CN118977843A - An unmanned tethered balloon system - Google Patents
An unmanned tethered balloon system Download PDFInfo
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- CN118977843A CN118977843A CN202410955450.XA CN202410955450A CN118977843A CN 118977843 A CN118977843 A CN 118977843A CN 202410955450 A CN202410955450 A CN 202410955450A CN 118977843 A CN118977843 A CN 118977843A
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- tethered
- mooring
- balloon
- head
- cable winding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/66—Mooring attachments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
- B64B1/50—Captive balloons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Tents Or Canopies (AREA)
Abstract
The invention provides an unattended tethered balloon system, which comprises: tethered balloons, anchored platforms, and mission loads, wherein: the tethered balloon comprises a balloon body, a lift-off nose cone, a head tethered rope, a left tethered rope and a right tethered rope; the mooring platform comprises a base, a rotary platform, a rotary driving device, a mooring tower and a cable winding and unwinding device, wherein the cable winding and unwinding device comprises a left cable winding and unwinding device, a right cable winding and unwinding device and a head cable winding and unwinding device which are arranged in a triangular manner; the top of the mooring tower is provided with a ground nose cone; the head mooring rope passes through the center part of the ground nose cone and is connected with the head mooring rope winding and unwinding device. The invention improves the safety and reliability of the system in the air mooring and retraction process, and can adjust the posture of the tethered balloon in real time. Meanwhile, the problem of intertwining under the condition of multi-cable mooring is solved, and unmanned ground mooring operation in the process of collecting and releasing the tethered balloon platform is realized. And can prevent tethered balloons from hitting the tower.
Description
Technical Field
The invention relates to the technical field of floaters, in particular to an unattended tethered balloon system.
Background
The tethered balloon is an aerostat which is filled with lighter-than-air gas to generate buoyancy to overcome dead weight and is provided with a tethered cable for constraint. The tethered balloon equipment has the advantages of long reserved working time, strong mounting capability, good universality, motorized deployment, low maintenance cost, safe use, strong survivability and the like, is widely applied to the military fields of medium-low altitude target reconnaissance, communication relay, early warning detection, environment monitoring, scientific measurement and the like by carrying task loads such as radar, reconnaissance, communication, optics and the like, and performs military tasks such as long-term monitoring of border sea defense, real-time monitoring of battlefield and the like and security tasks of major activities.
Existing tethered balloons, due to their structural limitations, require the assistance of trained professionals in the field when they are lifted or retracted. Because the deployed array has higher requirements on the environment, personnel cannot survive or cannot operate the system in a severe environment; when encountering severe weather environments such as strong wind, heavy rain, heavy snow and the like, the tethered balloon needs to be withdrawn in advance, and a large amount of manpower, material resources and financial resources are consumed. This factor limits the use and application of tethered balloons.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides an unattended tethered balloon system.
The invention provides an unattended tethered balloon system, which comprises: a tethered balloon, a moored platform, and a mission load mounted on the tethered balloon, wherein:
The tethered balloon comprises a balloon body, a lift-off nose cone arranged at the head of the balloon body, and a head tethered rope tied at the center of the lift-off nose cone, a left tethered rope tied at the left side of the balloon body and a right tethered rope tied at the right side of the balloon body;
the mooring platform comprises a base, a rotary platform arranged on the base, a rotary driving device for driving the rotary platform to rotate, and a mooring tower and a cable winding and unwinding device arranged on the rotary platform, wherein the cable winding and unwinding device comprises a left cable winding and unwinding device connected with a left mooring rope for controlling the winding and unwinding of the left mooring rope, a right cable winding and unwinding device connected with a right mooring rope for controlling the winding and unwinding of the right mooring rope, and a head cable winding and unwinding device connected with a head mooring rope for controlling the winding and unwinding of the head mooring rope, and the left cable winding and unwinding device, the right cable winding and unwinding device and the head cable winding and unwinding device are arranged in a triangular shape on the rotary platform;
the mooring tower is positioned at the head cable winding and unwinding device, the top of the mooring tower is provided with a ground nose cone, and the ground nose cone is of a cone bowl-shaped structure capable of wrapping the lift-off nose cone; the head mooring rope passes through the center part of the ground nose cone and is connected with the head mooring rope winding and unwinding device.
