Vehicle-mounted tethered drone automatic landing assistance system

Abstract

This invention relates to an automatic landing assistance system for a vehicle-mounted tethered unmanned aerial vehicle (UAV), comprising: a container frame, a landing platform, a locking assembly, a lifting assembly, a capture assembly, and a cable retraction assembly. The cable retraction assembly is used to drag the tethered UAV to force it close to the landing platform. When the tethered UAV triggers a contact rod on the capture assembly, the triggering rod, through a transmission assembly, causes the locking bolt to slide out of the locking bolt sleeve, thereby unlocking the capture ring. During the tethered UAV's retrieval process, the tethered UAV's tether is limited by the capture ring and dragged by the cable retraction assembly, thus preventing the tethered UAV from becoming unstable when descending close to the landing platform and ensuring that the tethered UAV lands accurately on the landing platform for locking and retrieval.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a vehicle-mounted tethered cable UAV automatic landing assistance system. Background Technology

[0002] The civilian drone market is expanding rapidly, with an increasing number of drones of various types being used in popular fields such as public safety maintenance, emergency search and rescue, agriculture and forestry, environmental protection, communications, and aerial photography. Users' demand for diversified drone functions is becoming increasingly urgent. Payload capacity is a crucial competitive indicator for drones, but increasing payload capacity inevitably leads to higher power consumption, exacerbating the challenge of long-endurance operation. To address this issue, tethered drones have emerged. These connect traditional drones to ground base stations via cables and tethering devices, enabling real-time power supply and signal transmission. This significantly extends the drone's loiter time, even meeting all-weather operational requirements. The endurance advantage of tethered drones is extremely significant, making them irreplaceable in applications such as fixed-point monitoring, emergency lighting, emergency communications, and surveillance.

[0003] Thanks to the continuous power supply from the tethered cable, the power consumption of tethered drones is no longer a bottleneck, making medium-sized (takeoff weight exceeding 25kg) and even large tethered drones more suitable for market demands. Medium-sized and larger tethered drone systems, in addition to the drone itself, generally require supporting equipment such as tether cable deployment and retrieval devices, power generation equipment, fuel supplies, control systems, communication systems, and user payloads to form a complete mission system. Considering the flexibility of the system's mission execution, these components are usually designed uniformly and installed on a transport vehicle. This typically involves configuring a vehicle-mounted container frame, with all equipment rationally installed inside. When the drone is in operation, the container's top cover opens, and the internal lifting mechanism raises the drone's takeoff and landing platform to the top of the container. The drone automatically unlocks and takes off from its platform. During landing, the drone returns to the top of the container and, assisted by the automatic landing assist system, automatically lands on the platform. The platform then returns to the container with the internal lifting mechanism and locks the drone, closing the container's top cover.

[0004] Then, for medium and large vertical takeoff and landing (VTOL) drones, during their descent, as they approach the takeoff and landing platform, the strong downdraft acting on the platform can cause the drone to become unstable, and its position will drift around the top of the platform, making it difficult to land stably and accurately for storage and locking. Therefore, how to ensure that the drone lands accurately at the predetermined landing point on the takeoff and landing platform and locks in order to precisely adjust the drone's attitude is an urgent problem that needs to be solved.

[0005] Therefore, there is a need to provide a vehicle-mounted tethered cable drone automatic landing assistance system to solve the above problems. Summary of the Invention

[0006] This invention provides a vehicle-mounted tethered cable drone automatic landing assistance system to solve the problem that existing medium and large vertical take-off and landing drones, when descending to approach the take-off and landing platform, are prone to attitude instability due to strong downdrafts acting on the platform, causing their position to drift around the top of the platform and making it difficult to land stably and accurately on the platform for locking.

[0007] The present invention provides a vehicle-mounted tethered cable unmanned aerial vehicle (UAV) automatic landing assistance system, which adopts the following technical solution, including: The take-off and landing platform is vertically slidably installed within the container frame of the vehicle-mounted container via a support frame; The locking component is located at the bottom of the landing platform. The lifting assembly is used to drive the take-off and landing platform to move outward or inward within the cabin frame after the tethered drone lands on the platform. Simultaneously, it drives the locking assembly to lock the legs of the tethered drone while driving the take-off and landing platform to move inward within the cabin frame. The capture assembly includes a capture ring bracket, a capture ring, and an energy storage assembly. The capture ring is slidably connected to the capture ring bracket, which is located on a locking assembly below the center hole of the take-off and landing platform. A contact rod is passed through the capture ring, and a locking bolt is hinged to the lower end of the contact rod through a transmission assembly. The locking bolt cooperates with a locking bolt sleeve provided inside the capture ring connecting shell of the capture ring. The energy storage assembly is used to store energy when the capture ring slides down along the capture ring bracket and to reset the capture ring after the tethered UAV takes off. And a tethering and retraction cable assembly, which is located in the cabin frame directly below the capture ring. Its tethering and retraction end is connected to the end of the tethered cable of the tethered cable UAV after it passes through the capture ring, and is used to retrieve and retract the tethered cable.

[0008] Preferably, the transmission assembly includes: a lever, a triangular fork, and a spring. The lever is rotatably mounted inside the capture ring connecting housing via a fulcrum. One end of the lever is connected to the lower end of the contact rod. A connecting rod is hinged between the other end of the lever and the fulcrum. The free end of the connecting rod is hinged to the first angle of the triangular fork. The second angle of the triangular fork is rotatably connected inside the capture ring connecting housing via a pivot. The third angle of the triangular fork is hinged to a locking bolt. The spring is connected to the second angle of the triangular fork and the end of the lever away from the contact rod.

[0009] Preferably, the capture ring bracket is provided with a guide rail, which is slidably connected to the slider on the capture ring. The two ends of the guide rail are respectively provided with an upper limit block and a lower limit block for limiting the slider. A locking block is provided inside the guide rail near the upper end. When the contact rod is not pressed down, one end of the locking bolt passing through the locking bolt sleeve contacts and limits the locking bolt.

[0010] Preferably, the energy storage assembly includes: a guide wheel disposed on the top of the capture ring bracket, a steel wire rope wound on the guide wheel, one end of the steel wire rope being connected to a slider, and the other end of the steel wire rope being connected to a constant load spring disposed on the capture ring bracket on the side opposite to the guide wheel.

[0011] Preferably, the tension of the constant load spring is twice the weight of the capture ring.

