A tethered balloon unmanned aerial vehicle of variable configuration

Abstract

This invention discloses a variable-configuration tethered balloon drone applied in the field of aircraft. Through the upper and lower support rings, coupled with a hinged ball and telescopic rod, the balloon body is mechanically decoupled from the basket when it rotates under wind force, ensuring the basket remains stable under wind disturbances and thus guaranteeing the safety of personnel operating inside the basket during harvesting. Simultaneously, a correction box is installed. Utilizing the linkage of a micro-hydraulic rod, rope, round rod, short cable, and lifting device, the micro-hydraulic rod on the lifting side drives the lifting device to press down the rope on the lifting side. Simultaneously, the short cable quickly tightens as it follows the rope's pull, then limits the rope, reducing the tilting of the upper support ring on the lifting side. Combined with the downward pull of the lifting side rope, this pulls the balloon body back to its original position. The micro-hydraulic rod on the sinking side retracts synchronously, slightly lifting the sinking side of the upper support ring, forming a two-way mechanical correction, further increasing the safety of personnel operating inside the basket.

Description

Technical Field

[0001] This invention relates to the field of aircraft, and in particular to a tethered balloon unmanned aerial vehicle with a variable configuration. Background Technology

[0002] Tethered balloon drones can be used to solve the problem of mechanized harvesting of tall tree economic crops such as pine cones, walnuts, coconuts, and camellia oleifera. By combining balloons with multi-rotor structures, the device can float and move in the air, thereby moving the workers inside the basket to achieve the corresponding harvesting operations.

[0003] Existing technology CN202411032477.8 discloses a low-altitude manned tethered balloon. The upper space of the lifting balloon is used to contain lifting gas, and the lower space of the lifting balloon is a reserved space for adjusting the pressure inside the lifting balloon, so that the pressure difference between the inside and outside of the lifting balloon is within a preset range. The upper end of the traction connection surrounds the outside of the lifting balloon and is circumferentially connected to the lifting balloon, and the lower end is connected to the basket. This invention can reduce the weight of the lifting balloon in the low-altitude manned tethered balloon.

[0004] Existing technology CN202011609226.3 discloses a two-person tethered balloon platform and a two-person tethered balloon. While fulfilling the function of carrying two people, it simplifies and lightens the platform, reducing manufacturing costs. Applying this two-person tethered balloon platform to a two-person tethered balloon, due to its simple structure and light weight, can meet the usage requirements of a two-person tethered balloon, allowing people of different weights to enjoy the fun.

[0005] When using the aforementioned manned aerial balloons for pine cone harvesting, the balloons inevitably encounter wind forces while operating outdoors. Because balloons are typically designed with a streamlined shape resembling a teardrop or an ellipsoid, the varying curvature of their surfaces creates asymmetrical pressure distribution when the wind blows. This can cause the balloons to rotate or pitch, indirectly affecting the connected baskets and potentially causing dizziness or other discomfort for workers inside. Therefore, improvements to the aerial balloon equipment are necessary. Summary of the Invention

[0006] The core of this invention lies in using an upper and lower support ring, along with a hinged ball and telescopic rod, to ensure the stability of the basket under wind disturbances. Simultaneously, a correction box provides bidirectional mechanical correction for pitching and tilting of the balloon body, comprehensively enhancing the safety of personnel operating within the basket and addressing the insufficient safety of personnel in existing tethered balloon UAVs operating in an aerial state due to shape changes. Furthermore, by independently controlling the rotation of the two rods with a drive motor and a rotation motor, the invention specifically addresses the lifting and descent sides during pitch adjustments, effectively mitigating the limitation of correction capabilities.

[0007] To solve the above problems, the present invention adopts the following technical solution.

[0008] A tethered balloon drone with variable configuration includes a balloon body with multiple ropes arranged on the surface of the balloon body. A support bracket with its surface in sliding contact with the ropes is arranged below the balloon body. An anti-torsion component is arranged below the support bracket. The anti-torsion component includes an upper support ring and a lower support ring. An arc-shaped groove is formed on the surface of the upper support ring near the lower support ring. A constraint groove is formed on the surface of the lower support ring. Articulated balls are arranged inside the arc-shaped groove and the constraint groove. The surfaces of the articulated balls in the two arc-shaped grooves are connected by a telescopic rod. A hanging basket is fixedly connected to the bottom of the lower support ring.

