Mooring unmanned aerial vehicle auxiliary control system, method, device and equipment and storage medium

Abstract

The invention discloses an auxiliary control system, method, device and equipment for a mooring unmanned aerial vehicle, and a storage medium. The system comprises a mooring unmanned aerial vehicle, at least three first furling mechanisms and at least three second furling mechanisms. And the mooring unmanned aerial vehicle is used for monitoring the region of interest. The at least three first winding mechanisms are connected with the mooring unmanned aerial vehicle through positioning ropes and used for controlling winding and unwinding of the positioning ropes, and auxiliary positioning of the mooring unmanned aerial vehicle is achieved. The second winding mechanism is connected with the mooring unmanned aerial vehicle through a conductive cable and used for achieving electric energy supply to the mooring unmanned aerial vehicle by controlling winding and unwinding of the conductive cable. According to the auxiliary control system for the mooring unmanned aerial vehicle, the influence of an abnormal environment on the stability of the mooring unmanned aerial vehicle is effectively reduced while effective monitoring of the mooring unmanned aerial vehicle is ensured, and reliable support guarantee is provided for auxiliary control of the mooring unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle control technology, and in particular to a tethered unmanned aerial vehicle auxiliary control system, method, device, equipment and storage medium. Background Art

[0002] Tethered drones, also known as tethered drones, are a special form of multi-rotor drones. They use ground power transmitted through tethered cables as a power source, replacing traditional lithium batteries. Their most important feature is their ability to hover for a long time. When monitoring distribution stations, fixed camera structures are used, which has the defect of a small monitoring area. When conventional drones are used to monitor distribution stations, long-term stable and effective monitoring cannot be achieved due to the energy limitations of drones. The emergence of tethered drones can effectively solve the above defects and achieve long-term stable and effective monitoring within a certain area of ​​the distribution station.

[0003] Conventional tethered drones are often connected to a ground base station via a tether line, which serves as an energy transmission channel. In windy weather, tethered drones can only rely on their own power to resist wind, which often fails to achieve effective resistance. Mandatory work can easily cause the tethered drone to deviate from its original monitoring position and be damaged by collision, seriously affecting the safety of the distribution station. Summary of the invention

[0004] The present invention provides a tethered drone auxiliary control system, method, device, equipment and storage medium to ensure effective monitoring of the tethered drone while effectively reducing the impact of abnormal environment on the stability of the tethered drone, and providing reliable support and guarantee for the auxiliary control of the tethered drone.

[0005] According to one aspect of the present invention, a tethered drone auxiliary control system is provided. The system comprises a tethered drone, at least three first reeling mechanisms and second reeling mechanisms;

[0006] The tethered drone is used to monitor the area of ​​interest;

[0007] The at least three first retracting mechanisms are respectively connected to the tethered drone via positioning ropes, and are used to control the retraction and release of the positioning ropes to achieve auxiliary positioning of the tethered drone;

[0008] The second retracting mechanism is connected to the tethered drone via a conductive cable, and is used to supply power to the tethered drone by controlling the retraction and extension of the guide point cable.

[0009] According to another aspect of the present invention, a tethered drone auxiliary control method is provided, which is applied to a tethered drone auxiliary control system, and the method comprises:

[0010] Receiving target spatial coordinates of an area of ​​interest, wherein the area of ​​interest is an area to be monitored by the tethered drone;

[0011] Determine the target control trajectory corresponding to each auxiliary control device in the tethered UAV control system according to the target space coordinates and the pre-constructed control mapping relationship, wherein the auxiliary control device at least includes a tethered UAV, a first retracting mechanism and a second retracting mechanism;

[0012] Based on the target control trajectory, each of the auxiliary control devices is controlled and processed to achieve auxiliary control of the tethered drone.