[0012] Preferably, the locking mechanism includes: a locking sleeve disposed at the bottom of the support frame, with each locking sleeve corresponding to a guide positioning hole; a locking pin assembly horizontally slidably disposed on the support frame on the side of the locking sleeve facing the interior of the cabin frame; the locking end of the locking pin assembly matching the locking hole disposed on the side of the locking sleeve; and a lever assembly disposed on the inner wall of the cabin frame. When the lifting assembly drives the support frame to move vertically along the inner wall of the cabin frame, causing the take-off and landing platform to enter or exit the cabin frame, the locking mechanism is simultaneously driven to move vertically, causing the lever assembly to move the locking pin assembly horizontally to enter or exit the locking sleeve from the locking hole, thereby limiting and locking or unlocking the leg structure of the tethered cable UAV.

[0013] Preferably, it also includes a controller and a trigger switch. The trigger switch is installed inside the locking sleeve through a switch mounting hole at the bottom of the locking sleeve. The trigger switch and the lifting assembly are both electrically connected to the controller. The controller is used to control the lifting assembly to drive the take-off and landing platform to descend together with the locking mechanism when the foot structure of the tethered drone enters the locking sleeve and triggers the trigger switch, until the locking pin assembly touches the lever assembly. The lever assembly moves the locking pin assembly to limit and lock the foot structure of the tethered drone.

[0014] Preferably, the locking pin assembly includes: A horizontally positioned locking support, one end of which is connected to a support frame, and a slide rail is provided on its top; The slider is slidably connected to the top of the slide rail, and a locking pin is provided on it. The locking pin corresponds to the locking hole, and the locking end of the locking pin matches the locking groove. A limit seat is located at the end of the locking support opposite to the locking sleeve; And a reset component, which is mounted on the locking support, for resetting the slider; The locking support has a through groove for the lever assembly to pass through, the slider has a hole for the lever assembly to move the slider, and the limiting seat is used to restrict the movement of the slider so that the hole on the slider after reset matches the lever assembly.

[0015] Preferably, the lifting assembly includes: The drive motor is located at the bottom of the modular housing frame; The lead screw, guide rail, and slider assembly is vertically mounted on the inner wall of the modular housing frame. Its input end is connected to the output end of the drive motor via a synchronous belt transmission assembly, and its output end is connected to the support frame. The lead screw guide rail slider assembly includes a lead screw, a lead screw guide rail, and a guide rail slider. The lead screw is vertically and rotatably mounted on the inner wall of the cabin frame. The lower end of the lead screw is connected to the output end of the drive motor through a synchronous belt transmission assembly. The lead screw guide rail is parallel to the lead screw and is mounted on the inner wall of the cabin frame on both sides of the lead screw. The guide rail slider is mounted on the lead screw and is slidably connected to the lead screw guide rail. The side of the guide rail slider is connected to the support frame.

[0016] Preferably, the cable retraction assembly includes: The housing contains a cable storage mechanism, a cable routing mechanism, a main control unit, and a heat dissipation component. The cable storage mechanism is used to wind and store the mooring cable, the cable laying mechanism is used to guide the mooring cable during the cable winding and unwinding process, the main control unit is used to control the operation of the cable storage mechanism and the cable laying mechanism, and the heat dissipation component is used to dissipate heat from the mooring cable during the cable winding and unwinding process.

[0017] The beneficial effects of this invention are: The tethered drone is forcibly brought close to the take-off and landing platform by dragging it with the cable retraction assembly. When the bottom of the tethered drone contacts the capture ring, the drone presses the contact bar on the capture ring. After the contact bar is triggered, the locking bolt slides out of the locking bolt sleeve through the transmission assembly, thereby unlocking the position of the capture ring. At this point, the tethered drone presses the contact bar on the capture ring of the capture mechanism, successfully unlocking the capture ring. The capture ring is then pressed down by the drone and slides down its own guide rail, allowing the drone to enter the final locked position. When the vibration-damping feet at the bottom of the drone contact the guide ring on the landing platform, the drone's orientation and attitude are guided and adjusted by the special curved surface on the guide ring, ultimately leading the drone into the correct storage posture. That is, the tethered drone, guided by the guide ring on the landing platform, has gradually entered a precise storage state, and its position and attitude meet the storage requirements. Therefore, throughout the storage process of this invention, the tethered drone's tether is limited by the capture ring and dragged by the cable retraction assembly, thereby preventing the tethered drone from becoming unstable when descending close to the landing platform, ensuring that the tethered drone accurately lands on the landing platform for locking and storage. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of an automatic landing assistance system for a vehicle-mounted tethered unmanned aerial vehicle (UAV) according to the present invention. Figure 2 This is a top view of an automatic landing assistance system for a vehicle-mounted tethered unmanned aerial vehicle according to the present invention; Figure 3 This is a schematic diagram of the state of a vehicle-mounted tethered cable drone automatic landing assistance system of the present invention when a tethered cable drone is to be captured; Figure 4 This is a schematic diagram of the state when a vehicle-mounted tethered cable drone is captured by an automatic landing assistance system for drones. Figure 5 This is a schematic diagram of the capture component of an automatic landing assistance system for a vehicle-mounted tethered unmanned aerial vehicle according to the present invention; Figure 6 for Figure 5 A schematic diagram of the structure of the capture ring; Figure 7 This is a schematic diagram of the state of the capture component when capturing a tethered UAV in an embodiment of the present invention; Figure 8 This is a schematic diagram showing the unlocked state of the locking mechanism and the foot structure of the drone in an embodiment of the present invention; Figure 9 This is a schematic diagram illustrating the locking process of the locking mechanism and the foot structure of the UAV in an embodiment of the present invention. Figure 10 This is a schematic diagram of the locking mechanism in an embodiment of the present invention; Figure 11 This is a schematic diagram of the overall structure of the cable take-up and drop assembly in an embodiment of the present invention; Figure 12 This is a schematic diagram of the internal structure of the cable take-up and drop assembly in an embodiment of the present invention; Figure 13 for Figure 5 A schematic diagram of the triangular fork structure in the diagram; Figure 14 for Figure 5 A schematic diagram of the locking pin structure.