[0009] An L-shaped bracket is installed on the inner surface of the lower support ring. A correction box is connected to the surface of the bracket. A miniature hydraulic rod is installed through the top wall of the correction box. A lifting device is connected to the power end of the miniature hydraulic rod. Two round rods are installed on the inner wall of the correction box. A rope is wrapped around the surface of the two round rods. A short rope is connected to the surface of the rope, and the tail end of the short rope is connected to the surface of the round rod near the center of the upper support ring.

[0010] Furthermore, guide wheels are installed on both the top and bottom surfaces of the correction box, and the rope is wound around the surfaces of the two guide wheels, with the tail end of the rope connected to the surface of the upper support ring.

[0011] Furthermore, the number of supports is the same as the number of ropes, and the correction box is located above the upper support ring. The surface of the lifting component is connected to a constraint rod and a clamping plate located between two round rods, and the rope passes through the middle of the constraint rod and the clamping plate.

[0012] Furthermore, a cross bracket is installed on the inner side of the upper support ring. The surface of the cross bracket is connected to the support bracket through the vertical frame. Multiple rotors are arranged on the surface of the support bracket and the surface of the vertical frame.

[0013] Furthermore, the tail end of the lifting component extends through to the bottom of the correction box, and the tail end of the lifting component is located above the upper support ring. The short cable is in a slack state in the initial state, and the length of the short cable is less than half the circumference of the round rod.

[0014] Furthermore, a dust cover is slidably connected to the surface of the arc-shaped groove, and the dust cover is connected to the surface of the telescopic rod. The rope is taut after the balloon body is inflated and ascends. The cross-sections of the constraint groove and the arc-shaped groove are both Ω-shaped, and the number of constraint grooves is the same as the number of ropes.

[0015] Preferably, the inner wall of the correction box is connected to a drive motor and a rotation motor, and the output end of the drive motor is connected to the end of a round rod near the center of the upper support ring. The surface of the rotation motor is connected to the end of another round rod inside the correction box, and a constraint cable with one end connected to the surface of a rope is wrapped around the surface of the other round rod.

[0016] Furthermore, in the initial state, the short cable is taut, and the constraint cable has more than three turns around the surface of the round rod.

[0017] Compared with the prior art, the advantages of this invention are:

[0018] (1) This application achieves mechanical decoupling between the balloon body and the basket when the balloon body rotates due to wind force by using the upper support ring and lower support ring in conjunction with the hinged ball and telescopic rod. This ensures that the basket remains stable under wind disturbance, thereby ensuring the safety of the operators in the basket when they are picking. At the same time, a correction box is set up. By using the linkage of micro hydraulic rod, rope, round rod, short rope and lifting component, the micro hydraulic rod on the lifting side drives the lifting component to press down the rope on the lifting side. At the same time, the short rope quickly tightens when it is pulled up with the rope, and then limits the rope, reducing the tilting of the upper support ring on the lifting side. With the pull of the rope on the lifting side, the balloon body is pulled back to its original position. The micro hydraulic rod on the sinking side retracts synchronously to provide a slight lifting effect on the sinking side of the upper support ring, forming a two-way mechanical correction, which further increases the safety of the operators in the basket.

[0019] (2) This application independently controls the rotation state of the two round rods by driving motor and rotating motor to adjust the tension of the short cable and the constraint cable, so as to specifically treat the lifting side and the sinking side during pitch adjustment. During adjustment, the constraint cable is released and the short cable is fixed on the lifting side, and the constraint cable is tightened and the short cable is released on the sinking side, so that pitch correction is faster and more effective, and effectively improves the problem of limited correction ability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the hanging basket, lifting bracket, rotor, upright frame, and rope of the present invention.

[0022] Figure 3 This is a schematic diagram of the upper support ring, lower support ring, correction box, telescopic rod, and dust cover of the present invention.

[0023] Figure 4 For the present invention Figure 3 Enlarged diagram of point A in the diagram;

[0024] Figure 5 This is a schematic diagram of the internal structure of the correction box of the present invention;

[0025] Figure 6 This is a cross-sectional structural diagram of the constraint groove and the arc-shaped annular groove of the present invention;

[0026] Figure 7 This is a schematic diagram showing the state of the balloon of the present invention when it rotates.

