CN111268087B

CN111268087B - Passenger balloon with redundant safety device and control method thereof

Info

Publication number: CN111268087B
Application number: CN202010069769.4A
Authority: CN
Inventors: 赵付舟; 黄悦婷; 黄银花; 吴文叶; 陈庆樟; 高琳琳; 游专; 叶甜
Original assignee: Changshu Institute of Technology
Current assignee: Changshu Institute of Technology
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2021-10-19
Anticipated expiration: 2040-01-21
Also published as: CN111268087A

Abstract

The invention discloses a passenger balloon with a redundant safety device, which comprises a balloon body, a hanging basket, an operation rope and a safety rope, wherein the balloon body is provided with a lasso, a locking ring, an expansion retrieval module and an emergency air release module, the hanging basket is provided with a speed sensor and the bottom of a control module, the hanging basket is provided with a tension sensor, the measuring end of the tension sensor is connected with the operation rope and the safety rope, an expansion detection module, the emergency air release module, the speed sensor and the tension sensor are electrically connected with the control module, the expansion detection module is matched with the lasso and the locking ring to detect the expansion of the balloon body, an electric signal output by the expansion detection module is connected into the control module, and the emergency air release module is used for communicating or blocking an air passage between the interior and the exterior of the balloon body. The invention also discloses a control method of the passenger balloon with the redundant safety device. The emergency deflation module can automatically deflate, so that the balloon can be ensured to stably and safely land when the rope traction is lost, and the safety of the passenger balloon is improved.

Description

Passenger balloon with redundant safety device and control method thereof

Technical Field

The present invention relates to a passenger balloon and a control method thereof, and more particularly, to a passenger balloon having a redundant safety device and a control method thereof.

Background

The passenger balloon can be widely applied to occasions of entertainment and sightseeing, agricultural picking, high-altitude construction, emergency rescue and the like. However, the safety problem of the passenger balloon is not solved all the time, and serious casualty accidents and property loss are caused by frequent cable-off explosion accidents of various passenger balloons. After the passenger balloon is unhooked by the safety cable, the passenger balloon floats upwards in the air under the action of buoyancy, and in the floating process, the balloon gradually expands and finally the balloon cannot bear the explosion because the air pressure of the outside air is gradually reduced. Therefore, after the passenger takes the balloon out of hook, the gas in the balloon bag can be reduced through exhausting to reduce the buoyancy, the ascending speed is reduced, and even the ascending speed is gradually reduced, so that more rescue time is strived for, and even the passenger can land safely. The prior art detects the stress change of a suspension rope, and starts an air release actuating mechanism to release air to ensure the safety of aviation flight, so that a flying balloon falls and is recovered, and the loss is reduced.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a passenger balloon with a redundant safety device, which ensures that the balloon can stably and safely land when the traction of a rope is lost, and improves the safety of the passenger balloon. The invention aims to provide a control method of a passenger balloon with a redundant safety device.

The technical scheme of the invention is as follows: a passenger balloon with a redundant safety device comprises a balloon body, a hanging basket, an operation rope and a safety rope, wherein the balloon body is provided with a lasso, a locking ring, an expansion retrieval module and an emergency deflation module, the hanging basket is provided with a speed sensor and a control module, the bottom of the hanging basket is provided with a tension sensor, the measuring end of the tension sensor is connected with the operation rope and the safety rope, the expansion detection module, the emergency deflation module, the speed sensor and the tension sensor are electrically connected with the control module, the locking ring is provided with a plurality of locking rings and is arranged on the surface of the balloon body along the great circle of the balloon body, the lasso sequentially penetrates through the locking ring, the expansion detection module is connected between the two ends of the lasso and changes the output electric signal when the distance between the two ends of the lasso changes, the electric signal output by the expansion detection module is connected with the control module, the emergency air leakage module is used for communicating or blocking an air path between the interior and the exterior of the balloon body.

