Unmanned aerial vehicle transportation device and method

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle transportation device and method, and the method comprises a load-carrying aircraft, a winding mechanism, a target fixing part, a traction aircraft and an unlocking mechanism; the winding mechanism is fixed on the load-carrying aircraft, a flexible connecting piece is wound on the winding mechanism, one end of the flexible connecting piece is connected with the winding mechanism, and the other end of the flexible connecting piece is connected with the target fixing piece; the unlocking mechanism is fixed to the traction aircraft, one end of the unlocking mechanism is connected with the target fixing piece, and the unlocking mechanism is used for achieving flight traction and release of the target fixing piece. The problem that a large unmanned aerial vehicle is insufficient in applicability when coping with complex and special transportation scenes can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle transportation device and method. BACKGROUND

[0002] In the field of emergency transportation, the continuous progress of technology is profoundly changing the mode and means of transportation. Unmanned aerial vehicles, with their three-dimensional response capability, rapid deployment characteristics, and strong adaptability to complex environments, have gradually become the core equipment for solving difficult problems such as island transportation. For example, some industrial-grade unmanned aerial vehicle models driven by aviation engines have a load capacity of up to 280 kilograms, can operate in 7-level wind and rain conditions, and can adapt to extreme transportation scenarios such as floods and fire scenes. However, such large unmanned aerial vehicles also have some limitations in practical application: due to their large size, they are difficult to enter narrow spaces or spaces with obstructions for transportation; at the same time, strong flight air currents can interfere with the on-site environment, even endanger the safety of the transported objects, and in windy conditions, the transportation ropes or harnesses directly dropped from large unmanned aerial vehicles are often affected by wind and are difficult to accurately reach the predetermined transportation position.

[0003] Therefore, the lack of applicability of large unmanned aerial vehicles in complex and special transportation scenarios is a problem that needs to be solved. SUMMARY

[0004] The main purpose of the present application is to provide an unmanned aerial vehicle transportation device and method, aiming to solve the technical problem of the lack of applicability of large unmanned aerial vehicles in complex and special transportation scenarios.

[0005] In order to achieve the above-mentioned purpose of the application, the present application provides an unmanned aerial vehicle transportation device, comprising: a load-carrying aircraft, a winding mechanism, a target fixing member, a traction aircraft, and a release mechanism; The winding mechanism is fixed on the load-carrying aircraft, and a flexible connecting member is wound on the winding mechanism, one end of the flexible connecting member is connected with the winding mechanism, and the other end is connected with the target fixing member; The release mechanism is fixed to the traction aircraft, and one end is connected with the target fixing member, for realizing flight traction and release of the target fixing member.

[0006] Further, the winding mechanism comprises a winch, the winch is hung below the load-carrying aircraft through a fixing member, the winch is internally provided with a driving member, and the winding and unwinding of the flexible connecting member is realized through the driving member.

[0007] Further, the flexible connecting member comprises a lifting rope and a first connecting rope, the lifting rope is wound on the winding mechanism, one end of the first connecting rope is connected with the end of the lifting rope away from the winding mechanism, and the other end is connected with the target fixing member.

[0008] Further, the device further comprises a second connecting rope, one end of the second connecting rope is connected with the unlocking mechanism away from the towing aircraft, and the other end of the second connecting rope away from the unlocking mechanism is connected with the target fixing member or the first connecting rope, so that the unlocking mechanism realizes indirect connection and towing of the target fixing member.

[0009] Further, the unlocking mechanism comprises an electric unhooker, which is disconnected with the target fixing member when receiving a separation instruction.

[0010] Further, the device further comprises an image acquisition member arranged on the towing aircraft, which is used to transmit live video data of the periphery of the target to be transported.

[0011] Further, the device further comprises a first control member and a second control member, the first control member is used to send flight control instructions and winding and unwinding instructions to the load-carrying aircraft, and control the flight state of the load-carrying aircraft and the winding and unwinding action of the winding mechanism, and the second control member is used to send flight instructions and separation instructions to the towing aircraft, and control the flight state of the towing aircraft and the action of the unlocking mechanism.

[0012] Further, the second control member and / or the first control member is provided with a display, which is used to receive live video data and display video.

