Mooring unmanned aerial vehicle retracting and releasing device and mooring unmanned aerial vehicle system

Abstract

The invention discloses a mooring unmanned aerial vehicle retracting and releasing device and a mooring unmanned aerial vehicle system, and is applied to the technical field of unmanned aerial vehicles. The mooring unmanned aerial vehicle take-up and pay-off device comprises engineering equipment, a recovery cabin arranged in the engineering equipment and a mooring cable take-up and pay-off device arranged in the recovery cabin. The recovery cabin comprises a cabin body, a cabin cover and a rotating mechanism; wherein the rotating mechanism is respectively connected with the cabin body and the cabin cover, and the rotating mechanism is used for controlling the opening and closing of the cabin cover; the mooring cable take-up and pay-off device comprises a take-up roller and a take-up roller support, the take-up roller is installed on the take-up roller support, a mooring cable is wound around the take-up roller, the take-up roller is used for taking up or paying off the mooring cable, the first end of the mooring cable is connected with the mooring unmanned aerial vehicle, and the second end of the mooring cable is connected with the mooring unmanned aerial vehicle. And the second end of the mooring cable is connected with a power supply device of the engineering equipment. The motion convenience and the retracting and releasing efficiency of the mooring type unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly to a retractable device for a tethered unmanned aerial vehicle and a tethered unmanned aerial vehicle system. Background Art

[0002] A tethered unmanned aerial vehicle, also known as a tethered drone, uses the ground power transmitted by a tethered cable as a power source and has the ability to hover in the air for a long time.

[0003] In the related art, the tethered cable of a tethered unmanned aerial vehicle is usually connected to a tethered power supply system arranged on the ground. However, the ground power supply system is large and complex, not convenient to carry and transport. Moreover, after the tethered unmanned aerial vehicle takes off, due to the immobility of the tethered power supply system, the movement range of the tethered unmanned aerial vehicle is limited. In addition, in order to prevent dust and rain, the tethered unmanned aerial vehicle is usually arranged in a recovery cabin. The current operation process requires the user to manually open or close the recovery cabin and manually arrange the tethered cable in the cabin before and after each use of the tethered unmanned aerial vehicle. The above manual operations are not only cumbersome but also reduce the retractable efficiency of the tethered unmanned aerial vehicle.

[0004] Therefore, how to improve the movement convenience and retractable efficiency of a tethered unmanned aerial vehicle is a technical problem that those skilled in the art need to solve currently. Summary of the Invention

[0005] The purpose of the present application is to provide a retractable device for a tethered unmanned aerial vehicle and a tethered unmanned aerial vehicle system, which can improve the movement convenience and retractable efficiency of a tethered unmanned aerial vehicle.

[0006] To solve the above technical problems, the present application provides a retractable device for a tethered unmanned aerial vehicle, which includes: an engineering equipment, a recovery cabin arranged on the engineering equipment, and a tethered cable retractable device arranged in the recovery cabin;

[0007] The recovery cabin includes a cabin body, a cabin cover, and a rotating mechanism; wherein, the rotating mechanism is respectively connected to the cabin body and the cabin cover, and the rotating mechanism is used to control the opening and closing of the cabin cover;

[0008] The tethered cable retractable device includes a wire reel and a wire reel support seat. The wire reel is installed on the wire reel support seat, and the tethered cable is wound around the wire reel. The wire reel is used to recover or release the tethered cable. The first end of the tethered cable is connected to the tethered unmanned aerial vehicle, and the second end of the tethered cable is connected to the power supply device of the engineering equipment.

[0009] Optionally, the rotating mechanism includes a hatch servo, a first connecting rod, and a second connecting rod. The hatch servo is fixed to the cabin body by bolts. The first end of the first connecting rod is connected to the hatch through a bearing, the second end of the first connecting rod is fixed to the hatch servo by bolts, and the second connecting rod is connected to the cabin body and the hatch through bearings respectively.

[0010] Optionally, a drone support is provided inside the cabin body, and the drone support is used to support the tethered drone after recovery.

