot threshold;

[0009] The offset control module is configured with an offset strategy, the offset strategy comprises obtaining position information of the tethered unmanned aerial vehicle, the position information comprises a position height and a translation distance of the tethered unmanned aerial vehicle, identifying the main light spot corresponding to the position information, and generating adjustment data according to the position information, the adjustment data comprises voltage information and offset compensation information, the irradiation power of the main light is corrected according to the voltage information to correct the main light spot, and the position of the tethered unmanned aerial vehicle and the compensation light spot formed by the compensation light are corrected according to the offset compensation information.

[0010] As a further improvement of the application, the illumination control system further comprises a shooting angle recognition module, the shooting angle recognition module is used to identify the irradiation angle of the main light, when the main light is vertically irradiated, whether the main light spot formed by the main light is circular is identified, if the main light spot is circular, whether the main light spot meets the light spot threshold is identified, if the main light spot does not meet the light spot threshold, the voltage of the main light is adjusted by the flight controller, so that the main light spot meets the light spot threshold;

[0011] If it is identified that the main light is offset irradiation, compensation data is formed according to the compensation strategy, and the compensation light is controlled by the lamp control module to form a compensation light spot to compensate for the main light spot.

[0012] As a further improvement of the application, the light spot area comprises an effective area and a diffusion area, the effective area represents the actual irradiation area of the light spot, and the diffusion area represents the irradiation area formed by the scattering of the light spot, the compensation light spot is used to compensate for the difference between the main light spot and the irradiation area formed in the effective area, and is also used to compensate for the diffusion area.

[0013] As a further improvement of the application, the specific way of forming compensation data by the compensation strategy is:

[0014] The compensation data includes long axis compensation information and short axis compensation information, a main light spot is identified, a center of the main light spot is positioned, a long axis and a short axis of the main light spot are determined, the main light spot is divided into four equal parts to form a main light area, a cutting line is drawn in the main light area, the cutting line is used to divide the main light area into two equal parts, a short axis compensation area is defined as the part of the main light area near the short axis, a long axis compensation area is defined as the part of the main light area near the long axis, a compensation difference value is formed by identifying the difference between the short axis compensation area and the long axis compensation area and the light spot area and the light spot brightness, the compensation difference value in the short axis compensation area is assigned to the short axis compensation information, and the compensation difference value in the long axis compensation area is assigned to the long axis compensation information.

[0015] As a further improvement of the present application, the short axis compensation information includes an angle of a compensation light spot formed by a compensation lamp irradiation along a boundary path of the main light spot in the short axis compensation area, the compensation light spot compensates the boundary path of the main light spot along the short axis compensation area, so that the boundary path of the main light spot is a quarter of a circular arc;

[0016] The long axis compensation information includes an angle of a compensation light spot formed by a compensation lamp irradiation along a boundary path of the main light spot in the long axis compensation area, the compensation light spot compensates the boundary path of the main light spot along the long axis compensation area, so that the boundary path of the main light spot is a quarter of a circular arc.

[0017] As a further improvement of the present application, the long axis of the compensation light spot in the short axis compensation area is horizontal or at an angle to the short axis of the main light spot, and the angle is less than 45°.

[0018] The long axis of the compensation light spot in the long axis compensation area is horizontal or at an angle to the long axis of the main light spot, and the angle is less than or equal to 45°.

[0019] As a further improvement of the present application, the offset strategy generates adjustment data including:

[0020] When the vertical irradiation of the irradiation angle of the main light spot is identified, if the main light spot does not meet the light spot threshold, the difference between the irradiation area of the main light spot and the light spot area is determined, if it is positive, a lowering signal is generated to control the tethered unmanned aerial vehicle to lower the height, so that the irradiation area of the main light spot is the same as the light spot area, if it is negative, a climbing signal is generated to control the tethered unmanned aerial vehicle to rise, so that the irradiation area of the main light spot is the same as the light spot area.

[0021] When the irradiation area of the main light spot meets the light spot area, the difference between the brightness of the main light spot and the light spot brightness is determined, if it is positive, a voltage reduction signal is generated to control the tethered unmanned aerial vehicle to reduce the irradiation voltage of the main light, so that the brightness of the main light spot meets the light spot brightness, if it is negative, a voltage increase signal is generated to control the tethered unmanned aerial vehicle to increase the irradiation voltage of the main light, so that the brightness of the main light spot meets the light spot brightness.