[0013] According to another aspect of the present invention, a tethered drone auxiliary control device is provided, which is applied to a tethered drone auxiliary control system, and the device comprises:

[0014] A spatial coordinate receiving module, used to receive the target spatial coordinates of an area of ​​interest, wherein the area of ​​interest is an area to be monitored by the tethered drone;

[0015] A control trajectory determination module, used to determine the target control trajectory corresponding to each auxiliary control device in the tethered UAV control system according to the target space coordinates and a pre-constructed control mapping relationship, wherein the auxiliary control device at least includes a tethered UAV, a first retracting mechanism and a second retracting mechanism;

[0016] The UAV auxiliary control module is used to control and process each of the auxiliary control devices based on the target control trajectory to achieve auxiliary control of the tethered UAV.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the tethered drone auxiliary control method described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the tethered drone auxiliary control method described in any embodiment of the present invention when executed.

[0022] The technical solution of the embodiment of the present invention is to automatically adjust and control the auxiliary control system of the tethered drone based on the target space coordinates after obtaining the target space coordinates when the tethered drone detects the area of ​​interest, thereby achieving synchronous adjustment of the tethered drone and the auxiliary control device, ensuring normal and stable monitoring of the tethered drone. When abnormal weather occurs, it is only necessary to control the tethered drone to accelerate upward or downward, effectively reducing the impact of the abnormal environment on the stability of the tethered drone, and providing reliable support and guarantee for the auxiliary control of the tethered drone.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 is a schematic diagram of a tethered drone auxiliary control system provided according to Embodiment 1 of the present invention;

[0026] Figure 2 A schematic diagram of a position control model provided in the first embodiment of the present invention;

[0027] Figure 3 A flowchart of a tethered drone auxiliary control method provided in Embodiment 2 of the present invention;

[0028] Figure 4 A schematic diagram of the structure of a tethered drone auxiliary control device provided in Embodiment 3 of the present invention;

[0029] Figure 5 It is a structural schematic diagram of an electronic device for implementing the auxiliary control method of a tethered drone according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 This is a schematic diagram of a tethered drone auxiliary control system provided in Embodiment 1 of the present invention. Figure 1 As shown, the system includes a tethered drone, at least three first reeling mechanisms and a second reeling mechanism.

[0034] The tethered drone 3 is used to monitor the area of ​​interest. The at least three first retracting mechanisms 1 are respectively connected to the tethered drone 3 through the positioning ropes 2, and are used to control the retraction and extension of the positioning ropes 2 to achieve auxiliary positioning of the tethered drone 3. The second retracting mechanism 5 is connected to the tethered drone 3 through the conductive cable 4, and is used to control the retraction and extension of the guide point cable 4 to achieve power supply to the tethered drone 3.

[0035] The at least three first retracting mechanisms 1 are distributed in a ring array, and the at least three first retracting mechanisms 1 are fixedly installed on the ground through a vertical pole. The second retracting mechanism 5 is fixedly installed at the intersection of the vertical line of the center of gravity of the at least three first retracting mechanisms 1 and the horizontal ground. The first retracting mechanism 1 is composed of a servo motor and a retracting roller that can be rotated forward and reverse, wherein one end of the positioning rope 2 is fixed on the retracting roller, and the other end is clamped on the bottom of the tethered drone 3.

[0036] Specifically, Figure 1As shown, the three first winding mechanisms 1 are distributed in a ring array, and the retracting and releasing ends of the three first winding mechanisms 1 are fixedly installed with positioning ropes 2, one end of the three positioning ropes 2 are clamped on the bottom of the tethered drone 3, and the second winding mechanism 5 is fixedly installed at the intersection of the vertical line of the center of gravity of the three first winding mechanisms 1 and the horizontal ground. As a detailed explanation, the first winding mechanism 1 is composed of a servo motor and a take-up roller that can be rotated forward and reversed, and the other end of the positioning rope 2 is fixed on the take-up roller, wherein the servo motor drives the take-up roller to rotate forward and reversely, so as to realize the retraction and release of the positioning rope 2. The three first winding mechanisms 1 are fixedly installed on the ground through vertical poles. At this time, the three first winding mechanisms 1 are at a set height from the ground, and the flight altitude of the tethered drone 3 can be controlled to monitor different distribution station areas.

[0037] Figure 2 This is a schematic diagram of a position control model provided in the first embodiment of the present invention. Figure 2 As shown, the position control model includes at least three first retractable and deployable control modules, a second retractable and deployable control module, a tethered UAV control module, a single-chip microcomputer, a data input module and a data storage module.

