RU2462390C1 - Air observation complex built around tethered balloon - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to development of tethered balloons. Proposed complex comprises balloon gas bag, tether, coupler secured to gas bag whereto attached via top support element are gimbal joint with two degrees of freedom and bottom support element to carry payload, surface control station and communication means to transmit control commands. Payload is arranged for azimuth rotation about bottom support element vertical axis, driven by electric motor controlled by electronic control unit incorporating speed and acceleration transducers. Top support element is furnished with knock-down lock whereto attached is rotary fastener rigidly secure to horizontal top disc. Gimbal joint upper fork is jointed to upper disc bottom surface and accommodates gimbal joint ring fitted on joint first pin. Gimbal joint bar is arranged inside joint ring on joint second pin arranged perpendicular to aforesaid first pin. Gimbal joint bar lower end is jointed to bottom support element. Top ends of two extra dampers are secured to one vertical element of joint fork on the side of two opposite side surfaces. Bottom ends of said dampers are attached to damper bracket arranged on bottom support element so that dampers in initial position are located vertically and in parallel.

EFFECT: stable images, higher accuracy of observation camera alignment, simplified design.

10 cl, 2 dwg

Description

FIELD OF THE INVENTION

The invention relates to the field of development and application of tethered balloons intended for aerial observation of objects, processes and phenomena on the earth or water surface with the possibility of transmitting information to the ground control station in real time using sensors installed on tethered balloons.

The invention is relevant when using airborne observation systems based on tethered balloons to detect emergencies and eliminate their consequences, to preserve human life and health, reduce material damage and prevent environmental pollution. The invention may be of particular importance in the fight against fires due to the timely detection of fires and their effective suppression. The invention can be used for technical support of industrial activities and various activities carried out by law enforcement agencies in day and night conditions.

State of the art

Known aerial surveillance systems based on tethered balloons according to US patent No. 5,115,997, as well as from sources (http://www.aerostar.com/aerostat.htm and http://www.lockheedmartin.com/data/assets/ms2/pdf ) containing, as the main elements, an aerostat shell filled with gas lighter than air, a tethered cable, ground means of lifting and lowering the aerostat (for example, a winch), payload means, a ground control station, electric power sources (generators) and maintenance facilities. Television cameras mounted on a tethered balloon as payload sensors allow you to detect and track targets, receive and record information about events of interest, actions and incidents.

Known airborne observation complex according to US patent No. 5,757,157, using a tethered balloon, with a device for accommodating payload sensors, including a clamp, upper and lower plate and a sliding mechanism. This mechanism allows the lower plate to be moved with the payload sensors mounted on it relative to the upper plate due to its rotation around the vertical axis. In the case of using an optical camera as a payload sensor, this provides a circular field of view of three hundred and sixty degrees. There are no technical means to stabilize the position of the payload in this airborne surveillance system. When exposed to wind air currents, this leads to swaying of the payload and its displacement from the vertical position, which reduces the quality of the images and impairs the ability to observe.

Known airborne observation system for US patent No. 7,237,750, in which to stabilize the position of the payload, it is suspended from the balloon using a universal joint. It allows you to significantly reduce the fluctuation of the payload from the effects of the wind and maintain its vertical position, which is extremely important for aerial surveillance. This airborne observation complex, by the number and content of functionally similar features, is a prototype of the invention.

The prototype is an airborne surveillance system based on a tethered balloon, which includes:

- a balloon shell filled with gas lighter than air,

- a tethered cable, the upper end of which is attached to the shell of the balloon, and the lower end is attached to the ground means of lifting and lowering the balloon,

- a connecting element attached to the shell of the aerostat, to which, through the upper supporting element, the cardan joint with two degrees of freedom and the lower supporting element, a platform is connected with a payload installed on it, made with the possibility of circular rotation in azimuth around the axis of the lower supporting element using electric a motor controlled by an electronic control unit,

- means of measuring the movement of the platform with the payload installed on it, including speed and acceleration sensors,

- ground control station,

- communication means for transmitting control commands from a ground control station to a tethered balloon and receiving data from payload sensors of a tethered balloon at a ground control station.

In the prototype, the vertical position of the payload is achieved due to its free movement in the universal joint, on which it is suspended from a tethered balloon, under the influence of gravity. When the turbulent air masses act on the balloon, this leads to a swing of the payload and its undesirable oscillatory and rotational movements with respect to the vertical axis, which leads to a loss of stability of the resulting image and makes it difficult to align and direct the surveillance cameras to the object of interest. The design of the prototype does not allow you to quickly perform the assembly procedure and prepare it for work in situations where the time factor is crucial, for example when fighting fires.