[0013] The second aspect of the present application proposes an unmanned aerial vehicle transportation method, comprising: Controlling the load-carrying aircraft and the towing aircraft to fly to a first target position and hover based on flight instructions; Identifying a release instruction and controlling the winding mechanism to release the flexible connecting member based on the release instruction; Identifying a guiding flight instruction and controlling the towing aircraft to tow the target fixing member to move to a second target position where the target to be transported is located based on the guiding flight instruction; After confirming arrival at the second target position, controlling the unlocking mechanism to act based on a separation instruction, so that the towing aircraft is separated from the target fixing member; After confirming that the target fixing member completes fixing of the target to be transported, controlling the load-carrying aircraft to fly to a third target position with the target fixing member and the target to be transported based on a completion instruction.

[0014] Further, the step of confirming that the target fixing member completes fixing of the target to be transported comprises: Real-time acquisition of live video data based on the image acquisition member arranged on the towing aircraft; Sending the live video data to a display device for real-time display.

[0015] The unmanned aerial vehicle transport device solves the application limitations of large unmanned aerial vehicles through the cooperative design of the load-carrying aircraft and the towing aircraft. The load-carrying aircraft can safely hover outside the narrow or obstructed area, avoiding the problem of being too large to enter. The towing aircraft can carry the target fixing member to accurately enter the complex area, cooperate with the unlocking mechanism to realize stable delivery and release, and solve the pain point that the transport rope is difficult to accurately deliver due to wind fluctuation. At the same time, the load-carrying aircraft operates at a long distance, greatly reducing the interference of its airflow on the transport site and the transported object, effectively improving the applicability and safety of large unmanned aerial vehicles in complex emergency transport scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a structural schematic diagram of an unmanned aerial vehicle transport device according to an embodiment of the present application; Figure 2 FIG. 2 is a flowchart of an unmanned aerial vehicle transport method according to an embodiment of the present application; 1, load-carrying aircraft; 2, winch; 3, hoisting rope; 4, first connecting rope; 5, target fixing member; 6, towing aircraft; 7, image acquisition member; 8, unlocking mechanism; 9, first control member; 10, second control member; 11, second connecting rope; The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0018] Those skilled in the art can understand that, unless specifically stated, the singular forms "a", "an" and "the" used herein also include the plural forms. It should be further understood that the use of the word "comprise" in the specification of the present application means that the features, integers, steps, operations, elements, modules and or components exist, but do not exclude the existence or addition of one or more other features, integers, steps, operations, elements, modules, components and or their combinations. It should be understood that when an element is said to be "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there can be an intermediate element. In addition, the "connection" or "coupling" used herein can include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any combination of the associated listed items.

[0019] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art in the field of the present application. It should also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0020] With reference to Figure 1 The unmanned aerial vehicle transport device provided by the embodiment of the present application comprises: a load-carrying aircraft 1, a winding mechanism, a target fixing member 5, a traction aircraft 6 and a release mechanism 8; The winding mechanism is fixed on the load-carrying aircraft 1, and a flexible connecting member is wound on the winding mechanism, one end of the flexible connecting member being connected with the winding mechanism and the other end being connected with the target fixing member 5. The release mechanism 8 is fixed on the traction aircraft 6, and one end of the release mechanism 8 is connected with the target fixing member 5, so as to realize flight traction and release of the target fixing member 5.

[0021] The load-carrying aircraft 1 serves as a carrying core, and can be an industrial-grade load-carrying unmanned aerial vehicle (such as a forest fire-fighting aircraft), or can be replaced by other aircrafts with the same load-carrying capacity. The main function of the load-carrying aircraft 1 is to provide carrying power required for transportation and to mount the winding mechanism. The winding mechanism is fixed below the load-carrying aircraft 1 (such as being mounted by a fixing frame), and can be a winding machine 2, or can be replaced by an electric winch or other mechanisms with a winding and unwinding function. The winding mechanism controls the winding and unwinding of the flexible connecting member through an internal driving member, so as to ensure the transmission of traction force in the transportation process.

[0022] The flexible connecting member serves as a force transmission carrier, and can be a combination of a hanging rope 3 and a connecting rope (such as a high-strength nylon rope), or can be replaced by a high-strength fiber belt. One end of the flexible connecting member is wound on the winding mechanism, and the other end is connected with the target fixing member 5. The length of the flexible connecting member needs to meet the requirement that the target fixing member 5 can be pulled to the target position to be transported when the load-carrying aircraft 1 hovers in a safe area.

[0023] The target fixing member 5 is used for fixing the target to be transported, and can be a harness, a hanging basket, or can be replaced by a fixing net, a binding belt, etc. One end of the target fixing member 5 is connected with the flexible connecting member.