[0020] In the diagram: 1. Tethered UAV; 11. Leg structure; 12. Tethered cable; 111. Locking slot; 2. Transport vehicle; 21. Container frame; 22. Screw guide rail; 23. Take-off and landing platform; 24. Locking mechanism; 25. Tensioning assembly; 26. Synchronous belt drive assembly; 27. Lever assembly; 28. Support frame; 221. Guide rail slider; 241. Locking sleeve; 242. Trigger switch; 243. Locking pin assembly; 2431. Locking pin; 2432. Slide rail; 2433. Return spring; 2434. Spring core Shaft; 2435, Connecting plate; 2436, Limiting seat; 2437, Pulling hole; 2438, Locking support; 271, Locking lever support; 3, Cable winding and unwinding assembly; 31, Housing; 32, Cable storage mechanism; 321, Main motor; 322, Cable storage cylinder; 323, First synchronous belt assembly; 3231, First pulley; 3232, Second pulley; 3233, First synchronous belt; 324, Main motor bracket; 325, Bracket; 33, Cable laying mechanism; 331, Cable laying motor; 332, Screw and slide rail mechanism; 3321 3322. Lead screw; 3323. Slider; 3324. Slide rail bracket; 3325. Guide rod; 3326. Limit switch; 333. Guide wheel assembly; 3331. Guide wheel; 3332. Guide wheel seat; 3333. Tension sensor; 3334. Guide cylinder; 334. Second synchronous belt assembly; 3341. Third pulley; 3342. Fourth pulley; 3343. Second synchronous belt; 335. Support; 34. Main control unit; 35. Heat dissipation assembly; 351. First axial flow fan; 352. Air guide plate; 4. Capture assembly; 41. Capture ring; 42. Contact rod; 43. Transmission assembly; 44. Locking bolt; 45. Locking bolt sleeve; 46. Locking stop; 47. Energy storage assembly; 48. Capture ring bracket; 411. Contact rod hole; 412. Cable hole; 413. Capture ring connecting shell; 431. Lever; 432. Connecting rod; 433. Spring; 434. Triangular shift fork; 471. Guide wheel; 472. Steel wire rope; 473. Upper limit block; 474. Lower limit block; 475. Constant load spring; 4311. Fulcrum; 4341. Rotating shaft. Detailed Implementation

[0021] 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.

[0022] An embodiment of the vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system of the present invention, such as... Figure 1 and 2As shown, it includes: a modular frame 21, a landing platform 23, a locking assembly 24, a lifting assembly, a capture assembly 4, and a cable deployment and retrieval assembly 3; as shown Figure 3 and Figure 4 As shown, the landing platform 23 is vertically slidably mounted within the container frame 21 of the transport vehicle 2 via a support frame 28; the locking assembly 24 is located at the bottom of the landing platform 23; as shown... Figure 1 As shown, the lifting assembly is used to drive the landing platform 23 to move outward or inward within the cabin frame 21 after the tethered drone 1 lands on the landing platform 23. Simultaneously, while driving the landing platform 23 to move inward within the cabin frame 21, it also drives the locking assembly 24 to lock the legs 11 of the tethered drone 1. Wherein, as... Figure 5 As shown, the capture assembly 4 includes: a capture ring support 48, a capture ring 41, and an energy storage assembly 47, specifically, as follows: Figure 6 As shown, the capture ring 41 consists of an annular body and a capture ring connecting shell 413. The capture ring connecting shell 413 is slidably connected to the capture ring bracket 48. The capture ring bracket 48 is located on the locking assembly 24 below the central hole of the landing platform 23. The center of the annular body of the capture ring 41 is a cable hole 412. Four contact rod holes 411 are opened on the annular body. Contact rods 42 are inserted into the contact rod holes 411. The lower end of the contact rod 42 is hinged to a locking bolt 44 through a transmission assembly 43. The transmission assembly 43 is located inside the capture ring connecting shell 413. The locking bolt 44 cooperates with the locking bolt sleeve 45 provided in the capture ring connecting shell 413. The energy storage component 47 is used to store energy when the capture ring 41 slides down along the capture ring bracket 48, and to reset the capture ring 41 after the tethered drone 1 takes off. The take-up and release end of the cable take-up and release component 3 is connected to one end of the tethered cable 12 of the tethered drone 1 after it passes through the capture ring 41. The cable take-up and release component 3 is used to take up and release the tethered cable 12, so as to forcibly drag the tethered drone 1 to the take-off and landing platform 23 when the tethered drone 1 lands.

[0023] like Figure 5 and Figure 6 As shown, the transmission assembly 43 includes: a lever 43, a triangular fork 434, and a spring 433. The lever 43 is rotatably mounted within the capture ring connecting housing 413 via a fulcrum 4311. One end of the lever 43 is connected to the lower end of the contact rod 42, and a connecting rod 432 is hinged between the other end of the lever 43 and the fulcrum 4311. The free end of the connecting rod 432 is hinged to the first angle of the triangular fork 434, and the second angle of the triangular fork 434 is rotatably connected within the capture ring connecting housing 413 via a pivot 4341. The upper triangular fork structure of the triangular fork 434 bridgings with the pin in the left cavity of the locking bolt 44, as shown. Figure 13As shown, the triangular end of the triangular fork 434 has a fork-shaped structure, with the forks spanning the pin in the cavity on the left side of the locking bolt 44. When the triangular fork 434 rotates around the pivot 4341, it causes the locking bolt 44 to slide within the lubricated nylon locking bolt sleeve 45, thus locking or unlocking the locking bolt 44. A spring 433 is connected to the second angle of the triangular fork 434 and the end of the lever 43 opposite to the contact rod 42. Figure 5 As shown, a guide rail is provided on the capture ring bracket 48, and the guide rail is slidably connected to the slider provided on the capture ring 41. Specifically, the slider is connected to the capture ring connecting shell 413, and upper limit block 473 and lower limit block 474 for limiting the slider are correspondingly provided at both ends of the guide rail. A locking stop block 46 is provided inside the guide rail near the upper end. It should be noted that when the contact rod 42 is not pressed down, the locking bolt 44 passes through the locking bolt sleeve 45 and contacts the upper surface of the locking stop block 46 to limit downward movement. In this embodiment, upper limit block 473 and lower limit block 474 for limiting the slider are provided inside the guide rail. Figure 5 and Figure 6 As shown, the energy storage assembly 47 includes: a guide wheel 471 disposed on the top of the capture ring bracket 48, a steel wire rope 472 wound on the guide wheel 471, one end of the steel wire rope 472 being connected to a slider, and the other end of the steel wire rope 472 being connected to a constant load spring 475 disposed on the capture ring bracket 48 on the side opposite to the guide wheel 471. To overcome the gravity of the capture ring 41 and the friction of the guide rail of the capture ring bracket 48, in this embodiment, the constant load spring 475 is selected such that its tension is twice the gravity of the capture ring 41. It should be noted that when the capture assembly 4 is in the unlocked state, and the capture ring 41 slides down the guide rail on the capture ring bracket 48 under the pressure of the tethered drone, the constant load spring 475 will be stretched. When the capture ring 41 is released from pressure, due to the tension of the constant load spring 475, the capture ring 41 will slide along the upper end of the guide rail on the capture ring bracket 48 until the slider touches the upper limit block 473 and stops, thus completing the reset.