SUMMARY OF THE INVENTION

The invention solves the problem of increasing the stability of the image obtained during the observation process under the influence of adverse air flows, improving the accuracy of alignment of the surveillance cameras and their directions to objects of interest, as well as simplifying and speeding up the assembly and preparation of the airborne surveillance system for work.

The invention is an airborne surveillance system based on a tethered balloon, containing a balloon envelope filled with gas lighter than air, a tethered cable, the upper end of which is attached to the aerostat shell, and the lower end is connected to ground means of lifting and lowering the aerostat, a connecting element attached to the aerostat shell to which, through the upper support element, the cardan joint with two degrees of freedom and the lower support element, a platform with a payload installed on it is connected, complete with the possibility of circular rotation in azimuth around the vertical axis of the lower support element using an electric motor controlled by an electronic control unit, which houses speed and acceleration sensors for measuring motion, a ground control station, as well as communication equipment for transmitting control commands from a ground control station on a tethered balloon and receiving data from the payload sensors of a tethered balloon at a ground control station.

In addition, in the invention:

- the upper supporting element is equipped with a collapsible locking lock, to which a rotary fastening assembly is attached from below, rigidly attached to a horizontally located upper disk, to the lower surface of which the upper fork of the cardan joint is docked, inside which on the first axis of the cardan there is a cardan ring, inside of which on the second axis a cardan located perpendicular to the first axis of the cardan, a cardan rod is placed, the lower end of which is attached to the lower support element, and to one vertical element ilki cardan by two opposite side surfaces of the lower portions thereof are fixed the upper ends of the two additional shock absorbers installed, lower ends of which are attached to the bracket shock absorbers located on the lower support member in such a manner that in the rest position dampers are arranged vertically and parallel to each other.

In the claimed airborne surveillance system based on a tethered balloon, the payload includes a television camera and a thermal imaging camera located on opposite ends of one payload housing attached to opposite side surfaces using horizontal shaft bearings, which is rotated by an electric step drive equipped with by means of turn-on and turn-off gyrostabilization, the observation axes of these cameras move along the elevation angle.

In the claimed airborne surveillance system based on a tethered balloon, the circular rotation of the television and thermal imaging payload cameras around the vertical axis of the lower support element is carried out using an electric step drive equipped with on and off gyrostabilization.

In this airborne surveillance system, based on a tethered balloon, the means of communication between the aerostat and the ground control station are made in the form of a radio communication system with the installation of transceivers with antennas on the aerostat and on the ground control station.

The transceiver of the ground control station of the airborne surveillance complex based on the tethered balloon is multichannel, which allows you to control multiple balloons simultaneously using one control station and receive airborne surveillance information from several balloons at the same ground control station.

The ground control station of the airborne surveillance complex based on a tethered balloon is equipped with two display devices for displaying information, one of which displays a digital map of the area in the airborne surveillance zone, and the second displays airborne surveillance information in the optical or infrared range from cameras installed on the balloon.

In the airborne surveillance system based on a tethered balloon, an algorithm has been introduced into the computer of the ground control station, which allows simultaneously displaying on one display the image of airborne surveillance information from several balloons.

To exclude the loss of the balloon in the event of a breakage of the tethered rope, the airborne surveillance system based on the tethered balloon is equipped with emergency landing gear made in the form of a command radio line, the transmitter of which is installed on the ground control station, and the receiver on the connecting element of the balloon, and an electrically operated valve helium mounted on a balloon shell.

The airborne surveillance system based on a tethered balloon is located on autonomous mobile platforms equipped with its own loading and unloading facilities to ensure its transportation to the area of use and back to the storage base.

In the airborne surveillance system, based on a tethered balloon, a moisture-proof soft protective casing is installed on the outside, the upper end of which is fixed under the swivel mount using a clamp, and the lower end is screwed to the lower support element.

The presence of a collapsible locking lock allows you to quickly and reliably attach a payload block to a tethered balloon and disconnect it. The swivel attachment point makes it possible to precisely adjust the initial vertical position of the payload block and fix it with a clamp during assembly, preparation and deployment of the airborne surveillance complex. Two shock absorbers installed in the claimed technical solution extinguish all sudden movements in the universal joint that may occur as a result of the balloon displacement due to the impact of sudden gusts of wind. Smooth movements of the payload block in azimuth and elevation are compensated by means of on and off gyrostabilization. These tools are disabled when it is necessary to search and aim cameras at the object of interest by the operator of the airborne surveillance system. Their inclusion is made when continuous continuous monitoring of the object of interest is required. At the moment of switching on, the angular position of the cameras is fixed as the initial one. In the case of the movement of the payload block due to the influence of the wind on the airborne observation system, the motion parameters are measured using the installed speed, acceleration and magnetic compass sensors. In the electronic control unit, commands for electric drives are generated in azimuth and elevation, which return the payload block to its original position. Thus, regardless of the swing and rotation of the balloon, its cameras are constantly directed at the object of interest. Moreover, the image of the observed object is highly stable even in conditions of turbulent movement of air flows.

