CN111038722B - Universal type dynamic type flying recovery system and method for near space aerostat - Google Patents
Universal type dynamic type flying recovery system and method for near space aerostat Download PDFInfo
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- CN111038722B CN111038722B CN201911311123.6A CN201911311123A CN111038722B CN 111038722 B CN111038722 B CN 111038722B CN 201911311123 A CN201911311123 A CN 201911311123A CN 111038722 B CN111038722 B CN 111038722B
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- 230000000452 restraining effect Effects 0.000 claims abstract description 17
- 238000013459 approach Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 42
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- 230000003139 buffering effect Effects 0.000 description 4
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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
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Abstract
The invention discloses a general type motorized approach space aerostat flying recovery system and a method, comprising a traction main control vehicle, a follow-up buffer vehicle and a synchronous mooring vehicle; the traction main control vehicle is used for traction connection with the head of the aerostat, and the aerostat is connected with the winch through a constraint rope arranged at the head; the first rope cutting machine is used for cutting the restraining ropes after the airship reaches a specified position; the follow-up buffer vehicle is used for dragging and carrying the aerostat, the synchronous mooring vehicle is used for dragging and connecting the side part of the aerostat, and the aerostat is connected with the second winch through the constraint ropes arranged on the two sides; and the second rope cutting machine is used for cutting the restraining ropes after the airship reaches the designated position. According to the invention, through researching a universal type near space airship flying recovery system, the requirement for returning the airship platform to the local field is reduced, so that the reuse rate of the airship platform is increased.
Description
Technical Field
The invention belongs to the technical field of aerostats, and relates to a general type motorized flying recovery system and method for an aerostat in a near space.
Background
The airship as one of the aerostats is lifted and parked by the net buoyancy, and has wide application prospect in military and civil fields. The flying and recovering of the airship are the key for developing the flight test and engineering application of the near space aerostat, and the flying test cost of the near space airship platform can be greatly reduced by safely flying and recovering the whole airship.
Currently, the airship in the adjacent space is released in situ or in a transferring and releasing mode, the transferring and releasing platform has the maximum size limitation, and the releasing platform cannot be used when the size of the airship exceeds the size of the transferring and releasing platform; and because the transfer flying platform is large in size and heavy in weight, the transfer flying platform can only travel along a fixed route, the flying site is fixed, and the application is limited. Because the current close to space airship returns to the field and receives the windfarm influence great, its landing point controllability is not enough, and the return to the field of the experimental airship of every flight is descended apart from the field of flying and is had the certain distance, does not have effectual recovery system, causes to close on space airship reuse difference, and flight test use cost is high.
The effective recovery of the stratospheric airship is one of key factors for restricting the use of the airship and carrying out multiple flight tests, and the effective recovery of the stratospheric airship can greatly reduce the test and development cost of the airship platform and promote the test verification of the stratospheric airship platform.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide a system and method for flying and recovering a mobile near space aerostat with strong versatility and high reuse rate.
Disclosure of Invention
The invention provides a universal type dynamic near space aerostat flying recovery system and a universal type near space aerostat flying recovery method aiming at the problems in the prior art.
The specific scheme for achieving the purpose is as follows:
a general-purpose type flying recovery system of a dynamic near space aerostat comprises a traction main control vehicle, a follow-up buffer vehicle and a synchronous mooring vehicle; wherein the content of the first and second substances,
the traction main control vehicle is used for traction connection with the head of the aerostat and comprises a control system arranged on a traction main control vehicle body, a first winch and a first rope cutting machine, wherein the first winch and the first rope cutting machine are connected with the control system; the aerostat is connected with the winch through a constraint rope arranged at the head; the first rope cutting machine is positioned on one side of the first winch and used for cutting the restraint rope after the airship reaches a specified position;
the follow-up buffer vehicle is used for dragging and carrying the aerostat and comprises an inflatable aerostat platform and a follow-up trolley, and the follow-up trolley carries the inflatable aerostat platform to move;
the synchronous mooring trolley is used for being connected with the side part of the aerostat in a traction manner and comprises a second winch and a second rope cutting machine which are arranged on the body of the synchronous mooring trolley; the aerostat is connected with a second winch through constraint ropes arranged on two sides; and the second rope cutting machine is positioned on one side of the second winch and is used for cutting the restraint rope after the airship reaches the designated position.