[0027] Figure 8 This is a schematic diagram illustrating the working state inside the correction box when the balloon tilts or pitches according to the present invention.

[0028] Figure 9 This is a schematic diagram of the drive motor, rotation motor, short cable, and constraint cable of the present invention.

[0029] Figure 10 This is a diagram showing the state of the miniature hydraulic rod retracting and causing the lower side of the upper support ring to rise, in conjunction with the drive motor, constraint cable, short cable and rotation motor of the present invention;

[0030] Figure 11 This is a schematic diagram illustrating the tilting state of the balloon body when the rope on the surface of another round rod of the present invention is unrestrained, and the retraction of the miniature hydraulic rod causes the rope on the sinking side to pull down, thus increasing the weight of the balloon body.

[0031] Explanation of the labels in the diagram:

[0032] 1. Balloon body; 2. Rope; 3. Hanging basket; 4. Lifting bracket; 5. Upper bracket ring; 6. Lower bracket ring; 7. Correction box; 71. Lifting component; 72. Miniature hydraulic rod; 73. Round rod; 74. Short rope; 75. Restraint rod; 76. Clamping plate; 77. Drive motor; 78. Rotation motor; 79. Restraint rope; 8. Dust cover; 9. Telescopic rod; 10. Arc-shaped ring groove; 11. Restraint groove. Detailed Implementation

[0033] The technical solutions will now be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention.

[0034] Example 1:

[0035] Please see Figures 1-3 and Figure 6A tethered balloon drone with variable configuration includes a balloon body 1. Multiple ropes 2 are arranged on the surface of the balloon body 1 (rope loops are connected to the surface of the balloon body 1, and ropes 2 are connected to the surface of the rope loops). A lifting bracket 4 with its surface in sliding contact with the ropes 2 is arranged below the balloon body 1. An anti-torsion component is arranged below the lifting bracket 4. The anti-torsion component includes an upper bracket ring 5 and a lower bracket ring 6. An arc-shaped ring groove 10 is opened on the surface of the upper bracket ring 5 near the lower bracket ring 6. A constraint groove 11 is opened on the surface of the lower bracket ring 6. A hinged ball is arranged inside the arc-shaped ring groove 10 and the constraint groove 11. The surfaces of the hinged balls in the two arc-shaped ring grooves 10 are connected by a telescopic rod 9. A hanging basket 3 is fixedly connected to the bottom of the lower bracket ring 6.

[0036] Please see Figures 2-5 An L-shaped bracket is installed on the inner surface of the lower support ring 6. A correction box 7 is connected to the surface of the bracket. A miniature hydraulic rod 72 is installed through the top wall of the correction box 7. A lifting component 71 is connected to the power end of the miniature hydraulic rod 72. Two round rods 73 are installed on the inner wall of the correction box 7. A rope 2 is wrapped around the surface of the two round rods 73. A short cable 74 is connected to the surface of the rope 2. The tail end of the short cable 74 is connected to the surface of the round rod 73 near the center of the upper support ring 5.

[0037] Please see Figures 4-5 The top and bottom surfaces of the correction box 7 are equipped with guide wheels, and the rope 2 is wound around the surfaces of the two guide wheels. The tail end of the rope 2 is connected to the surface of the upper support ring 5.

[0038] Please see Figures 1-3 The number of supports is the same as the number of ropes 2, and the correction box 7 is located above the upper support ring 5. The surface of the lifting component 71 is connected to a constraint rod 75 and a clamping plate 76 located between two round rods 73, and the rope 2 passes through the middle of the constraint rod 75 and the clamping plate 76.

[0039] Please see Figure 2 A cross bracket is installed on the inner side of the upper support ring 5. The surface of the cross bracket is connected to the lifting bracket 4 through the vertical frame. Multiple rotors are arranged on the surface of the lifting bracket 4 and the surface of the vertical frame.

[0040] Please see Figures 3-5 The tail end of the lifting component 71 extends through to the bottom of the correction box 7, and the tail end of the lifting component 71 is located above the upper support ring 5. The short cable 74 is in a slack state in the initial state, and the length of the short cable 74 is less than half the circumference of the round rod 73.

[0041] Specifically, when using a tethered balloon drone to harvest pine cones, the operator first enters the basket 3, and then inflates the balloon body 1 (which can be a hydrogen balloon or a helium balloon, and is not fixed) through an inflation device placed in the basket 3, so that the basket 3, the operator, and related auxiliary tools can be lifted into the air.

