High-wind-resistant tethered unmanned aerial vehicle with buoyancy airbag

Abstract

This utility model discloses a highly wind-resistant tethered unmanned aerial vehicle (UAV) with a buoyancy airbag, relating to the field of UAV technology. It includes an airship hull filled with a low-density medium, on which a flight control cabin, a forward propulsion assembly, an upward propulsion assembly, and a directional control assembly are mounted. The tethered cabin is located on a foundation and connected to the airship hull via tether cables. A working device is mounted on the airship hull. Both the flight control cabin and the working device are electrically connected to the tethered cabin. The airship hull provides basic lift support; the upward propulsion assembly provides additional lift, increasing the airship's load capacity, allowing for the installation of more or more powerful forward propulsion assemblies, improving the airship's wind resistance, and enabling it to effectively withstand strong winds and maintain a stable attitude, thus providing a stable and reliable aerial working platform for the working device. The tethered cabin continuously supplies power to the aerial equipment, ensuring the airship's endurance and enabling stable operation of the working device, achieving adaptability to multiple application scenarios.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a highly wind-resistant tethered UAV with a buoyancy airbag. Background Technology

[0002] Currently, while mainstream tethered unmanned airships on the market can remain airborne for extended periods, they have weak wind resistance and can only operate in winds below level 5. In strong winds, they are prone to deviating from their intended positions, and their emergency response speed is slow. They are not suitable for scenarios such as emergency rescue, security monitoring, fire rescue, and coastal defense, and cannot meet the actual operational needs of multiple fields.

[0003] To improve wind resistance, existing technical solutions have obvious shortcomings: shape optimization can only reduce wind resistance and improve wind resistance locally, but cannot fundamentally solve the problems of stability and controllability under strong winds; increasing the power of the propulsion system can improve wind resistance and flight speed, but it will also lead to a surge in energy consumption, shorten the flight range and increase equipment costs; flight control algorithm optimization can only accurately control the flight attitude, but it is still difficult to ensure stable flight and mission execution in the face of strong winds.

[0004] In emergency rescue operations, complex high-wind environments can cause equipment to malfunction, leading to deviations in the delivery of relief supplies and low efficiency in personnel searches. In security monitoring (such as border patrols and urban security), strong winds in coastal or high-altitude areas make it difficult for equipment to operate continuously for extended periods, easily resulting in monitoring blind spots. In fire rescue operations, variable wind forces at fire sites prevent equipment from obtaining accurate information in a timely manner, affecting command decisions and firefighting efficiency. In coastal defense missions, strong winds and variable wind directions at sea make it difficult for equipment to operate stably, restricting the efficiency and safety of maritime law enforcement and search and rescue.

[0005] In summary, existing tethered airships lack sufficient wind resistance and cannot meet the requirements of aerial work platforms. Therefore, there is an urgent need for a highly wind-resistant tethered unmanned aerial vehicle (UAV) with a buoyancy airbag. Utility Model Content

[0006] To address the above technical problems, this utility model provides a highly wind-resistant tethered drone with a buoyancy airbag, which improves wind resistance and meets the needs of aerial work platforms.

[0007] To achieve the above objectives, this utility model provides the following solution: This utility model provides a highly wind-resistant tethered drone with a buoyancy airbag, comprising: The airship hull is filled with a low-density medium. The airship hull is equipped with a flight control cabin, a forward propulsion assembly, an upward propulsion assembly, and a directional control assembly. The forward propulsion assembly provides forward driving force to the airship hull, the upward propulsion assembly provides upward driving force to the airship hull, and the directional control assembly controls the flight direction of the airship hull. The flight control cabin is electrically connected to the forward propulsion assembly, the upward propulsion assembly, and the directional control assembly, respectively. The tethering cabin is located on the foundation and is connected to the airship hull via tethering cables; The operating device is mounted on the hull of the airship; Both the flight control cabin and the operating device are electrically connected to the tethered cabin.

[0008] Optionally, the forward propulsion assembly includes a forward propulsion motor, which is disposed on both sides of the airship hull, and the output shaft of the forward propulsion motor is disposed along the front and rear axis of the airship hull; And / or, the upward propulsion assembly includes an upward propulsion motor, which is disposed on both sides of the airship hull, and the output shaft of the upward propulsion motor is disposed along the vertical axis of the airship hull.