[0011] Optionally, two positioning guide wheels and guide wheel supports are provided inside the cabin body. The positioning guide wheels are installed on the guide wheel supports, and the two positioning guide wheels are arranged in parallel. The tethered cable passes through the middle gap between the two positioning guide wheels; wherein, the positioning guide wheels are used to restrict the movement freedom of the tethered cable to prevent the tethered cable from shifting due to external forces.

[0012] Optionally, an opening is provided on the side wall of the cabin body. After passing through the middle gap between the two positioning guide wheels, the tethered cable is wound around the cable take-up roller through the opening.

[0013] Optionally, the tethered cable retracting and deploying device further includes a reciprocating lead screw and a reciprocating lead screw slider;

[0014] The reciprocating lead screw slider is installed on the reciprocating lead screw. The reciprocating lead screw slider has a first ring structure, and the tethered cable passes through the first ring structure.

[0015] Optionally, the tethered cable retracting and deploying device further includes a reciprocating lead screw support and a reciprocating lead screw sliding shaft;

[0016] The reciprocating lead screw is fixed to the reciprocating lead screw support through a bearing;

[0017] The reciprocating lead screw slider has a second ring structure, and the reciprocating lead screw sliding shaft passes through the second ring structure and is fixed to the reciprocating lead screw support by bolts.

[0018] Optionally, the engineering equipment further includes a control panel. The control panel is connected to the recovery cabin and the tethered cable retracting and deploying device respectively through control cables. The control panel is used to send hatch opening and closing commands and cable retracting and deploying commands.

[0019] This application also provides a tethered drone system, including a tethered drone and any one of the above-mentioned tethered drone retracting and deploying devices.

[0020] Optionally, the tethered drone is equipped with a working module;

[0021] Among them, the working module includes any one or any combination of a lighting module, a camera, an image transmission module, and a communication relay base station module.

[0022] A tethered drone retracting and deploying device provided by the present application includes an engineering equipment, a recovery cabin, and a tether cable retracting and deploying device. The tethered drone retracting and deploying device in the present application is integrated with the engineering equipment, and the tethered drone is powered by the power supply device of the engineering equipment; in the above manner, the tethered drone can move with the engineering equipment and quickly start operations when needed. The recovery cabin is provided with a rotating mechanism, which connects the cabin body and the cabin cover and is used to control the opening and closing of the cabin cover; the design of the above recovery cabin avoids the cumbersome steps of manually operating the cabin cover and reduces the preparation time before and after using the drone. The tether cable retracting and deploying device includes a wire reel and a wire reel support. The wire reel is used to recover or release the tether cable, so as to ensure that the cable remains neat during the retracting and deploying process and avoid the complex operation of manually sorting the cable. Therefore, the present application can improve the movement convenience and retracting and deploying efficiency of the tethered drone. The present application also provides a tethered drone system, which has the above beneficial effects and will not be elaborated here. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0024] Figure 1 It is a schematic diagram of the application scenario of a tethered drone retracting and deploying device provided by an embodiment of the present application;

[0025] Figure 2 It is a schematic diagram of the appearance of the recovery cabin when the cabin cover is closed provided by an embodiment of the present application;

[0026] Figure 3 It is a schematic diagram of the overall structure of a tethered drone retracting and deploying device provided by an embodiment of the present application;

[0027] Figure 4 It is a schematic diagram of the structure of a tethered drone provided by an embodiment of the present application;

[0028] Figure 5 It is a schematic diagram of a coaxial dual-rotor structure provided by an embodiment of the present application;

[0029] Figure 6 It is a front view structural schematic diagram of a tethered drone provided by an embodiment of the present application;

[0030] Figure 7Schematic top view structure of a tethered drone provided by an embodiment of the present application;

[0031] Figure 8 Schematic structure diagram of a recovery cabin provided by an embodiment of the present application;

[0032] Figure 9 Schematic structure diagram of a tethered cable retracting and releasing device provided by an embodiment of the present application;

[0033] Figure 10 Schematic structure diagram of a cab operation control panel provided by an embodiment of the present application. Detailed implementation manners

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0035] Please refer to the following Figure 1 , Figure 1 which is a schematic application scenario diagram of a tethered drone retracting and releasing device provided by an embodiment of the present application. As Figure 1 shown, the tethered drone retracting and releasing device includes: engineering equipment A, a recovery cabin B provided on the engineering equipment, and a tethered cable retracting and releasing device C provided in the recovery cabin.