[0024] like Figure 8 and Figure 9As shown, the locking mechanism 24 of this embodiment includes: a locking sleeve 241, which is disposed at the bottom of the support frame 28 and corresponds one-to-one with the guide positioning holes. A locking pin assembly 243 is horizontally slidably disposed on the support frame 28 on the side of the locking sleeve 241 facing the interior of the cabin frame 21. The locking end of the locking pin assembly 243 matches the locking hole provided on the side of the locking sleeve 241. It also includes a lever assembly 27 disposed on the inner wall of the cabin frame 21. When the lifting assembly drives the support frame 28 to move vertically along the inner wall of the cabin frame 21, causing the landing platform 23 to enter or exit the cabin frame 21, it simultaneously drives the locking mechanism 24 to move vertically, causing the lever assembly 27 to move the locking pin assembly 243 to slide horizontally from the locking hole into or out of the locking sleeve 241, thereby limiting and locking or unlocking the leg structure 11 of the tethered cable UAV 1. Figure 10 As shown, specifically, it also includes a controller and a trigger switch 242. The trigger switch 242 is installed inside the locking sleeve 241 through a switch mounting hole at the bottom of the locking sleeve 241. Both the trigger switch 242 and the lifting assembly are electrically connected to the controller. The controller is used to control the lifting assembly to drive the landing platform 23, along with the locking mechanism 24, to descend when the foot structure 11 of the tethered drone 1 enters the locking sleeve 241 and triggers the trigger switch 242, until the locking pin assembly 243 touches the lever assembly 27. The lever assembly 27 moves the locking pin assembly 243 to limit and lock the foot structure 11 of the tethered drone. Figure 10As shown, the locking pin assembly 243 includes: a horizontally arranged locking support 2438, a slider, a limit seat 2436, and a reset assembly. One end of the locking support 2438 is connected to the support frame 28, and a slide rail 2432 is provided on the top of the locking support 2438. The slider is slidably connected to the top of the slide rail 2432, and a horizontally arranged locking pin 2431 is fixed on the slider by screws. The locking pin 2431 corresponds to the locking hole, and the locking end of the locking pin 2431 matches the locking groove 111. The limit seat 2436 is disposed on the locking support. 2438 is located away from the end of the locking sleeve 241; the reset assembly is disposed on the locking support 2438 for resetting the slider; wherein, the locking support 2438 of the locking pin assembly 243 is fixedly connected to the side wall plate of the support frame 28, the locking support 2438 is provided with a through groove for the lever assembly 27 to pass through, the slider is provided with a dial hole 2437 for the lever assembly 27 to move the slider, and the limiting seat 2436 is used to limit the movement of the slider so that the dial hole 2437 on the reset slider matches the lever assembly 27. The reset assembly includes a spring seat, a spring spindle 2434, and a reset spring 2433. The spring seat is located at the bottom of the locking support 2438, and one end of the spring seat has a mounting hole. The spring spindle 2434 is fitted into the mounting hole, and a connecting plate 2345 is provided at the end of the spring spindle 2434 outside the mounting hole. The connecting plate 2345 is connected to the slider through a guide groove on the locking support 2438. The reset spring 2433 is sleeved on the spring spindle 2434, with one end of the reset spring 2433 connected to the mounting hole and the other end of the reset spring 2433 connected to the connecting plate 2345. Figure 8 and Figure 9 As shown, the lever assembly 27 is connected to the inner wall of the container frame 21 via a locking lever support 271. The lever assembly 27 includes a base, which is mounted on the locking lever support 271. A locking lever is mounted on the top of the base, and the locking lever is inclined away from the locking sleeve 241. The locking lever matches the locking hole 2437. Figure 8 As shown, in this embodiment, the lever assembly 27 is fixed by the mounting plates on both sides and the lever mounting cross plate, and then installed on the inner wall of the cabin frame 21 by the mounting back plate of the lifting assembly. The height of the lever assembly 27 on the lifting assembly inside the cabin frame 21 determines the storage position of the tethered cable UAV 1 after it enters the cabin. By using its inclined surface to act on the working surface of the dial hole 2437 on the slider of the locking mechanism 24, the slider of the locking mechanism 24 is adjusted to the left and right, so as to lock or unlock the locking pin 2431 to the locking groove 111 of the support structure 11.

[0025] The lifting assembly includes a drive motor, a lead screw, and a lead screw guide rail slider assembly. The drive motor is located at the bottom of the cabin frame 21. The lead screw guide rail slider assembly is vertically mounted on the inner wall of the cabin frame 21. The input end of the lead screw guide rail slider assembly is connected to the output end of the drive motor via a synchronous belt drive assembly 26, and the output end of the lead screw guide rail slider assembly is connected to a support frame 28. In this embodiment, the lead screw guide rail slider assembly includes a lead screw, a lead screw guide rail 22, and a guide rail slider 221. The lead screw is vertically and rotatably mounted on the inner wall of the cabin frame 21, and its lower end is connected to the output end of the drive motor via a synchronous belt drive assembly 26. The lead screw guide rail 22 is parallel to the lead screw and is mounted on the inner wall of the cabin frame 21 on both sides of the lead screw. The guide rail slider 221 is mounted on the lead screw and slidably connected to the lead screw guide rail 22, and is connected to the support frame 28. The assembly also includes a tensioning assembly 25, which is used to tension the synchronous belt of the synchronous belt drive assembly 26.

