WO2013162128A1

WO2013162128A1 - Cable connection unmanned aerial vehicle system

Info

Publication number: WO2013162128A1
Application number: PCT/KR2012/007361
Authority: WO
Inventors: 김상한
Original assignee: 유콘시스템 주식회사
Priority date: 2012-04-24
Filing date: 2012-09-14
Publication date: 2013-10-31
Also published as: KR101350291B1; KR20130119633A

Abstract

The present invention relates to a cable connection unmanned aerial vehicle system, wherein electricity required for the thrust motor of an unmanned aerial vehicle and the electronic equipment loaded thereto is supplied from the ground so as to perform tasks while staying midair for a long time and stably stay midair at a position according to ground instructions by autonomous flight via control of the posture and position of the unmanned aerial vehicle.

Description

Wired Unmanned Aircraft System

The present invention receives the power required for the operation of the thrust motor and onboard electronic equipment of the unmanned aerial vehicle to stay in the air for a long time to perform the mission, the position according to the ground command by autonomous flight through the attitude and position control of the unmanned aerial vehicle The present invention relates to a wired unmanned aerial vehicle system that stably flies in the air.

In the aircraft field for exploration and reconnaissance, the development of unmanned aerial vehicles (UAVs), which replace manned aircraft, is progressing rapidly due to the development of aviation and communication technologies. It has been developed for practical use and has been deployed in practice, but recently, it has been developed and utilized for various purposes in civil and public fields.

Civilian or public sectors using unmanned aerial vehicles include disaster / disaster disaster status monitoring, coastal / ship monitoring, forest fire / forest monitoring, replacement traffic jams, environmental pollution monitoring, security surveillance monitoring, weather data collection, communication relay, etc. As diverse.

These unmanned aerial vehicles are classified according to size / operation altitude / airtime / operation range / airway method, which are ultra small / small / medium / large by size, high altitude / heavy / low altitude by operating altitude, and short / medium term by airtime. It is classified as long-range, short-range, medium-range, long-distance by the long-term and operating range, fixed wing / rotary wing by the airborne method. Among the unmanned aerial vehicles classified as above, the demand for unmanned aerial vehicles classified into small size, low altitude, short term and short distance is increasing and is being developed accordingly.

Of the fixed wing drones and rotorcraft drones classified by air way, they have been developed and utilized mainly for fixed wing drones that complete missions at high speeds. . In particular, fixed-wing drones must prepare runways or launch pads for takeoff and runway or recovery equipment for landing, so they can take off and land vertically in civilian / public areas where it is difficult to prepare runways, launch pads or recovery equipment. Need. Vertical Take-off and Landing (VTOL) aircraft do not require a runway for takeoff and landing, so they have less space and have the advantage of being able to fly in place and move from side to side. Because of these advantages, various concepts of vertical takeoff and landing drones are being researched and developed in various forms according to missions. Helicopters, the most common type of vertical takeoff and landing drones, are tilt rotors and quadrotor aircraft that have been developed to compensate for the low forward speed.

Such unmanned aerial vehicle needs a power source for the operation of the thrust motor to obtain the driving force and the operation of the electronic equipment for observation, it is necessary to mount a secondary battery.

However, in order to increase the flight time of the unmanned aerial vehicle, the capacity of the secondary battery is inevitably increased. In this case, the weight of the secondary battery becomes very large, and thus the power consumption for the weight of the secondary battery is also increased. There is no limit to the appropriate limit. Accordingly, in the field of application requiring long-term flight of the unmanned aerial vehicle, the process of landing the unmanned aerial vehicle to charge the secondary battery and taking off again, even if the observation is abandoned in the middle, or alternately by preparing a plurality of unmanned aerial vehicles I had difficulty to operate. Therefore, there is a need for power supply measures for long-term flight of unmanned aerial vehicles.

On the other hand, the unmanned aerial vehicle must remotely control the ground control equipment or transmit information obtained by autonomous flying and mounted observation equipment to the ground control equipment according to the instructions of the ground control equipment. It requires a link. This results in excessive occupancy of the limited radio frequency band, causing data interference and traffic between equipment, and can lead to an unexpected accident such as an unmanned aerial vehicle falling down due to unstable wireless communication. In addition, it also has an extended limit in accordance with the regulation of the use frequency. Therefore, there is a need to provide a data link environment capable of smoothly communicating without restrictions between the unmanned aerial vehicle and the ground control equipment.