[0036] The recovery cabin includes a cabin body, a cabin cover, and a rotating mechanism; wherein, the rotating mechanism is respectively connected to the cabin body and the cabin cover, and the rotating mechanism is used to control the opening and closing of the cabin cover. Specifically, the rotating mechanism can control the opening or closing of the cabin cover according to the received instruction, and the above rotating mechanism can be powered by the engineering equipment.

[0037] The tethered cable retracting and releasing device includes a wire winding roller and a wire winding roller support seat. The wire winding roller is installed on the wire winding roller support seat, and the tethered cable is wound around the wire winding roller. The wire winding roller is used to recover or release the tethered cable. The first end of the tethered cable is connected to the tethered drone, and the second end of the tethered cable is connected to the power supply device of the engineering equipment.

[0038] In this embodiment, an extension platform connected to the cabin body can be provided outside the cabin body. The extension platform is a structure for placing the tethered cable retracting and releasing device. Specifically, the wire winding roller support seat is installed on the extension platform. The extension platform is provided outside the cabin body, which reduces the occupation of the internal space of the cabin body by the tethered cable retracting and releasing device and also avoids the collision between the tethered drone during the retracting and releasing process and the tethered cable retracting and releasing device.

[0039] Specifically, when the tethered drone takes off from the cabin, the wire take-up roller can rotate in the first direction to release the tethered cable, reducing the number of winding turns of the tethered cable around the wire take-up roller; during the process of the tethered drone flying back into the cabin from the outside, the wire take-up roller can rotate in the second direction to retract the tethered cable, increasing the number of winding turns of the tethered cable around the wire take-up roller. In this embodiment, a rotary servo can be provided in the tethered cable retraction and release device to drive the wire take-up roller to rotate after receiving a control signal. The above-mentioned wire take-up roller can be powered by the engineering equipment.

[0040] The above-mentioned engineering equipment further includes a control panel, which is respectively connected to the recovery cabin and the tethered cable retraction and release device through control cables, and the control panel is used to send commands for opening and closing the hatch and retracting and releasing the cable.

[0041] A tethered drone retraction and release device provided in this embodiment includes an engineering equipment, a recovery cabin, and a tethered cable retraction and release device. The tethered drone retraction and release device in this embodiment is integrated into the engineering equipment, and the tethered drone is powered by the power supply device of the engineering equipment; the above method enables the tethered drone to move with the engineering equipment and quickly start operations when needed. The recovery cabin is provided with a rotating mechanism, which connects the cabin body and the hatch cover and is used to control the opening and closing of the hatch cover; the design of the above-mentioned recovery cabin avoids the cumbersome steps of manually operating the hatch cover and reduces the preparation time before and after using the drone. The tethered cable retraction and release device includes a wire take-up roller and a wire take-up roller support. The wire take-up roller is used to retract or release the tethered cable, ensuring that the cable remains neat during the retraction and release process and avoiding the complex operation of manually organizing the cable. Therefore, this embodiment can improve the movement convenience and retraction and release efficiency of the tethered drone.

[0042] Please refer to Figure 2 、 Figure 3 and Figure 4 , Figure 2 which is a schematic external view of the recovery cabin when the hatch cover is closed provided by an embodiment of the present application, Figure 3 which is a schematic overall structure diagram of a tethered drone retraction and release device provided by an embodiment of the present application, Figure 4 which is a schematic structure diagram of a tethered drone provided by an embodiment of the present application; 1 represents the tethered drone, 2 represents the recovery cabin, 3 represents the tethered cable retraction and release device, 4 represents the cab operation control panel of the engineering equipment, 5 represents the power supply device (such as a storage battery) of the engineering equipment, 6 represents the drone frame, 7 represents the brushless motor, 8 represents the propeller, 9 represents the lighting module, 10 represents the camera and image transmission module, and 11 represents the communication relay base station module.