Preferably, the traction main control vehicle is provided with a satellite communication device, the satellite communication device is connected with the control system, and the control system is in remote communication with a remote control platform through the satellite communication device and is used for receiving control instructions of the remote control platform on the traction main control vehicle and a first winch, a first rope cutting machine, a second winch and a second rope cutting machine on the synchronous mooring vehicle; the traction main control vehicle and the synchronous mooring vehicle are both provided with wireless communication equipment, and the control system sends the control instruction to the wireless communication equipment on the synchronous mooring vehicle through the wireless communication equipment on the traction main control vehicle.
Preferably, the top of the traction main control vehicle is provided with a laser ranging device and a wind measuring device, the laser ranging device is used for monitoring distance information between the aerostat and the flying recovery system, sending the distance information to the control system, and controlling the first winch and the second winch to adjust the attitude of the aerostat through the control system; the wind measuring equipment is used for measuring the ground wind field information of the landing area; and the distance information and the wind field information are sent to a remote control platform through the satellite communication equipment and are used for data processing and subsequent analysis.
Preferably, the head of the aerostat and the constraint ropes on the two sides of the aerostat are fixedly connected with the aerostat, welding is included, and the head constraint rope on the head is connected with the first winch through a binding buckle; and the two side constraint ropes positioned on the two sides are connected with the two winches through binding buckles.
Preferably, a plurality of constraint ropes on two sides of the aerostat correspond to the synchronous mooring vehicles one by one, and the synchronous mooring vehicles are distributed on two sides of the aerostat.
Preferably, the inflatable aerostat platform of the follow-up buffer vehicle comprises a supporting plate, and a plurality of buffer air columns and an inflating device for inflating the buffer air columns are arranged on the supporting plate side by side; the buffer air columns are used for dragging and carrying the bottom of the aerostat.
Preferably, the traction main control vehicle is provided with a power supply device for supplying power to a control system of the traction main control vehicle, the first winch, the first rope cutting machine, the satellite communication device, the wind measuring device, the laser distance measuring device and the wireless communication device.
Preferably, the synchronous buffer vehicle is also provided with power supply equipment for supplying power to the air charging device, the wireless communication equipment, the buffer vehicle power equipment and the laser ranging equipment.
Preferably, the synchronous mooring vehicle is also provided with a power supply device: and power is supplied to the vehicle-carrying power, the wireless communication equipment, the second winch, the second rope cutting machine and the laser ranging equipment.
The invention also provides a flying and recovering method of the universal mechanical type near space aerostat, which comprises the following steps:
a flying step:
s11, inflating and expanding the inflatable aerostat platform to a specified height in the boat shed;
s12, starting the traction main control vehicle, the follow-up buffer vehicle and the synchronous mooring vehicle, and moving to the relative position of the bottom of the aerostat;
s13, respectively mooring and binding the restraint ropes of the aerostat with a first winch for pulling the main control vehicle, mooring and binding with a second winch for synchronously mooring the vehicle, and starting and controlling the first winch and the second winch to enable the traction ropes of the aerostat to be completely stressed;
s14, starting a traction main control vehicle, and synchronously controlling a follow-up buffer vehicle and a synchronous mooring vehicle to pull the aerostat to move out of the submarine bay;
s15, after the airship arrives at the flying place, controlling the first rope cutting machine and the second rope cutting machine to cut the constraint ropes, and realizing flying of the airship platform;
and (3) a recovery step:
s21, starting the traction main control vehicle, the follow-up buffer vehicle and the synchronous mooring vehicle to move to a preset landing place, and inflating and expanding the inflatable aerostat platform to a specified height;
s22, the aerostat head restrains the rope to be released and is bound with a first winch for pulling the main control car;
s23, the aerostat descends, and the follow-up buffer vehicle moves along with the aerostat and adjusts the relative position of the follow-up buffer vehicle at the bottom of the aerostat;
s24, releasing the restraining ropes on the two sides of the aerostat, and binding the restraining ropes with a second winch of the synchronous mooring vehicle;
and S25, starting the first winch and the second winch, adjusting the position of the follow-up buffer vehicle relative to the aerostat, and winding the restraint rope to gradually reduce the height of the airship until the airship completely descends to the inflatable aerostat platform of the follow-up buffer vehicle.
Preferably, in the releasing and recovering process, the distance information between the aerostat and the ground is monitored by a laser ranging method, the wind field information of the ground in the landing area of the releasing and recovering field is detected in real time, and the recovery and release of the two pairs of constraint ropes of the first winch and the second winch are controlled according to the distance information and the wind field information so as to adjust the posture of the airship.