[0022] As a further improvement of the present application, the flight controller is configured with a threshold value of the shooting angle of the main shooting lamp, the threshold value represents the shooting angle of the main shooting lamp deviating from the standard main shooting spot, the deviation strategy generating adjustment data further comprises:

[0023] When the shooting angle of the main shooting lamp is identified as deviating from the shooting angle, the main shooting lamp is controlled to adjust to the threshold value of the shooting angle, and it is identified whether the main shooting spot formed at the corresponding position of the tethered unmanned aerial vehicle is consistent with the standard spot formed at the threshold value of the shooting angle, if not, it is identified whether the area of the main shooting spot is larger than that of the standard spot;

[0024] If the main shooting spot is larger than the standard spot, a pull-in signal is generated, and the tethered unmanned aerial vehicle is controlled to lower the height at which the tethered unmanned aerial vehicle is located along the height direction;

[0025] If the main shooting spot is smaller than the standard spot, a pull-out signal is generated, and the tethered unmanned aerial vehicle is controlled to raise the height at which the tethered unmanned aerial vehicle is located along the height direction;

[0026] The deviation compensation information is generated according to the height at which the tethered unmanned aerial vehicle is located, the deviation compensation information includes a compensation angle and a compensation voltage of the compensation lamp, the compensation lamp is controlled to accurately compensate the main shooting spot according to the compensation angle, and the compensation brightness of the compensation lamp is controlled according to the compensation voltage.

[0027] As a further improvement of the present application, the flight controller controls the irradiation lamp group to adjust through a wireless communication mode.

[0028] The present application has the following beneficial effects: by setting a hovering platform on the tethered unmanned aerial vehicle, installing an irradiation lamp group on the hovering platform, the irradiation lamp group can adjust the spot formed by the irradiation lamp group to realize illumination and detection, the light compensation control module in the illumination control system realizes detection and judgment on the main shooting spot of the main shooting lamp, and forms a compensation spot for compensating the main shooting spot through the compensation lamp, so that the main shooting spot can be kept at the best spot threshold value, so that the tethered unmanned aerial vehicle can keep the best illumination effect of the main shooting spot at all times when moving, and the position information is detected at all times during the movement of the tethered unmanned aerial vehicle, so as to correct the main shooting lamp and the compensation lamp to keep the main shooting spot at the best illumination effect at all times, and the effect of keeping sufficient spot illumination with height adjustment is realized. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 To embody the structure of the tethered unmanned aerial vehicle system;

[0030] Figure 2 To embody the flow chart of the illumination control system in the present application. DETAILED DESCRIPTION

[0031] The application will be described in further detail below with reference to the drawings and embodiments. Identical parts are denoted by identical reference numerals in the description below. It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the description below refer to the directions in the drawings, and the terms "bottom surface" and "top surface", "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0032] Reference Figure 1 and Figure 2 As shown in FIG. 1, it is a specific embodiment of the application applied to a tethered hovering platform offset lighting system, including a lighting lamp group arranged on a tethered unmanned aerial vehicle, the tethered unmanned aerial vehicle is provided with a flight controller, the flight controller is integrated with a lighting control system, the tethered unmanned aerial vehicle is provided with a hovering platform, the lighting lamp group is arranged on the hovering platform, the lighting lamp group includes a main spotlight and a compensation lamp, the flight controller controls the lighting lamp group adjustment through wireless communication, and the wireless communication includes microwave control, Bluetooth control and wifi control.

[0033] The lighting control system includes a light compensation control module, an offset control module and a lamp control module, the light compensation control module is configured with a light spot threshold and a compensation strategy, the light spot threshold includes a light spot area and a light spot brightness, the compensation strategy includes identifying a main light spot formed by the main spotlight, comparing the light spot area and the light spot brightness of the main light spot with the light spot area and the light spot brightness in the light spot threshold, and forming compensation data if the main light spot does not reach the light spot threshold, the lamp control module is configured with an analysis strategy, the analysis strategy is used to analyze the compensation data to form compensation information and offset information, and the compensation lamp is controlled to form a compensation light spot to compensate for the main light spot according to the compensation information and the offset information, so that the main light spot meets the light spot threshold;

[0034] The offset control module is configured with an offset strategy, the offset strategy includes obtaining position information of the tethered unmanned aerial vehicle, the position information includes position height and translation distance of the tethered unmanned aerial vehicle, identifying the main light spot corresponding to the position information, and generating adjustment data according to the position information, the adjustment data includes voltage information and offset compensation information, the irradiation power of the main spotlight is corrected according to the voltage information to correct the main light spot, and the position of the tethered unmanned aerial vehicle and the compensation light spot formed by the compensation lamp are corrected according to the offset compensation information.

