A multi-rotor tethered unmanned aerial vehicle

Abstract

This invention discloses a multi-rotor tethered unmanned aerial vehicle (UAV), including landing gear, a gimbal pod, a ground high-voltage power supply unit, and a center disk. The gimbal pod is mounted on the main frame below the center disk cavity with screws. The ground high-voltage power supply unit supplies power to the multi-rotor tethered UAV platform via high-voltage cables. A large-area heat dissipation pool is provided on the top of the center disk cavity, and the turbulence generated by the aerodynamic interference of the coaxial dual-rotor blades accelerates the flow of hot air in the heat dissipation pool, thereby achieving heat dissipation for the onboard high-power power module without the need for an additional cooling fan. This reduces weight and power consumption, greatly improving the reliability of power supply use. The electronic speed controller is mounted on the side wall of the center disk, and heat dissipation is achieved by utilizing the downwash flow at the edge of the coaxial dual-rotor blades without affecting the aerodynamic efficiency of the coaxial dual-rotor blades, thus greatly improving the reliability of the electronic speed controller.

Description

Technical Field

[0001] This invention belongs to the field of tethered drone technology, specifically a multi-rotor tethered drone. Background Technology

[0002] Tethered drones have been widely used in various fields such as security, emergency rescue, and engineering monitoring. Tethered drones connect to high-voltage electricity on the ground via a tethering cable ranging from tens to hundreds of meters in length. This high-voltage electricity is then converted by a step-down module to power the tethered drone, giving it long endurance—an advantage not found in non-tethered drones. Depending on the power supply on the ground, they can be designed to operate for 12 hours or even 24 hours.

[0003] Conventional tethered drones, due to their long operating hours, prolonged continuous vibration, high rate of mechanical failure, severe electrical overheating, and frequent crashes, struggle to meet the requirements for extended operational duration. Therefore, designing a multi-rotor tethered drone that meets the vibration requirements for long-endurance operation and possesses excellent heat dissipation performance is essential. Summary of the Invention

[0004] In view of the technical problems existing in the background art, the present invention proposes a multi-rotor tethered drone that can meet the requirements of long endurance and good heat dissipation performance.

[0005] A multi-rotor tethered unmanned aerial vehicle (UAV) comprises landing gear, a gimbal pod, and a ground-based high-voltage power supply unit.

[0006] It also includes a coaxial dual-rotor propulsion system that can reduce the wheelbase and overall deployment size of the drone;

[0007] It also includes a center plate that meets the vibration requirements for long-term operation and has good heat dissipation.

[0008] The center disk includes center disk internals, a center disk cavity, an antenna, a spring pin assembly, an electronic speed controller, a splitter hinge assembly, a spare battery compartment assembly, a hookup mount, a hookup aviation connector, a center disk lower cover, a cover, a splitter control module, a current detection module, a power supply module, a voltage conversion module, a flight control module, a link module, a positioning module, and a power control module.

[0009] The internal components of the central disk are glued to the inner wall surfaces of the four corners of the central disk cavity. The GPS / RTK antenna is mounted on the upper surface of the central disk cavity with screws. The spring pin assembly is installed in the pin holes on the upper surface of the four corners of the central disk cavity. The electronic speed controller is mounted on the side wall of the central disk cavity with screws. The splitter hinge assembly is mounted on the lower cover plate of the central disk via a hinge structure. The spare battery compartment assembly is mounted on the main frame below the central disk cavity with screws. The mooring bracket is mounted in the middle of the lower frame of the central disk with screws. The mooring aviation connector is mounted on the main frame below the central disk cavity with screws. The lower cover plate of the central disk is mounted on the main frame below the central disk cavity with screws. The hatch is mounted on the lower cover plate of the central disk via a hinge. The splitter control module is mounted on the main frame below the central disk cavity with screws.

[0010] The shunt control module, current detection module, high-power power supply module, voltage conversion module, flight control module, link module, GPS / RTK module and power control module are installed inside the central disk cavity by screws;

[0011] The gimbal pod is mounted on the main frame below the central disk cavity by screws.

[0012] The ground high-voltage power supply unit supplies power to the multi-rotor tethered drone platform via high-voltage cables.