[0009] Optionally, along the longitudinal axis of the airship hull, at distances of 10-30%L and 60-70%L from the front end of the airship hull, one of the upward propulsion motors is respectively installed on each side of the airship hull, with the forward propulsion motor located between the two upward propulsion motors on the same side; where L is the length of the airship hull.

[0010] Optionally, the direction control component includes a tail rudder and a tail fin. The tail fin is provided at the tail end of the airship hull in both the horizontal and vertical directions, and the tail rudder is provided at the tail end of the tail fin.

[0011] Optionally, the flight control cabin includes a flight control cabin shell, and a GPS module, a differential module, a magnetic compass module, an inertial measurement unit, a lithium battery, and a flight control computer are disposed inside the flight control cabin shell; the lithium battery is electrically connected to the GPS module, the differential module, the magnetic compass module, the inertial measurement unit, and the flight control computer respectively, and the flight control computer is controllably connected to the GPS module, the differential module, the magnetic compass module, and the inertial measurement unit respectively; the flight control computer is electrically controlled to the direction control component.

[0012] Optionally, the tethered cabin includes a control device, an external connector, an external data transmission antenna, a data module, an external generator connector, and a status display module; the control device is electrically connected to the external connector, the external data transmission antenna, the data module, the external generator connector, and the status display module respectively; the external connector is a reserved connector.

[0013] Optionally, the tethering chamber is equipped with a coiling roller, a roller motor, and a speed reducer; the input end of the speed reducer is connected to the roller motor, the output end of the speed reducer is connected to the coiling roller, and one end of the tethering cable is wound around the coiling roller.

[0014] Optionally, the bottom of the airship hull is provided with a bottom connecting plate, which is connected to the other end of the mooring cable.

[0015] Optionally, the working device includes an optoelectronic payload, a GPS antenna, a lighting payload, a microwave antenna, an energy control cabin, a loudspeaker payload, and a camera; the optoelectronic payload, the GPS antenna, the lighting payload, the microwave antenna, the loudspeaker payload, and the camera are electrically connected to the energy control cabin, and the energy control cabin is electrically connected to the tethering cabin.

[0016] Optionally, the foundation may be ground, an anchored vehicle, or an anchored vessel.

[0017] The present invention achieves the following technical advantages over the prior art: When using the high-wind-resistant tethered UAV with buoyancy airbag provided by this invention, the airship hull is filled with a low-density medium to generate buoyancy, providing basic support for takeoff. The upward propulsion component provides additional lift to the airship hull, giving it a higher load capacity, allowing for the installation of more or more powerful forward propulsion components, thus improving the airship hull's wind resistance. The flight control cabin controls the forward propulsion component, the upward propulsion component, and the direction control component. The upward propulsion component adjusts the airship hull's altitude, while the direction control component, in conjunction with the forward propulsion component, adjusts the airship hull's direction. This effectively protects the airship from strong winds and ensures it maintains a stable attitude in the air, creating a stable and reliable aerial work platform for the operating device. Furthermore, both the flight control cabin and the operating device are connected to the ground-based tethered cabin via electrical control. The tethered cabin continuously supplies power to the aerial equipment, ensuring the airship hull has long-term stable endurance and the operating device can operate continuously and stably, avoiding reduced work efficiency due to insufficient power supply, ultimately achieving multi-scenario application adaptation. Attached Figure Description

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

[0019] Figure 1 This is a schematic diagram of the structure of the high wind-resistant tethered UAV with buoyancy airbag of this utility model; Figure 2 This is a top view schematic diagram of the high wind-resistant tethered UAV with buoyancy airbag of this utility model; Figure 3 This is a rear-view structural diagram of the high wind-resistant tethered UAV with buoyancy airbag of this utility model; Figure 4 This is a schematic diagram of the internal equipment of the flight control cabin in the high wind-resistant tethered UAV with buoyancy airbag of this utility model; Figure 5 This is a schematic diagram of the tethering compartment in the high wind-resistant tethered UAV with buoyancy airbag of this utility model; Figure 6 This is a schematic diagram of the internal structure of the tethering compartment in the high wind-resistant tethered UAV with buoyancy airbag of this utility model; Figure 7 for Figure 6 Schematic diagram of the AA section; Figure 8 for Figure 6 Schematic diagram of the BB section; Figure 9 This is a structural schematic diagram of the multi-rotor tethered drone of this utility model; Figure 10 This is a schematic diagram of the structure of the multi-rotor tethered unmanned aerial vehicle of this utility model; Figure 11 This is a structural schematic diagram of the unpowered tethered airship of this utility model.