[0024] The traction aircraft 6 is a small unmanned aerial vehicle, which can also be replaced by other light aircraft with precise control capability. The traction aircraft 6 is connected with the target fixing part 5 through the unlocking mechanism 8 (specifically, an electric unhooker, which can also be replaced by an electromagnetic releaser, etc.). One end of the unlocking mechanism 8 is fixed below the fuselage of the traction aircraft 6, and the other end is connected with the target fixing part 5, which is used to realize stable traction and precise release of the target fixing part 5. The unlocking mechanism 8 can be connected with the target fixing part 5 or indirectly connected with the unlocking mechanism 8 through the flexible connecting part, so as to realize the traction relationship with the traction unmanned aerial vehicle.

[0025] In an embodiment, the winding mechanism includes a winch 2 which is mounted below the load-carrying aircraft 1 through a fixing part. The winch 2 is internally provided with a driving part, which realizes the winding and unwinding of the flexible connecting part through the driving part.

[0026] In this embodiment, the winding mechanism adopts the winch 2, which is transversely mounted on the load-carrying frame below the fuselage of the load-carrying aircraft 1 through a fixing part such as a bolt. The drum axis of the winch 2 is perpendicular to the height direction. The driving part internally provided in the winch 2 is a servo motor. The motor output shaft is connected with the drum through a speed reduction gear set. When the motor rotates in the first direction (for example, reverses), the drum releases the flexible connecting part (the lifting rope 3), and the length gradually increases with the release amount. When the motor rotates in the second direction (for example, forwards), the drum rotates in the opposite direction to wind the lifting rope 3 back. The lifting rope 3 is always kept in tension during the winding process. This structure makes the winch 2 stably installed below the load-carrying aircraft 1, which will not easily sway to affect the flight balance. The winding and unwinding speed and length of the lifting rope 3 can be precisely controlled to meet the requirements of different transportation scenarios for the position of the target fixing part 5. The lifting rope 3 in tension also avoids the winding problem caused by slack.

[0027] In an embodiment, the flexible connecting part includes the lifting rope 3 and the first connecting rope 4. The lifting rope 3 is wound on the winding mechanism. One end of the first connecting rope 4 is connected with the end of the lifting rope 3 away from the winding mechanism, and the other end is connected with the target fixing part 5. In this embodiment, the flexible connecting member is composed of a lifting rope 3 and a first connecting rope 4. The lifting rope 3 is directly wound on the winding mechanism (for example, the lifting rope 3 is made of Kevlar fiber rope with a diameter of 8 mm), and its top end is fixed on the drum of the winch 2 by a rope clamp. When winding, the lifting rope 3 is arranged in multiple layers in a spiral shape. The bottom end of the lifting rope 3 is connected to the first connecting rope 4 through a metal universal joint. The universal joint can rotate 360 degrees to avoid the winding of the lifting rope 3 and the first connecting rope 4. The first connecting rope 4 is made of nylon rope, for example, a nylon rope with a diameter of 5 mm. The end of the first connecting rope 4 is detachably connected to the target fixing member 5 (such as the top ring of a rescue basket) through a buckle. The buckle is provided with a safety pin to prevent accidental falling. The lifting rope 3 made of Kevlar fiber rope has high strength and wear resistance, and can bear a large weight to ensure the safety of transportation. The setting of the metal universal joint allows the lifting rope 3 and the first connecting rope 4 to rotate flexibly during transportation, reducing the probability of mutual winding. The detachable buckle connection facilitates the replacement of different target fixing members 5, and the safety pin further prevents accidental disconnection. As the main bearing and retracting part, it has high strength and can bear the weight of the target to be transported. The first connecting rope 4 serves to connect the lifting rope 3 and the target fixing member 5, and can be selected according to the actual transportation requirements. The length and material of the first connecting rope 4 can be selected according to the actual transportation requirements. This segmented design makes the flexible connecting member more flexible during retraction, and also facilitates the replacement or adjustment of part of the components according to different transportation scenarios, while ensuring stable transmission of the traction force from the winding mechanism to the target fixing member 5. In an embodiment, the device further comprises a second connecting rope 11, one end of the second connecting rope 11 being connected to the end of the unlocking mechanism 8 away from the traction aircraft 6, and the other end of the second connecting rope 11 being connected to the target fixing member 5 or the first connecting rope 4, so that the unlocking mechanism 8 indirectly connects and pulls the target fixing member 5.