[0013] Preferably, the coaxial dual-rotor power system includes an arm internal component, a threaded assembly, an arm, a motor, and blades. The arm internal component is glued to the arm, the threaded assembly is fitted onto the arm, and a motor is installed on each of the top and bottom surfaces of the vertical cylindrical structure of the arm by screws. The blades are installed on the motors by screws. The arm internal component and the threaded assembly are connected to the center disk internal component for quick disassembly, reducing the storage size of the drone.

[0014] Preferably, the spring pin of the spring pin assembly engages with the densely packed small holes on the threaded assembly of the arm to prevent the threaded assembly from loosening due to long-term vibration of the coaxial dual rotor power system.

[0015] Preferably, the central disk cavity is provided with a spring pin assembly mounting groove for mounting the spring pin assembly.

[0016] Preferably, a large-area heat dissipation pool is provided at the top of the central disk cavity. The turbulence generated by the aerodynamic interference of the coaxial dual rotor blades is used to accelerate the flow of hot air in the heat dissipation pool, thereby dissipating heat from the airborne high-power power module.

[0017] Preferably, the central disk cavity has two mounting holes for electronic speed controllers on its four side walls. The electronic speed controllers are mounted on the side walls to dissipate heat from the downwash flow at the edges of the coaxial dual rotor blades without affecting the aerodynamic efficiency of the coaxial dual rotor blades.

[0018] Preferably, the main load-bearing structure of the central disk cavity is composed of a box-shaped frame consisting of two longitudinal double-layer wall panels and three transverse double-layer wall panels connected to several partition frames, which are optimized for high strength, high rigidity and light weight.

[0019] Preferably, the main load-bearing structure of the central disk cavity is provided with a slot for centralized routing of electrical cables, and the four corners of the main load-bearing structure of the central disk are provided with reinforcing ribs at the same angle as the machine arm to enhance the strength and rigidity of the four corners of the central disk cavity.

[0020] Preferably, the opening of the central disk cavity faces downward, so that the wall surface of the main load-bearing structure of the central disk can withstand tensile force, which helps to increase the critical stress and prevent the wall surface from becoming unstable due to pressure. This improves the overall structural strength of the central disk cavity. At the same time, the downward opening of the central disk cavity is more conducive to rain protection.

[0021] Preferably, the splitter hinge assembly is opened and closed via a hinge structure, facilitating the insertion and removal of the connector for the backup battery in the backup battery compartment assembly.

[0022] Preferably, the cover is opened and closed via a hinge structure, which facilitates program upgrades to the flight control module or the installation and removal of the TF card.

[0023] Preferably, the landing gear includes a first adapter, a second adapter, a third adapter, longitudinal rods, diagonal braces, transverse rods, and quick-release claw screws; the four diagonal braces of the landing gear form a spatial trapezoidal structure to bear the main impact force generated by the landing of the tethered UAV; two transverse rods in the middle hold the four diagonal braces to counteract the transverse moment generated by landing; two longitudinal rods at the bottom hold the four diagonal braces to counteract the longitudinal moment generated by landing; the extension of the two longitudinal rods enhances the stability of the tethered UAV landing; the landing gear is quickly assembled and disassembled from the center plate via quick-release claw screws.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. The arm threaded assembly is equipped with a matching spring pin assembly to prevent the threaded assembly from loosening due to long-term vibration of the coaxial dual rotor power system, thereby improving the structural reliability of the connection between the coaxial dual rotor power system and the center disk.

[0026] 2. A large heat dissipation pool is set at the top of the central disk cavity, and the turbulence generated by the aerodynamic interference of the coaxial dual rotor blades is used to accelerate the flow of hot air in the heat dissipation pool, thereby achieving heat dissipation of the airborne high-power power module without the need for an additional cooling fan. This reduces weight and power consumption, and greatly improves the reliability of power supply use.

[0027] 3. The electronic speed controller is installed on the side wall of the center disk to dissipate heat from the downwash flow at the edge of the coaxial dual rotor blades without affecting the aerodynamic efficiency of the coaxial dual rotor blades, thus greatly improving the reliability of the electronic speed controller.