Furthermore, the expansion detection module comprises an expansion detection valve shell, a noose tensioning spring, a sliding contact, a sliding resistor and a detection power supply, wherein the noose tensioning spring is arranged in the expansion detection valve shell, one end of the noose tensioning spring is fixedly connected with the expansion detection valve shell, one end of the noose is fixedly connected with the expansion detection valve shell, the other end of the noose penetrates through the expansion detection valve shell and is connected with the movable end of the noose tensioning spring, the movable end of the noose tensioning spring is rigidly connected with the sliding contact, the sliding contact is in sliding connection with the sliding resistor, the detection power supply, the sliding contact and the sliding resistor form a detection circuit, and a voltage signal of the sliding resistor is connected into the control module.

Further, in order to prevent that the descent speed is too fast and cause the fall after the balloon gassing, the spheroidal lateral wall of balloon is equipped with fuse and parachute, the parachute is binded by the binding area, the both ends of binding area are connected the fuse both ends, the fuse with the control module point is connected, when the fuse fuses the release is come loose in the binding area the parachute, the parachute by connect the rope with the spheroidal top of balloon is connected.

Further, emergent disappointing module set up in balloon spheroid's bottom, emergent disappointing module is including the intercommunication balloon spheroid's inside and outside through-hole, be equipped with linear electric motor in the through-hole, linear electric motor's action direction does the axial of through-hole, linear electric motor's active cell is connected with the bottom of ball sealer, the ball sealer sets up the upper end opening part of through-hole is sealed the upper end opening of through-hole.

Further, be equipped with the top of axial setting in the through-hole and push away the sleeve, the bottom of ball sealer is equipped with the push rod, the push rod stretches into in the top pushes away the sleeve, the bottom of push rod is connected with the taut spring of ball valve, the end of the taut spring of ball valve with linear electric motor's active cell is connected, top pushes away telescopic lateral wall and is equipped with two relative cable holes, the one end of emergent cable with the inner wall fixed connection of through-hole, the free end of emergent cable passes top pushes away telescopic one side cable hole and bypasses the bottom of push rod is followed top pushes away telescopic opposite side cable hole is worn out and is set up in the hanging flower basket.

A control method of a passenger balloon with a redundant safety device is carried out on the basis of the passenger balloon with the redundant safety device, a control module controls an emergency deflation module to deflate when the expansion state of a balloon body detected by an expansion detection module or the rising speed of the balloon measured by a speed sensor or the pulling forces of an operation rope and the safety rope measured by a pulling force sensor exceed a safety threshold, and the control module controls the emergency deflation module to stop deflating when the speed sensor detects that the balloon is changed from rising to falling.

A control method of a passenger balloon with a redundant safety device is carried out based on the passenger balloon with the redundant safety device, a control module controls an emergency deflation module to deflate when a balloon expansion state detected by an expansion detection module or a rising speed of the balloon measured by a speed sensor or pulling forces of an operation rope and the safety rope measured by a pulling force sensor exceed a safety threshold, when the speed sensor detects that the balloon is changed from rising to falling, the control module controls the emergency deflation module to stop deflating and delay a plurality of times to detect a falling speed of the balloon by the speed sensor, and when the falling speed of the balloon exceeds a falling safety threshold, the control module controls a fuse to be blown.

The technical scheme provided by the invention has the advantages that the expansion detection module, the speed sensor and the tension sensor are arranged to utilize the expansion of the balloon, the change of the tension and the change of the speed to carry out multiple detections on the accidental unhooking between the passenger balloon and the safety rope, so that even if the balloon body is deflated during accidental release, the floating state of the balloon is controlled to safely fall to the ground; furthermore, the emergency air leakage module controlled by two modes, namely complete manual mechanical control and electric control, provides complete manual control when the electronic device fails, further ensures the safety of the balloon, can be closed and opened by an exhaust passage during manual control, further controls the air displacement and reduces the risk of rapid falling.

Drawings

Figure 1 is a schematic view of a passenger balloon with redundant safety devices.