[0026] like Figure 11 As shown, the cable reel-in / deel-out assembly 3 includes: a housing 31, within which a cable storage mechanism 32, a cable laying mechanism 33, a main control unit 34, and a heat dissipation assembly 35 are installed; wherein, the cable storage mechanism 32 is used to wind and store the mooring cable 12, the cable laying mechanism 33 is used to guide the mooring cable 12 during the cable reel-in / deel-out process, the main control unit 34 is used to control the operation of the cable storage mechanism 32 and the cable laying mechanism 33, and the heat dissipation assembly 35 is used to dissipate heat from the mooring cable 12 during the cable reel-in / deel-out process. Wherein, as... Figure 12As shown, the cable storage mechanism 32 includes a main motor 321, a cable storage drum 322, a first synchronous belt assembly 323, a main motor bracket 324, and a bracket 325. The main motor 321 is horizontally fixed to the base at the bottom of the housing 31 via the main motor bracket 324. The output shaft of the main motor 321 extends out of the main motor bracket 324, and the main motor bracket 324 is fixedly connected to the bottom plate of the housing 31. The main motor 321 is used to drive the cable storage drum 322 to rotate. The main motor 321 is electrically connected to and controlled by the main control unit 34. The main motor 321 is an AC servo motor, which features precise controllability of speed and angle, and smooth operation. The cable storage drum 322 is horizontally rotatably mounted on the base at the bottom of the housing 31 via two brackets 325. The cable storage drum 322 and the main motor 321 are arranged side by side and parallel to each other, and are used to wind the mooring cable 12. Both brackets 325 are fixed to the base of the housing 31, located at both ends of the cable storage cylinder 322, and are rotatably connected to the support shafts at both ends of the cable storage cylinder 322 via spherical bearings. The use of spherical bearings reduces the manufacturing and installation precision requirements of the cable storage cylinder assembly, which is beneficial for cost control. Specifically, the cable storage cylinder 322 is a hollow cylindrical structure, including a cylinder body, end caps, a first support shaft, and a second support shaft. The cylinder body and the end caps at both ends form a cylindrical hollow cylinder, and the tethered cable 12 is wound around the outer circumference of the cylinder body. The end caps at both ends also form limiting baffles for the tethered cable 12. The center of each end cap is coaxial with the cylinder body 221 and is provided with a support shaft, which is rotatably connected to its corresponding bracket 325 via bearings. The two support shafts at both ends are referred to as the first support shaft and the second support shaft, respectively. The second support shaft has a through hole along its axis that connects to the inner cavity of the cylinder, for the fixed end of the tethered cable 12 to pass through, so that the fixed end of the tethered cable 12 is fixed inside the cable storage cylinder 322. Both the cylinder and end cap are equipped with heat dissipation holes for cooling the cable 12. The first synchronous belt assembly 323 adopts a circular arc tooth synchronous belt drive structure, which has the advantages of precise transmission, smooth operation, vibration-free operation, and noise-free operation. The first synchronous belt assembly 323 connects the output shaft of the main motor 321 and the first support shaft of the cable storage cylinder 322, and is used to transmit the rotation of the main motor 321 to the cable storage cylinder 322. Specifically, the first synchronous belt assembly 323 includes a first pulley 3231, a second pulley 3232, and a first synchronous belt 3233. The first pulley 3231 is installed at the output shaft end of the main motor 321 and is keyed to the output shaft of the main motor 321. The second pulley 3232 is installed on one side of the cable storage cylinder 322 and is keyed to the first support shaft 3223 of the cable storage cylinder 322. The second pulley 3232 and the first pulley 3231 are coplanar and form a pair of paired pulleys, which cooperate with the first synchronous belt 3233. The first synchronous belt 3233 is fitted onto the first pulley 3231 and the second pulley 3232, and meshes with them for transmission.When the main motor 321 drives the first pulley 3231 to rotate, it drives the second pulley 3232 to rotate via the first synchronous belt 3233, which in turn drives the cable storage drum 322 to rotate. The cable storage mechanism 32 also includes a bus ring and an encoder. The bus ring is located inside the cable storage drum 322 and is coaxially mounted on the second support shaft. The bus ring is used for the dynamic and static connection of the tether cable 12. The encoder is mounted on the outer end of the second support shaft and is used to measure the rotational speed of the cable storage drum 322. The encoder is electrically connected to the main control unit 34 and transmits the rotational speed of the cable storage drum 322 to the main control unit 34. The main control unit 34 makes real-time adjustments based on the tension data of the tether cable 12 measured by the tension sensor 3333 and the rotational speed data of the cable storage drum 322, that is, adjusts the rotational speed of the main motor 321 and the cable winding motor 331 to prevent excessive tension from causing instability of the tether cable UAV or damage to the tether cable 12. The tether cable 12 is wound around the outer diameter of the cylinder, with its fixed end fixed inside the cylinder. Specifically, the fixed end of the tether cable 12 passes through the central through-hole of the encoder from the outside in, enters through the fixed end of the busbar ring, and is electrically connected to the rotating end of the busbar ring. The busbar ring is designed with multiple conduction loops, including power, signal, and central optical fiber, compatible with all signal connections in the composite cable. The movable end of the tether cable 12 is wound around the inner groove of the guide wheel 3331 and exits the housing 31 through the flared through-hole of the guide cylinder 3334, connecting to the tethered UAV.