[0028] 4. The main load-bearing structure of the central disc cavity is an optimized box-shaped frame structure, which has the characteristics of high structural strength, high rigidity, light weight and good structural reliability.

[0029] 5. All electrical components are installed inside a natural-colored conductive anodized metal cavity consisting of a central disk cavity, a central disk lower cover, an opening cover, and a distributor plate hinge assembly, which improves the electromagnetic compatibility (EMC) requirements of tethered drones. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall assembly of an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of a single coaxial dual-rotor propulsion system according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the central disk assembly according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram showing the assembly positions of the main electrical components in an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the central disk cavity in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the landing gear according to an embodiment of the present invention;

[0036] Explanation of reference numerals in the attached diagrams: 10 Coaxial dual-rotor power system; 20 Center disk; 30 Landing gear; 40 Gimbal pod; 50 Ground high-voltage power supply unit; 101 Arm internals; 102 Threaded assembly; 103 Arm; 104 Motor; 105 Blade; 201 Center disk internals; 202 Center disk cavity; 203 GPS / RTK antenna; 204 Spring pin assembly; 205 Electronic speed controller; 206 Split plate hinge assembly; 207 Spare battery compartment assembly; 208 Cable tie rod pylon; 209 Cable tie rod aviation connector; 210 Center disk lower cover; 211 Exterior cover; 212 213 Current detection module, 214 Power supply module, 215 Voltage conversion module, 216 Flight control module, 217 Link module, 218 GPS / RTK module, 219 Power control module, 2021 Spring pin assembly mounting slot, 2022 Heat sink, 2023 Electronic speed controller mounting hole, 2024 Main load-bearing structure, 2025 Slot, 2026 Reinforcing rib, 301 First adapter, 302 Second adapter, 303 Third adapter, 304 Longitudinal rod, 305 Diagonal brace, 306 Transverse rod, 307 Quick-release claw screw. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] refer to Figures 1-6 The multi-rotor tethered unmanned aerial vehicle provided in this embodiment includes a coaxial dual-rotor power system 10, a center disk 20, a landing gear 30, a gimbal pod 40, and a ground high-voltage power supply unit 50.

[0039] The coaxial dual-rotor power system 10 includes an arm internal component 101, a threaded fitting 102, an arm 103, a motor 104, and a blade 105. The arm internal component 101 is glued to the arm 103, the threaded fitting 102 is fitted onto the arm 103, and a motor 104 is installed on the top and bottom surfaces of the vertical cylindrical structure of the arm 103 by screws. The blade 105 is installed on the motor 104 by screws.

[0040] The center disk 20 includes a center disk internal component 201, a center disk cavity 202, a GPS / RTK antenna 203, a spring pin assembly 204, an electronic speed controller 205, a splitter hinge assembly 206, a spare battery compartment assembly 207, a tie rod mount 208, a tie rod aviation connector 209, a center disk lower cover 210, a cover 211, a splitter control module 212, a current detection module 213, a power supply module 214, a voltage conversion module 215, a flight control module 216, a link module 217, a GPS / RTK module 218, and a power control module 219.

[0041] The shunt control module 212 is connected to the battery in the backup battery compartment assembly 207 and the power module 214. When the tethered power supply is working, it distributes the current of the power module 214 to the airborne equipment and to each power system 10, while charging the backup battery. When the tethered power supply is not working, it distributes the power of the backup battery to the airborne equipment and to each power system.

[0042] The current detection module 213 is connected to each power system 10 and is used to detect the power supply status of each power system 10 in real time.

[0043] The voltage conversion module 215 is connected to the shunt control module 212 and is used to provide the corresponding voltage to the airborne equipment.

[0044] Both the link module 217 and the positioning module 218 are connected to the flight control module 216 at one end. The link module 217 is externally equipped with a link antenna for data transmission, and the positioning module 218 is connected to the GPS / RTK antenna 203 at the other end for location information acquisition.

[0045] The power control module 219 and the power module 214 are used to control the voltage and current output of the power module 214.