Figure 2 is a close up view of the locking ring position.

Figure 3 is a side schematic view of an occupant balloon with redundant safety devices.

Fig. 4 is a schematic structural diagram of the emergency deflation module.

Fig. 5 is a schematic structural diagram of an expansion detection module.

Figure 6 is a schematic view of the top of the balloon with the parachute open.

Detailed description of the invention

The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention thereto.

Referring to fig. 1 to 6, the passenger balloon with redundant safety device according to the embodiment of the present invention includes a balloon body 1, a gondola 11, an operation rope 9, and a safety rope 8.

A group of locking rings 3 are uniformly arranged at intervals on the periphery of the longitudinal symmetrical surface of the balloon body 1, a lasso 2 penetrates through each locking ring 3, and two ends of the lasso 2 are respectively connected to the expansion detection module 102. When the balloon body 1 is full of air, the lasso 2 and the expansion detection module 102 form a ring and are sleeved outside the balloon body 1. The tying band 29 ties the parachute 30 in a folded state, the two end joints of the tying band 29 are connected by the fuse 28, and the fuse 28 is fixed to the side surface of the balloon body 1, that is, the parachute 30 is tied to the side surface of the balloon body 1. The parachute 30 in a folded state is connected with the top of the balloon body 1 by a connecting rope 12.

The emergency air leakage module 101 is located at the bottom of the balloon body 1, and the bottom of the balloon body 1 is connected with the hanging basket 11 through a rope. The cable sleeve 4 is arranged along the direction of a rope connected with the hanging basket 11 at the position of the emergency air leakage module 101 at the starting end, and the tail end is led into the emergency cable box 5. The emergency pull cable 18 is arranged in the pull cable sleeve 4 in a penetrating way, and the tail end of the emergency pull cable is connected with the emergency pull ring 7. Emergent pull ring 7 sets up in emergent cable box 5, and emergent cable box 5 is located the convenient usefulness of getting in hanging flower basket 11. A speed sensor 6 is arranged outside a basket 11, and a tension sensor 10 is arranged at the bottom of the basket 11. One end of the safety rope 8 is connected with the tension sensor 10, and the other end is connected with the ground 14. The operating cord 9 is also connected at one end to a tension sensor 10 and at the other end pulled by the operator.

The emergency release module 101 comprises a cable sleeve 4, a sealing ball 15, a push rod 16, a pushing sleeve 17, an emergency cable 18, a linear motor 19, a ball valve tensioning spring 20, a restraining ring 21 and a cable hole 22. The wall of the balloon body 1 is provided with a through hole which is an air leakage opening, the stator of the linear motor 19 is rigidly connected with the wall of the through hole, the rotor of the linear motor 19 is rigidly connected with a ball valve tension spring 20, the ball valve tension spring 20 is connected with a sealing ball 15, and the sealing ball 15 is in sealing fit with the top opening of the through hole. Two cable holes 22 are opened on the pushing sleeve 17. The initial end of the emergency guy cable 18 is fixed on the inner wall of the balloon body 1, passes through a guy cable hole 22 formed in the pushing sleeve 17 at one end, the emergency guy cable 18 is attached to the outside of the restraint ring 21, then passes through a guy cable hole 22 formed in the pushing sleeve 17 at the other end, and the emergency guy cable 18 penetrates through the guy cable sleeve 4.

One joint of the lasso 2 is connected with one end of the expansion detection valve shell 24, the interior of the end of the expansion detection valve shell 24 is connected with a lasso tension spring 23, the movable end of the lasso tension spring 23 is connected with the other joint of the lasso 2, and the lasso 2 penetrates out along the small hole connected with the other end of the expansion detection valve shell 24. A sliding contact 25 is rigidly connected to the movable end of the lasso tension spring 23, and the sliding contact 25 is slidably connected to a sliding resistor 26 disposed at the lower portion of the expansion detection valve housing 24. The expansion detection valve power supply 27 is connected to the sliding contact 25 at one end and to the sliding resistor 26 at the other end via a wire. When the balloon is inflated, the noose tension spring 23 will elongate, the sliding contact 25 will move, and the effective resistance of the sliding resistor 26 in the circuit will decrease.