[0027] Among them, such as Figure 12As shown, the cable laying mechanism 33 includes a cable laying motor 331, a lead screw and slide rail mechanism 332, a guide wheel assembly 333, and a second synchronous belt assembly 334. The cable laying motor 331 is an AC servo motor, whose motion is precisely controllable. The cable laying motor 331 is horizontally mounted on the base of the housing 1 via supports 335. Two supports 335 are fixed to the base of the housing 1, and the sides of the supports 335 are surrounded by side plates. The cable laying motor 331 is installed inside the supports 335 and is arranged parallel to the cable storage cylinder 322. Its output shaft passes through the supports 335, and the cable laying motor 331 is used to drive the lead screw 3321 of the lead screw and slide rail mechanism 332 to rotate. The cable laying motor 331 is electrically connected to and controlled by the main control unit 34. The lead screw and slide rail mechanism 332 is horizontally mounted on the supports 335, located above the cable laying motor 331, and parallel to the axis of the cable storage cylinder 322. The guide wheel assembly 333 is mounted on the slider 3322 of the screw-rail mechanism 332. The screw-rail mechanism 332 drives the guide wheel assembly 333 to move axially along its screw 3321. The guide wheel assembly 333 guides the mooring cable 12 during the cable winding and unwinding process. The second synchronous belt assembly 334 connects the output shaft of the cable-laying motor 331 and the input end of the screw 3321 of the screw-rail mechanism 332, and transmits the rotation of the cable-laying motor 331 to the screw 3321. The screw-rail mechanism 332 includes a screw 3321, a slider 3322, a rail bracket 3323, a guide rod 3324, and a limit switch 3325. The rail bracket 3323 is horizontally mounted and fixed on the support 335. The screw 3321 is horizontally rotatably mounted in the middle of the rail bracket 3323, and the axis of the screw 3321 is parallel to the axis of the cable storage drum 322. The lower end of the slider 3322 is equipped with a nut structure, which is threadedly connected to the lead screw 3321. When the lead screw 3321 rotates, the slider 3322 moves along the axis of the lead screw 3321. The forward and reverse rotation of the lead screw 3321 realizes the reciprocating motion of the slider 3322 along the lead screw 3321. Two guide rods 3324 are symmetrically installed on both sides of the lead screw 3321 and pass through the bottom of the slider 3322. The guide rods 3324 are used to guide and support the slider 3322, improving the stability of the slider 3322's movement. Two limit switches 3325 are respectively installed on the inner sides of both ends of the slide rail bracket 3323. The limit switches 3325 are electrically connected to the main control unit 34. When the slider 3322 drives the guide wheel assembly 333 to lay the cable, guiding the mooring cable 12 to be fully wound on the cable storage drum 322, the slider 3322 just slides to the end of the lead screw 3321, triggering the limit switch 3325, thereby transmitting the trigger signal to the main control unit 34. The main control unit 34 integrates the tension and speed data, calculates and issues a reversing command and a speed command, controlling the cable laying motor 331 to rotate in the opposite direction to realize the reversing of the slider 3322. The second synchronous belt assembly 334 includes a third pulley 3341, a fourth pulley 3342, and a second synchronous belt 3343. The third pulley 3341 is installed on the output shaft end of the cable laying motor 331 and is keyed to the output shaft of the cable laying motor 331.The fourth pulley 3342 is mounted on the input end of the lead screw 3321 and is keyed to the lead screw 3321. The fourth pulley 3342 is coplanar with the third pulley 3341 and has the same tooth profile. The second synchronous belt 3343 is fitted onto the third pulley 3341 and the fourth pulley 3342 and meshes with them. When the output shaft of the cable-laying motor 331 drives the third pulley 3341 to rotate, the second synchronous belt 3343 drives the fourth pulley 3342 to rotate, which in turn drives the lead screw 3321 to rotate. The guide wheel assembly 333 includes a guide wheel 3331, a guide wheel seat 3332, a tension sensor 3333, and a guide cylinder 3334. The guide wheel assembly 333 ensures the correct direction of the mooring cable 12 during the deployment and retraction process, and ensures that the friction of the mooring cable 12 is minimized when it passes through the guide wheel assembly 333, while minimizing the bending of the mooring cable 12, so as to provide maximum protection for the mooring cable 12.

[0028] Among them, such as Figure 12 As shown, the heat dissipation assembly 35 includes a first axial flow fan 351, a second axial flow fan, and an air guide plate 352. The first axial flow fan 351 is mounted on the housing 31, located above the main motor 321. The first axial flow fan 351 connects to external air to dissipate heat from the cables wound around the cable storage cylinder 322. The air guide plate 352 is an arc-shaped plate, installed on one side of the first axial flow fan 351, located inside the housing 31, and above the cable storage cylinder 322. The air guide plate 352 and the inner wall of the housing 31 together form the airflow channel for the first axial flow fan 351, providing forced air cooling for the tethered cable 12. The second axial flow fan is installed inside the cable storage cylinder 322 and is used to cooperate with the heat dissipation holes of the cylinder body and end cap to dissipate heat from the cables wound around the cable storage cylinder 322. Airflow enters the cable storage cylinder 322 through the heat dissipation holes of the end cap, exits through the heat dissipation holes of the cylinder body, and then flows out through the winding gaps of the tether cable 12, allowing the tether cable 12 on the cable storage cylinder to dissipate heat. The first axial flow fan 351 and the second axial flow fan cooperate to form an airflow circulation. The first axial flow fan 351 and the second axial flow fan are connected to the power supply of the cable take-up and release assembly 3. It should be noted that, in order to avoid damage to the tether cable 12 when the equipment malfunctions, the cable storage mechanism 2 of this invention is also provided with a torque limiter. The torque limiter is installed at the end of the output shaft of the main motor 321 and is used to limit the maximum rotational torque of the main motor 321. When the equipment malfunctions and the torque on the output shaft of the main motor 321 exceeds the set torque, the torque limiter slips, and the synchronous pulley of the first pulley 3231, which is coaxially mounted thereon, slips, making the cable storage cylinder 322 unable to rotate, thereby protecting the tether cable 12. This torque limiter is a purely mechanical structure with an adjustable torque limit value. It is reliable in operation and can serve as the most basic and reliable protection device for mooring cable 12.

[0029] The main control unit 34 is located on one side of the main motor 321 and is electrically connected to the motor driver of the main motor 321 and the motor driver of the cable laying motor 331. The main control unit 34 controls the direction and speed of the main motor 321 and the cable laying motor 331, enabling coordinated operation between them. Specifically, during operation, for each revolution of the cable storage drum 322, the guide wheel assembly 333 of the cable laying mechanism 33 should move a distance equal to one cable diameter along the axis of the cable storage drum 322 (i.e., the lead screw axis of the cable laying mechanism 33). The speed at which the guide wheel assembly 333 moves along the axis of the cable storage drum 322 varies depending on the outer diameter of the tethered cable 12. This invention allows for the arbitrary setting of the distance the guide wheel assembly 333 moves along the axis of the cable storage drum 322 for each revolution by modifying parameters, enabling the equipment to adapt to tethered cables 12 of any diameter. This avoids the need to re-process transmission system components to accommodate cables of different diameters, thus saving costs. Simultaneously, the main control unit receives tension data from the tension sensor 3333 on the tether cable 12 and rotational speed data from the encoder's cable storage drum 322. Based on the tension and speed feedback values, it processes the tether cable 12's winding and unwinding speed, tension, and the status of the cable laying mechanism 33 in real time. When the equipment's operating status malfunctions, the main control unit 34 promptly performs protective measures, such as speed reduction or shutdown. The main control unit 34 connects to an external computer for convenient operation, allowing users to adjust the equipment's operating parameters and fully realize the equipment's flexibility. It also facilitates online monitoring of the equipment's operating status and enables appropriate handling in emergency situations.