Preferably, the ground nose cone is rotatably arranged at the top of the mooring tower, the rotation axis of the ground nose cone is in a horizontal state, and the direction of the rotation axis is consistent with the connecting line of the left cable winding and unwinding device and the right cable winding and unwinding device.
Preferably, the rotary driving device comprises a supporting frame, a circular sliding rail supported by the supporting frame, a sliding seat arranged on the circular sliding rail and a driving mechanism for driving the sliding seat to slide on the circular sliding rail; the base is positioned at the inner side of the annular slide rail, and a rotating shaft coaxial with the annular slide rail is arranged on the base; the rotary platform is rotatably assembled on the rotary shaft and fixedly connected with the sliding seat.
Preferably, the mooring platform further comprises a ball bin which covers the mooring platform inside, and the ball bin is provided with a bin door which can be automatically opened and closed for receiving or releasing the mooring balls.
Preferably, the ball bin comprises rails oppositely arranged at two sides of the anchoring platform, folding frames which cross the anchoring platform and are arranged on the rails at two sides, a flexible skin covered on the folding frames, and a driving mechanism, one end of each folding frame is opened to form a bin door, and one end of each folding frame far away from the bin door is fixed at one end of the rail; the driving mechanism is connected with the folding frame to drive the bin gate end of the folding frame to approach or depart from the other end.
Preferably, the folding frame comprises a plurality of door-shaped frames which are sequentially arranged and transversely arranged on the anchoring platform to be arranged on the rails at two sides, and a folding link mechanism which is arranged between every two adjacent door-shaped frames and connects the two door-shaped frames.
Preferably, the device further comprises a ground azimuth sensor for acquiring azimuth information of the rotary platform, a wind direction and wind speed tester for acquiring ground wind direction and wind speed information, navigation equipment for acquiring attitude information and position information of the capsule body, and a control device for controlling the rotary driving device, the left cable winding and unwinding device, the right cable winding and unwinding device and the head cable winding and unwinding device to work; the attitude information of the capsule comprises azimuth information of the capsule, pitching angle information of the capsule and rolling information of the capsule, and the position information of the capsule comprises height information of the capsule;
When the ball is put, the control device controls the rotary driving device to act in real time according to the azimuth information of the rotary platform and the ground wind direction information in advance so as to drive the rotary platform to rotate, and the head of the bag body is always in a windward state; then respectively controlling the left cable winding and unwinding device, the right cable winding and unwinding device and the head cable winding and unwinding device to perform rope unwinding actions according to the attitude information and the position information of the capsule body until the attitude and the position of the capsule body reach preset requirements;
After the lift-off, the control device controls the rotary driving device to act in real time according to the attitude information of the capsule body and the azimuth information of the rotary platform so as to drive the rotary platform to rotate, so that the azimuth of the mooring tower on the rotary platform is always consistent with the azimuth of the head of the capsule body; and according to the attitude information of the capsule body, the head cable winding and unwinding device, the left cable winding and unwinding device and the right cable winding and unwinding device are controlled in real time to adjust the unwinding lengths of the head mooring rope, the left mooring rope and the right mooring rope, so that the rolling and pitching of the capsule body are kept within a preset range.
Preferably, the position information of the capsule further comprises longitude and latitude information of the capsule.
Preferably, the control device is a control computer.
Preferably, the device also comprises a device hanging frame arranged on the abdomen of the capsule body, a ball control computer and a ball load data transmission device which are arranged on the device hanging frame or the capsule body, and the task load is arranged on the device hanging frame.