Preferably, the distance information and the wind field information are sent to a remote control platform through satellite communication, and the remote control platform sends control instructions of a first winch, a second winch, a first rope cutting device and a second rope cutting device to a control system of the traction main control vehicle through satellite communication.
Compared with the prior art, the invention has the following beneficial effects:
the invention adopts a mode of combining various vehicles, solves the problem that the size of the airship in the adjacent space is limited when the existing flying platform flies, and realizes the remote maneuvering to realize the maneuverability recovery of the airship according to the requirement; the matching process among the traction main control vehicle, the follow-up buffer vehicle and the synchronous mooring vehicle is suitable for flying and recovering operations of aerostats such as airship and the like with various sizes, and the universality is strong; and automatic flying and recovery of the airships in the adjacent spaces with different sizes are realized by means of traction mooring, distance monitoring, synchronous control and remote maneuvering.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from the provided drawings without inventive effort.
Fig. 1 is a schematic view illustrating a connection and fixation of an airship and a motorized approach space airship flying and recovering system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a traction master control vehicle according to an embodiment of the present invention;
FIG. 3 is a structural view of a follow-up buffer vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a follow-up trolley provided by the embodiment of the invention;
FIG. 5 is a schematic structural view of a synchronous mooring vehicle according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an airship in a hangar before being connected with a motorized approach space airship flying and recovering system according to an embodiment of the invention;
FIG. 7 is a schematic illustration of the airship flying and recovery system of the motorized close-space airship according to an embodiment of the invention;
FIG. 8 is a schematic view of the connection of the head to the recovery system during recovery of the airship according to an embodiment of the present invention;
fig. 9 is a schematic illustration of a two-sided tether connection for an airship according to embodiments of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present embodiment provides a universal type mobile type flying recovery system for an aerostat near a space, an airship 10 is one type of aerostat, and the flying and recovery operations of the airship 10 are completed by the cooperation of a traction master vehicle 1, a follow-up buffer vehicle 2, and a synchronous mooring vehicle 3.
Referring to fig. 2, the traction main control vehicle 1 is used for traction connection with the head of an airship 10, and comprises a control system 11 arranged on the body of the traction main control vehicle 1, a first winch 12 and a first rope cutter 13 which are connected with the control system 11; the airship 10 is connected with a first winch 12 through a restraint rope arranged at the head; the rope cutting machine I13 is positioned on one side of the winch I12 and is used for cutting the restraining ropes after the airship 10 reaches a specified position; the first winch 12 and the first rope cutting machine 13 are independent parallel equipment, the first winch 12 is responsible for traction and restraint of rope traction and recovery, the first rope cutting machine 13 comprises a motor and a cutter, the cutter is in electric cutting, and the rope is cut through electric signals.
The traction main control vehicle 1 is provided with a satellite communication device 14, the satellite communication device 14 is connected with the control system 11, and the control system 11 is in remote communication with the remote control platform through the satellite communication device 14 and is used for receiving control instructions of the remote control platform to the first winch 12, the first rope cutting machine 13, the second winch 31 and the second rope cutting machine 32 on the traction main control vehicle 1 and the synchronous mooring vehicle 3. The traction main control vehicle 1 and the synchronous mooring vehicle 3 are both provided with wireless communication equipment 17, and the control system 11 sends a control instruction to the wireless communication equipment 17 on the synchronous mooring vehicle 3 through the wireless communication equipment 17 on the traction main control vehicle 1. The control command can be controlled by an operator or by remote satellite communication, and the priority command is selected according to the actual requirement.
The top of the traction main control vehicle 1 is provided with a laser ranging device 16 and a wind measuring device 15, the laser ranging device 16 is used for monitoring distance information between the airship 10 and the flying recovery system, specifically, a linear distance between the head of the airship 10 and the traction main control vehicle 1, and sending the linear distance to the control system 11, and the control system 11 controls the winch to adjust the posture of the airship 10; the follow-up buffer vehicle 2 is also provided with a laser range finder for measuring the distance from the airship 10 to the bottom vehicle body and sending the distance to the control system 11 through the wireless communication equipment 17.
The wind measuring equipment 15 is used for measuring the ground wind field information of the landing area; the distance information and wind field information are transmitted to the remote control platform via the satellite communication device 14. The remote control platform sends control instructions to the control system 11 according to the distance information and the wind field information, and the sending process is completed by the satellite communication equipment 14. The traction main control car 1 is also provided with a power supply device 18 for supplying power to a wind measuring device 15, a satellite communication device 14, a laser distance measuring device 16, a first rope cutting device, a first winch 12, a wireless communication device and a control system 11 on the traction main control car 1.