[0042] After taking off, the machine is moved horizontally to the crown of the pine tree with the help of the lifting support 4 and the rotor on the surface of the frame (a battery compartment with a built-in rechargeable battery is set in the hanging basket 3, which powers the rotor motor through a cable). The rotor stops rotating, and the operator in the hanging basket 3 uses the auxiliary tools carried in the hanging basket 3 to harvest the pine cones.

[0043] During the above process, if balloon body 1 encounters wind, balloon body 1 will rotate to a certain extent while moving (e.g., Figure 7 As shown, although there is a lag effect due to the indirect connection of the lower basket 3 via the rope 2, the likelihood of the lower basket 3 following the rotation increases significantly when the balloon body 1 deflects for a long period of time. In this application, since the upper support ring 5 and the lower support ring 6 are connected by two articulated balls and the telescopic rod 9, when the balloon body 1 rotates due to wind force, the surface rope 2 drives the lifting support 4 and the upper support ring 5 to deflect. The constraint groove 11 in the lower support ring 6 prevents the lower articulated balls from sliding relative to each other. The arc-shaped groove 10 in the upper support ring 5 can slide in contact with the internal articulated balls. Therefore, when the upper support ring 5 undergoes a corresponding deflection operation, the articulated balls inside it move relative to the upper support ring 5 (the upper support ring 5 deflects, but the articulated balls, the telescopic rod 9, and the lower support ring 6 do not follow the deflection), thereby allowing the lower basket 3 to maintain a relatively stable state.

[0044] When the balloon body 1 pitches due to a sudden wind force, under existing technology, it can cause the operator inside the basket 3 to fall over (because the pitching of the balloon body 1 causes the basket 3 to tilt, resulting in the operator inside being in a non-horizontal standing position, making them prone to falling over), which is detrimental to the safety of the harvesting work. In this application, when the balloon body 1 pitches over (the pitch state can be detected by a pitch sensor installed on the balloon body 1), the rope 2 on the lifting side of the balloon body 1 (when the rope 2 passes through the inside of the correction box 7, the friction between the rope 2 and the correction box 7 can be reduced by the guide wheel) tends to move the upper support ring 5 upward. At this time, the corresponding micro hydraulic rod 72 extends downward to drive the lifting component 71 to descend, preventing the upper support ring 5 from moving upward. As the balloon tilts upward, it causes the rope 2 held by the constraint rod 75 and clamping plate 76 to move downward, which has a corresponding stretching and adjustment effect on the rope 2 on the lifting side, causing the balloon body to return to a horizontal state. During this process, the rope 2 on the surface of the round rod 73 near the center of the upper support ring 5 also moves downward, causing the upper support ring 5 at its tail end to tend to move upward. However, because this part of the rope 2 is in the counterclockwise direction at this time, it causes the short rope 74 made of non-elastic material to gradually straighten, preventing it from lifting the upper support ring 5, thus limiting its lifting effect on the upper support ring 5. At this time, as the micro hydraulic rod 72 continues to extend downward, it can cause the rope 2 on the surface of another round rod 73 to continue to move downward, which has a better inhibitory effect on the lifting side, allowing the balloon body 1 to return to the corresponding horizontal state (such as...). Figure 8 (As shown).

[0045] During this process, the miniature hydraulic rod 72 inside the correction box 7 on the descending side (opposite to the lifting side, with two correction boxes 7 symmetrically arranged on the same axis) retracts, causing the rope 2 on the surface of the round rod 73 near the center of the upper support ring 5 to move upward synchronously, thus lifting the descending side of the upper support ring 5 caused by the lifting side tilting. However, under the constraint of the short cable 74, the lifting effect is limited. The miniature hydraulic rod 72 on the opposite side retracts in the early stage of pitching (to avoid excessive retraction causing the rope 2 on the surface of the round rod 73 away from the center of the upper support ring 5 to be overstretched, thereby causing the descending balloon body 1 to continue to tilt), and works with the correction box 7 on the opposite side to restore the balloon body 1 to horizontal as soon as possible when it pitches.