[0046] The electronic speed controller 205 is mainly used to control the start, stop and speed of the motor;

[0047] Antenna 203 is a GPS / RTK antenna;

[0048] The positioning module is a GPS / RTK module;

[0049] The central disk internal components 201 are glued to the inner wall surfaces of the four corners of the central disk cavity 202. The GPS / RTK antenna 203 is mounted on the upper surface of the central disk cavity 202 with screws. The spring pin assembly 204 is installed in the pin holes on the upper surface of the four corners of the central disk cavity 202. The electronic speed controller 205 is mounted on the side wall of the central disk cavity 202 with screws. The splitter hinge assembly 206 is mounted on the lower cover plate 210 of the central disk with a hinge structure. The spare battery compartment assembly 207 is mounted on the main frame below the central disk cavity 202 with screws. The mooring hanger 208 is mounted on the middle of the lower frame of the central disk 202 with screws. The mooring aviation plug 209 is mounted on the main frame below the central disk cavity 202 with screws. The lower cover plate 210 of the central disk is mounted on the main frame below the central disk cavity 202 with screws. The hatch 211 is mounted on the lower cover plate 210 of the central disk with a hinge.

[0050] The distributor control module 212 is mounted on the main frame below the central disc cavity 202 by screws.

[0051] The shunt control module 212, current detection module 213, high-power power supply module 214, voltage conversion module 215, flight control module 216, link module 217, GPS / RTK module 218, and power control module 219 are mounted inside the central disk cavity 202 by screws.

[0052] The landing gear 30 consists of a first adapter 301, a second adapter 302, a third adapter 303, a longitudinal rod 304, a diagonal brace 305, a transverse rod 306, and a quick-release claw screw 307.

[0053] The gimbal pod 40 is mounted on the main frame below the central disk cavity 202 by screws.

[0054] The ground high-voltage power supply unit 50 supplies power to the multi-rotor tethered drone platform via high-voltage cables.

[0055] In this embodiment, reference Figure 2 The power system adopts a coaxial dual-rotor power system 10, with two power units superimposed on one axis, effectively reducing the drone's wheelbase and overall unfolded size. Furthermore, quick-release is achieved between the arm internals 101 and the threaded kit 102 and the center disk internals 201, effectively reducing the drone's storage size.

[0056] In this embodiment, reference Figure 3 The spring pin in the spring pin assembly 204 engages with the densely packed small holes on the arm threaded assembly 102 to prevent the threaded assembly 102 from loosening due to long-term vibration of the coaxial dual rotor power system 10.

[0057] In this embodiment, reference Figure 3 ,5 The central disc cavity 202 is provided with a spring pin assembly mounting groove 2021 for mounting the spring pin assembly 204.

[0058] In this embodiment, reference Figure 5 The top of the central disk cavity 202 is provided with a large area heat sink 2022. The turbulence generated by the aerodynamic interference of the coaxial dual rotor blades 105 is used to accelerate the flow of hot air in the heat sink 2022, thereby cooling the airborne high-power power module 214 without the need for an additional cooling fan, which reduces both weight and power consumption.

[0059] In this embodiment, reference Figure 5 Two electronic speed controller mounting holes 2023 are respectively provided on the four sides of the central disk cavity 202. The electronic speed controller 205 is mounted on the side wall so as to dissipate heat from the electronic speed controller 205 by means of the downwash flow at the edge of the coaxial dual rotor blade 105, without affecting the aerodynamic efficiency of the coaxial dual rotor blade 105.

[0060] In this embodiment, reference Figure 5 The main load-bearing structure 2024 of the central disk cavity 202 is composed of a box-shaped frame consisting of two longitudinal double-layer wall panels and three transverse double-layer wall panels connected to several partition frames, which are optimized and designed to be high-strength, high-rigidity, and lightweight.

[0061] In this embodiment, reference Figure 5 The central plate cavity 202 has a slot 2025 in its central plate main load-bearing structure 2024 for centralized routing of electrical cables.

[0062] In this embodiment, reference Figure 5 The four corners of the main load-bearing structure 2024 of the central plate are provided with reinforcing ribs 2026 at the same angle as the arm to enhance the strength and rigidity of the four corners of the central plate cavity 202.