[0020] Explanation of reference numerals in the attached diagram: 1. Forward propulsion motor; 2. Upward propulsion motor; 3. Airship hull; 4. Optoelectronic payload; 5. GPS antenna; 6. Flight control cabin; 7. Lighting payload; 8. Microwave antenna; 9. Energy control cabin; 10. Communicator payload; 11. Cable; 12. Tail rudder; 13. Tail fin; 14. Bottom connecting plate; 15. Tethering cable; 16. Tethering cabin; 17. Ground; 18. Flight control cabin shell; 19. GPS module; 20. Differential module; 21. Magnetic compass module; 22. Inertial measurement unit; 23. Lithium battery; 24. Flight control computer; 25. Control device; 26. External connector; 27. Curling roller; 28. Roller motor; 29. ​​Gearbox; 30. External data transmission antenna; 31. Data module; 32. External generator connector; 33. Status display module; 34. Multi-wing UAV; 35. Tethered UAV hardpoint. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Example 1: like Figures 1 to 11 As shown, this embodiment provides a highly wind-resistant tethered unmanned aerial vehicle with a buoyancy airbag, including: an airship hull 3, the airship hull 3 being filled with a low-density medium, and a flight control cabin 6, a forward propulsion assembly, an upward propulsion assembly, and a directional control assembly being provided on the airship hull 3; the flight control cabin 6 is electrically connected to the forward propulsion assembly, the upward propulsion assembly, and the directional control assembly respectively. The tethered cabin 16 is located on the foundation and is connected to the airship hull 3 via tethered cable 15; The operating device is mounted on the airship hull 3; The flight control cabin 6 and the work equipment are both electrically connected to the tethered cabin 16.

[0023] When using the high wind-resistant tethered UAV with buoyancy airbag provided by this utility model, the airship hull 3 is filled with a low-density medium to generate buoyancy, providing basic support for the airship to take off; the upward propulsion component can provide additional lift to the airship hull, enabling the airship to have a higher load capacity, thereby allowing the installation of more or more powerful forward propulsion components and improving the wind resistance performance of the airship hull; the flight control cabin 6 adjusts the forward propulsion component, the upward propulsion component and the direction control component by regulating the forward propulsion component, using the upward propulsion component to adjust the flight altitude of the airship hull 3, and using the direction control component in conjunction with the forward propulsion component to adjust the direction of the airship hull 3, which can not only enable the airship hull 3 to effectively resist the impact of strong winds, but also ensure that the airship hull 3 maintains a stable attitude in the air, thus building a stable and reliable aerial working platform for the operating device. In addition, the flight control cabin 6 and the operating device are connected to the ground-based tethered cabin 16 via electronic control. The tethered cabin 16 provides continuous power to the airborne equipment, ensuring that the airship hull 3 has a long-term stable endurance and that the operating device can operate continuously and stably, avoiding reduced work efficiency due to insufficient power supply, and ultimately achieving multi-scenario application adaptation.

[0024] The airship hull 3 is made of lightweight, flexible material, possessing excellent airtightness and pressure resistance to ensure stable shape maintenance and sufficient buoyancy after being filled with a low-density medium. The volume of the airship hull 3 is 20-100 cubic meters, and the length of the tethering cable 15 is 100-600 meters. In this specific embodiment, the volume of the airship hull 3 is 50 cubic meters, and the length of the tethering cable 15 is 300 meters.

[0025] The low-density medium is a medium with a density less than that of air. Specifically, it can be hydrogen or helium. To improve safety and prevent the airship hull 3 from exploding, helium is used as the low-density medium in this embodiment.

[0026] Propellers are respectively installed on the output shafts of the forward propulsion motor 1 and the upward propulsion motor 2. The propellers are driven by the forward propulsion motor 1 and the upward propulsion motor 2 respectively, generating a driving force that makes the airship body 3 move forward or upward.

[0027] The forward propulsion assembly includes a forward propulsion motor 1, which is located on both sides of the airship hull 3, and the output shaft of the forward propulsion motor 1 is arranged along the front and rear axis of the airship hull 3.