[0038] The data input module is used to receive sample space coordinates and import the sample space coordinates into the single chip microcomputer;

[0039] The data storage module is used to record the working control trajectories of the three first retractable and deployable control modules, the second retractable and deployable control module and the tethered drone control module when the tethered drone flies to the sample space coordinates, and establish a control mapping relationship between the sample space coordinates and the working control trajectory;

[0040] The single chip microcomputer is used to receive the target space coordinates, and determine the target control trajectories corresponding to the three first retractable control modules, the second retractable control module and the tethered drone control module respectively according to the control mapping relationship and the target space coordinates;

[0041] The single chip microcomputer is also used to perform flight auxiliary control on the tethered UAV according to the target control trajectory.

[0042] Specifically, Figure 2As shown, the single chip microcomputer is connected to three first retractable control modules, a second retractable control module, a tethered drone control module, a data input module and a data storage module respectively. Among them, the three first retractable control modules respectively control a first retracting mechanism 1 to perform a retracting operation, and the data storage module records the working trajectories of the three first retractable control modules, the second retractable control module and the tethered drone control module when the tethered drone 3 flies to each sample space coordinate, as the sample control trajectory corresponding to the sample space coordinate, and establishes a control mapping relationship between the sample space coordinate and the sample control trajectory.

[0043] When monitoring the area of ​​interest, the target space coordinates are imported into the single-chip microcomputer through the data input module. The single-chip microcomputer receives the target space coordinates and calls the corresponding target control trajectory according to the control mapping relationship. The three first retraction control modules are controlled according to the control target trajectory to control the retraction and release of the three first winding mechanisms 1 for the positioning rope 2, the second retraction control module is controlled according to the target control trajectory to control the retraction and release of the conductive cable 4 of the second winding mechanism 5, and the tethered drone control module is controlled according to the target control trajectory to control the flight of the tethered drone 3.

[0044] The technical solution of the embodiment of the present invention is to automatically adjust and control the auxiliary control system of the tethered drone based on the target space coordinates after obtaining the target space coordinates when the tethered drone detects the area of ​​interest, thereby achieving synchronous adjustment of the tethered drone and the auxiliary control device, ensuring normal and stable monitoring of the tethered drone. When abnormal weather occurs, it is only necessary to control the tethered drone to accelerate upward or downward, effectively reducing the impact of the abnormal environment on the stability of the tethered drone, and providing reliable support and guarantee for the auxiliary control of the tethered drone.

[0045] Embodiment 2

[0046] Figure 3 This is a flow chart of a tethered drone auxiliary control method provided in the second embodiment of the present invention. This embodiment is applicable to the case of auxiliary control of a tethered drone. The method can be executed by a tethered drone auxiliary control device. The tethered drone auxiliary control device can be implemented in the form of hardware and / or software. The tethered drone auxiliary control device can be configured in an electronic device. Figure 3 As shown, the method includes:

[0047] S101, receiving target space coordinates of a region of interest.

[0048] The region of interest may refer to the area to be monitored by the tethered drone. The target spatial coordinates may refer to the spatial coordinate information corresponding to the region of interest, or may refer to the spatial coordinate information when the tethered drone monitors the region of interest.

[0049] Specifically, the target space information sent by the scheduling system is received through the data input module of the tethered drone.

[0050] S102: Determine the target control trajectory corresponding to each auxiliary control device in the tethered UAV control system according to the target space coordinates and the pre-constructed control mapping relationship.

[0051] Wherein, the auxiliary control device at least includes a tethered drone, a first retracting mechanism and a second retracting mechanism.

[0052] Specifically, the target space coordinates are matched with the pre-constructed control mapping relationship to determine the target control trajectory corresponding to the tethered UAV, the target control trajectory corresponding to each first retracting mechanism, and the target control trajectory corresponding to the second retracting mechanism.

[0053] S103: Based on the target control trajectory, control processing is performed on each of the auxiliary control devices to achieve auxiliary control of the tethered drone.