[0028] In this embodiment, the device further comprises a second connecting rope 11, which can be a separate rope or a redundant segment produced by bending the middle segment of the first connecting rope 4. The bending of the middle segment serves as the second end to connect the target fixing member 5, and the redundant segment produced by the bending serves as the second connecting rope 11 to connect the traction aircraft 6. One end of the second connecting rope 11 is connected to the end of the unlocking mechanism 8 away from the traction aircraft 6, and the other end of the second connecting rope 11 is directly connected to the target fixing member 5 or the first connecting rope 4, so that the unlocking mechanism 8 indirectly connects and pulls the target fixing member 5. This design makes the traction of the target fixing member 5 by the traction aircraft 6 more flexible, and better adapts to different transportation environments. At the same time, the indirect connection also facilitates the smooth disconnection of the unlocking mechanism 8 from the target fixing member 5 when receiving a separation instruction, ensuring that the traction aircraft 6 can smoothly detach after completing the traction task, without affecting the subsequent transportation process. In an embodiment, the unlocking mechanism 8 comprises an electric unhooker which disconnects from the target fixture 5 when receiving a separation instruction. In the embodiment, the unlocking mechanism 8 adopts an electric unhooker which can realize the unlocking action by receiving an electric signal. The electric unhooker is fixed on the belly center of the towing aircraft 6 by a bracket, and its main body is made of aluminum alloy and comprises an electromagnetic lock tongue. In normal state, the lock tongue extends to lock the hook body and the hanging ring of the second connecting rope 11; when receiving a wireless separation instruction, the electromagnet is powered to suck back the lock tongue, and the hook body is turned outward under the action of the spring force, and the hanging ring falls off the hook body, at which time the second connecting rope 11 is completely separated from the electric unhooker. The electric unhooker made of aluminum alloy is light in weight and does not increase the load of the towing aircraft 6 too much. The wireless signal transmission is fast, and the spring force is assisted to make the separation action complete quickly, so that the towing aircraft 6 can be separated from the target fixture 5 in time to avoid affecting the subsequent transportation.

[0029] In an embodiment, the device further comprises an image acquisition part 7 arranged on the towing aircraft 6 for returning the live video data of the surroundings of the target to be transported. In the embodiment, the image acquisition part 7 is installed on one side of the towing aircraft 6 and is a high-definition camera with night vision function. The camera can be installed on the front of the nose of the towing aircraft 6 through an adjustable gimbal, and the gimbal can realize horizontal 360-degree rotation and pitching motion within a preset angle. The video data is returned in real time through a wireless transmission module inside the fuselage, and when a smoke environment is identified, the infrared imaging mode can be automatically switched to. The adjustable gimbal allows the camera to rotate flexibly and capture the surroundings of the target to be transported in all directions. The night vision function and the infrared imaging mode in the smoke environment enable the device to work normally in complex environments, making it easier for the operator to grasp the on-site situation and ensuring that the target fixture 5 can accurately reach the target to be transported, thereby improving the accuracy and safety of transportation, especially in complex and poor visibility environments. In an embodiment, the device further comprises a first control part 9 and a second control part 10. The first control part 9 is used to send flight control instructions and winding and unwinding instructions to the load-carrying aircraft 1 to control the flight state of the load-carrying aircraft 1 and the winding and unwinding action of the winding mechanism. The second control part 10 is used to send flight instructions and separation instructions to the towing aircraft 6 to control the flight state of the towing aircraft 6 and the action of the unlocking mechanism 8. In this embodiment, the first control device 9 is responsible for the control of the load-carrying aircraft 1 and the winding mechanism. By sending flight control instructions, the take-off, flight, hovering and landing of the load-carrying aircraft 1 can be controlled. By sending winding and unwinding instructions, the winding and unwinding of the flexible connecting member by the winding mechanism can be controlled. The first control device 9 is a ground station console with a joystick. One side of the joystick controls the elevation and heading of the load-carrying aircraft 1, and the other side of the joystick controls the forward, backward, left and right flight. The second control device 10 is responsible for the control of the towing aircraft 6 and the unlocking mechanism 8. By sending flight instructions, the flight trajectory and attitude of the towing aircraft 6 can be controlled. By sending separation instructions, the unlocking mechanism 8 can be controlled to separate from the target fixed member 5. The first control device 9 and the second control device 10 have clear division of labor. The operator can accurately control the load-carrying aircraft 1 and the towing aircraft 6 respectively, avoid operation confusion, and make the operator efficiently control the whole transport device to ensure the cooperation of each component. In addition, the first control device 9 and the second control device 10 can be two independent control devices or integrated on the same control device.