[0046] As the upper support ring 5 tilts, the entire device deforms. The corresponding telescopic rod 9 (with a built-in damping structure, providing resistance during extension between the two relatively slidingly arranged rods, further preventing changes in the posture of the upper support ring 5) simultaneously stretches slightly. Under the action of the two hinged balls, the telescopic rod 9 tilts accordingly. This reduces the impact of the balloon body 1 and the lifting support 4 on the lower basket 3 even after pitching, lowering the possibility of the operator in the lower basket 3 falling over. Simultaneously with the tilting of the upper support ring 5, the correction box 7 prevents further pitching and promotes restoration to horizontal, ensuring operational safety. During this process, [the following text is incomplete and likely refers to a separate process:] ...with attached... Figure 7 For example, the left side is the lifting side and the right side is the sinking side. The downward displacement of the miniature hydraulic rods 72 in the multiple correction boxes 7 arranged from left to right gradually decreases.

[0047] Please see Figure 3 and Figure 6 A dust cover 8 is slidably connected to the surface of the arc-shaped annular groove 10, and the dust cover 8 is connected to the surface of the telescopic rod 9. The rope 2 is taut after the balloon body 1 is inflated and lifted into the air. The cross-sections of the constraint groove 11 and the arc-shaped annular groove 10 are both Ω-shaped, and the number of constraint grooves 11 is the same as the number of ropes 2.

[0048] Specifically, the dust cover 8 can protect the arc-shaped annular groove 10 from dust, thereby ensuring that the frictional resistance of the internal articulated ball remains low and reducing the possibility of wear and damage.

[0049] Example 2:

[0050] Please see Figure 9 The inner wall of the correction box 7 is connected to a drive motor 77 and a rotation motor 78. The output end of the drive motor 77 is connected to the end of the round rod 73 near the center of the upper support ring 5. The surface of the rotation motor 78 is connected to the end of another round rod 73 inside the correction box 7. A constraint cable 79 with one end connected to the surface of the rope 2 is wrapped around the surface of the other round rod 73. In the initial state, the short rope 74 is taut. The constraint cable 79 has more than three turns around the surface of the round rod 73.

[0051] Specifically, in Embodiment 1, during the initial descent of the micro hydraulic rod 72 on the lifting side, the presence of the short cable 74 causes the lifting side of the upper support ring 5 to rise slightly. Furthermore, the retraction of the micro hydraulic rod 72 on the sinking side causes the upper support ring 5 to rise only slightly on the sinking side (due to the limited length of the short cable 74). To improve this phenomenon, this embodiment is adopted. In this embodiment, the two round rods 73 are not fixedly connected, and the constraint state of the surfaces of the two round rods 73 is indirectly adjusted by rotation.

[0052] If only the drive motor 77 is used, the rope 2 on the surface of the other round rod 73 inside the correction box 7 will be pulled down synchronously when the micro hydraulic rod 72 retracts and rises, further increasing the tilt of the balloon body 1 on the sinking side (e.g. Figure 11 As shown in the figure, a rotating motor 78 and a restraint cable 79 are designed.

[0053] Please see Figure 10 When making horizontal adjustments, the rotating motor 78 on the lifting side rotates in the opposite direction (that is, the constraint cable 79 on the surface is released), and the drive motor 77 is adjusted so that the short cable 74 is in a taut state. When the micro hydraulic rod 72 on the lifting side descends, the round rod 73 on the lifting side near the center of the upper support ring 5 is in a fixed constraint state and the rope 2 on its surface is constrained by the short cable 74. The rope 2 on the surface of the other round rod 73 is in a free state and can be pulled down with the descent of the micro hydraulic rod 72.

[0054] Meanwhile, the rotating motor 78 inside the correction box 7 on the sinking side (another correction box 7 on the same diameter as the aforementioned correction box 7) rotates and winds up the constraint cable 79, which tightens the rope 2 passing over the surface, thereby preventing the rope 2 on the sinking side from continuing to pull down and increase the tilt of the balloon body 1 when the subsequent micro hydraulic rod 72 retracts and lifts. In addition, the drive motor 77 is in a rotating state, which makes the short cable 74 in a slack state, so that the distance that the subsequent micro hydraulic rod 72 in the correction box 7 retracts and lifts can increase the distance that the rope 2 moves upward, thereby enhancing the lifting effect on the sinking side of the upper support ring 5.

[0055] Finally, in this application, the rotor, drive motor 77, rotating motor 78 and miniature hydraulic rod 72 are all prior art, and their working principles are not described in detail here. Please select the specific model according to actual needs, as it is not fixed.