[0028] The upward propulsion assembly includes an upward propulsion motor 2, which is located on both sides of the airship hull 3, and the output shaft of the upward propulsion motor 2 is arranged along the vertical axis of the airship hull 3.

[0029] At 25% and 65% of the longitudinal axis length of the airship hull 3, an upward propulsion motor 2 is installed on each side of the airship hull 3, with a forward propulsion motor 1 located between the two upward propulsion motors 2 on the same side. Compared to placing the upward propulsion motors 2 on both sides of the middle of the airship hull 3, the four upward propulsion motors 2 are farther from the geometric center of the airship hull 3. The lift generated by the four upward propulsion motors 2 driving their respective propellers has a longer lever arm with the airship hull 3. The small lift generated by the upward propulsion components can generate a large torque on the airship hull 3 in the vertical direction, which helps to maintain the stability of the airship hull 3's flight attitude. At the same time, the installation of four upward propulsion motors 2 increases the upward driving force of the airship hull 3, thereby increasing the airship hull 3's takeoff speed, expanding the mission payload capacity, and enabling the airship hull 3 to carry more propulsion and operating equipment into the air, thus improving the system's operational efficiency in complex missions.

[0030] During takeoff, four upward thrust motors 2 drive the propellers to generate upward lift, assisting the airship hull 3 in increasing altitude; during hovering, the airship hull 3 is kept in stable hovering in the air by adjusting the speed of the upward thrust motors 2.

[0031] Four forward propulsion motors 1 are installed on both sides of the airship hull 3 near the middle of the airship hull 3. The four forward propulsion motors 1 can output a large driving force to improve the stability and wind resistance of the airship hull 3, and can also adjust the speed of a single forward propulsion motor 1 to change the direction of the airship hull 3.

[0032] When operating in strong winds, the four forward propulsion motors 1 drive the propellers to generate forward thrust to counteract the drag caused by the strong winds, enabling the airship hull 3 to fly stably against the wind.

[0033] The airship hull 3 is internally filled with a low-density medium to provide core buoyancy. This buoyancy works synergistically with four upward propulsion components to significantly enhance the overall lift of the airship hull 3. This increased lift directly expands the upper limit of the airship hull 3's mission payload, allowing it to carry more types of monitoring equipment, communication equipment, and other mission gear, effectively improving the system's operational efficiency and reliability in complex mission scenarios. Simultaneously, the airship hull 3's structural design endows it with superior aerodynamic stability, and its low drag characteristics further reduce energy consumption. Combined with the powerful propulsion provided by four forward propulsion motors 1, the airship hull 3's wind resistance is significantly enhanced, enabling stable flight in winds exceeding force 8. This characteristic allows it to fully meet the practical application needs of coastal defense fields with high average wind speeds, as well as special scenarios such as emergency rescue, disaster relief, and fire fighting.

[0034] Both the forward propulsion motor 1 and the upward propulsion motor 2 are brushless DC motors. The propellers are aerodynamically optimized to effectively provide the thrust required to resist wind. The installation position and angle of the forward propulsion motor 1 and the upward propulsion motor 2 can be finely adjusted to adapt to different flight attitudes and wind direction changes.

[0035] The foundation can be the land surface 17. The tethered cabin 16 is directly set on the land surface 17. Relying on the fixed ground support, it can support long-term continuous monitoring and surveillance operations, and provide stable support for routine observation in static scenarios. The foundation can also be an anchoring vehicle, on which the mooring capsule 16 is integrated. Using this vehicle as a carrier, highly wind-resistant tethered drones equipped with buoyancy airbags can be quickly transported to the operational site (such as a fire rescue site). This enables rapid equipment deployment, timely acquisition of accurate environmental information from the fire scene, and provides data support for command-level decision-making, thereby improving the efficiency and accuracy of firefighting operations. The foundation can also be an anchored vessel. The mooring compartment 16 can be installed on the anchored vessel, allowing for rapid installation and deployment on mobile platforms such as ships. When performing maritime patrol missions, it is connected to the ship's power and communication systems via the mooring cable 15, ensuring continuous operation of the equipment and significantly expanding the ship's search and monitoring coverage, effectively enhancing maritime law enforcement, emergency rescue, and marine environmental monitoring capabilities.