In the claimed airborne surveillance system, it is possible to simultaneously monitor images from several (for example, four) tethered balloons at a ground control station, which are transmitted over the air in real time. At the same time, a digital map of the terrain in the air surveillance zone is displayed on one display device for displaying information from the ground control station, and the second displays air surveillance information in the optical or infrared range from the cameras installed on the balloon. This allows for accurate linking of observation information to the terrain.

In order to exclude the loss of the balloon in the event of a breakage of the tethered cable, it may be emergency landing. An operator’s command is transmitted via a command line to an aerostat, as a result of which an electrically controlled valve for releasing helium is installed on the aerostat shell. As a result of this, a smooth controlled descent of the balloon is made near the place of its rise.

The claimed airborne surveillance system based on a tethered balloon has high autonomy and mobility, as it is located on autonomous mobile platforms equipped with their own means of loading and unloading.

A moisture-proof soft protective casing installed outside the binder element protects it well from the negative effects of atmospheric factors (water, ice and others), ensuring reliable operation of the claimed airborne surveillance system.

List of drawings

The invention is further illustrated by specific examples of its implementation with reference to the accompanying drawings, which depict:

figure 1 is a General view of the payload block of an airborne surveillance system based on a tethered balloon with fastening and stabilization means;

figure 2 is a General view of the means of attachment and stabilization of the payload block of the airborne surveillance system based on a tethered balloon.

The implementation of the invention

An airborne surveillance system based on a tethered balloon contains a payload unit 1 with attachment and stabilization means 2 (figure 1). The balloon shell filled with gas is lighter than air, the tethered cable and the ground means of lifting and lowering the balloon are not shown. The connecting element 3 is attached to the shell of the balloon. A platform 7 with a payload 8 mounted on it is connected to it through the upper supporting element 4, the universal joint with two degrees of freedom 5 and the lower supporting element 6. It is made with the possibility of circular rotation in azimuth around the vertical axis of the lower supporting element 6.

The payload of the airborne surveillance complex based on a tethered balloon includes a television camera 9 and a thermal imaging camera 10. They are placed at opposite ends of a horizontal shaft (not shown) located on the opposite sides of the payload housing 11 using bearings. Due to the rotation of the horizontal shaft with the help of an electric stepper drive equipped with means of turn-on and turn-off gyrostabilization, the observation axes of these cameras move along the elevation angle. The circular rotation of the television 9 and thermal imaging 10 cameras payload around the vertical axis of the lower support element 6 is carried out using an electric stepper drive equipped with means of switchable and switch-off gyrostabilization.

Transmission of control commands to a tethered balloon and video surveillance information to a ground control station is carried out using a radio communication system. The onboard transceiver of a tethered balloon with antennas is installed in the lower part 12 of the payload block 1.

The receiver of the command radio link of the emergency landing gear for the balloon 13 is mounted on the connecting element 3.

The upper supporting element 4 is equipped with a collapsible locking lock 14 (figure 2), to which a pivoting fastener 15 is attached from below, rigidly attached to the horizontally located upper disk 16. To the lower surface of this disk is connected the upper fork of the universal joint 17, inside of which on the first axis 18 the cardan ring is placed 19. Inside it, on the second axis 20 of the cardan, located perpendicular to the first axis 18 of the cardan, a cardan rod 21 is placed, the lower end of which is attached to the lower supporting element 6. To one the torsion element 22 of the universal joint fork 17 from the side of two narrow opposite side surfaces 23 and 24 in the lower part are attached the upper ends 25 and 26 of two additionally installed shock absorbers 27 and 28, the lower ends 29 and 30 of which are attached to the bracket of shock absorbers 31 located on the platform 7 so that in the initial position the shock absorbers are located vertically and parallel to each other.

Industrial applicability

The invention is intended for continuous air surveillance of emergency areas (fires, floods, earthquakes and others), as well as for the support and technical support of industrial and law enforcement in day and night conditions.

Each of the means, the use of which is provided for by the invention, is produced by industry in different countries. The interaction of means provided by the invention is realized in known processes of various purposes in the field of aircraft construction, aeronautics and the practical use of tethered and manned aerostats for various purposes.

The airborne surveillance system based on tethered balloons that implements this invention is a serial product that has been fully tested.