[0054] Specifically, the three first retractable control modules are controlled according to the control target trajectory to respectively control the retraction and release of the positioning ropes of the three first winding mechanisms, the second retractable control module is controlled according to the target control trajectory to control the retraction and release of the conductive cables of the second winding mechanism, and the tethered drone control module is controlled according to the target control trajectory to control the flight of the tethered drone, thereby achieving auxiliary control of the tethered drone.

[0055] The technical solution of the embodiment of the present invention is to automatically adjust and control the auxiliary control system of the tethered drone based on the target space coordinates after obtaining the target space coordinates when the tethered drone detects the area of ​​interest, thereby achieving synchronous adjustment of the tethered drone and the auxiliary control device, ensuring normal and stable monitoring of the tethered drone. When abnormal weather occurs, it is only necessary to control the tethered drone to accelerate upward or downward, effectively reducing the impact of the abnormal environment on the stability of the tethered drone, and providing reliable support and guarantee for the auxiliary control of the tethered drone.

[0056] Furthermore, when abnormal weather occurs and the tethered drone is lower than the three first reeling mechanisms, the tethered drone can be controlled to accelerate downward to ensure stable monitoring of the tethered drone in a windy environment. It should be noted that when the height of the tethered drone is lower than the first reeling mechanism, it is necessary to prevent the tethered drone's wings from colliding with the positioning ropes. As an optional solution, a set of brackets can be fixed at the bottom of the tethered drone. After the edge of the bracket exceeds the edge of the tethered drone's wing, the positioning rope can effectively prevent the wing from touching.

[0057] As a preferred solution, when there is a strong wind environment where the stability of the tethered drone cannot be maintained, the tethered drone is controlled to move to the center of gravity of the three first reeling mechanisms. When the three positioning ropes are in a taut state, the stability of the tethered drone can be guaranteed.

[0058] To further explain, after statistics are taken on the target spatial coordinates corresponding to the area of ​​interest, the Z-axis coordinate value with the highest degree of repetition is used as the height of the horizontal plane formed by the three first retracting mechanisms from the horizontal ground, and the first retracting mechanism is installed. In windy weather, when the tethered drone moves to the horizontal plane formed by the three first retracting mechanisms, the tethered drone can be directly shut down, and by adjusting the length of the three positioning ropes, the tethered drone can monitor some areas of interest, thereby enabling more diversified monitoring in abnormal weather, while being more adaptable to severe weather and ensuring long-term, stable and effective monitoring of the distribution station.

[0059] Embodiment 3

[0060] Figure 4 This is a schematic diagram of the structure of a tethered drone auxiliary control device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device comprises:

[0061] The spatial coordinate receiving module 301 is used to receive the target spatial coordinates of the region of interest, wherein the region of interest is the area to be monitored by the tethered drone;

[0062] A control trajectory determination module 302 is used to determine the target control trajectory corresponding to each auxiliary control device in the tethered UAV control system according to the target space coordinates and the pre-constructed control mapping relationship, wherein the auxiliary control device at least includes a tethered UAV, a first retracting mechanism and a second retracting mechanism;

[0063] The UAV auxiliary control module 303 is used to control and process each of the auxiliary control devices based on the target control trajectory to achieve auxiliary control of the tethered UAV.

[0064] The technical solution of the embodiment of the present invention is to automatically adjust and control the auxiliary control system of the tethered drone based on the target space coordinates after obtaining the target space coordinates when the tethered drone detects the area of ​​interest, thereby achieving synchronous adjustment of the tethered drone and the auxiliary control device, ensuring normal and stable monitoring of the tethered drone. When abnormal weather occurs, it is only necessary to control the tethered drone to accelerate upward or downward, effectively reducing the impact of the abnormal environment on the stability of the tethered drone, and providing reliable support and guarantee for the auxiliary control of the tethered drone.

[0065] Optionally, the drone auxiliary control module 303 is further used for:

[0066] When strong winds occur and the tethered drone is higher than the first retracting mechanism, controlling the tethered drone to accelerate and fly upward;

[0067] When strong winds occur and the tethered drone is lower than the first retracting mechanism, the tethered drone is controlled to accelerate and fly downward.

[0068] The tethered drone auxiliary control device provided in the embodiment of the present invention can execute the tethered drone auxiliary control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0069] Embodiment 4

[0070] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0071] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0072] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0073] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the tethered drone auxiliary control method.