[0036] The directional control assembly includes a tail rudder 12 and a tail fin 13. The tail fin 13 is provided at the tail end of the airship hull 3 in both the horizontal and vertical directions, and the tail rudder 12 is provided at the tail of the tail fin 13.

[0037] Tail fin 13 can be cruciform, X-shaped, positive Y-shaped, or inverted Y-shaped. Tail fin 13 is made of lightweight, high-strength composite material, which can ensure the structural strength of the tail fin, reduce the weight of the airship, and provide flexible heading and pitch control torque through the deflection of the control surfaces of tail rudder 12 while ensuring heading and pitch stability.

[0038] The flight control cabin 6 includes a flight control cabin shell 18, inside which are installed a GPS module 19, a differential module 20, a magnetic compass module 21, an inertial measurement unit 22, a lithium battery 23, and a flight control computer 24. The lithium battery 23 is electrically connected to the GPS module 19, the differential module 20, the magnetic compass module 21, the inertial measurement unit 22, and the flight control computer 24, respectively. The flight control computer 24 is controllably connected to the GPS module 19, the differential module 20, the magnetic compass module 21, and the inertial measurement unit 22, respectively.

[0039] The flight control computer 24 inside the flight control cabin 6 is equipped with a high-performance processor and a large-capacity memory, which can quickly process a large amount of data from various modules and run complex flight control algorithms to achieve high-precision closed-loop control of the airship, specifically covering core controls such as altitude adjustment, heading calibration and attitude stabilization.

[0040] GPS module 19 and differential module 20 can receive signals from multiple satellites and provide the flight control system with high-precision airship position information, including longitude, latitude, and altitude, with centimeter-level accuracy, through differential positioning technology, thereby achieving precise navigation and hovering control. Differential positioning technology is existing technology; the technical solution of this utility model can be achieved by combining differential positioning technology with GPS module 19 and differential module 20. Specific technical details are not elaborated here.

[0041] The satellite communication system uses high-gain satellite antennas and high-performance satellite communication terminals, enabling real-time data transmission globally and ensuring that airship monitoring data can be promptly transmitted back to the command center in remote areas without ground network coverage or in complex environments such as at sea.

[0042] 4G / 5G communication systems support multi-band and multi-mode communication, and can automatically select the optimal communication frequency band and mode according to the local network environment to achieve high-speed and stable data transmission, meeting the real-time transmission needs of large amounts of information such as high-definition video streams.

[0043] The magnetic compass module 21 is used to measure the heading angle of the airship, assisting the flight control system in achieving precise heading control and ensuring that the airship can accurately align with the wind direction or other target directions during flight.

[0044] The inertial measurement unit 22 is used to measure the three-axis acceleration and three-axis angular velocity of the airship in real time, providing the flight control computer 24 with accurate motion status information so as to adjust the airship's flight attitude and heading in a timely manner.

[0045] The lithium battery 23 can provide stable power support for various devices in the flight control cabin and propulsion motors, and has overcharge and over-discharge protection functions, extending the battery's lifespan and safety.

[0046] The flight control computer 24 employs an advanced wind-resistant control algorithm. Based on real-time wind speed and direction sensor data and the airship's motion status information, it rapidly adjusts the tail fin control surface angle and propulsion motor speed to ensure stable flight of the airship in strong wind environments. The wind-resistant control algorithm is existing technology; the technical solution of this invention can be achieved by combining the wind-resistant control algorithm with the flight control computer 24. Specific technical details are not elaborated here.

[0047] The tethered cabin 16 includes a control device 25, an external connector 26, an external data transmission antenna 30, a data module 31, an external generator connector 32, and a status display module 33; the control device 25 is electrically connected to the external connector 26, the external data transmission antenna 30, the data module 31, the external generator connector 32, and the status display module 33, respectively.

[0048] External socket 26 is a reserved socket that can be used to temporarily connect other equipment, such as ground environment monitoring equipment, depending on the actual use.

[0049] Data module 31 supports multiple communication protocols, including Ethernet, Wi-Fi, Bluetooth, etc., and can flexibly interact with the airship's microwave communication system and other ground equipment to realize real-time sharing and remote control of airship monitoring data.

[0050] The external generator socket 32 ​​has intelligent recognition and automatic switching functions. When an external generator is connected, the system can automatically switch to generator power supply mode and automatically adjust the generator output power according to the actual load demand to ensure the stability and efficiency of power supply.