On the other hand, there is a risk of falling accident due to the failure of the thrust motor when the rotorcraft drone in the air for a long time. Even if a stabilizer such as an emergency parachute is provided, the impact received at the moment of contact with the ground is considerable, which may cause damage. Therefore, measures must be taken to safely land even in the event of an emergency caused by a failure.

Accordingly, it is an object of the present invention to provide a wired unmanned aerial vehicle system for supplying power for long-term flight of an unmanned aerial vehicle in constructing an observation system with a rotorcraft unmanned aerial vehicle.

Another object of the present invention is to provide a wired connection unmanned aerial vehicle system that communicates smoothly without being limited in the construction of a communication network between the unmanned aerial vehicle and the ground control equipment.

Still another object of the present invention is to provide a wired unmanned aerial vehicle system capable of inducing a safe landing for a failure in which a frequency of occurrence increases with a long flight.

The present invention for achieving the above object is a rotorcraft type unmanned aerial vehicle (100) equipped with a communication device and an observation device to operate the rotor 150 to air in the air; And a ground control device 200 which communicates with the unmanned aerial vehicle 100 to control the flight of the unmanned aerial vehicle 100 and receives observation information, wherein the unmanned aerial vehicle system 100 is ground controlled with the unmanned aerial vehicle 100. The equipment 200 is electrically connected using a tether cable 310 including a power line 312, and the ground control equipment 200 supplies power required by the unmanned aerial vehicle 100 through the power line 312. It is done.

The tether cable 310 further includes a communication line 313 and is characterized in that the wired communication between the unmanned aerial vehicle 100 and the ground control equipment 200 via the communication line 313.

The ground control equipment 200, characterized in that the cable winch 320 for the release and rewind operation of the tether cable 310 is provided.

The unmanned aerial vehicle 100 includes a tension sensor 180 for sensing the tension of the tether cable 310 and a twist detector 170 for detecting the twisted state of the tether cable 310, and operates the rotor 150. By controlling the posture to adjust the posture to maintain the tension below a predetermined value and characterized in that to prevent the twist.

The unmanned aerial vehicle 100 includes a plurality of ducts 101 penetrated up and down, arranged symmetrically with respect to the center of the body, and the rotor 150 is mounted inside each duct 101. It consists of a ducted propeller, and when some rotors fail, it features a balance of lift with the other rotors that can operate normally.

The unmanned aerial vehicle 100 includes an emergency secondary battery 162 to charge the emergency secondary battery 162 with electricity supplied through the tether cable 310, and charges the tether cable 310. When the electricity supply is cut off by using the electricity stored in the emergency secondary battery 162 as a power source is characterized in that the emergency landing.

The present invention is configured as described above is a long-term air supply by continuously supplying the electricity required by the unmanned aerial vehicle 100 from the ground, do not need to repeatedly take off and landing the unmanned aerial vehicle 100, the observation or monitoring is interrupted Can be performed continuously without.

In addition, since the present invention communicates with the unmanned aerial vehicle 100 in a wired manner, there is no difficulty in frequency allocation and the observation and monitoring information can be collected through stable data communication.

In addition, the present invention can safely land and repair the unmanned aerial vehicle 100 even if a failure of the rotor or breakage of the tether cable occurs, thereby reducing maintenance costs.

1 is a block diagram of components related to electricity and communication in a wired unmanned aerial vehicle system according to an embodiment of the present invention.

Figure 2 is a state diagram used in the wired unmanned aerial vehicle system according to an embodiment of the present invention.

3 is a bottom perspective view of the unmanned aerial vehicle 100 in the air, in an embodiment of the invention.

4 is a perspective view of a cable winch 320 provided in the ground control equipment 200 in the embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described to be easily carried out by those of ordinary skill in the art. In the accompanying drawings, it is to be noted that the same reference numerals as shown in the configuration or action, the same reference numerals are used as much as possible when indicating the same configuration or action in the other drawings. In addition, in describing the present invention below, when it is determined that a detailed description of a related known function or known configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

1 is a block diagram of components related to electricity and communication in a wired unmanned aerial vehicle system according to an embodiment of the present invention, and 2 is a state diagram of a wired connected unmanned aerial vehicle system according to an embodiment of the present invention.

3 is a bottom perspective view of the unmanned aerial vehicle 100 in the air in an embodiment of the present invention, Figure 4 is a perspective view of a cable winch 320 provided in the ground control equipment 200 in the embodiment of the present invention. .