[0043] Please refer to Figure 5 、 Figure 6 and Figure 7, Figure 5 Schematic diagram of a coaxial dual - propeller structure provided by an embodiment of the present application Figure 6 Front - view structure schematic diagram of a tethered drone provided by an embodiment of the present application Figure 7 Top - view structure schematic diagram of a tethered drone provided by an embodiment of the present application. The overall volume of the tethered drone is small and the weight is light, and it can be recovered into the recovery cabin. In order to achieve a compact structure and small volume of the tethered drone while providing greater lift, the tethered drone adopts a four - axis, eight - motor, and eight - propeller frame layout design. The frame is made by cutting carbon fiber plates, which minimizes the mass while meeting the requirements of hardness and stiffness. The power source of the tethered drone is 8 brushless motors, which are respectively installed on the four arms of the frame using bolts. Two brushless motors are installed on one arm, one is installed upright above the arm and the other is installed upside - down below the arm. A set of forward and reverse propellers is used for the two motors. The motors are coaxial and rotate in opposite directions, and the upper and lower motors cancel each other's counter - torque. The frame is designed with a propeller protection ring to protect the propellers within the ring, allowing the tethered drone to have a slight collision with engineering equipment during the take - off and recovery process of the tethered drone without danger to the tethered drone

[0044] As a further introduction to the above - mentioned embodiment, the rotating mechanism includes a hatch servo, a first connecting rod, and a second connecting rod. The hatch servo is fixed to the cabin body by bolts. The first end of the first connecting rod is connected to the hatch through a bearing, the second end of the first connecting rod is fixed to the hatch servo by bolts, and the second connecting rod is connected to the cabin body and the hatch through bearings respectively. A drone support can also be arranged in the cabin body, and the drone support is used to support the recovered tethered drone

[0045] Please refer to Figure 8 , Figure 8 Schematic diagram of a recovery cabin structure provided by an embodiment of the present application, 12 represents the cabin body, 13 represents the hatch, 14 represents the connecting rod , 15 represents the connecting rod , 16 represents the connecting rod , 17 represents the connecting rod , 18 represents the hatch servo, 19 represents the drone support, 33 represents the opening on the side wall of the cabin body; the connecting rod is the above - mentioned first connecting rod, and the connecting rods , the connecting rod and the connecting rod are the above - mentioned second connecting rods

[0046] The above recovery capsule is designed with a capsule body and a capsule cover. The capsule cover is connected to the capsule body by a connecting rod, and a rotary servo is installed on the connecting rod, which can drive the connecting rod to rotate around the connecting rod shaft on the capsule body to realize the automatic opening and closing of the capsule cover. When the capsule cover is closed, it can fit tightly with the capsule body to achieve dust and rain protection. A cable positioning guide wheel is installed at the bottom of the recovery capsule, and the cable passes through the middle of the two guide wheels to ensure that the cable is always in the center position of the recovery capsule. When the tethered UAV is recovered, the cable is tightened to play a traction role for the tethered UAV and ensure that the tethered UAV is recovered into the recovery capsule. A UAV support is also installed at the bottom of the recovery capsule. After the tethered UAV is recovered into the recovery capsule, it plays a role in supporting and fixing the tethered UAV to ensure that the tethered UAV in the recovery capsule does not shake and collide during the movement of the engineering equipment.

[0047] As a further introduction to the above embodiment, two positioning guide wheels and guide wheel supports are arranged in the capsule body. The positioning guide wheels are installed on the guide wheel supports, and the two positioning guide wheels are arranged in parallel. The tethered cable passes through the middle gap between the two positioning guide wheels. Among them, the positioning guide wheels are used to restrict the movement freedom of the tethered cable to prevent the tethered cable from deviating due to external forces. Two guide wheel supports can be arranged in the capsule body, and one positioning guide wheel is arranged on each guide wheel support; one guide wheel support can also be arranged in the capsule body, and two positioning guide wheels are arranged on the guide wheel support. As Figure 8 shown, an opening is arranged on the side wall of the capsule body, and the tethered cable passes through the middle gap between the two positioning guide wheels and then winds around the wire take-up roller through the opening.