Referring to fig. 3-4, the follow-up buffer vehicle 2 is used for towing the airship 10 at the bottom of the airship 10, and comprises an inflatable airship 10 platform and a follow-up trolley 20, wherein the follow-up trolley 20 carries the inflatable airship 10 platform to move; the inflatable airship 10 platform of the follow-up buffer vehicle 2 comprises a supporting plate 23, wherein a plurality of buffer air columns 21 and an inflating device 22 for inflating the buffer air columns 21 are arranged on the supporting plate 23 side by side; a plurality of cushion air columns 21 are used to tow the bottom of the airship 10. The follow-up trolley 20 is provided with four, is located the position at four angles in layer board 23 bottom respectively, and layer board 23 can be frame construction's grid tray, the fixed buffering gas post 21 of being convenient for, and a plurality of buffering gas posts 21 evenly distribute side by side on layer board 23 to the diameter of the buffering gas post 21 with airship 10 head and the afterbody relative position can be greater than the diameter with airship 10 middle part relative position's buffering gas post 21, in order to coincide airship 10 hull structure, increase the parcel nature and the stability of dragging.
Referring to fig. 5, the synchronous mooring vehicle 3 is used for towing and connecting the side of the airship 10, and comprises a second winch 31 and a second rope cutter 32 which are arranged on the vehicle body of the synchronous mooring vehicle 3; the airship 10 is connected with the second windlass 31 through constraint ropes arranged on two sides; the second rope cutting machine 32 is located on one side of the second winch 31 and used for cutting the restraint ropes after the airship 10 reaches a specified position, the second winch 31 and the second rope cutting machine 32 are independently parallel equipment, the second winch 31 is used for drawing the restraint ropes to draw and recover, the second rope cutting machine 32 comprises a motor and a cutter, the cutter is used for electric cutting, and the ropes are cut through electric signals.
Referring to fig. 6, the head of the airship 10 and the restraining ropes on the two sides are fixedly connected with the hull, including welding, and the head restraining rope 4 at the head is connected with the first winch 12 through a binding buckle; the two side restraining ropes 5 positioned at the two sides are connected with the second windlass 31 through binding buckles. A plurality of restraining ropes on both sides of the airship 10 correspond to the synchronous mooring cars 3 one to one, and the synchronous mooring cars 3 are distributed on both sides of the airship 10.
Referring to fig. 7, the present embodiment also discloses that the approach space airship 10 adopts a motorized flying recovery system to fly as follows:
after the near space airship 10 completes integration, inflation, posture adjustment and other work in the airship 10 cabin, the airship 10 is lifted in height by releasing the ground constraint rope, and the vertical distance from the nearest point of the airship 10 to the ground to the highest point of the motorized near space flying recovery system is not less than 2m after the airship is lifted;
starting a motorized approach space flying recovery system, drawing a main control vehicle 1 to maneuver to the head of an airship 10, moving a follow-up buffer vehicle 2 to the belly (whole lower part) of the airship 10, and respectively arranging synchronous mooring vehicles 3 on two sides of the hull of the airship 10 according to the position of a mooring rope of the airship 10, as shown in fig. 5;
the head restraining rope 4 and the two side restraining ropes 5 of the airship 10 body are connected with the first flying recovery system winch 12 and the second winch 31 through binding buckles, and the control system 11 controls the first winch 12 and the second winch 31 to move synchronously through the wireless communication device 17;
monitoring the distance between the airship 10 and the flying recovery system through the laser ranging device 16, and controlling the first winch 12 and the second winch 31 to adjust the posture of the airship 10 through the control system 11; synchronously adjusting the follow-up buffer cars 2, and adjusting according to the posture position of the airship 10 to ensure that the buffer air columns 21 are distributed at the head and the tail of the airship 10;
continuing to control the winch to completely fix the airship 10 and the flying recovery system, as shown in fig. 6;
the main control vehicle 1, the follow-up buffer vehicle 2 and the synchronous mooring vehicle 3 are pulled to synchronously pull the airship 10 platform to drive out of the airship warehouse, and after the airship arrives at the appointed flying position, the airship 10 is flying by cutting ropes through rope cutting equipment.