1 to 4, an unmanned aerial vehicle system according to an exemplary embodiment of the present invention includes a rotorcraft type unmanned aerial vehicle 100, a ground control equipment 200 on the ground, and an unmanned aerial vehicle 100 flying in the air. It comprises a tether equipment 300 for electrically connecting between the ground control equipment 200.

Prior to describing the characteristic components of the present invention, the general known components constituting the unmanned aerial vehicle 100 and the ground control equipment 200 will be described.

The unmanned aerial vehicle 100 controls the rotor 150 and the rotor 150 for the flight by air, the navigation apparatus 130 for controlling the flight by changing the attitude and the position of the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 Observe the flight control signal transmitted from the ground control equipment 200 by communicating with the observation device 140, the ground control equipment 200 mounted on the mission of the observation or monitoring, and obtained from the observation device 140 The communication device 120 for transmitting the information to the ground control equipment 200, and the navigation device 130 is operated according to the received flight control signal and the observation information obtained from the observation device 140 is transmitted to the communication device 120. The control computer 110, which controls to transmit to the ground control equipment 200, is configured to include.

In addition, the unmanned aerial vehicle 100 has the plurality of landing skids 102 mounted to the observing device 140 in the center of the bottom surface and the edge of the bottom surface. The landing skid 102 prevents the observation device 140 from being damaged by buffering the unmanned aerial vehicle 100 by touching the ground when the unmanned aerial vehicle 100 lands.

The rotor 150, the navigation device 130, and the observation device 140 will be described in detail as follows.

The rotor 150 is mounted to the unmanned aerial vehicle 100 as a ducted propeller type. That is, a plurality of ducts 101 are arranged on the edge of the unmanned aerial vehicle 100 symmetrically with respect to the center of the body, and each of the ducts 101 has a form penetrated up and down, The rotors 150 are mounted one by one inside the duct 101. The rotor 150 is mounted inside the duct 101 to generate a downdraft by rotation to generate a thrust blade 152, the propulsion motor 151 for rotating the blade 152, and the duct 101 inside It is mounted to traverse the vane (vane, 153) is configured to control the attitude of the unmanned aerial vehicle 100 is configured. Here, the blade 152 preferably extends as long as possible within the range of not touching the duct 101 in order to increase the thrust efficiency.

The navigation device 130 controls the respective rotors 150 and adjusts the air vehicle attitude and air hole position of the unmanned aerial vehicle 100, and performs vertical landing and autonomous ratios of the unmanned aerial vehicle 100.

The observation device 140 is configured in various ways depending on the field of application of the unmanned aerial vehicle 100, and examples thereof include a camera, a high resolution scanner, various sensors, and a GPS / IMU.

And, the ground control equipment 200 is a communication device 220 for communicating with the unmanned aerial vehicle 100, a control device 230 for generating a flight control signal for the vertical take-off and landing and autonomous ratio of the unmanned aerial vehicle 100, A data manager 240 for storing and managing observation information, an image device 241 for displaying observation information to be visually displayed to a user, and a control computer 210 for controlling operations related to transmission of flight control signals and reception of observation information. It is composed of, including. Here, the control device 230 may be configured to generate a control signal for controlling the observation device 140 of the unmanned aerial vehicle 100.

Components of the unmanned aerial vehicle 100 and the ground control equipment 200 briefly described above are generally known techniques, and according to the prior art, the unmanned aerial vehicle 100 is required to perform a mission because it is airborne and performs a mission. The power supply was covered by a secondary battery mounted thereon, and the communication device 120 of the unmanned aerial vehicle 100 and the communication device 220 of the ground control equipment 200 were configured as a communication device employing a wireless communication technology.

On the contrary, the unmanned aerial vehicle system according to the embodiment of the present invention supplies the power required for the flight and performance of the unmanned aerial vehicle 100 to the ground control equipment 200 by wire, and the unmanned aerial vehicle 100 and the ground. Communication between the control equipment 200 is also made by wired communication, the unmanned aerial vehicle 100 is equipped with a secondary battery, but not used during the normal flight and observation mission, but used during emergency landing, the rotor of the It is configured to induce a safe landing following a fault. The unmanned aerial vehicle system according to the embodiment of the present invention for this purpose includes the following additional components.

Unmanned aerial vehicle system according to an embodiment of the present invention, as shown in Figures 1 and 2 to connect by wires connected between the unmanned aerial vehicle 100 airborne in the air and the ground control equipment 200 installed on the ground It is configured to further include a tether device 300 for. Here, the tether equipment 300 is installed near the tether cable 310 and the ground control equipment 200 for connecting the unmanned aerial vehicle 100 and the ground control equipment 200 to unwind and rewind the tether cable 310 Winch 320 is included.