[0063] In this embodiment, reference Figure 3 , 5 The central disk cavity 202 has its opening facing downwards, which allows the wall of the central disk main load-bearing structure 2024 to bear tensile force, which helps to increase the critical stress and prevent the wall from becoming unstable due to pressure. This improves the overall structural strength of the central disk cavity 202. At the same time, the downward-facing design of the central disk cavity 202 is more conducive to rain protection.

[0064] In this embodiment, reference Figure 4 The splitter hinge assembly 206 opens and closes via a hinge structure, facilitating the insertion and removal of the connector for the backup battery in the backup battery compartment assembly 207.

[0065] In this embodiment, reference Figure 4The cover 211 is opened and closed by a hinge structure, which facilitates program upgrades of the flight control module or the installation and removal of the TF card.

[0066] In this embodiment, reference Figure 4 The electrical components are all installed inside the natural conductive oxide metal cavity, which consists of the central disk cavity 202, the central disk lower cover 210, the port cover 211, and the diverter hinge assembly 206, which helps to meet electromagnetic compatibility (EMC) requirements.

[0067] In this embodiment, reference Figure 6 The four diagonal struts 305 of the landing gear 30 form a spatial trapezoidal structure to bear the main impact force generated by the landing of the tethered UAV. Two lateral struts 306 in the middle hold the four diagonal struts 305 to counteract the lateral moment generated by landing. Two longitudinal struts 304 at the bottom hold the four diagonal struts 305 to counteract the longitudinal moment generated by landing. The extension of the two longitudinal struts 304 enhances the stability of the tethered UAV landing.

[0068] In this embodiment, reference Figure 6 The landing gear (30) can be quickly disassembled and assembled with the center plate 20 by means of quick-release screws 307.

[0069] In this embodiment, reference Figure 3 The drone flight positioning adopts GPS / RTK dual-redundant positioning, which effectively improves the positioning accuracy of the drone and reduces the large positional deviation caused by the tethered drone working for a long time, thereby avoiding the drone being dragged by high-voltage power cables and subjected to great tension.

[0070] In this embodiment, reference Figure 4 The shunt control module 212 is used to shunt the total current, and the current detection module 213 is used to detect the power supply status of each coaxial dual-rotor power system 10. The power supply module 214 is used to convert the high-voltage power supplied by the ground terminal 50. The voltage conversion module 215 is used to convert the relevant operating voltages for related modules. The flight control module 216 is used for the overall control of the UAV, and the link module 217 is used for data link transmission.