Referring to fig. 8, the approach space airship 10 adopts a motorized flying recovery system for recovery as follows:
the general type motorized flying recovery system predicts landing points according to the adjacent space and goes to a predicted landing area through a road and the like;
after the predicted landing area is reached, the main control vehicle 1 is dragged to be expanded in advance, the ground wind field measurement task of the landing area is carried out through the wind measuring equipment 151, communication is carried out through the rear part of the satellite communication equipment 14, and the landing condition and the wind field condition are reported;
according to the landing track condition of the airship 10 platform, the position of the flying recovery system is adjusted flexibly;
when the platform of the airship 10 is 20m away from the ground, the head of the airship 10 restrains the rope 4, and the rope is fixedly connected with the first winch 12 of the traction main control vehicle 1;
according to the wind field and the posture of the airship 10, the positions of the follow-up buffer vehicle 2 and the synchronous mooring vehicle 3 are adjusted, and the restraining ropes 5 on the two sides of the airship 10 are connected with the second windlass 31 of the synchronous mooring vehicle 3, as shown in fig. 9;
and the traction main control vehicle 1 controls the first winch 12 and the second winch 31 of the flying recovery system, adjusts the posture of the airship 10 until the airship 10 completely lands on the flying recovery system, and transfers the airship back to a test field after recovery operation.
The general-purpose motorized type flying and recovering system and method for the near space aerostat provided by the invention are described in detail, and specific examples are applied in the description to explain the principle and the implementation of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. A general type dynamic approach space aerostat flying recovery system is characterized by comprising a traction main control vehicle, a follow-up buffer vehicle and a synchronous mooring vehicle; wherein the content of the first and second substances,
the traction main control vehicle is used for traction connection with the head of the aerostat and comprises a control system arranged on a traction main control vehicle body, a first winch and a first rope cutting machine, wherein the first winch and the first rope cutting machine are connected with the control system; the aerostat is connected with the winch through a constraint rope arranged at the head; the first rope cutting machine is positioned on one side of the first winch and used for cutting the restraint rope after the airship reaches a specified position;
the follow-up buffer vehicle is used for dragging and carrying the aerostat and comprises an inflatable aerostat platform and a follow-up trolley, and the follow-up trolley carries the inflatable aerostat platform to move;
the synchronous mooring trolley is used for being connected with the side part of the aerostat in a traction manner and comprises a second winch and a second rope cutting machine which are arranged on the body of the synchronous mooring trolley; the aerostat is connected with a second winch through constraint ropes arranged on two sides; the second rope cutting machine is positioned on one side of the second winch and is used for cutting the restraint ropes after the airship reaches a specified position; a plurality of constraint ropes on two sides of the aerostat correspond to the synchronous mooring vehicles one by one, and the synchronous mooring vehicles are distributed on two sides of the aerostat;
the traction main control vehicle is provided with a satellite communication device, the satellite communication device is connected with the control system, and the control system is in remote communication with a remote control platform through the satellite communication device and is used for receiving control instructions of the remote control platform to a first winch, a first rope cutting machine, a second winch and a second rope cutting machine on the traction main control vehicle and the synchronous mooring vehicle; and the traction main control vehicle is started to synchronously control the follow-up buffer vehicle and the synchronous mooring vehicle.
2. The system of claim 1, wherein the traction master vehicle and the synchronous mooring vehicle are provided with wireless communication devices, and the control system sends the control command to the wireless communication devices on the synchronous mooring vehicle through the wireless communication devices on the traction master vehicle.
3. The universal type motorized approach space aerostat flying recovery system according to claim 2, wherein a laser distance measuring device and a wind measuring device are arranged on the top of the traction master control vehicle, the laser distance measuring device is used for monitoring distance information between the aerostat and the flying recovery system and sending the distance information to the control system, and the control system controls the first winch and the second winch to adjust the attitude of the aerostat; the wind measuring equipment is used for measuring the ground wind field information of the landing area; and the distance information and the wind field information are sent to a remote control platform through the satellite communication equipment.
4. The universal type motorized approach space aerostat flying recovery system according to claim 1, wherein the aerostat head and the restraining ropes at both sides are fixedly connected with the aerostat, and the head restraining rope at the head is connected with the first winch through a binding buckle; and the two side constraint ropes positioned on the two sides are connected with the two winches through binding buckles.
5. The universal motorized close-space aerostat flying recovery system according to claim 1, wherein said inflatable aerostat platform of said follow-up buffer carriage comprises a support plate, said support plate having a plurality of buffer air columns arranged side by side, and an inflator for inflating said plurality of buffer air columns; the buffer air columns are used for dragging and carrying the bottom of the aerostat.