In addition, the ground control equipment 200 includes a power supply device 250 for supplying electricity to the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 supplies power to each of the internal components that require electric power. Connected to the power distributor 160, the emergency secondary battery 162, and the power distributor 160 to charge the emergency secondary battery 162 and the emergency secondary battery 162 in the emergency power distributor 160. The charging and discharging circuit 161 is provided.

In addition, the communication devices 120 and 220 of the unmanned aerial vehicle 100 and the ground control equipment 200 communicate with each other through wired communication.

In addition, the unmanned aerial vehicle 100 also includes a tension detector 180 for measuring the tension applied to the tether cable 310 and a twist detector 170 for detecting the twist of the tether cable 310.

In addition, according to an embodiment of the present invention, since the unmanned aerial vehicle 100 is configured to perform an observation mission in a state floating in a predetermined position in the air according to the command of the ground control equipment 200, GPS for detecting the position (GPS: global positioning system) It is preferable to include a three-axis gyro sensor for detecting the tilt and the direction of the receiver, the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 equipped with the GS and the three-axis gyro sensor is moved to the position commanded by the ground control equipment 200 based on the position detected by the GS, and is stably stopped in the state where the command is directed. Since the navigation device 130 is controlled to be horizontal based on the tilt direction detected by the three-axis gyro sensor.

Hereinafter, the characteristic components of the present invention described above will be described in detail.

The tether cable 310 is bound to the top of the unmanned aerial vehicle 100 as shown in FIG. 3 and directed toward the air according to the flight of the unmanned aerial vehicle 100, and the ground control apparatus 200 as shown in FIG. 4. Winding or unwinding with a cable winch 320 connected to the) to be released in accordance with the distance to the unmanned aerial vehicle 100 according to takeoff and landing of the unmanned aerial vehicle 100. In addition, the tether cable 310 is a cable that integrates a power line 312 for supplying electricity, a communication line 313 for communication, and a reinforcing core line 311 that handles a tension received as it floats in the air. It consists of.

The power line 312 is connected to the power splitter 160 of the unmanned aerial vehicle 150 and the power line device 250 of the ground control equipment 200 in a state in which the lower end is wound on the cable winch 320 on the ground. By connecting, it becomes a line for continuously supplying electricity to the unmanned aerial vehicle 150 from the ground. Accordingly, since the unmanned aerial vehicle 100 receives power required for flight and observation from the ground control equipment 200 in a wired manner, the unmanned aerial vehicle 100 may perform a mission while floating in the air for a long time.

The communication line 313 connects the upper end to the communication device 120 of the unmanned aerial vehicle 100 and the lower end is wound on the cable winch 320 on the ground to the communication communication device 220 of the ground control equipment 200. By connecting, it becomes a line to communicate by wire between the unmanned aerial vehicle 100 and the ground control equipment 200. Therefore, according to the embodiment of the present invention, the communication device 120, 220 is simplified and there is no difficulty in securing the frequency, there is no fear of signal interference, and it is difficult to listen to the observation device 140, compared to the conventional method adopting wireless communication. The communication security of the measured observation information can be maintained and communication can be stably performed without data traffic.

The communication line 313 is preferably composed of an optical fiber that can not only have advantages of thin thickness and low weight, but also have no interference of electromagnetic waves by a power line, difficult to wire, and transmit a large amount of information at the same time. Of course, if the communication line 313 is composed of an optical fiber, the communication device 120, 220 of the unmanned aerial vehicle 100 and the ground control equipment 200 is composed of an optical communication module.

The reinforcing core line 311 fixes the upper end to the binding line 103 tied to the landing skid 102 of the unmanned aerial vehicle 100. In this case, after preparing a plurality of binding lines 103 and tying each of the binding lines 103 to different landing skid 102 one by one, the lower ends of the respective binding lines 103 to the upper end of the reinforcing core line 311 Fix it. In addition, according to the exemplary embodiment of the present invention, the twist detector 170 and the tension detector 180 are installed at the point where the binding line 103 and the reinforcing core line 311 are fixed to each other.

The twist detector 170 detects a twist by measuring a force to rotate of the reinforcement core 311 with respect to the binding line 103, and the tension sensor 180 reinforces the core 311 with respect to the binding line 103. Detect the tension in the downward direction. In addition, the twist force and the tension sensed by the twist detector 170 and the tension detector 180 are transmitted to the control computer 110 embedded in the unmanned aerial vehicle 100, thereby to rotate the rotor 150 by the navigation device 130. Control to turn in the direction of reducing the twist force and adjust downward to maintain the tension below the preset value.