According to the invention, by arranging the head mooring rope, the left mooring rope and the right mooring rope, the three mooring ropes are mutually backed up, the safety and reliability of the system in the air mooring and retraction process are improved, and the three mooring ropes are mutually matched, so that the posture of the mooring balloon can be adjusted in real time. Meanwhile, the rotary driving device drives the rotary platform to rotate, so that the azimuth of the head cable winding and unwinding device is consistent with the azimuth of the head of the tethered balloon, the problem of intertwining under the condition of multi-cable tethered is solved, and unmanned ground tethered operation in the winding and unwinding process of the tethered balloon platform is realized. In addition, through setting up ground nose cone at the top of tethered tower, the tethered balloon is when the ground is tethered, and lift-off nose cone and ground nose cone cooperation effect realize the fixed to the bag body head under the effect of head tethered cable, can effectively prevent that tethered balloon from hitting the tower under the strong wind effect.
Drawings
Fig. 1 is a schematic structural view of an unattended tethered balloon system in an elevated state according to the present invention;
fig. 2 is a schematic structural diagram of an unattended tethered balloon system according to the present invention in a tethered state;
FIG. 3 is a schematic view of the structure of the balloon chamber in the closed state of the chamber door in an unattended tethered balloon system according to the invention;
FIG. 4 is a schematic view of the structure of the unmanned tethered balloon system with the flexible skin removed from the balloon chamber;
Fig. 5 is a schematic structural view of the ball chamber in the open state of the door in the unmanned tethered balloon system according to the present invention;
Fig. 6 is a schematic diagram of a state of the rotating platform after the rotating in the unmanned tethered balloon system according to the present invention;
fig. 7 is a partial enlarged view of the envelope of an unmanned tethered balloon system of the present invention.
Detailed Description
Referring to fig. 1-2, an unattended tethered balloon system according to the present invention includes: a tethered balloon, a mooring platform, and a mission load 1 mounted on the tethered balloon, wherein: the tethered balloon comprises a balloon body 2, a lift-off nose cone 3 arranged on the head of the balloon body 2, a head tethered rope 4 tethered to the center of the lift-off nose cone 3, a left tethered rope 5 tethered to the left side of the balloon body 2 and a right tethered rope 6 tethered to the right side of the balloon body 2. The three mooring ropes are mutually backed up so as to improve the safety and reliability of the system in the air mooring and retraction process, and the three mooring ropes are mutually matched, so that the posture of the mooring balloon can be adjusted in real time.
The mooring platform comprises a base 7, a rotary platform 8 arranged on the base 7, a rotary driving device for driving the rotary platform 8 to rotate, a mooring tower 9 and a cable winding and unwinding device which are arranged on the rotary platform 8, wherein the cable winding and unwinding device comprises a left cable winding and unwinding device 10 connected with the left mooring rope 5 for controlling the winding and unwinding of the left mooring rope 5, a right cable winding and unwinding device 11 connected with the right mooring rope 6 for controlling the winding and unwinding of the right mooring rope 6, and a head cable winding and unwinding device 12 connected with the head mooring rope 4 for controlling the winding and unwinding of the head mooring rope 4, and the left cable winding and unwinding device 10, the right cable winding and unwinding device 11 and the head cable winding and unwinding device 12 are arranged on the rotary platform 8 in a triangular shape. The orientation of the head cable winding and unwinding device 12 is kept consistent with the orientation of the head of the tethered balloon, so that the problem of intertwining under the condition of multi-cable tethered is solved, and unmanned operation of the tethered balloon platform during winding and unwinding is realized.
The mooring tower 9 is positioned at the head cable winding and unwinding device 12, the top of the mooring tower 9 is provided with a ground nose cone 13, and the ground nose cone 13 is of a cone bowl-shaped structure capable of wrapping the lift-off nose cone 3; the head mooring rope 4 passes through the center part of the ground nose cone 13 and is connected with the head mooring rope retraction device 12, when the tethered balloon is tethered on the ground, the lift-off nose cone 3 and the ground nose cone 13 are matched to act, and under the action of the head mooring rope, the head of the capsule body 2 is fixed, so that the tethered balloon can be effectively prevented from bumping into a tower under the action of strong wind.