6. The system for flying and recovering the general-purpose motorized close-space aerostat according to claim 3, wherein the traction master control vehicle is provided with a power supply device for supplying power to the control system of the traction master control vehicle, the first winch, the first rope cutting machine, the satellite communication device, the wind measuring device, the laser distance measuring device and the wireless communication device.
7. A method for flying and retrieving a universal motorized close-space aerostat according to any of claims 1-6, comprising the steps of flying and retrieving:
a flying step:
s11, inflating and expanding the inflatable aerostat platform to a specified height in the boat shed;
s12, starting the traction main control vehicle, the follow-up buffer vehicle and the synchronous mooring vehicle, and moving to the relative position of the bottom of the aerostat;
s13, respectively mooring and binding the restraint ropes of the aerostat with a first winch for pulling the main control vehicle, mooring and binding with a second winch for synchronously mooring the vehicle, and starting and controlling the first winch and the second winch to enable the traction ropes of the aerostat to be completely stressed;
s14, starting a traction main control vehicle, and synchronously controlling a follow-up buffer vehicle and a synchronous mooring vehicle to pull the aerostat to move out of the submarine bay;
s15, after the airship arrives at the flying place, controlling the first rope cutting machine and the second rope cutting machine to cut the constraint ropes, and realizing flying of the airship platform;
and (3) a recovery step:
s21, starting the traction main control vehicle, the follow-up buffer vehicle and the synchronous mooring vehicle to move to a preset landing place, and inflating and expanding the inflatable aerostat platform to a specified height;
s22, the aerostat head restrains the rope to be released and is bound with a first winch for pulling the main control car;
s23, the aerostat descends, and the follow-up buffer vehicle moves along with the aerostat and adjusts the relative position of the follow-up buffer vehicle at the bottom of the aerostat;
s24, releasing the restraining ropes on the two sides of the aerostat, and binding the restraining ropes with a second winch of the synchronous mooring vehicle;
and S25, starting the first winch and the second winch, adjusting the position of the follow-up buffer vehicle relative to the aerostat, and winding the restraint rope to gradually reduce the height of the airship until the airship completely descends to the inflatable aerostat platform of the follow-up buffer vehicle.
8. The method as claimed in claim 7, wherein the flying and recovering process of the flying device comprises monitoring the distance between the flying device and the ground by a laser ranging method, detecting the wind field information of the ground in the landing area of the flying field and the recovering field in real time, and controlling the recovering and releasing of the two pairs of restraining ropes of the first winch and the second winch according to the distance information and the wind field information to adjust the posture of the airship.
9. The method of claim 8, wherein the distance information and the wind field information are transmitted to the remote control platform by satellite communication, and the remote control platform transmits control commands of the first winch, the second winch, the first rope cutting device and the second rope cutting device to a control system of the traction master control vehicle by satellite communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911311123.6A CN111038722B (en) | 2019-12-18 | 2019-12-18 | Universal type dynamic type flying recovery system and method for near space aerostat |
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|---|---|---|---|
| CN201911311123.6A CN111038722B (en) | 2019-12-18 | 2019-12-18 | Universal type dynamic type flying recovery system and method for near space aerostat |
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| CN111038722A CN111038722A (en) | 2020-04-21 |
| CN111038722B true CN111038722B (en) | 2021-09-10 |
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| CN201911311123.6A Expired - Fee Related CN111038722B (en) | 2019-12-18 | 2019-12-18 | Universal type dynamic type flying recovery system and method for near space aerostat |
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| CN112124612A (en) * | 2020-09-18 | 2020-12-25 | 中国人民解放军63660部队 | Large airship transferring and flying method based on AGV array |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AU2232192A (en) * | 1992-02-17 | 1993-09-03 | Hashimoto, Megumi | Device for landing airship or the like |
| WO2009022889A1 (en) * | 2007-08-14 | 2009-02-19 | Juan Manuel Ibarra Deras | Safety airship including a monitoring device |
| CN203920540U (en) * | 2014-07-11 | 2014-11-05 | 刘光友 | A kind of indoor large equipment transporter |
| CN106275485B (en) * | 2016-08-19 | 2018-11-30 | 中国人民解放军63655部队 | System and method is let in a kind of transhipment of discrete modularization Large Airship fly away |
| CN107697263B (en) * | 2017-08-23 | 2020-07-07 | 中国人民解放军63653部队 | Large airship transferring and flying platform |
| CN108891573B (en) * | 2018-07-13 | 2023-09-05 | 陕西铁鹰特种车有限公司 | Pollution-free transportation synchronous flying system for giant airship |
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