The complex includes a shell of a tethered balloon with a volume of 50 to 80 cubic meters, a payload block, a tethered cable, an electric winch, a gasoline generator, a control panel, helium cylinders and a container. Their total weight is 1200 kg. The weight of the portable ground control station together with the antenna does not exceed 20 kg.

The application of the complex is carried out by a technical calculation of two people from unprepared engineering sites at wind speeds of up to 10 meters per second. The preparation time for using this complex, including lifting the tethered balloon to its working height, does not exceed 45 minutes.

The time to smoothly lift the tethered balloon to a maximum height of 300 meters does not exceed 10 minutes.

The transmission range of television and infrared images of the terrain from the tethered balloon to the ground control station is 5 km.

On one vehicle of the appropriate carrying capacity are 4 airborne surveillance systems.

Claims (10)

1. An airborne surveillance system based on a tethered balloon, containing a balloon envelope filled with gas lighter than air, a tethered cable, the upper end of which is attached to the aerostat shell, and the lower end is attached to ground means of lifting and lowering the aerostat, a connecting element attached to the aerostat shell, to which, through the upper support element, the cardan joint with two degrees of freedom and the lower support element, a platform is connected with a payload installed on it, made with the possibility of rotation in azimuth around the vertical axis of the lower support element using an electric motor controlled by an electronic control unit that houses speed and acceleration sensors for measuring motion, a ground control station, as well as communication equipment for transmitting control commands from a ground control station to a tethered balloon and receiving data from the sensors of the payload of the tethered balloon at the ground control station, characterized in that, in order to increase the stability of the process All observing the image, improving alignment accuracy, simplifying and speeding up the assembly and preparation of the airborne surveillance system for operation, the upper supporting element is equipped with a collapsible locking lock to which a rotary fastening unit is attached from below, rigidly attached to the horizontally located upper disk, to the lower surface of which is docked the upper fork of the universal joint, inside of which on the first axis of the universal joint there is a ring of the universal joint, inside of which on the second axis of the universal joint located perpen dicularly to the first axis of the cardan, a cardan rod is placed, the lower end of which is attached to the lower support element, and the upper ends of two additional mounted shock absorbers are attached to one vertical element of the cardan fork from the side of two opposite side surfaces, the lower ends of which are attached to the shock absorber bracket located on the lower support element so that in the initial position the shock absorbers are located vertically and parallel to each other. 2. The airborne surveillance system based on a tethered balloon according to claim 1, characterized in that the payload includes a television camera and a thermal imaging camera located at opposite ends of one payload attached to opposite side surfaces using horizontal shaft bearings, due to whose rotation with the help of an electric stepper drive equipped with means of turn-on and turn-off gyrostabilization, the observation axes of these cameras move along the elevation angle. 3. An airborne surveillance system based on a tethered balloon according to claim 1 or 2, characterized in that the circular rotation of the payload television and thermal imaging cameras around the vertical axis of the lower support element is carried out by means of an electric step drive equipped with on and off gyrostabilization. 4. The airborne surveillance system based on a tethered balloon according to claim 1, characterized in that the communication means of the aerostat with the ground control station is made in the form of a radio communication system with the installation of transceivers with antennas on the aerostat and on the ground control station. 5. The airborne surveillance system based on the tethered balloon according to claim 1, characterized in that the transceiver at the ground control station is multi-channel, which allows you to control multiple balloons at the same time using one control station and receive airborne surveillance information from multiple balloons at the same ground station management. 6. The airborne surveillance system based on a tethered balloon according to claim 1, characterized in that the ground control station is equipped with two display information display devices, one of which displays a digital map of the area in the airborne surveillance zone, and the second displays airborne surveillance information. 7. The complex of airborne surveillance based on a tethered balloon according to claim 1, characterized in that an algorithm has been introduced into the computer of the ground control station that allows simultaneously displaying on one display an image of airborne surveillance information from several balloons. 8. The airborne surveillance system based on a tethered balloon according to claim 1, characterized in that, in order to prevent the loss of an aerostat in the event of a breakage of a tethered cable, the said complex is equipped with emergency landing gear made in the form of a command radio link, the transmitter of which is installed at a ground station control, and the receiver - on the connecting element of the balloon, and an electrically controlled valve for the release of helium mounted on the shell of the balloon. 9. The airborne surveillance system based on a tethered balloon according to claim 1, characterized in that it is located on autonomous mobile platforms equipped with their own means of loading and unloading. 10. The airborne surveillance system based on a tethered balloon according to claim 1, characterized in that a moisture-proof soft protective casing is installed on the outside, the upper end of which is fixed under the rotary mount using a clamp, and the lower end is screwed to the lower support element.

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