In this embodiment, the ground nose cone 13 is rotatably mounted on the top of the mooring tower 9, and the rotation axis of the ground nose cone 13 is in a horizontal state, and the direction of the rotation axis is consistent with the connection line between the left cable winding and unwinding device 10 and the right cable winding and unwinding device 11, so that the ground nose cone 13 can perform self-movement of a pitching angle around the top of the mooring tower 9, and then when the tethered balloon is lifted off, the ground nose cone 13 can perform pitching movement under the action of the head tethered cable.
In this embodiment, the rotation driving device includes a support 15, a circular slide rail 16 supported by the support 15, a slide 17 mounted on the circular slide rail 16, and a driving mechanism for driving the slide 17 to slide on the circular slide rail 16; the base 7 is positioned at the inner side of the annular slide rail, and a rotating shaft 71 coaxial with the annular slide rail is arranged on the base 7; the rotary platform 8 is rotatably assembled on the rotary shaft 71 and fixedly connected with the slide 17, so that the rotary shaft 71 of the rotary platform 8 is coaxial with the center of the circular slide rail 16, and then the rotary platform 8 is driven by the slide 17 to rotate 360 degrees on the circular slide rail 16.
Referring to fig. 3-5, the unmanned tethered balloon system of the present invention further comprises a ball compartment 14 covering the anchoring platform inside, the ball compartment 14 having a door that can be automatically opened and closed for receiving or releasing the tethered ball. When the tethered balloon is in the situation of insufficient buoyancy, meteorological conditions, airspace reasons, no execution of tasks and the like, the tethered balloon is received in the balloon cabin 14, and the cabin door is closed, so that the influence of the external environment on the tethered balloon is weakened, the tethered balloon can stay on the battlefield, and the tethered balloon is prevented from being withdrawn due to the severe environment.
Further, in this embodiment, the ball magazine 14 includes rails 141 disposed opposite to the anchoring platform, folding frames 142 crossing the anchoring platform and mounted on the rails 141 on both sides, a flexible skin covering the folding frames 142, and a driving mechanism, one end of the folding frames 142 is opened to form a door, and one end of the folding frames 142 away from the door is fixed to one end of the rails 141; the driving mechanism is connected with the folding frame 142 to drive the door end of the folding frame 142 to approach or separate from the other end.
When the driving mechanism drives the door end of the folding frame 142 to approach the other end to the direction A, the folding frame 142 and the flexible skin covered on the folding frame 142 enter a folding state and are separated from the cover of the anchoring platform, so that the anchoring platform enters an open state, and then the door of the ball bin 14 enters an open state, and at the moment, the tethered ball can enter or be released from the ball bin 14. When the drive mechanism drives the door end of the folding frame 142 away from the B-direction, the folding frame 142 brings the flexible skin gradually into an extended state to cover the anchoring platform inside thereof, thereby bringing the door of the ball compartment 14 into a closed state, at which time the tethered ball is enclosed within the ball compartment 14.
Specific: the folding frame 142 includes a plurality of door frames sequentially arranged and crossing the anchoring platform to be mounted on the rails 141 on both sides, and a folding link mechanism disposed between each adjacent two of the door frames and connecting the two.