[0035] The lighting control system further includes a shooting angle recognition module, the shooting angle recognition module is used to identify the irradiation angle of the main spotlight, when the main spotlight is vertically irradiated, it is identified whether the main light spot formed by the main spotlight is circular, if it is a circular main light spot, it is identified whether the main light spot meets the light spot threshold, if the main light spot does not meet the light spot threshold, the voltage of the main spotlight is controlled by the flight controller to adjust, so that the main light spot meets the light spot threshold;

[0036] If the main light spot is identified as a deflected light spot, compensation data is formed according to the compensation strategy and compensation light spots are formed according to the light control module to compensate the main light spot.

[0037] The light spot area includes an effective area and a diffusion area, the effective area represents the actual irradiation area of the light spot, and the diffusion area represents the irradiation area formed by diffusion of the light spot. The compensation light spot is used to compensate for the difference between the main light spot and the irradiation area formed in the effective area, and is also used to compensate for the diffusion area.

[0038] The specific way in which the compensation strategy forms the compensation data is:

[0039] The compensation data includes long-axis compensation information and short-axis compensation information. The main light spot is identified and the center of the elliptical main light spot is located. The long axis and the short axis of the main light spot are determined. The main light spot is divided into four equal parts to form a main light area. A cutting line is drawn in the main light area. The cutting line is used to divide the main light area. The main light area on the side of the cutting line close to the short axis is defined as the short-axis compensation domain, and the main light area on the side of the cutting line close to the long axis is defined as the long-axis compensation domain. The difference between the short-axis compensation domain and the long-axis compensation domain and the light spot area and the light spot brightness is formed to form a compensation difference. The compensation difference in the short-axis compensation domain is assigned to the short-axis compensation information, and the compensation difference in the long-axis compensation domain is assigned to the long-axis compensation information.

[0040] The short-axis compensation information includes the angle of the compensation light spot formed by the compensation lamp irradiation along the boundary path of the main light spot at the short-axis compensation domain, and the compensation light spot compensates the boundary path of the main light spot along the short-axis compensation domain, so that the boundary path of the main light spot is a quarter of a circular arc.

[0041] The long-axis compensation information includes the angle of the compensation light spot formed by the compensation lamp irradiation along the boundary path of the main light spot at the long-axis compensation domain, and the compensation light spot compensates the boundary path of the main light spot along the long-axis compensation domain, so that the boundary path of the main light spot is a quarter of a circular arc.

[0042] The long axis of the compensation light spot in the short-axis compensation domain is horizontally arranged or arranged at an angle with the short axis of the main light spot, and the angle is less than 45°. The long axis of the compensation light spot in the long-axis compensation domain is horizontally arranged or arranged at an angle with the long axis of the main light spot, and the angle is less than or equal to 45°.

[0043] The deflection strategy generates adjustment data, including:

[0044] When the irradiation angle of the main light is identified as the vertical irradiation, if the main light spot does not meet the light spot threshold, the difference between the irradiation area of the main light spot and the light spot area is determined, if the difference is positive, a lowering signal is generated to control the tethered UAV to lower the height so that the irradiation area of the main light spot is the same as the light spot area, if the difference is negative, a climbing signal is generated to control the tethered UAV to raise the height so that the irradiation area of the main light spot is the same as the light spot area.

[0045] When the irradiation area of the main light spot meets the light spot area, the difference between the brightness of the main light spot and the light spot brightness is determined, if the difference is positive, a voltage lowering signal is generated to control the tethered UAV to lower the irradiation voltage of the main light so that the brightness of the main light spot meets the light spot brightness, if the difference is negative, a voltage raising signal is generated to control the tethered UAV to raise the irradiation voltage of the main light so that the brightness of the main light spot meets the light spot brightness.