Accordingly, the unmanned aerial vehicle 100 cuts through the air and continues to the ground to prevent twisting of the tether cable 310 and to fly while maintaining the tension applied to the tether cable 310 at an appropriate value or less, and the tether cable Prevent breakage of the 310.

The tether cable 310, which integrates the power line 312 and the communication line 313, is connected to the unmanned aerial vehicle 100 as if it is erected perpendicular to the air as shown in FIG. 2, and the unmanned aerial vehicle 100 is connected to the unmanned aerial vehicle 100. By the propulsion force of the unmanned aerial vehicle 100 is pulled into the air because it is in a standing state, it is desirable to produce a light weight if possible. Of course, the thrust force is determined by the rotors of the unmanned aerial vehicle 100 to handle not only the weight of the unmanned aerial vehicle 100 but also the weight of the tether cable 310.

The cable winch 320 is a winding drum 321 for releasing and rewinding the tether cable 310, a rotating means 322 for rotating the winding drum 321, and a winding drum as shown in FIG. 4. The cable guide 323, which holds the unwinding or rewinding position of the tether cable 310 at 321, is configured to include.

The rotating means 322 is a power unit and a speed reducer for rotating the winding drum 321 to wind or unwind the tether cable 320, the tether cable 310 by loosening the tether in the state of positioning the unmanned aerial vehicle 100 It may be configured to include a clutch that causes the cable 320 to no longer be loosened.

In addition, the rotation means 322 is controlled by the control computer 210 of the ground cylinder equipment 200, the take-up drum 321 according to the take-off and landing and aerial airspace of the unmanned aerial vehicle 150 by the control device 230 To release and rewind.

On the other hand, according to the embodiment of the present invention, since the ground wire supply electricity to the unmanned aerial vehicle 100 through the power line 312 of the tether cable 310, the power line 312 disconnection or power supply of the tether cable 310. Since the supply of electricity may be cut off due to the failure of 250, safety measures are taken.

To this end, the unmanned aerial vehicle 100 has a built-in emergency secondary battery 162 as described above to charge the emergency secondary battery 162 while receiving electricity through the power line 312 of the tether cable 310. And, when the supply of electricity through the power line 312 of the tether cable 310 is automatically emergency landing. At this time, the emergency landing is controlled by the unmanned aerial vehicle 100 to operate the rotor 150 using the electricity of the emergency secondary battery 162 at the moment when the electricity supply is cut off, but to operate the rotor 150 in the landing mode. It is possible by mounting on the computer 110.

In addition, the unmanned aerial vehicle 100 may automatically make an emergency landing as described above even if communication with the ground control equipment 200 is interrupted due to disconnection of the communication line 313 or failure of the communication devices 120 and 220. .

Here, since the emergency landing of the unmanned aerial vehicle 100 is preferably guided to the place where the ground control equipment 200 and the cable winch 320, the ground control equipment 200 and the cable winch 320 It is preferable to provide a sensor (not shown) installed on the mark (not shown) and the unmanned aerial vehicle 100 installed therein to detect the mark. Accordingly, the unmanned aerial vehicle 100 may safely land by controlling the navigation device 130 to land at the position of the mark during the emergency landing.

In addition, according to an embodiment of the present invention, the unmanned aerial vehicle 100 operates to balance only the rods that operate normally when a failure occurs in some of the plurality of rotors 150 as the long term flight occurs. Here, the failure of the rotor 150 may be, for example, the failure of the thrust motor 151, the failure of the power transmission means for connecting between the propulsion motor and the blade rotation axis, the breakage of the blade, and the like.

In order to enable flight flight even when such a failure of the rotor occurs, the unmanned aerial vehicle 100 includes a plurality of the rotors 150 mounted in a ducted propeller type, and the rest of the rotors may fail. The control computer 110 is equipped with a program to control the imbalance of lift by only the rotors that can operate normally and to ensure a stable flight. The program according to this is a program that selects the rotors that can operate normally based on the relative positions of the rotors that can operate normally with respect to the position of the failed rotor to adjust the operation state. To illustrate the embodiment of the present invention, the attached FIG. 3 is illustrated as a hexa rotor having six rotors, but may be a quad rotor having four rotors or an octo rotor having eight rotors.