[0051] The tethering chamber 16 is equipped with a coiling roller 27, a roller motor 28, and a reducer 29. The input end of the reducer 29 is connected to the roller motor 28, and the output end of the reducer 29 is connected to the coiling roller 27. One end of the tethering cable 15 is wound around the coiling roller 27. The reducer 29 drives the coiling roller 27 to rotate, and the rotation of the coiling roller 27 enables the automatic winding and unwinding of the tethering cable 15.

[0052] The bottom of the airship hull 3 is provided with a bottom connecting plate 14, which is connected to the other end of the mooring cable 15.

[0053] The outer shell of the tethered capsule 16 is made of robust metal, providing excellent protection against harsh weather conditions and external impacts, ensuring the safe and stable operation of the internal electronic equipment. It also features anti-slip feet on the bottom for stable placement in various ground environments.

[0054] The working device includes an optoelectronic payload 4, a GPS antenna 5, a lighting payload 7, a microwave antenna 8, an energy control cabin 9, and a broadcast payload 10; the optoelectronic payload 4, GPS antenna 5, lighting payload 7, microwave antenna 8, and broadcast payload 10 are electrically connected to the energy control cabin 9, and the energy control cabin 9 is electrically connected to the mooring cabin 16.

[0055] The energy control cabin 9 has a built-in power management system that can distribute and manage the electrical energy transmitted from the ground tethered cabin 16, ensuring a stable and reliable power supply for all equipment. It can also monitor the status of the power system in real time to prevent overload and short circuits. Furthermore, it can automatically adjust the output power of the generator according to actual load requirements to ensure the stability and efficiency of the power supply.

[0056] The lighting payload 7 includes a high-strength bracket and LED lights. The high-strength bracket is installed on the lower front of the airship hull 3, and the LED lights are installed on the high-strength bracket. The lighting payload 7 can provide sufficient lighting brightness in scenarios such as emergency rescue and security monitoring, and the lighting direction and angle are adjustable to meet the needs of different tasks.

[0057] The operating device also includes a camera, which can be a multispectral camera with imaging capabilities for visible light, infrared, ultraviolet and other spectra. It can adapt to different environmental conditions and monitoring targets, acquire high-quality image and video data, and has high resolution and frame rate to meet the needs of real-time monitoring and analysis.

[0058] The loudspeaker payload 10 includes a high-power speaker and a voice control module. The high-power speaker and the voice control module are electrically connected and are both electrically connected to the energy control cabin 9. It can realize long-distance voice broadcasting and real-time announcement functions, and can be used in emergency rescue scenarios such as command and dispatch, and crowd evacuation. It also has a variety of preset voice prompt functions to facilitate the rapid transmission of information.

[0059] Microwave antenna 8 adopts a high-gain antenna and a high-performance microwave transceiver module, which can achieve stable and reliable high-speed data transmission in complex electromagnetic environments, with a transmission bandwidth of not less than 10Mbps, ensuring high-quality real-time return of the load signal.

[0060] The tether cable 15 is made of high-strength, low-resistance conductive material, containing multiple strands of conductive wires and optical fibers for data transmission. It is encased in a waterproof and abrasion-resistant insulating sheath to ensure long-term stable transmission of power and data in complex outdoor environments. The upper end of the tether cable 15 connects to the bottom connecting plate 14 below the buoyancy center of the airship hull 3, and branches off into cables 11 to supply power to the energy control cabin 9 and the flight control cabin 6, respectively.