[0030] In an embodiment, a display is arranged on the second control device 10 and / or the first control device 9. The display is used to receive live video data and display video. In this embodiment, the display of the second control device 10 is embedded above the remote control handle. Through the signal connection with the receiving module of the image acquisition device 7, the live video transmitted back by the towing aircraft 6 is received. The screen can display the battery capacity, signal strength and other parameters superimposed on the video picture. The display of the first control device 9 is installed on the surface of the console. The GPS coordinates, height data of the load-carrying aircraft 1 and the live video transmitted back by the towing aircraft 6 can be displayed on the screen at the same time. The time stamp and frame rate information are arranged below the video picture. The high-resolution display allows the operator to clearly see the live video and various parameters. The small video delay ensures that the operator can grasp the on-site dynamics in time. The touch screen of the second control device 10 is convenient to operate. The folding screen of the first control device 9 saves space and has powerful split-screen display function, which can display multiple important information at the same time, helping the operator to fully understand the transportation situation and make correct operation decisions.

[0031] Reference Figure 2 In an embodiment, the present scheme provides an unmanned aerial vehicle transportation method, which comprises: S1. Controlling the load-carrying aircraft 1 and the towing aircraft 6 to fly to a first target position and hover based on flight instructions; S2. Identifying a release instruction and controlling the winding mechanism to release the flexible connecting member based on the release instruction; S3. Identifying a guide flight instruction and controlling the towing aircraft 6 to tow the target fixed member 5 to move to a second target position where the target to be transported is located based on the guide flight instruction; S4. After confirming the arrival of the second target position, the unlocking mechanism 8 is controlled to act based on the separation instruction, so that the towing aircraft 6 is separated from the target fixing device 5; S5. After confirming that the target fixing device 5 completes the fixing of the target to be transported, the load-carrying aircraft 1 is controlled to carry the target fixing device 5 and the target to be transported to fly to a third target position based on the completion instruction.

[0032] In the embodiment, the operator sends flight instructions through the first control device 9 and the second control device 10, and the flight control system of the load-carrying aircraft 1 and the towing aircraft 6 starts the power system and flies according to the preset route after receiving the instructions. When reaching the first target position (for example, 50 meters above the target to be transported), the flight control system triggers the hovering algorithm and adjusts the propeller speed in real time through the sensor to maintain stable hovering. Then, the operator presses the “release” button of the first control device 9, and the release instruction is transmitted to the drive controller of the winding mechanism through wireless transmission, the controller drives the motor to rotate in the first direction (for example, reverse rotation), the drum rotates, the flexible connecting member (the hoisting rope 3 and the first connecting rope 4) is gradually released, and the target fixing device 5 is lowered. Subsequently, the operator sends the guiding flight instruction through the second control device 10, and the flight control system of the towing aircraft 6 adjusts the flight attitude after receiving the instruction, pulls the target fixing device 5 through the unlocking mechanism 8 and the second connecting rope 11, avoids obstacles by means of the video returned by the image acquisition device 7, and moves to the second target position (the target to be transported). During the process, the operator can correct the trajectory in real time through the display. When the display shows that the target fixing device 5 reaches the second target position, the operator presses the “separation” key of the second control device 10, the separation instruction triggers the electric unhooker of the unlocking mechanism 8, the electromagnet is attracted to open the hook body, the towing aircraft 6 is separated from the target fixing device 5, and then the towing aircraft 6 flies away according to the preset instruction. After the separation, the towing aircraft 6 can fly away from the scene or continue to hover or provide on-site video for rescue personnel at a designated position. After the ground personnel or the automatic mechanism completes the fixing of the target to be transported and the target fixing device 5, the operator sends the completion instruction through the first control device 9, the drive member of the winding mechanism rotates in the second direction (for example, forward rotation) to recover the flexible connecting member, and the flight control system of the load-carrying aircraft 1 plans the route to carry the target fixing device 5 and the target to be transported to fly to the third target position (for example, a designated receiving point).