[0074] In some embodiments, the tethered drone assisted control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the tethered drone assisted control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the tethered drone assisted control method in any other appropriate manner (e.g., by means of firmware).

[0075] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0076] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0077] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0078] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0079] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0080] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0081] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0082] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tethered drone auxiliary control system, characterized in that: The system includes a tethered drone, at least three first reeling mechanisms and a second reeling mechanism; The tethered drone is used to monitor the area of ​​interest; The at least three first retracting mechanisms are respectively connected to the tethered drone via positioning ropes, and are used to control the retraction and release of the positioning ropes to achieve auxiliary positioning of the tethered drone; The second retracting mechanism is connected to the tethered drone via a conductive cable, and is used to supply power to the tethered drone by controlling the retraction and extension of the guide point cable.

2. The system according to claim 1, characterized in that The at least three first retracting mechanisms are distributed in a ring array, and the at least three first retracting mechanisms are fixedly installed on the ground through vertical poles; The first winding mechanism is composed of a servo motor and a take-up roller which can rotate forward and reverse, wherein one end of the positioning rope is fixed on the take-up roller, and the other end is clamped on the bottom of the tethered drone.

3. The system according to claim 1, characterized in that The second retracting mechanism is fixedly installed at the intersection of the vertical line of the center of gravity of the at least three first retracting mechanisms and the horizontal ground.

4. The system according to claim 1, characterized in that The system also includes a position control model; wherein the position control model includes at least three first retractable and deployable control modules, a second retractable and deployable control module, a tethered drone control module, a single-chip microcomputer, a data input module and a data storage module.

5. The system according to claim 4, characterized in that The system comprises: The data input module is used to receive sample space coordinates and import the sample space coordinates into the single chip microcomputer; The data storage module is used to record the working control trajectories of the three first retractable and deployable control modules, the second retractable and deployable control module and the tethered drone control module when the tethered drone flies to the sample space coordinates, and establish a control mapping relationship between the sample space coordinates and the working control trajectory; The single chip microcomputer is used to receive the target space coordinates, and determine the target control trajectories corresponding to the three first retractable control modules, the second retractable control module and the tethered drone control module respectively according to the control mapping relationship and the target space coordinates; The single chip microcomputer is also used to perform flight auxiliary control on the tethered UAV according to the target control trajectory.

6. A tethered drone auxiliary control method, characterized in that: Applied to a tethered drone auxiliary control system, the method comprises: Receiving target spatial coordinates of an area of ​​interest, wherein the area of ​​interest is an area to be monitored by the tethered drone; Determine the target control trajectory corresponding to each auxiliary control device in the tethered UAV control system according to the target space coordinates and the pre-constructed control mapping relationship, wherein the auxiliary control device at least includes a tethered UAV, a first retracting mechanism and a second retracting mechanism; Based on the target control trajectory, each of the auxiliary control devices is controlled and processed to achieve auxiliary control of the tethered drone.

7. The method according to claim 6, characterized in that The method comprises: When strong winds occur and the tethered drone is higher than the first retracting mechanism, controlling the tethered drone to accelerate and fly upward; When strong winds occur and the tethered drone is lower than the first retracting mechanism, the tethered drone is controlled to accelerate and fly downward.

8. A tethered drone auxiliary control device, characterized in that: Applied to the auxiliary control system of a tethered UAV, the device comprises: A spatial coordinate receiving module, used to receive the target spatial coordinates of an area of ​​interest, wherein the area of ​​interest is an area to be monitored by the tethered drone; A control trajectory determination module, used to determine the target control trajectory corresponding to each auxiliary control device in the tethered UAV control system according to the target space coordinates and a pre-constructed control mapping relationship, wherein the auxiliary control device at least includes a tethered UAV, a first retracting mechanism and a second retracting mechanism; The UAV auxiliary control module is used to control and process each of the auxiliary control devices based on the target control trajectory to achieve auxiliary control of the tethered UAV.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the tethered drone auxiliary control method according to any one of claims 6 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the tethered drone auxiliary control method according to any one of claims 6 to 7 when executed.

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