[0061] First, helium is filled into the airship hull 3 to provide sufficient buoyancy. Then, a cross-shaped tail fin 13 is installed at the tail of the airship according to design requirements, and a tail rudder 12 is installed on the tail fin 13. Four upward propulsion motors 2 and four forward propulsion motors 1 are installed at corresponding positions along the long axis of the airship hull 3. The connection between the upward propulsion motors 2 and forward propulsion motors 1 and the airship hull 3 is ensured to be firm and reliable, and the wiring connections of the upward propulsion motors 2 and forward propulsion motors 1 are made so that they can be connected to the subsequent flight control system and power system. The flight control cabin 6 is installed at the bottom connecting plate 14 below the center of buoyancy of the airship hull 3. The flight control computer 24, inertial measurement unit 22, magnetic compass module 21, lithium battery 23, GPS module 19, differential module 20 and other equipment are installed in the flight control cabin 6, and the correct wiring connections and parameter settings are made to ensure accurate acquisition of various information of the airship and effective control. The optoelectronic payload 4, GPS antenna 5, lighting payload 7, microwave antenna 8, energy control cabin 9, and broadcast payload 10 are also installed at corresponding positions on the bottom connecting plate 14 below the airship hull 3, and connected to the airship's power lines and other related systems. This allows the energy control cabin 9 to draw power from the ground tethered cabin 16 via the tether cable 15, providing a stable power supply to all devices. Simultaneously, the microwave communication system can function normally for signal transmission. The tether cable 15 is reliably connected to both the energy control cabin 9 and the tethered cabin 16. The tethered cabin 16 is equipped with the tether cable 15 deployment and retraction system, lithium battery 23, status display module 33, data module 31, etc., and can be connected to an external generator, ensuring that the tethered cabin 16 can provide stable power support and effective data transmission for the entire system.

[0062] In strong winds, the airship's hull 3 utilizes buoyancy and the thrust of four upward-propulsion motors 2 to elevate the entire system to a predetermined altitude of 0-500 meters. During flight, the flight control computer 24 monitors environmental information such as wind speed and direction in real time. Based on a pre-set control algorithm, it precisely controls the rotational speed of the four upward-propulsion motors 2, thereby achieving precise altitude control. When encountering strong winds, the flight control system controls the angle of the tail rudder 12 at the tail fin 13 to ensure the nose of the airship hull 3 is always aligned with the wind direction, reducing the impact of the wind on the sides of the airship hull 3. Simultaneously, it activates 2-4 forward-propulsion motors 1 to generate thrust in the opposite direction of the wind, counteracting the drag generated by the strong winds and maintaining stable flight of the airship hull 3. In addition, the flight control computer 24 can set the hovering radius. Based on the real-time wind conditions and the position information of the airship hull 3, it controls the forward propulsion motor 1, the upward propulsion motor 2 and the tail rudder 12 to enable the airship hull 3 to achieve stable hovering within the hovering radius, ensuring that the airship hull 3 can complete various tasks in strong wind environments. Furthermore, through the microwave communication system and the relevant communication modules of the tethered cabin 16, the data monitored by the airship is transmitted to the command center in real time and stably.

[0063] This invention relates to a highly wind-resistant tethered UAV with a buoyancy airbag, which combines an airship with a propulsion motor, tail fin, tail rudder, flight control system, and energy control system, exhibiting strong adaptability and practicality. Utilizing the buoyancy of the airship hull 3 and the lifting force of the upward propulsion motor 2, it can carry more propulsion and equipment into the air, expanding its mission payload capacity. In the high-wind-resistant combined mode, the combination of the airship hull 3 and tail fin exhibits good aerodynamic stability and low drag. Furthermore, the forward propulsion motor 1 effectively resists strong wind resistance, significantly improving wind resistance. This meets the application needs in coastal defense, emergency rescue, and firefighting scenarios with high average wind speeds. The product can also be carried out on ships for maritime patrol missions, greatly enhancing the search and monitoring range of vessels.

[0064] like Figure 9 and 10 As shown, this embodiment also provides a rotor-tethered UAV configuration. When performing rapid response missions in winds below force 5-6, four upward propulsion motors, a flight control cabin, an energy control cabin, and a microwave communication system are quickly combined and connected. The flight mission and parameters are set via the flight control system, the motors are started, and the flight control computer, based on real-time collected information such as the airship's attitude and position, precisely controls the motor speed and tail fin surfaces through control algorithms. This enables the multi-rotor tethered UAV to fly stably at the set altitude and position. Simultaneously, the data collected by the payload is transmitted to the ground tethered cabin via the microwave communication system, and then transmitted back to the command center from the ground tethered cabin.