The invention provides an unattended tethered balloon system, which also comprises a ground azimuth sensor for acquiring azimuth information of a rotary platform 8, a wind direction and wind speed tester for acquiring ground wind direction and wind speed information, navigation equipment 18 for acquiring attitude information and position information of a balloon body 2, and a control device for controlling a rotary driving device, a left cable winding and unwinding device 10, a right cable winding and unwinding device 11 and a head cable winding and unwinding device 12 to work; the posture information of the capsule body 2 comprises azimuth information of the capsule body 2, pitching angle information of the capsule body 2 and rolling information of the capsule body 2, and the position information of the capsule body 2 comprises height information of the capsule body 2 and longitude and latitude information of the capsule body 2;
When the ball is put, the control device controls the rotary driving device to act in real time according to the azimuth information of the rotary platform 8 and the ground wind direction information in advance so as to drive the rotary platform 8 to rotate, and the head of the bag body 2 is always in a windward state; then the left cable winding and unwinding device 10, the right cable winding and unwinding device 11 and the head cable winding and unwinding device 12 are respectively controlled according to the posture information and the position information of the capsule body 2 to perform the rope winding and unwinding actions until the posture and the position of the capsule body 2 meet the preset requirements;
after the lift-off, the control device controls the action of the rotary driving device in real time according to the attitude information of the capsule body 2 and the azimuth information of the rotary platform 8 so as to drive the rotary platform 8 to rotate, so that the azimuth of the mooring tower 9 on the rotary platform 8 is always consistent with the azimuth of the head of the capsule body 2; and according to the posture information of the capsule body 2, the head cable winding and unwinding device 12, the left cable winding and unwinding device 10 and the right cable winding and unwinding device 11 are controlled in real time to adjust the unwinding lengths of the head mooring rope 4, the left mooring rope 5 and the right mooring rope 6 so that the rolling and pitching of the capsule body 2 are kept within a preset range.
The specific lift-off work flow is as follows, and the whole flow realizes unmanned operation:
1, when the command center decides that the tethered balloon carries the task load 1 to lift off, transmitting a command to the ball bin 14, and opening a bin door of the ball bin 14;
2, when the bin door of the balloon bin 14 is completely opened, the control device controls the motor of the rotary driving device to work in real time according to the ground wind direction and the direction of the rotary platform 8, and drives the rotary platform 8 and the tethered balloon to rotate around the rotating shaft 71 of the rotary platform, so that the head of the balloon body 2 is always in a windward state;
3, when the head of the bag body 2 enters a windward state, the head cable winding and unwinding device 12, the left cable winding and unwinding device 10 and the right cable winding and unwinding device 11 work, the head mooring cable, the left mooring cable and the right mooring cable are released, the lift-off nose cone 3 is separated from the ground nose cone 13, and the bag body 2 is lifted off; at this time, the ground nose cone 13 can perform pitching movement under the action of the head mooring rope;
4, the control device controls the motor of the rotary driving device to work until the ground is tethered in real time according to the orientations of the tethered balloon and the tethered balloon 8, the ball bin 14 is closed, the rotary platform 8 and the tethered balloon are driven to rotate around the rotating shaft 71, the orientations of the rotary platform 8 and the tethered balloon are basically kept consistent, namely the orientation of the tethered tower 9 is always consistent with the orientation of the head of the capsule body 2;
after the 6 tethered balloons are lifted to the working height, the head cable winding and unwinding devices 12, the left cable winding and unwinding devices 10 and the right cable winding and unwinding devices 11 stop releasing cables;
7, starting up the task load 1;
8, controlling the length fine adjustment of the head cable winding and unwinding device 12, the left cable winding and unwinding device 10 and the right cable winding and unwinding device 11 in real time, so that the roll and pitch of the tethered balloon are kept within a reasonable range.
Specific recovery mooring is the reverse of the lift off process.
In this embodiment, the control device is a control computer.
Referring to fig. 6, the unmanned tethered balloon system provided by the invention further comprises a device hanging frame 19 installed on the abdomen of the balloon body 2, a ball control computer and a ball load data transmission device installed on the device hanging frame 19 or the balloon body 2, and a task load 1 is installed on the device hanging frame 19. The ball control computer is a control computer.
The ball control computer monitors equipment states and information of the navigation equipment 18, the task load 1, the tethered balloon pressure regulation, the anemograph, the differential pressure sensor and the like, and controls the electronic equipment of the tethered balloon and the task load 1 in real time according to the information. The ball control computer and the task load 1 are in wireless communication through the ground data transmission equipment of the ball-carried data transmission equipment, and information can be transmitted in two directions through optical fibers arranged in the head mooring rope, the left mooring rope and the right mooring rope. The ball control computer and the task load 1 interact with the command center through the ball-mounted data transmission device 2 or through optical fibers laid on the ground.