In this way, the unmanned aerial vehicle 100 is configured to fly to the rotor that can operate the rest of the rotor when some of the rotor failure, it can prevent the fall accident, the user uses the control device 230 on the ground Can be landed stably.

The present invention constituted as described above moves the ground control equipment 200, the unmanned aerial vehicle 200, and the tethered equipment 300 in a state in which the vehicle is mounted on the vehicle, and moves to an area to perform the observation mission. Because it can take off vertically, it is convenient to use because it does not require a runway or launch pad, and can be operated in a small place or in a city center without inconvenience.

In addition, the present invention takes off the unmanned aerial vehicle 200 in a state in which one end of the tether cable 310 is connected to the unmanned aerial vehicle 200. do. Accordingly, the present invention eliminates the inconvenience of repeatedly taking off and landing according to the electric power consumption of the existing unmanned aerial vehicle, and it is possible to continuously observe for a long time to increase the efficiency of the observation task and to continuously obtain the observation information without omission.

In particular, as shown in FIG. 2, the present invention can monitor each monitoring area (A) without interruption while flying for a long time, and thus, useful for port monitoring, marine pollution monitoring, traffic monitoring, and public facility monitoring. Can be utilized.

In addition, the present invention can stably communicate by wire communication and collect observation information.

In addition, the present invention by adjusting the attitude of the unmanned aerial vehicle 100 to prevent the twist of the tether cable 310 and subjected to excessive tension, to maintain a stable electricity supply and communication network and to fly the unmanned aerial vehicle 100 in flight have.

In addition, the present invention can safely land the unmanned aerial vehicle 100 without a crash accident by using a plurality of rotors and emergency secondary battery even inadvertent failure.

Although illustrated and described in the specific embodiments to illustrate the technical spirit of the present invention, the present invention is not limited to the same configuration and operation as the specific embodiment as described above, within the limits that various modifications do not depart from the scope of the invention It can be carried out in. Therefore, such modifications should also be regarded as belonging to the scope of the present invention, and the scope of the present invention should be determined by the claims below.

[Description of the code]

100: unmanned aerial vehicle

101: Duct 102: Landing Skid 103: Binding Line

110: control computer 120: communication device 130: navigation device

140: observation device 150: rotor 151: propulsion motor

152: blade 153: vane 160: power distributor

161: charge and discharge circuit 162: emergency secondary battery

170: twist detector 180: tension detector

200: ground control equipment

210: control computer 220: communication device 230: control device

240: data manager 241: video device 250: power supply device

300: tether equipment

310: tether cable 311: reinforcement core 312: power line

313: communication line 320: cable winch 321: winding drum

322: rotating means 323: cable guide

Claims

A rotorcraft type unmanned aerial vehicle equipped with a communication device and an observation device and operating a rotor to fly in the air; And

Ground control equipment which communicates with the unmanned aerial vehicle to control the flight of the unmanned aerial vehicle and receives observation information;

In the unmanned aerial vehicle system comprising:

And electrically connecting the unmanned aerial vehicle and the ground control equipment using a tether cable including a power line, and supplying the power required by the unmanned aerial vehicle from the ground control equipment through the power line.
The method of claim 1,

The tether cable further includes a communication line,

Wired unmanned aerial vehicle system, characterized in that the wired communication between the unmanned aerial vehicle and the ground control equipment to the communication line.
The method of claim 2,

The ground control equipment,

Wired unmanned aerial vehicle system, characterized in that the cable winch for the release and rewinding of the tether cable is provided.
The method of claim 3,

The unmanned aerial vehicle,

It is provided with a tension sensor for detecting the tension of the tether cable and a twist sensor for detecting the twist state of the tether cable, and controlling the attitude of the rotor to adjust the posture to maintain the tension below a preset value and to prevent twist Wired unmanned aerial vehicle system.
The method of claim 4, wherein

The unmanned aerial vehicle,

It is provided with a plurality of ducts penetrated up and down, arranged symmetrically with respect to the center of the body, and the rotor is mounted inside each duct to constitute a ducted propeller, and if some rotors fail Wired unmanned aerial vehicle system, characterized by a balanced balance of lift with rotors that can operate normally.
The method of claim 5,

The unmanned aerial vehicle,

An emergency secondary battery is built in, and the emergency secondary battery is charged with electricity supplied through the tether cable, and when electricity is supplied through the tether cable is cut off, the electricity stored in the emergency secondary battery is used as a power source. Wired unmanned aerial vehicle system characterized by a landing ship.