[0046] The flight controller is configured with a shooting angle threshold of the main light, the shooting angle threshold represents the offset irradiation angle of the main light irradiating to form a standard main light spot, and the offset strategy generates adjustment data further comprising:

[0047] When the irradiation angle of the main light is identified as the offset irradiation, the main light is controlled to adjust to the shooting angle threshold, and it is identified whether the main light spot formed by the tethered UAV at the corresponding position is consistent with the standard light spot formed by the shooting angle threshold, if not, it is identified whether the area of the main light spot is greater than the area of the standard light spot;

[0048] If the main light spot is greater than the standard light spot, a pull-in signal is generated to control the tethered UAV to lower the height of the tethered UAV along the height direction;

[0049] If the main light spot is less than the standard light spot, an away signal is generated to control the tethered UAV to raise the height of the tethered UAV along the height direction;

[0050] The offset compensation information is generated according to the height of the tethered UAV, the offset compensation information includes a compensation angle and a compensation voltage of the compensation light, the compensation light is controlled to accurately compensate the irradiation of the main light spot according to the compensation angle, and the compensation brightness of the compensation light is controlled according to the compensation voltage.

[0051] Working principle and effect:

[0052] By setting the hovering platform on the tethered unmanned aerial vehicle, installing the irradiation lamp group on the hovering platform, the irradiation lamp group can adjust the light spot formed by the irradiation lamp group to realize illumination and detection when the tethered unmanned aerial vehicle moves, the light compensation control module in the illumination control system realizes detection and judgment on the main irradiation light spot, and forms a compensation light spot for compensating the main irradiation light spot through the compensation lamp, so that the main irradiation light spot can be kept in the best light spot threshold, so that the tethered unmanned aerial vehicle can keep the best illumination effect of the main irradiation light spot at any time when moving, and the position information is detected at any time during the movement of the tethered unmanned aerial vehicle, so as to correct the main irradiation lamp and the compensation lamp to keep the main irradiation light spot at the best illumination effect at any time, and realize the effect of keeping sufficient light spot illumination with the adjustment of the height.

[0053] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as the protection scope of the present application.

Claims

1. An offset lighting system for use on a moored hovering platform, characterized in that, The application relates to a lighting lamp set arranged on a tethered unmanned aerial vehicle, a flight controller is arranged in the unmanned aerial vehicle, a lighting control system is integrated in the flight controller, a hovering platform is arranged on the unmanned aerial vehicle, the lighting lamp set is arranged on the hovering platform, and the lighting lamp set comprises main shooting lamps and compensation lamps. The lighting control system comprises a light compensation control module, an offset control module and a lamp control module, the light compensation control module is configured with a light spot threshold and a compensation strategy, the light spot threshold comprises a light spot area and a light spot brightness, the compensation strategy comprises identifying a main shooting light spot formed by the main shooting lamps, comparing the light spot area and the light spot brightness formed by the main shooting light spot with the light spot area and the light spot brightness in the light spot threshold, and forming compensation data when the main shooting light spot does not reach the light spot threshold, the lamp control module is configured with an analysis strategy, the analysis strategy is used for analyzing the compensation data to form compensation information and offset information, and the compensation lamps are controlled to form compensation light spots according to the compensation information and the offset information to compensate the main shooting light spot, so that the main shooting light spot meets the light spot threshold. The offset control module is configured with an offset strategy, the offset strategy comprises acquiring position information of the unmanned aerial vehicle, the position information comprises a position height and a translation distance of the unmanned aerial vehicle, identifying the main shooting light spot corresponding to the position information, and generating adjustment data according to the position information, the adjustment data comprises voltage information and offset compensation information, the irradiation power of the main shooting lamps is corrected according to the voltage information to correct the main shooting light spot, and the position of the unmanned aerial vehicle and the compensation light spot formed by the compensation lamps are corrected according to the offset compensation information. The specific way of forming the compensation data by the compensation strategy is as follows: The compensation data comprises long-axis compensation information and short-axis compensation information, the center of the elliptical main shooting light spot is positioned, the long axis and the short axis of the main shooting light spot are determined, the main shooting light spot is divided into four equal parts to form four main shooting surface domains, a cutting line is drawn in the main shooting surface domain, the cutting line is used to divide the main shooting surface domain, the main shooting surface domain on the side of the cutting line close to the short axis is defined as a short-axis compensation domain, the main shooting surface domain on the side of the cutting line close to the long axis is defined as a long-axis compensation domain, the difference between the short-axis compensation domain and the long-axis compensation domain and the light spot area and the light spot brightness is identified to form a compensation difference value, the compensation difference value in the short-axis compensation domain is assigned to the short-axis compensation information, and the compensation difference value in the long-axis compensation domain is assigned to the long-axis compensation information. The short-axis compensation information comprises an angle of the compensation light spot formed by the irradiation of the compensation lamps along the boundary path of the main shooting light spot in the short-axis compensation domain, the compensation light spot compensates the boundary path of the main shooting light spot along the short-axis compensation domain, so that the boundary path of the main shooting light spot presents a quarter of a circular arc. The long-axis compensation information comprises an angle of the compensation light spot formed by the irradiation of the compensation lamps along the boundary path of the main shooting light spot in the long-axis compensation domain, the compensation light spot compensates the boundary path of the main shooting light spot along the long-axis compensation domain, so that the boundary path of the main shooting light spot presents a quarter of a circular arc. The offset strategy generates adjustment data, and the adjustment data comprises voltage information and offset compensation information. When the main light spot is not in accordance with the light spot threshold, the difference between the irradiation area of the main light spot and the light spot area is determined, and if the difference is positive, a lowering signal is generated to control the tethered UAV to lower the height so that the irradiation area of the main light spot is the same as the light spot area, and if the difference is negative, a climbing signal is generated to control the tethered UAV to raise the height so that the irradiation area of the main light spot is the same as the light spot area; When the irradiation area of the main light spot is in accordance with the light spot area, the difference between the brightness of the main light spot and the light spot brightness is determined, and if the difference is positive, a voltage lowering signal is generated to control the tethered UAV to lower the irradiation voltage of the main light spot so that the brightness of the main light spot is in accordance with the light spot brightness, and if the difference is negative, a voltage raising signal is generated to control the tethered UAV to raise the irradiation voltage of the main light spot so that the brightness of the main light spot is in accordance with the light spot brightness.