[0048] Furthermore, the tethered cable winding and unwinding device further includes a reciprocating lead screw and a reciprocating lead screw slider; the reciprocating lead screw slider is installed on the reciprocating lead screw, and the reciprocating lead screw slider has a first ring structure, and the tethered cable passes through the first ring structure; among them, the first ring structure is used to restrict the movement freedom of the tethered cable to prevent the tethered cable from deviating due to external forces.

[0049] The above tethered cable winding and unwinding device further includes a reciprocating lead screw support and a reciprocating lead screw sliding shaft; the reciprocating lead screw is fixed to the reciprocating lead screw support through a bearing; the reciprocating lead screw slider has a second ring structure, and the reciprocating lead screw sliding shaft passes through the second ring structure and is fixed to the reciprocating lead screw support by bolts. Based on the above second ring structure and the reciprocating lead screw sliding shaft, the reciprocating lead screw slider can be limited to prevent the reciprocating lead screw slider from rotating around the reciprocating lead screw.

[0050] Please refer to Figure 9 , Figure 9The figure is a schematic structural diagram of a mooring cable retracting and deploying device provided by an embodiment of the present application. 20 represents a wire reel, 21 represents a wire reel support, 22 represents a reciprocating lead screw, 23 represents a reciprocating lead screw slider, 24 represents a reciprocating lead screw sliding shaft, 25 represents a reciprocating lead screw support, 26 represents a mooring cable, 27 represents a cable positioning guide wheel, and 28 represents a cable positioning guide wheel support. The mooring cable retracting and deploying device is designed with a reciprocating lead screw. A reciprocating lead screw slider is installed on the reciprocating lead screw, and a cable positioning guide wheel is installed on the reciprocating lead screw slider. The cable passes through the middle of the positioning guide wheel. The reciprocating lead screw slider can cooperate with the wire reel to reciprocate when the wire reel takes in the cable, guiding the cable to be neatly wound when the cable is retrieved.

[0051] Please refer to Figure 10 , Figure 10 The figure is a schematic structural diagram of a cab operation control panel provided by an embodiment of the present application. 29 represents a housing, 30 represents a display, 31 represents an operation switch, and 32 represents a control cable.

[0052] The mooring unmanned aerial vehicle and the mooring cable retracting and deploying device are integrated in a recovery cabin (also known as the UAV recovery cabin). The overall size of the system meets the requirement of being installed on engineering equipment. The system is connected to use the power supply of the engineering equipment, and the cab operation control panel is installed in the equipment cab through a control cable.

[0053] The electrical circuit of the unmanned aerial vehicle meets the waterproof design and can meet the requirement of taking off and working in bad weather. The unmanned aerial vehicle can carry different working modules according to the task needs. This solution is designed with a lighting module, a camera and an image transmission module, a communication relay base station module, but can also carry modules not limited to those designed in this solution, and different task modules can be replaced according to the on-site task needs.

[0054] This embodiment can control the mooring unmanned aerial vehicle in the following ways:

[0055] Method 1: Wired cable control:

[0056] Use the control panel in the cab to transmit the control signal to the unmanned aerial vehicle through a signal transmission cable to achieve the control of the mooring unmanned aerial vehicle. The signal transmission cable and the mooring cable are the same cable.

[0057] Scheme 2: Wireless remote control:

[0058] Use a remote controller to transmit the control signal to the signal receiver on the mooring unmanned aerial vehicle through electromagnetic waves to achieve the control of the mooring unmanned aerial vehicle.

[0059] The embodiment of the present application further provides a tethered drone system, including a tethered drone and any one of the above-mentioned tethered drone retracting and deploying devices. The tethered drone is equipped with a working module; wherein, the working module includes any one or a combination of several of a lighting module, a camera, an image transmission module, and a communication relay base station module. In this embodiment, the corresponding working module can be selected and installed on the tethered drone according to the actual application scenario.