[0071] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-rotor tethered unmanned aerial vehicle (UAV), comprising landing gear (30), gimbal pod (40), and ground high-voltage power supply unit (50), characterized in that: It also includes a coaxial dual-rotor power system (10) and a center disk (20); The coaxial dual-rotor power system (10) includes an arm internal component (101), a threaded fitting (102), an arm (103), a motor (104), and a blade (105). The arm internal component (101) is glued to the arm (103). The threaded fitting (102) is fitted onto the arm (103). A motor (104) is installed on the top and bottom surfaces of the vertical cylindrical structure of the arm (103) by screws. The blade (105) is installed on the motor (104) by screws. The center disk (20) includes center disk internals (201), center disk cavity (202), antenna (203), spring pin assembly (204), electronic speed controller (205), splitter hinge assembly (206), spare battery compartment assembly (207), hook-up bracket (208), hook-up aviation connector (209), center disk lower cover (210), cover (211), splitter control module (212), current detection module (213), power module (214), voltage conversion module (215), flight control module (216), link module (217), positioning module (218), and power control module (219). The central disk inner component (201) is bonded to the inner wall of the four corners of the central disk cavity (202). The antenna (203) is installed on the upper surface of the central disk cavity (202) by screws. The spring pin assembly (204) is installed in the pin holes on the upper surface of the four corners of the central disk cavity (202). The electronic speed controller (205) is installed on the side wall of the central disk cavity (202) by screws. The splitter plate hinge assembly (206) is installed on the lower cover plate (210) of the central disk by a hinge structure. The spare battery compartment assembly (207) is installed on the main frame below the central disk cavity (202) by screws. The mooring hanger (208) is connected to the central disk cavity. The cable tie connector (209) is screwed onto the main frame below the central disk cavity (202). The lower cover plate (210) of the central disk cavity (202) is screwed onto the main frame below the central disk cavity (202). The port cover (211) is hinged onto the lower cover plate (210). The splitter plate control module (212) is screwed onto the main frame below the central disk cavity (202). A heat sink (2022) is provided on the top of the central disk cavity (202). The blade (105) is used to generate turbulence velocity in the heat sink through aerodynamic interference. The hot air flow of 2022); the four sides of the central disk cavity (202) are respectively provided with two mounting holes (2023) for electronic speed controllers (205), the electronic speed controllers (205) are installed on the side walls, and are used to dissipate heat from the electronic speed controllers (205) by the downwash flow at the edge of the blades (105); the splitter plate control module (212), current detection module (213), high power supply module (214), voltage conversion module (215), flight control module (216), link module (217), positioning module (218) and power control module (219) are installed inside the central disk cavity (202) by screws; The landing gear (30) includes a first adapter (301), a second adapter (302), a third adapter (303), a longitudinal rod (304), a diagonal brace (305), a transverse rod (306), and a quick-release claw screw (307). The four diagonal braces (305) of the landing gear (30) form a spatial trapezoidal structure to bear the main impact force generated by the landing of the tethered UAV. The two transverse rods (306) hold the four diagonal braces (305) in the middle to counteract the transverse moment generated by the landing. The two longitudinal rods (304) hold the four diagonal braces (305) at the bottom to counteract the longitudinal moment generated by the landing. The extension of the two longitudinal rods (304) enhances the stability of the landing of the tethered UAV. The landing gear (30) can be quickly disassembled and assembled with the center plate (20) through the quick-release claw screw (307). The gimbal pod (40) is mounted on the main frame below the central disk cavity (202) by screws; The ground high-voltage power supply unit (50) supplies power to the multi-rotor tethered drone platform via high-voltage cables.

2. The multi-rotor tethered unmanned aerial vehicle according to claim 1, characterized in that: The spring pin of the spring pin assembly (204) engages with the dense small holes on the arm threaded assembly (102) to prevent the threaded assembly (102) from loosening due to long-term vibration of the coaxial dual rotor power system (10).

3. A multi-rotor tethered unmanned aerial vehicle according to claim 2, characterized in that: The central disc cavity (202) is provided with a spring pin assembly mounting groove (2021) for mounting the spring pin assembly (204).

4. A multi-rotor tethered unmanned aerial vehicle according to claim 3, characterized in that: The main load-bearing structure (2024) of the central disk cavity (202) is composed of a box-shaped frame consisting of two longitudinal double-layer wall panels and three transverse double-layer wall panels connected to several partition frames, which are optimized and designed to be high-strength, high-rigidity, and lightweight.

5. A multi-rotor tethered unmanned aerial vehicle according to claim 4, characterized in that: The central disk cavity (202) has a central disk main load-bearing structure (2024) with a slot (2025) for centralized routing of electrical cables. The four corners of the central disk main load-bearing structure (2024) are provided with reinforcing ribs (2026) at the same angle as the machine arm to enhance the strength and rigidity of the four corners of the central disk cavity (202).

6. A multi-rotor tethered unmanned aerial vehicle according to claim 5, characterized in that: The central disk cavity (202) has an opening facing downwards, which allows the wall of the central disk main load-bearing structure (2024) to bear tensile force, which is beneficial to improve the critical stress and prevent the wall from becoming unstable due to pressure. This improves the overall structural strength of the central disk cavity (202). At the same time, the design of the central disk cavity (202) with its opening facing downwards is more conducive to rain protection.

7. A multi-rotor tethered unmanned aerial vehicle according to claim 1, characterized in that: The shunt plate hinge assembly (206) is opened and closed via a hinge structure, facilitating the insertion and removal of the connector for the backup battery in the backup battery compartment assembly (207).

8. A multi-rotor tethered unmanned aerial vehicle according to claim 1, characterized in that: The cover (211) is opened and closed by a hinge structure, which facilitates program upgrades of the flight control module or installation and removal of the TF card.

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