[0056] The above description is merely a preferred embodiment of the present invention; it encompasses all the protection scope of the present invention. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in the present invention, based on the technical solutions and improved concepts of the present invention, should be covered within the protection scope of the present invention.

Claims

1. A tethered balloon unmanned aerial vehicle with variable configuration, comprising a balloon body (1), wherein a plurality of ropes (2) are arranged on the surface of the balloon body (1), and a support bracket (4) with its surface in sliding contact with the ropes (2) is arranged below the balloon body (1), characterized in that: An anti-torsion assembly is arranged below the lifting bracket (4). The anti-torsion assembly includes an upper bracket ring (5) and a lower bracket ring (6). An arc-shaped ring groove (10) is opened on the surface of the upper bracket ring (5) near the lower bracket ring (6). A constraint groove (11) is opened on the surface of the lower bracket ring (6). A hinge ball is arranged inside the arc-shaped ring groove (10) and the constraint groove (11). The surfaces of the two hinge balls in the arc-shaped ring groove (10) are connected by a telescopic rod (9). A hanging basket (3) is fixedly connected to the bottom of the lower bracket ring (6). The inner surface of the lower support ring (6) is fitted with an L-shaped support, and the surface of the support is connected to a correction box (7). A miniature hydraulic rod (72) is installed through the top wall of the correction box (7). The power end of the miniature hydraulic rod (72) is connected to a lifting component (71). Two round rods (73) are installed on the inner wall of the correction box (7), and a rope (2) is wound around the surface of the two round rods (73). A short rope (74) is connected to the surface of the rope (2), and the tail end of the short rope (74) is connected to the surface of the round rod (73) near the center of the upper support ring (5).

2. The tethered balloon unmanned aerial vehicle with variable configuration according to claim 1, characterized in that: The top and bottom surfaces of the correction box (7) are equipped with guide wheels, and the rope (2) is wrapped around the surfaces of the two guide wheels. The tail end of the rope (2) is connected to the surface of the upper support ring (5).

3. The tethered balloon unmanned aerial vehicle with variable configuration according to claim 1, characterized in that: The number of supports is the same as the number of ropes (2), and the correction box (7) is located above the upper support ring (5). The surface of the lifting member (71) is connected to a constraint rod (75) and a clamping plate (76) located between two round rods (73), and the rope (2) passes through the middle of the constraint rod (75) and the clamping plate (76).

4. A tethered balloon unmanned aerial vehicle with variable configuration according to claim 1, characterized in that: A cross bracket is installed on the inner side of the upper support ring (5). The surface of the cross bracket is connected to the lifting bracket (4) through the upright frame. Multiple rotors are arranged on the surface of the lifting bracket (4) and the surface of the upright frame.

5. A tethered balloon unmanned aerial vehicle with variable configuration according to claim 1, characterized in that: The tail end of the lifting component (71) extends through to the bottom of the correction box (7), and the tail end of the lifting component (71) is located above the upper support ring (5). The short cable (74) is in a relaxed state in the initial state, and the length of the short cable (74) is less than half the circumference of the round rod (73).

6. A tethered balloon unmanned aerial vehicle with variable configuration according to claim 1, characterized in that: The surface of the arc-shaped groove (10) is slidably connected to a dust cover (8), and the dust cover (8) is connected to the surface of the telescopic rod (9). The rope (2) is in a taut state after the balloon body (1) is inflated and lifted into the air. The cross-sections of the constraint groove (11) and the arc-shaped groove (10) are both Ω-shaped, and the number of constraint grooves (11) is the same as the number of ropes (2).

7. A tethered balloon unmanned aerial vehicle with variable configuration according to claim 1, characterized in that: The inner wall of the correction box (7) is connected to a drive motor (77) and a rotation motor (78). The output end of the drive motor (77) is connected to the end of a round rod (73) near the center of the upper support ring (5). The surface of the rotation motor (78) is connected to the end of another round rod (73) inside the correction box (7). A constraint cable (79) with one end connected to the surface of a rope (2) is wrapped around the surface of the other round rod (73).

8. A tethered balloon unmanned aerial vehicle with variable configuration according to claim 7, characterized in that: In the initial state, the short cable (74) is taut, and the constraint cable (79) has more than three turns around the surface of the round rod (73).

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