[0060] The following uses an embodiment in actual application to illustrate the solution described in the above embodiment.

[0061] At the scene of a rescue and relief mission, in order to carry out the maximum rescue work within the golden rescue time, engineering equipment often operates continuously for 24 hours. There is a large-scale power outage in the disaster area, and nighttime lighting and communication at the scene have become two problems affecting the rescue progress. During nighttime rescue, a good lighting environment can often bring a faster rescue operation speed. The lighting range of the lighting facilities of the engineering equipment itself is limited, and it is difficult to meet the good lighting environment for nighttime operations. Therefore, during nighttime operations, additional lighting equipment is often required. The most common one is the tethered lighting drone. The drone lighting can achieve high-altitude overlooking lighting and continuous lighting for a long time. Traditional tethered lighting drones are powered by 220V mains electricity. The drone has a power conversion and power supply system on the ground. In the case of a large-scale power outage in the disaster area, an additional generator is required for power supply, which directly leads to a large and complex ground power supply system, making it inconvenient to carry and transport. After the drone takes off and works, the ground system is immovable and easily causes traffic jams at the ground rescue site. To solve the lighting and communication command problems at the rescue site, the tethered drone must be easy to carry and transport, without an additional power supply system, capable of carrying a lighting system, having a wide lighting range and a good lighting angle, and also capable of carrying different working modules according to requirements.

[0062] To solve the lighting and communication problems at the rescue work site in the above-mentioned related technologies, the embodiment of the present application provides a highly integrated, portable, and installable tethered drone system on the roof or body platform of engineering equipment.

[0063] The above-mentioned tethered drone system includes: a tethered drone, a recovery cabin, a tethered cable retracting and deploying device, a cab operation control panel, and an equipment battery; the tethered drone is parked in the recovery cabin, the tethered cable retracting and deploying device is installed on the recovery cabin, the cab operation control panel is installed in the equipment cab, and the equipment battery is the battery of the equipment itself.

[0064] The tethered drone includes: a drone frame, a brushless motor, a propeller, a lighting module, a camera, and an image transmission module, and a communication relay base station module; the brushless motor is fixed to the drone frame using bolts, the propeller is fixed to the brushless motor using nuts, the lighting module is installed under the drone frame with four light groups arranged in a circular array or oppositely, and the camera, image transmission module, and communication relay base station module are fixed to the drone frame using bolts. The recovery capsule of the tethered drone is provided on the engineering equipment, enabling autonomous takeoff and landing recovery.

[0065] The recovery capsule includes: a capsule body, a capsule cover, and a connecting rod , a connecting rod , a connecting rod , a connecting rod , a capsule cover servo, and a drone support; one end of the connecting rod is connected to the capsule cover through a bearing, the other end of the connecting rod is fixed to the capsule cover servo using bolts, the capsule cover servo is fixed to the capsule body using bolts, and the connecting rod , the connecting rod , and the connecting rod are respectively connected to the capsule body and the capsule cover through bearings, and the drone support is fixed to the bottom of the capsule body using bolts.

[0066] The tethered cable retraction and deployment device includes: a wire reel, a wire reel support, a reciprocating lead screw, a reciprocating lead screw slider, a reciprocating lead screw sliding shaft, a reciprocating lead screw support, a tethered cable, a cable positioning guide wheel, and a cable positioning guide wheel support; the wire reel is fixed to the wire reel support through a bearing, the reciprocating lead screw is fixed to the reciprocating lead screw support through a bearing, the reciprocating lead screw sliding shaft is fixed to the reciprocating lead screw support using bolts, the reciprocating lead screw slider is sleeved on the reciprocating lead screw and the reciprocating lead screw sliding shaft, the cable positioning guide wheel is fixed to the cable positioning guide wheel support through a bearing, the tethered cable passes through the cable positioning guide wheel and the reciprocating lead screw slider and then winds around the wire reel, and the wire reel support, the reciprocating lead screw support, and the cable positioning guide wheel support are fixed to the bottom of the capsule body using bolts. The tethered cable retraction and deployment device can automatically retract and deploy the cable according to the working conditions.