The passenger balloon with the redundant safety device is also provided with a control module 13, an expansion detection module 102, an emergency deflation module 101, a speed sensor 6, a tension sensor 10 and a fuse 28 are all electrically connected with the control module 13, an expansion detection valve power supply 27, a sliding contact 25 and a sliding resistor 26 form a detection circuit, and a voltage signal of the sliding resistor is connected to the control module 13. The control module 13 controls the actions of the emergency release module 101 and the fuse 28 according to the feedback signals of the expansion detection module 102, the speed sensor 6 and the tension sensor 10.

Passenger balloons with redundant safety devices continue to decrease in atmospheric pressure as altitude increases after disengagement of the traction of the operating rope 9 and safety rope 8. As the passenger balloon is raised, the ambient pressure outside the balloon wall continues to drop. In order to maintain the pressure balance between the inside and outside of the balloon body 1, the balloon body 1 must be continuously inflated, and the tensile stress applied to the elastic material of the wall surface of the balloon body 1 is continuously increased. When the balloon flies off the ground too high, the expansion of the balloon body 1 causes the tensile stress on the elastic material on the wall surface of the balloon body 1 to exceed the yield tensile stress limit, and the balloon body 1 can explode instantly to cause personnel or property loss.

1) The tension sensor 10 prevents the balloon body 1 from flying off:

normally, the tension sensor 10 detects that the tension F is less than F0, 10N is less than or equal to F0 is less than or equal to 20N, and F0 is not equal to 15N, which indicates that the safety rope 8 or the operation rope 9 is out of restraint. The control module 13 waits for the time T1, T1 is equal to or less than 20s and equal to or less than 30s, and T1 is not set to be 25 s. The control module 13 again detects that the tension sensor 10 detects the tension force F. If F is less than F0, taking 10N less than or equal to F0 less than or equal to 20N, and not setting F0 equal to 15N, the balloon is broken or slipped after the safety rope 8 and the operating rope 9 are broken. The control module 13 will send a bleed signal to the emergency bleed module 101.

The emergency bleed module 101 commands the mover of the linear motor 19 to move upward. The pushing sleeve 17 will overcome the pulling force of the ball valve tension spring 20 to push the sealing ball 15 away from the air release opening of the balloon body 1. The pressure inside the balloon body 1 is reduced, the buoyancy is continuously reduced, and the balloon finally falls to the ground.

2) The speed sensor 6 prevents the balloon body 1 from flying off:

the speed sensor 6 detects the direction and the magnitude of the lifting speed V of the basket 11 in real time. When the ascending speed or descending speed of the balloon is not at a reasonable threshold value, the control module 13 sends a deflation signal to the emergency deflation module 101. Ensuring that the ascending speed or the descending speed is within a reasonable threshold value, and ensuring that the balloon flies safely.

The balloon-ascending speed threshold is set as Vu, 3m/s is less than or equal to Vu less than or equal to 7m/s, and the Vu is not set as 5 m/s. When V > Vu, which indicates that the ascending speed of the balloon is too fast, the control module 13 immediately sends a deflation signal to the emergency deflation module 101.

The emergency bleed module 101 commands the mover of the linear motor 19 to move upward. The pushing sleeve 17 will overcome the pulling force of the ball valve tension spring 20 to push the sealing ball 15 away from the air release opening of the balloon body 1. The pressure inside the balloon body 1 is reduced, the buoyancy is also reduced, and the ascending speed of the balloon is gradually reduced.