[0033] In an embodiment, the step of confirming that the target fixing device 5 completes the fixing of the target to be transported includes the following steps before the step: S1. Real-time acquisition of on-site video data based on the image acquisition device 7 arranged on the towing aircraft 6; S2. The on-site video data is sent to a display device for real-time display. In actual operation, after the towing aircraft 6 starts, the image acquisition unit 7 (high-definition camera) starts synchronously, the adjustable holder automatically adjusts the shooting angle according to the flight attitude, and continuously acquires the video data of the surrounding of the target to be transported during the movement to the second target position, including the target position, environmental obstacles, the state of the target fixing unit 5, etc., and automatically switches to infrared mode at night or in low visibility. The acquired video data is compressed by the encoding module built in the towing aircraft 6, and then sent through the wireless transmission module. The receiving module of the first control unit 9 and the second control unit 10 receives, decodes and transmits to the display. The display renders the video picture in real time, superimposes the timestamp, signal strength and other parameters, and the operator can clearly observe the on-site situation through the picture, judge whether the target fixing unit 5 is aligned with the target to be transported, whether the fixing operation is successful, etc., to provide an intuitive basis for subsequent sending separation instructions and completion instructions. In this process, the operator can accurately control the key link of transportation, and the reliability of operation is improved.

[0034] It should be noted that in this document, the terms "comprise", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, device, article or method that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or inherent to such a process, device, article or method. Without more limitations, the element defined by the statement "comprises a" does not exclude the existence of other identical elements in the process, device, article or method that includes the element.

[0035] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A drone transport device, characterized in that: include: Load-carrying vehicle, winding mechanism, target fixture, towing vehicle and release mechanism; The winding mechanism is fixed on the load-carrying aircraft, and a flexible connector is wound around the winding mechanism, one end of the flexible connector is connected to the winding mechanism, and the other end is connected to the target fixing member; The unlocking mechanism is fixed to the towing aircraft, and one end is connected to the target fixing member, so as to realize the flying towing and releasing of the target fixing member.

2. The drone transport device according to claim 1, characterized in that: The winding mechanism includes a winch, which is mounted below the load-carrying aircraft through a fixing member. The winch has a built-in driving member, and the flexible connecting member is retracted and extended through the driving member.

3. The drone transport device according to claim 1, characterized in that: The flexible connecting member includes a sling and a first connecting rope. The sling is wound around the winding mechanism. One end of the first connecting rope is connected to an end of the sling away from the winding mechanism, and the other end is connected to the target fixing member.

4. The drone transport device according to claim 3, characterized in that: The device also includes a second connecting rope, one end of which is connected to the end of the unlocking mechanism away from the towing aircraft, and the end of the second connecting rope away from the unlocking mechanism is connected to the target fixing member or the first connecting rope, so that the unlocking mechanism can achieve indirect connection and towing of the target fixing member.

5. The drone transport device according to claim 1, characterized in that: The unlocking mechanism includes an electric unhooking device, which is disconnected from the target fixing member when the electric unhooking device receives a separation instruction and is unlocked.

6. The drone transport device according to claim 1, characterized in that: The device further comprises an image acquisition component, which is arranged on the towing aircraft and is used to transmit on-site video data around the object to be transported.

7. The drone transport device according to claim 1, characterized in that: The device also includes a first control component and a second control component. The first control component is used to send flight control instructions and retraction instructions to the load-carrying aircraft to control the flight state of the load-carrying aircraft and the retraction and extension action of the winding mechanism. The second control component is used to send flight instructions and separation instructions to the towing aircraft to control the flight state of the towing aircraft and the action of the unlocking mechanism.

8. The drone transport device according to claim 7, characterized in that: The second control member and / or the first control member is provided with a display, and the display is used to receive live video data and display the video.

9. A drone transportation method, characterized in that: include: Controlling the load-carrying aircraft and the towing aircraft to fly to a first target position and hover based on the flight instruction; identifying a release instruction and controlling the winding mechanism to release the flexible connector based on the release instruction; Identifying the guidance flight instruction and controlling the towing aircraft to tow the target fixing member to move toward a second target position where the target to be transported is located based on the guidance flight instruction; After confirming that the second target position has been reached, the release mechanism is controlled to operate based on the separation instruction to separate the towing aircraft from the target fixed component; After confirming that the target fixing member has completed fixing the target to be transported, based on the completion instruction, the load-carrying aircraft is controlled to carry the target fixing member and the target to be transported to fly to the third target location.

10. The drone transportation method according to claim 9, characterized in that: The step of confirming that the target fixing member has completed the fixing of the target to be transported includes: Based on the image acquisition component installed on the towing aircraft, real-time video data is collected on site; The on-site video data is sent to a display device for real-time display.

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