From the above, the present invention has the following advantages compared with the prior art:
The rotary platform 8 is driven to rotate through the rotary driving device, so that the azimuth of the rotary platform is consistent with the azimuth of the tethered balloon platform, the problem of intertwining under the condition of multi-cable tethered is solved, and unmanned operation of the tethered balloon platform in the retraction process and unmanned operation of ground tethered are realized;
2, the head mooring rope, the left mooring rope and the right mooring rope are used for mutual backup, so that the safety and reliability of the system in the air mooring and winding and unwinding processes are improved;
The three mooring ropes are matched with each other, so that the posture of the tethered balloon can be adjusted in real time;
The 4 tethered balloon array is provided with the balloon bin 14, can be automatically closed and folded, is convenient to use, and can be closed when the tethered balloon is tethered on the ground due to insufficient buoyancy, weather conditions, airspace reasons, no execution of tasks and the like, so that the influence of the external environment on the tethered balloon is reduced, and the tethered balloon is prevented from being withdrawn due to the severe environment;
5, a lift-off nose cone 3 and a ground nose cone 13 are arranged, both lift-off mooring and ground mooring are considered, and the tethered balloon is prevented from hitting a tower under the action of strong wind;
And 6, the tethered balloon transmits the information of the tethered balloon platform and the information of the task load 1 to a remote command center through data transmission equipment, so that remote command is realized.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
1. An unattended tethered balloon system, characterized by comprising the following steps: a tethered balloon, a mooring platform, and a mission load (1) mounted on the tethered balloon, wherein:
The tethered balloon comprises a balloon body (2), a lift-off nose cone (3) arranged at the head of the balloon body (2), a head tethered rope (4) tied at the central part of the lift-off nose cone (3), a left tethered rope (5) tied at the left side of the balloon body (2) and a right tethered rope (6) tied at the right side of the balloon body (2);
The mooring platform comprises a base (7), a rotary platform (8) arranged on the base (7), a rotary driving device for driving the rotary platform (8) to rotate, a mooring tower (9) and a cable winding and unwinding device which are arranged on the rotary platform (8), wherein the cable winding and unwinding device comprises a left cable winding and unwinding device (10) connected with a left mooring rope (5) for controlling the winding and unwinding of the left mooring rope (5), a right cable winding and unwinding device (11) connected with a right mooring rope (6) for controlling the winding and unwinding of the right mooring rope (6) and a head cable winding and unwinding device (12) connected with a head mooring rope (4) for controlling the winding and unwinding of the head mooring rope (4), and the left cable winding and unwinding device (10), the right cable winding and unwinding device (11) and the head cable winding and unwinding device (12) are arranged on the rotary platform (8) in a triangular shape;
The mooring tower (9) is positioned at the head cable winding and unwinding device (12), the top of the mooring tower (9) is provided with a ground nose cone (13), and the ground nose cone (13) is of a cone bowl-shaped structure capable of wrapping the lift-off nose cone (3); the head mooring rope (4) passes through the center part of the ground nose cone (13) and is connected with the head mooring rope winding and unwinding device (12).
2. The unattended tethered balloon system according to claim 1, wherein the ground nose cone (13) is rotatably mounted on the top of the tethered tower (9), and the rotation axis of the ground nose cone (13) is in a horizontal state, and the direction of the rotation axis is consistent with the connection line of the left cable receiving and releasing device (10) and the right cable receiving and releasing device (11).
3. An unmanned tethered balloon system according to claim 1, wherein the rotary drive means comprises a support frame (15), a circular slide rail (16) supported by the support frame (15), a carriage (17) mounted on the circular slide rail (16) and a drive mechanism for driving the carriage (17) to slide on the circular slide rail (16); the base (7) is positioned at the inner side of the annular slide rail, and a rotating shaft (71) coaxial with the annular slide rail is arranged on the base (7); the rotary platform (8) is rotatably assembled on the rotary shaft (71) and fixedly connected with the slide seat (17).