[0067] The cab operation control panel includes: a housing, a display, an operation switch, and a control cable; the display is embedded in the housing, and the operation switch is installed on the housing using nuts.

[0068] The above tethered drone system is a highly integrated tethered drone system that can be installed on the top of the existing engineering equipment operation room or the equipment platform. The system directly uses the power supply of the engineering equipment itself without the need for an external power supply.

[0069] The working modules that the tethered drone can carry include, but are not limited to, lighting modules, cameras and image transmission modules, communication relay base station modules, etc. The tethered drone is designed with a 4-axis, 8-motor, 8-propeller configuration and is equipped with a propeller safety protection device.

[0070] The installation method of the above-mentioned tethered drone system is as follows: A tethered cable retraction and deployment device is installed on the drone recovery compartment. The tethered drone is placed inside the drone recovery compartment. The entire main body is fixedly installed at a suitable position on the equipment through bolts. The power cord is connected from the drone recovery compartment to the equipment battery. The cab operation control panel is installed at a suitable position inside the equipment cab using bolts, and the cab operation control panel is connected to the drone recovery compartment through control cables.

[0071] The power-on process of the above-mentioned tethered drone system is as follows: Operate the cab operation control panel inside the equipment cab, and turn on the main power switch button on the cab operation control panel. The main power relay of the drone system closes to supply power, and the system power-on is completed.

[0072] The process of opening the hatch is as follows: Turn on the hatch switch button on the cab operation control panel. The hatch opening relay closes, and the hatch servo motor is powered on and rotates. The hatch opens. When the hatch is opened to the fully opened state, the hatch triggers the position sensor, and the sensor disconnects the hatch opening relay. The hatch servo motor is powered off and stops rotating, and the hatch opening is completed.

[0073] The power-on self-check process of the tethered drone system is as follows: Turn on the drone power supply switch button on the cab operation control panel. The drone power supply relay closes, and the tethered drone is powered on for self-check. After the tethered drone emits a sound indicating that the self-check is completed, the power-on self-check of the tethered drone is completed.

[0074] The process of the tethered drone taking off is as follows: Turn on the drone power unlock switch button on the cab operation control panel. The tethered drone is powered unlocked, and the propellers rotate at a low speed. After setting the takeoff working height on the cab operation control panel and clicking the takeoff button, the tethered drone takes off autonomously. The tethered cable retraction and deployment device releases the cable as the tethered drone takes off. After the tethered drone reaches the set height, the drone enters the hover state, and the tethered cable retraction and deployment device stops releasing the cable. The takeoff of the tethered drone is completed.

[0075] The process of turning on the working module is as follows: Turn on the working module power supply switch button on the cab operation control panel. The module power supply relay closes to supply power to the working module. If the working module carried is a lighting module, the lighting work is turned on. If the working module carried is a camera and image transmission module, the image transmission work is turned on, and the real-time image is transmitted to the command office. If the working module carried is a communication relay base station module, the base station starts working. The working module runs normally, and the turning on of the working module is completed.

[0076] The process of retrieving the tethered UAV is as follows: After the work is completed, first turn off the power switch button of the work module on the operation control panel in the cab. After the work module is turned off, click the landing button, and the tether cable retracting device retracts the cable. The tethered UAV then descends in height and follows the cable to land in the UAV recovery compartment. After the tethered UAV lands, turn off the UAV power unlock switch button, and the propellers of the tethered UAV stop rotating. Then turn off the UAV power supply switch button, and the tethered UAV is powered off. Turn off the hatch switch button, and the hatch automatically closes. Finally, turn off the main power switch of the system, and the system is powered off, and the retrieval of the tethered UAV is completed.

[0077] The above-mentioned tethered UAV can be installed on existing engineering equipment and can be carried and transported with the engineering equipment. The above-mentioned tethered UAV is powered by the power supply of the engineering equipment and does not require an additional power supply system. The above-mentioned tethered UAV can be equipped with different mission modules according to different mission requirements. After the above-mentioned tethered UAV takes off and works, it can work while moving with the equipment and will not cause obstacles to the equipment work site. The above-mentioned tethered UAV works with lighting directly above the equipment and can achieve the best lighting angle.