3) The inflation detection module 102 prevents the balloon body 1 from flying off and exploding:

when the balloon body 1 is filled with air, the guy cable 2 is tensioned, the lasso tension spring 23 is stretched, the sliding contact 25 is pulled to be in contact with the sliding resistor 26, and the expansion detection valve power supply 27, the electric wire, the sliding contact 25 and the sliding resistor 26 form a conductive circuit loop. The circuit loop sends a voltage signal U to the control module 13. When the balloon body 1 continuously expands, the sliding contact 25 continuously slides to the right, and the voltage signal U sent by the circuit loop to the control module 13 also continuously increases. When the tensile stress on the elastic material on the wall surface of the balloon reaches a certain value due to the expansion of the balloon, the inflation pressure of the balloon is over high, or the balloon flies into the high altitude and has the possibility of explosion. At this time, when the sliding contact 25 reaches the rightmost end, the voltage signal U sent by the circuit loop to the control module 13 is equal to U0, and no U0 is set to be 4V or more and no more than 6V, where U0 is 5V, the control module 13 will send the air release signal to the emergency air release module 101.

The emergency bleed module 101 commands the mover of the linear motor 19 to move upward. The pushing sleeve 17 will overcome the pulling force of the ball valve tension spring 20 to push the sealing ball 15 away from the air release opening of the balloon body 1. As the deflation process progresses, the pressure inside the balloon body 1 decreases.

After the deflation of the balloon is triggered by the above 3 conditions, the speed sensor 6 detects the speed of the balloon, and when the balloon goes from ascending to descending, the control module 13 sends a deflation stopping signal to the emergency deflation module 101. The emergency deflation module 101 commands the mover of the linear motor 19 to move downwards, the ball valve tension spring 20 pulls the sealing ball 15 back to the deflation port, and the deflation port stops deflating. The waiting time T0 is equal to or less than 30s and equal to or less than T0 and equal to or less than 60s, and T0 is not equal to or more than 40 s. The control module 13 detects the speed at which the balloon body 1 descends. And setting the descending speed threshold of the balloon body 1 as Vd, wherein Vd is more than or equal to 2.5m/s and less than or equal to 3.5m/s, and Vd is not equal to 3 m/s. When 0< | V < Vd, it indicates that the balloon descends slowly; when V | is not less than Vd, the descending speed is too fast, in order to prevent the balloon from landing hard, the control module 13 sends a fusing signal to the fuse 28, the two ends of the binding belt 29 are separated after the fuse 28 is fused, the parachute 30 is opened under the blowing action of the side wind, the descending speed of the balloon is reduced, and the balloon can safely descend at a stable speed.

Under emergency, can be by the emergent 1 flight of the emergent ventilative prevention balloon spheroid of manual cable and take off:

the passenger pulls the emergency pull ring 7 in the emergency pull cable box 5, the emergency pull cable 18 is pulled out along the cable sleeve 4, the part of the emergency pull cable 18 inside the pushing sleeve 17 can push upwards, the pushing force under the constraint action of the emergency pull ring 7 can overcome the pulling force of the ball valve tensioning spring 20, and the push rod 16 is pushed upwards. The sealing ball 15 is pushed away from the air leakage port of the balloon body 1, so that air leakage can be realized. When the passenger finds that the descending speed of the balloon is too fast, the pulling force acting on the emergency pulling ring 7 is reduced or the emergency pulling ring 7 is completely released. The ball valve tensioning spring 20 pulls the sealing ball 15 towards the bleed port which will either reduce the bleed or stop the bleed altogether.

The invention adopts the electronic control emergency device to release air, thereby preventing potential safety hazard caused by unskilled passengers on equipment. The invention also adopts a mechanical emergency device, and manual control is adopted to prevent the electronic equipment from being insensitive, invalid and the like or from urgently needing to return to the ground due to special conditions, thereby ensuring the safety and stability of the last protective measure.