4. The unmanned tethered balloon system of claim 1, further comprising a ball pod (14) covering the anchoring platform inside thereof, the ball pod (14) having a pod door that is automatically openable for the receipt or release of tethered balls.
5. The unmanned tethered balloon system of claim 4, wherein the balloon chamber (14) comprises rails (141) oppositely disposed on opposite sides of the anchoring platform, a folding leg (142) straddling the anchoring platform and mounted to the rails (141) on opposite sides, a flexible skin covering the folding leg (142), and a drive mechanism, one end of the folding leg (142) being open to form the door, one end of the folding leg (142) being secured to one end of the rails (141) remote from the door; the driving mechanism is connected with the folding frame (142) to drive the door end of the folding frame (142) to approach or depart from the other end.
6. The unmanned tethered balloon system of claim 5, wherein the folding leg (142) comprises a plurality of gate legs arranged in sequence and straddling the anchoring platform for mounting to the two side rails (141), and a folding linkage disposed between and connecting each adjacent two of the gate legs.
7. The unmanned tethered balloon system according to claim 1, further comprising a ground orientation sensor for acquiring orientation information of the swivel platform (8), a wind direction and wind speed tester for acquiring ground wind direction and wind speed information, a navigation device (18) for acquiring attitude information and position information of the balloon (2), and a control device for controlling the operation of the rotary drive device, the left cable retrieving device (10), the right cable retrieving device (11) and the head cable retrieving device (12); the attitude information of the capsule body (2) comprises azimuth information of the capsule body (2), pitching angle information of the capsule body (2) and rolling information of the capsule body (2), and the position information of the capsule body (2) comprises height information of the capsule body (2);
When the ball is put, the control device controls the rotary driving device to act in real time according to the azimuth information of the rotary platform (8) and the ground wind direction information in advance so as to drive the rotary platform (8) to rotate, and the head of the bag body (2) is always in a windward state; then, respectively controlling a left cable winding and unwinding device (10), a right cable winding and unwinding device (11) and a head cable winding and unwinding device (12) to perform rope unwinding actions according to the posture information and the position information of the capsule body (2) until the posture and the position of the capsule body (2) meet preset requirements;
After the lift-off, the control device controls the rotary driving device to act in real time according to the attitude information of the capsule body (2) and the azimuth information of the rotary platform (8) so as to drive the rotary platform (8) to rotate, so that the azimuth of the mooring tower (9) on the rotary platform (8) is always consistent with the azimuth of the head of the capsule body (2); and according to the attitude information of the capsule body (2), the head cable winding and unwinding device (12), the left cable winding and unwinding device (10) and the right cable winding and unwinding device (11) are controlled in real time to adjust the unwinding lengths of the head mooring rope (4), the left mooring rope (5) and the right mooring rope (6) so that the rolling and pitching of the capsule body (2) are kept within a preset range.
8. The unmanned tethered balloon system of claim 7, wherein the position information of the balloon body (2) further comprises latitude and longitude information of the balloon body (2).
9. The unmanned tethered balloon system of claim 7, wherein the control device is a control computer.
10. An unmanned tethered balloon system according to any of claims 1 to 9, further comprising a device hanger (19) mounted to the abdomen of the balloon (2), and a ball control computer and ball load data transmission device mounted to the device hanger (19) or the balloon (2), the mission load (1) being mounted to the device hanger (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410955450.XA CN118977843A (en) | 2024-07-17 | 2024-07-17 | An unmanned tethered balloon system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410955450.XA CN118977843A (en) | 2024-07-17 | 2024-07-17 | An unmanned tethered balloon system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118977843A true CN118977843A (en) | 2024-11-19 |
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| CN202410955450.XA Pending CN118977843A (en) | 2024-07-17 | 2024-07-17 | An unmanned tethered balloon system |
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| CN (1) | CN118977843A (en) |
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