[0065] It should be noted that, for those skilled in the art, it is obvious that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this utility model is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0066] This specification uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A highly wind-resistant tethered unmanned aerial vehicle with a buoyancy airbag, characterized in that, include: The airship hull (3) is filled with a low-density medium. The airship hull (3) is equipped with a flight control cabin (6), a forward propulsion assembly, an upward propulsion assembly, and a direction control assembly. The forward propulsion assembly provides forward driving force to the airship hull (3), the upward propulsion assembly provides upward driving force to the airship hull (3), and the direction control assembly controls the flight direction of the airship hull (3). The flight control cabin (6) is electrically connected to the forward propulsion assembly, the upward propulsion assembly, and the direction control assembly, respectively. The tethered cabin (16) is set on the foundation and connected to the airship hull (3) via a tethered cable (15); The operating device is installed on the hull (3) of the airship; Both the flight control cabin (6) and the operating device are electrically connected to the tethered cabin (16).

2. The high wind-resistant tethered UAV with buoyancy airbag according to claim 1, characterized in that, The forward propulsion assembly includes a forward propulsion motor (1), which is disposed on both sides of the airship hull (3), and the output shaft of the forward propulsion motor (1) is disposed along the front and rear axis of the airship hull (3). And / or, the upward propulsion assembly includes an upward propulsion motor (2), which is disposed on both sides of the airship hull (3), and the output shaft of the upward propulsion motor (2) is disposed along the vertical axis of the airship hull (3).

3. The high wind-resistant tethered UAV with buoyancy airbag according to claim 2, characterized in that, Along the front-rear axis of the airship hull (3), at distances of 10-30%L and 60-70%L from the front end of the airship hull (3), one of the upward propulsion motors (2) is respectively provided on both sides of the airship hull (3), and the forward propulsion motor (1) is located between the two upward propulsion motors (2) on the same side; where L is the length of the airship hull (3).

4. The high wind-resistant tethered UAV with buoyancy airbag according to claim 1, characterized in that, The direction control component includes a tail rudder (12) and a tail fin (13). The tail fin (13) is provided at the tail end of the airship hull (3) in both the horizontal and vertical directions, and the tail rudder (12) is provided at the tail of the tail fin (13).

5. The high wind-resistant tethered UAV with buoyancy airbag according to claim 1, characterized in that, The flight control cabin (6) includes a flight control cabin shell (18), and a GPS module (19), a differential module (20), a magnetic compass module (21), an inertial measurement unit (22), a lithium battery (23), and a flight control computer (24) are installed inside the flight control cabin shell (18). The lithium battery (23) is electrically connected to the GPS module (19), the differential module (20), the magnetic compass module (21), the inertial measurement unit (22), and the flight control computer (24), respectively. The flight control computer (24) is controllably connected to the GPS module (19), the differential module (20), the magnetic compass module (21), and the inertial measurement unit (22), respectively. The flight control computer (24) is electrically connected to the direction control component.

6. The high wind-resistant tethered UAV with buoyancy airbag according to claim 1, characterized in that, The tethered cabin (16) includes a control device (25), an external connector (26), an external data transmission antenna (30), a data module (31), an external generator connector (32), and a status display module (33); the control device (25) is electrically connected to the external connector (26), the external data transmission antenna (30), the data module (31), the external generator connector (32), and the status display module (33); the external connector (26) is a reserved connector.

7. The high wind-resistant tethered UAV with buoyancy airbag according to claim 1, characterized in that, The tethering chamber (16) is equipped with a curling roller (27), a roller motor (28), and a speed reducer (29); the input end of the speed reducer (29) is connected to the roller motor (28), the output end of the speed reducer (29) is connected to the curling roller (27), and one end of the tethering cable (15) is wound around the curling roller (27).

8. The high wind-resistant tethered UAV with buoyancy airbag according to claim 1, characterized in that, The bottom of the airship hull (3) is provided with a bottom connecting plate (14), which is connected to the other end of the mooring cable (15).

9. The high wind-resistant tethered UAV with buoyancy airbag according to claim 1, characterized in that, The working device includes an optoelectronic payload (4), a GPS antenna (5), a lighting payload (7), a microwave antenna (8), an energy control cabin (9), a voice communication payload (10), and a camera; the optoelectronic payload (4), the GPS antenna (5), the lighting payload (7), the microwave antenna (8), the voice communication payload (10), and the camera are electrically connected to the energy control cabin (9), and the energy control cabin (9) is electrically connected to the tethered cabin (16).

10. The high wind-resistant tethered UAV with buoyancy airbag according to claim 1, characterized in that, The foundation is the ground (17) or an anchored vehicle or an anchored ship.

Images