2. The offset lighting system for a tethered hover platform of claim 1, wherein: The illumination control system further comprises a shooting angle recognition module, which is used to recognize the irradiation angle of the main light, and when the main light is in vertical irradiation, it is recognized whether the main light spot formed by the main light is circular, and if it is a circular main light spot, it is recognized whether the main light spot is in accordance with the light spot threshold, and if the main light spot is not in accordance with the light spot threshold, the voltage of the main light is adjusted by the flight controller to make the main light spot in accordance with the light spot threshold. If it is recognized that the main light is in offset irradiation, compensation data is formed according to the compensation strategy, and the compensation light spot is formed by the lamp control module to compensate for the main light spot.

3. The offset lighting system for a tethered hover platform of claim 2, wherein: The light spot area includes an effective area and a diffusion area, the effective area represents the actual irradiation area of the light spot, and the diffusion area represents the irradiation area formed by the scattering of the light spot, the compensation light spot is used to compensate for the difference between the main light spot and the irradiation area formed in the effective area, and is also used to compensate for the diffusion area.

4. The offset lighting system for a tethered hover platform of claim 1, wherein: In the short axis compensation area, the long axis of the compensation light spot is horizontally or at an angle with the short axis of the main light spot, and the angle is less than 45°. In the long axis compensation area, the long axis of the compensation light spot is horizontally or at an angle with the long axis of the main light spot, and the angle is less than or equal to 45°.

5. The offset lighting system for a tethered hover platform of claim 1, wherein: The flight controller is configured with a shooting angle threshold of the main light, which represents the offset irradiation angle of the main light forming a standard main light spot, and the offset strategy generates adjustment data, which further includes: When the irradiation angle of the main light is recognized as offset irradiation, the main light is adjusted to the shooting angle threshold, and it is recognized whether the main light spot formed by the tethered UAV at the corresponding position is consistent with the standard light spot formed by the shooting angle threshold, and if not, it is recognized whether the area of the main light spot is greater than that of the standard light spot; If the main light spot is greater than the standard light spot, a pull-in signal is generated to control the tethered UAV to lower the height in the height direction; If the main light spot is less than the standard light spot, a far-off signal is generated to control the tethered UAV to raise the height in the height direction; The offset compensation information includes the compensation angle and the compensation voltage of the compensation light, the compensation light accurately compensates for the main light spot according to the compensation angle, and the compensation brightness of the compensation light is controlled according to the compensation voltage.

6. The offset lighting system for a tethered hover platform of claim 1, wherein: The flight controller controls the irradiation lamp group to adjust through wireless communication.

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