Claims

1. The passenger balloon with the redundant safety device is characterized by comprising a balloon body, a hanging basket, an operation rope and a safety rope, wherein the balloon body is provided with a lasso, a locking ring, an expansion detection module and an emergency deflation module, the hanging basket is provided with a speed sensor and a control module, the bottom of the hanging basket is provided with a tension sensor, the measuring end of the tension sensor is connected with the operation rope and the safety rope, the expansion detection module, the emergency deflation module, the speed sensor and the tension sensor are electrically connected with the control module, the locking ring is provided with a plurality of locking rings and is arranged on the surface of the balloon body along the great circle of the balloon body, the lasso sequentially penetrates through the locking ring, the expansion detection module is connected between the two ends of the lasso and changes the output electric signal when the distance between the two ends of the lasso changes, and the expansion detection module comprises an expansion detection valve shell, Taut spring of lasso, sliding contact, sliding resistance and detection power, the taut spring of lasso sets up in the inflation detection valve casing, the taut spring of lasso one end with inflation detection valve casing fixed connection, the one end of lasso with inflation detection valve casing fixed connection, the other end of lasso penetrates inflation detection valve casing and with the expansion end of the taut spring of lasso is connected, the expansion end of the taut spring of lasso with sliding contact rigid connection, sliding contact with sliding resistance sliding connection, detection power with sliding contact reaches sliding resistance constitutes detection circuitry, sliding resistance's voltage signal inserts control module, emergent disappointing the module and being used for the intercommunication or blocking balloon spheroidal inside and outside gas circuit.

2. The passenger balloon with redundant safety devices of claim 1, wherein the balloon body sidewall is provided with a fuse and a parachute, the parachute is bound by a binding band, the two ends of the binding band are connected at the two ends of the fuse, the fuse is connected with the control module point, the binding band releases the parachute when the fuse is fused, and the parachute is connected with the top of the balloon body through a connecting rope.

3. The passenger balloon with the redundant safety device according to claim 1, wherein the emergency deflation module is disposed at the bottom of the balloon body, the emergency deflation module comprises a through hole communicating the inside and the outside of the balloon body, a linear motor is disposed in the through hole, the action direction of the linear motor is the axial direction of the through hole, a rotor of the linear motor is connected with the bottom of a sealing ball, and the sealing ball is disposed at the upper end opening of the through hole to seal the upper end opening of the through hole.

4. The passenger balloon with the redundant safety device according to claim 3, wherein an axially arranged pushing sleeve is arranged in the through hole, a push rod is arranged at the bottom of the sealing ball and extends into the pushing sleeve, a ball valve tensioning spring is connected to the bottom of the push rod, the tail end of the ball valve tensioning spring is connected with a rotor of the linear motor, two opposite cable holes are formed in the side wall of the pushing sleeve, one end of an emergency cable is fixedly connected with the inner wall of the through hole, and the free end of the emergency cable penetrates through the cable hole on one side of the pushing sleeve, bypasses the bottom of the push rod, penetrates out of the cable hole on the other side of the pushing sleeve and is arranged in the hanging basket.

5. A method for controlling a passenger balloon having a redundant safety device, the method being performed based on the passenger balloon having a redundant safety device as set forth in any one of claims 1, 3 and 4, wherein the control module controls the emergency release module to release air when the inflation state of the balloon body detected by the inflation detection module, or the ascent speed of the balloon measured by the speed sensor, or the tension of the operation string and the safety string measured by the tension sensor exceeds a safety threshold, and the control module controls the emergency release module to stop releasing air when the speed sensor detects that the balloon is changed from ascent to descent.

6. A method of controlling an airborne balloon having a redundant safety device, the method being performed based on the airborne balloon having a redundant safety device of claim 2, the control module controls the emergency deflation module to deflate when the expansion state of the balloon body detected by the expansion detection module, the rising speed of the balloon detected by the speed sensor or the pulling forces of the operation rope and the safety rope detected by the pulling force sensor exceed a safety threshold value, when the speed sensor detects that the balloon is changed from ascending to descending, the control module controls the emergency deflation module to stop deflating and delays for a plurality of times to detect the descending speed of the balloon by the speed sensor, when the descending speed of the balloon exceeds a descending safety threshold value, the control module controls the fuse to be fused.