[0078] Due to the complex situation, it is impossible to list and elaborate one by one. Those skilled in the art should be able to realize that according to the basic principles provided in this application and in combination with the actual situation, there can be many examples. Without sufficient creative labor, they should all fall within the protection scope of this application.

[0079] The various embodiments in the specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0080] Specific examples are used in this article to elaborate on the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the solution and core idea of this application. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principles of this application, several improvements and modifications can still be made to this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A tethered drone retracting and releasing device, characterized in that: include: Engineering equipment, a recovery cabin provided in the engineering equipment, and a mooring cable retracting and releasing device provided in the recovery cabin; The recovery cabin comprises a cabin body, a cabin cover and a rotating mechanism; wherein the rotating mechanism is connected to the cabin body and the cabin cover respectively, and the rotating mechanism is used to control the opening and closing of the cabin cover; The tethered cable retracting and releasing device includes a retracting roller and a retracting roller support, the retracting roller is installed on the retracting roller support, the tethered cable is wound around the retracting roller, the retracting roller is used to recover or release the tethered cable, the first end of the tethered cable is connected to the tethered drone, and the second end of the tethered cable is connected to the power supply device of the engineering equipment.

2. The tethered drone retracting and releasing device according to claim 1, characterized in that: The rotating mechanism includes a hatch cover servo, a first connecting rod and a second connecting rod. The hatch cover servo is fixed to the cabin body by bolts, the first end of the first connecting rod is connected to the hatch cover by a bearing, the second end of the first connecting rod is fixed to the hatch cover servo by bolts, and the second connecting rod is respectively connected to the cabin body and the hatch cover by bearings.

3. The tethered drone retracting and releasing device according to claim 1, characterized in that: A UAV support is arranged in the cabin, and the UAV support is used to support the tethered UAV after recovery.

4. The tethered drone retracting and releasing device according to claim 1, characterized in that: Two positioning guide wheels and guide wheel supports are provided in the cabin, the positioning guide wheel is installed on the guide wheel support, the two positioning guide wheels are arranged in parallel, and the mooring cable passes through the middle gap between the two positioning guide wheels; wherein, the positioning guide wheel is used to constrain the movement freedom of the mooring cable to prevent the mooring cable from being offset due to external force.

5. The tethered drone retracting and releasing device according to claim 4, characterized in that: An opening is arranged on the side wall of the cabin body, and the mooring cable passes through the middle gap between the two positioning guide wheels and then winds around the take-up roller through the opening.

6. The tethered drone retracting and releasing device according to claim 1, characterized in that: The moored cable retracting and releasing device also includes a reciprocating screw rod and a reciprocating screw rod slider; The reciprocating screw slider is installed on the reciprocating screw, and the reciprocating screw slider has a first annular structure, and the tethered cable passes through the first annular structure.

7. The tethered drone retracting and releasing device according to claim 6, characterized in that: The moored cable retracting and releasing device also includes a reciprocating screw rod support and a reciprocating screw rod sliding shaft; The reciprocating screw rod is fixed to the reciprocating screw rod support through a bearing; The reciprocating screw slider has a second annular structure, and the reciprocating screw sliding shaft passes through the second annular structure and is fixed to the reciprocating screw support by bolts.

8. The tethered drone retracting and releasing device according to claim 1, characterized in that: The engineering equipment also includes a control panel, which is connected to the recovery cabin and the moored cable retracting and releasing device through control cables, and is used to send cabin cover opening and closing instructions and cable retracting and releasing instructions.

9. A tethered drone system, characterized in that: It comprises a tethered drone and a tethered drone retracting and launching device as claimed in any one of claims 1 to 8.

10. The tethered drone system according to claim 9, characterized in that: The tethered drone is equipped with a working module; The working module includes any one or a combination of any two of a lighting module, a camera, an image transmission module and a communication relay base station module.

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