[0030] Specific working principle When the tethered drone 1 needs to land for storage, such as Figure 3 As shown, the tethered drone 1 first hovers above the landing platform 23. The cable reel assembly 3 winds up the tethered cable 12 of the tethered drone 1. During the cable reeling process, the cable reel assembly 3 forcibly drags the tethered drone 1 closer to the top of the landing platform 23. During this process, the capture ring 41 of the capture assembly limits the tethered cable 12 to prevent instability and ensure a stable descent of the tethered drone 1 to the landing platform 23. When the contact rod 42 on the capture ring 41 of the capture assembly is not pressed by the tethered drone 1, due to the tension of the spring 443 (the spring 443 is pre-stretched before installation to ensure a reliable locking state), the upper left surface of the connecting rod 432 contacts the limiting surface of the inner cavity of the capture ring 41 and is positioned. The contact rod 41 extends, and the locking bolt 44 extends to the right, maintaining the capture state. Under the constant load of the spring 475 stretched by the wire rope, the capture ring 41 slides upwards towards the top of the guide rail of the capture ring bracket 48. Figure 14As shown, the right end face of the locking bolt 44 is designed as a bevel. When the capture ring 41 slides up the guide rail, the bevel of the right end of the locking bolt 44 touches the locking stop 46 fixed between the guide rails of the capture ring bracket 48, pressing the locking bolt 44 to move to the left to make room. The capture ring 41 continues to slide up until it reaches the upper limit block 473 and stops. Under the action of the spring 433, the triangular fork pushes the locking bolt 44 out, which is limited by the locking stop 46, so that the capture ring 41 cannot slide down and the lock remains in its working position. When the tethered cable UAV 1 presses against the contact rod 42 on the capture ring 41, as shown in the figure, Figure 7 As shown, the contact rod 42 moves down, causing the lever 431 to tilt: the lever 431 causes the connecting rod 432 to stretch upward, and the connecting rod 432 causes the triangular fork 434 to rotate clockwise around the pivot 4341; the lower end of the triangular fork 434 moves the locking bolt 44 to slide to the left within the locking bolt sleeve 45, and the right end of the locking bolt 44 disengages from the locking block 46 fixed in the middle of the guide rail, the limit is released, and the capture ring 41 can slide freely down the guide rail; when the lever 431 rotates counterclockwise around the fulcrum 4311, its right end swings up, and the triangular fork 434 rotates clockwise around the pivot 4341, and its upper right corner (near the pivot 4341) is fixed with the tension spring 433, and the other end (upper end) of the spring 433 is fixed to the right end of the lever 431. At this time, the spring 433 is stretched and stores energy. When the contact rod 42 is released, the lever 431 rotates clockwise under the action of the spring 433, the connecting rod 432 presses the upper left corner of the triangular fork 434, the triangular fork 434 rotates counterclockwise around the pivot 4341, and its lower fork pushes the locking bolt to the right, entering the locked state.

[0031] At this time, the foot structure 11 at the bottom of the tethered UAV 1 is guided by the guide positioning hole on the landing platform 23 and passes through the support frame 28 into the locking sleeve 241 until the ball head of the foot structure 11 contacts the trigger switch 242 at the bottom of the locking sleeve 241. This causes the trigger switch 242 to transmit a trigger signal to the controller, which then controls the drive motor of the lifting assembly to rotate forward. The drive motor drives the lead screw of the lead screw guide rail slider assembly to rotate via the synchronous belt transmission assembly 26. The guide rail slider 221 connected to the lead screw moves downward along the lead screw under the action of the guide rail. Simultaneously, the support frame 28 connected to the guide rail slider 221 moves downward until the landing platform 23 connected to the support frame 28 is retracted into the container frame 21. It should be noted that, as Figure 4 and Figure 6As shown, during the downward movement of the support frame 28, the locking mechanism 24 at the bottom of the support frame 28 will continuously approach the lever assembly 27 until the locking lever of the lever assembly 27 passes through the through groove on the locking support 2438 of the locking pin assembly 243 and enters the dial hole 2437 on the slider of the locking pin assembly 243. Since the locking lever of the lever assembly 27 is inclined away from the locking sleeve 241, after the locking lever enters the dial hole 2437, it will push the slider towards the locking sleeve 241 until the slider is locked. After the pin 2431 passes through the locking hole 2411 on the locking sleeve 241, it enters the locking groove 111 of the support structure 11 inside the locking sleeve 241. At the same time, the connecting plate 2345 of the reset assembly moves to the left along with the slider, compressing the reset spring 2433 in the spring seat to store energy, providing the reset energy required for the unlocking action when the UAV 1 is unlocked and takes off. At this time, the take-off and landing platform reaches the lower limit, and the controller controls the drive motor to shut down, thus locking the support structure 11 and completing the locking and storage of the UAV 1. When the UAV 1 is unlocked and taking off, the controller controls the drive motor of the lifting assembly to rotate in the opposite direction. The drive motor drives the lead screw of the lead screw guide rail slider assembly to rotate through the synchronous belt transmission assembly 26. The guide rail slider 221 on the lead screw moves upward along the lead screw under the guidance of the guide rail 22. At the same time, the support frame 28 connected to the guide rail slider 221 moves upward until the take-off and landing platform 23 connected to the support frame 28 extends out from the cabin frame 21. It should be noted that during the upward movement of the support frame 28, the locking mechanism 24 at the bottom of the support frame 28 will continuously move away from the lever assembly. 27. The locking lever of the lever assembly 27 continues to disengage from the locking hole 2437. Because the locking lever of the lever assembly 27 is tilted away from the locking sleeve 241, and with the combined action of the return spring 2433, as the locking lever disengages from the locking hole 2437, it pushes the slider to move away from the locking sleeve 241 until the locking pin 2431 on the slider disengages from the locking hole 2411 on the locking sleeve 241. This unlocks the locking mechanism 24 from the foot structure 11 of the UAV 1, allowing the UAV 1 to take off from the landing platform 23. Due to the elastic force of the return spring 2433, the locking mechanism 24 reliably remains in the unlocked state, ensuring that the storage and locking action can be performed smoothly after the UAV lands again.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle-mounted tethered cable unmanned aerial vehicle (UAV) automatic landing assistance system, characterized in that, include: The take-off and landing platform is vertically slidably installed within the container frame of the transport vehicle's onboard container via a support frame; The locking component is located at the bottom of the landing platform. The lifting assembly is used to drive the take-off and landing platform to move outward or inward within the cabin frame after the tethered drone lands on the platform. Simultaneously, it drives the locking assembly to lock the legs of the tethered drone while driving the take-off and landing platform to move inward within the cabin frame. The capture assembly includes a capture ring bracket, a capture ring, and an energy storage assembly. The capture ring is slidably connected to the capture ring bracket. The capture ring bracket is mounted on the locking assembly and located below the center hole of the take-off and landing platform. A contact rod is passed through the capture ring. The lower end of the contact rod is hinged to a locking bolt through a transmission assembly. The locking bolt cooperates with a locking bolt sleeve provided in the capture ring connecting shell of the capture ring. The energy storage assembly is used to store energy when the capture ring slides down along the capture ring bracket and to reset the capture ring after the tethered UAV takes off. And a cable retrieval assembly, which is located in the cabin frame directly below the capture ring. Its retrieval end is connected to the end of the tethered cable of the tethered drone after it passes through the capture ring, and is used to retrieve and deploy the tethered cable that enters the capture ring.

2. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 1, characterized in that, The transmission assembly includes a lever, a triangular fork, and a spring. The lever is rotatably mounted inside the capture ring connecting housing via a fulcrum. One end of the lever is connected to the lower end of the contact rod, and a connecting rod is hinged between the other end of the lever and the fulcrum. The free end of the connecting rod is hinged to the first angle of the triangular fork. The second angle of the triangular fork is rotatably connected inside the capture ring connecting housing via a pivot. The third angle of the triangular fork is hinged to a locking bolt. The spring is connected to the second angle of the triangular fork and the end of the lever away from the contact rod.

3. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 1, characterized in that, The capture ring bracket is equipped with a guide rail, which is slidably connected to the capture ring slider on the capture ring. The two ends of the guide rail are respectively equipped with an upper limit block and a lower limit block for limiting the capture ring slider. A locking block is provided inside the guide rail near the upper end. When the contact rod is not pressed down, the locking bolt passes through the locking bolt sleeve and contacts the upper surface of the locking block for limitation.

4. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 3, characterized in that, The energy storage assembly includes: a guide wheel mounted on the top of the capture ring bracket, a steel wire rope wound around the guide wheel, one end of the steel wire rope being connected to the capture ring slider, and the other end of the steel wire rope being connected to a constant load spring mounted inside the capture ring connecting shell of the capture ring on the side opposite to the guide wheel.

5. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 4, characterized in that, The tension of the constant load spring is twice the weight of the capture ring.

6. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 1, characterized in that, The locking assembly includes: a locking sleeve, which is located at the bottom of the support frame and corresponds one-to-one with the guide positioning holes; a locking pin assembly is horizontally slidably mounted on the support frame on the side of the locking sleeve facing the interior of the cabin frame; the locking end of the locking pin assembly matches the locking hole on the side of the locking sleeve; and a lever assembly mounted on the inner wall of the cabin frame. When the lifting assembly drives the support frame to move vertically along the inner wall of the cabin frame, causing the take-off and landing platform to enter or exit the cabin frame, it simultaneously drives the locking mechanism to move vertically, causing the lever assembly to move the locking pin assembly horizontally to enter or exit the locking sleeve through the locking hole, thereby limiting and locking or unlocking the leg structure of the tethered cable UAV.

7. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 6, characterized in that, It also includes a controller and a trigger switch. The trigger switch is installed inside the locking sleeve through a switch mounting hole at the bottom of the locking sleeve. The trigger switch and the lifting assembly are both electrically connected to the controller. The controller is used to control the lifting assembly to drive the take-off and landing platform and the locking mechanism to descend together when the foot structure of the tethered drone enters the locking sleeve and triggers the trigger switch, until the locking pin assembly touches the lever assembly. The lever assembly moves the locking pin assembly to limit and lock the foot structure of the tethered drone.

8. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 6, characterized in that, The locking pin assembly includes: A horizontally positioned locking support, one end of which is connected to a support frame, and a slide rail is provided on its top; The locking pin assembly slider is slidably connected to the top of the slide rail, and a locking pin is provided on it. The locking pin corresponds to the locking hole, and the locking end of the locking pin matches the locking groove. A limit seat is located at the end of the locking support opposite to the locking sleeve; And a reset component, which is mounted on the locking support, for resetting the slider of the locking pin assembly; The locking support has a through groove for the lever assembly to pass through, the locking pin assembly slider has a hole for the lever assembly to move the locking pin assembly slider, and the limiting seat is used to restrict the movement of the locking pin assembly slider so that the hole on the locking pin assembly slider after reset matches the lever assembly.

9. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 1, characterized in that, The lifting assembly includes: The drive motor is located at the bottom of the modular housing frame; The lead screw, guide rail, and slider assembly are vertically mounted on the inner wall of the modular housing frame. Its input end is connected to the output end of the drive motor via a synchronous belt drive assembly, and its output end is connected to the support frame. The lead screw guide rail slider assembly includes a lead screw, a lead screw guide rail, and a guide rail slider. The lead screw is vertically and rotatably mounted on the inner wall of the cabin frame. The lower end of the lead screw is connected to the output end of the drive motor through a synchronous belt transmission assembly. The lead screw guide rail is parallel to the lead screw and is mounted on the inner wall of the cabin frame on both sides of the lead screw. The guide rail slider is mounted on the lead screw and is slidably connected to the lead screw guide rail. The side of the guide rail slider is connected to the support frame.

10. The vehicle-mounted tethered cable unmanned aerial vehicle automatic landing assistance system according to claim 1, characterized in that, The cable take-up and drop assembly includes: The housing contains a cable storage mechanism, a cable routing mechanism, a main control unit, and a heat dissipation component. The cable storage mechanism is used to wind and store the mooring cable, the cable laying mechanism is used to guide the mooring cable during the cable winding and unwinding process, the main control unit is used to control the operation of the cable storage mechanism and the cable laying mechanism, and the heat dissipation component is used to dissipate heat from the mooring cable during the cable winding and unwinding process.

Images