CN116714755A

CN116714755A - Near space balloon issuing control system and method

Info

Publication number: CN116714755A
Application number: CN202310137803.0A
Authority: CN
Inventors: 阳建华; 王东祥
Original assignee: Hunan Aerospace Yuanwang Science & Technology Co ltd
Current assignee: Hunan Aerospace Yuanwang Science & Technology Co ltd
Priority date: 2023-02-20
Filing date: 2023-02-20
Publication date: 2023-09-08

Abstract

The invention provides a control system and a method for issuing a balloon in near space, wherein the control system comprises a processor, an issuing device and a first sensor for acquiring wind speed and wind direction data, the first sensor is electrically connected with the processor, and the processor is electrically connected with a driving element of the issuing device; the upper portion of dispensing device is work platform, be equipped with first through-hole on the work platform, one side of work platform is equipped with the passageway of dispensing, the passageway of dispensing communicates with first through-hole, the bottom of dispensing device is equipped with and is used for adjusting the rotatory chassis of passageway orientation of dispensing, the treater with rotatory chassis's driving element electricity is connected. The invention can adjust the position and the azimuth of the dispensing device in real time according to the change of the environment, and effectively overcomes the interference of environmental factors on the dispensing of the balloon.

Description

Near space balloon issuing control system and method

Technical Field

The invention belongs to the field of lighter-than-air aircrafts, and particularly relates to a near space balloon issuing control system and method.

Background

The balloon in the near space is a balloon which can be 20-100 percent away from the sea level for a long time kmThe aircraft for executing the flight task in the high space area has the advantages of high flight altitude, low cost, long dead time and the like compared with other aircrafts. The application purposes of meteorological environment monitoring, regional communication, homeland investigation, urban traffic monitoring, earth detection, astronomical observation, high altitude exploration travel and the like can be realized by utilizing different functional working loads carried by the nearby space balloon.

The balloon in the near space is mainly composed of an air bag, a valve component, a working load and a load recovery umbrella. In the process of issuing a test field, the balloon in the near space is easy to be subjected to environmental conditions, such as: wind speed, wind direction, air temperature, etc. Therefore, the rapid completion of system integration and release operations is a key for ensuring that the close-by balloon can successfully fly and stay empty for a long time.

The traditional near space balloon adopts the independent package, separate storage and centralized transportation of each part to a test field, the balloon is unfolded according to a system structure in the test field, the integrated assembly and the test of the components are sequentially completed, after waiting for and obtaining a long period of stable meteorological conditions, the balloon is released and lifted off through the cooperative cooperation of a plurality of working posts through the ground release vehicle hanging work load, the inflation and the test of the balloon are completed, and the balloon is released and lifted off under unified command. The balloon release method has the following defects:

1) The structure and electric integration assembly is needed in a test field before the balloon is distributed, the ground distribution device is complex in composition, and the balloon deployment and position adjustment are long in time consumption.

2) Before the balloon is dispensed, the preparation, test and arrangement of the components are large in workload, and more test operators are needed to support the dispensing operation of the balloon.

3) The inflation and release of the balloon have severe requirements on meteorological conditions, so that the release time window is difficult to determine, and the flight mission termination or test accidents can be caused by the change of wind direction or short-time gusts.

4) The balloon cannot be issued in emergency in extreme environments such as foggy days or nighttime with poor vision.

Disclosure of Invention

The invention aims to provide a close-space balloon issuing control system and a close-space balloon issuing control method, which are used for solving the technical problem of close-space balloon accurate issuing.

In order to solve the technical problems, the specific technical scheme of the invention is as follows:

a control system for issuing a balloon in a near space, the control system comprising a processor, an issuing device and a first sensor for acquiring wind speed and wind direction data, wherein the first sensor is electrically connected with the processor, and the processor is electrically connected with a driving element of the issuing device;

The upper portion of dispensing device is work platform, be equipped with first through-hole on the work platform, one side of work platform is equipped with the passageway of dispensing, the passageway of dispensing communicates with first through-hole, the bottom of dispensing device is equipped with and is used for adjusting the rotatory chassis of passageway orientation of dispensing, the treater with rotatory chassis's driving element electricity is connected.

Therefore, the first sensor of the invention transmits meteorological data such as wind speed and wind direction of a release field to the processor, the meteorological data is processed by the processor and then transmits a driving instruction to the driving element of the release device, the release device is adjusted, the release channel faces the downwind direction, an automatic release system is adopted, the labor input is greatly reduced, real-time adjustment can be realized for environmental change, the accuracy is ensured, and the influence of environmental factors on balloon release is overcome.

Further, a second sensor for acquiring the orientation angle of the dispensing channel is arranged on the dispensing device, and the second sensor is electrically connected with the processor.

Further, an air bag mooring winch and a load mooring winch are arranged on the upper end face of the working platform, an air bag mooring rope used for being connected with an air bag is arranged on the air bag mooring winch, a load mooring rope used for being connected with a working load is arranged on the load mooring winch, and driving elements of the air bag mooring winch and the load mooring winch are electrically connected with the first controller.

Still further, be near space balloon work load's space of placing below the first through-hole, first through-hole department is equipped with the load uncoupling device that is used for restricting work load activity, the treater with the drive element electricity of load uncoupling device is connected, the drive element of load uncoupling device is used for driving the opening and shutting of load uncoupling device.

Still further, the system comprises a near space balloon inflation system, wherein the near space balloon inflation system comprises a near space balloon device arranged on the upper end surface of the working platform and an air bag inflation unit for inflating the near space balloon device, and the processor is respectively and electrically connected with driving elements of the near space balloon device and the air bag inflation unit;

the near space balloon device is arranged above the first through hole and comprises a storage and transportation cylinder and a near space balloon arranged in the storage and transportation cylinder, a working load is hung at the lower end of the near space balloon, and the working load is positioned below the first through hole;

the barrel of the storage and transportation barrel consists of at least two shells with mutually butted edges, the shells are detachably connected through a plurality of groups of barrel separating devices, the processor is electrically connected with a driving element of the barrel separating device, and the barrel separating device is used for separating the shells.

Still further, a third sensor for acquiring data of the volume of the filled gas is further provided on the airbag inflation unit, and the third sensor is electrically connected with the processor.

Still further, the work platform up end is equipped with and is used for with the auxiliary separation device of shell complex, the treater with auxiliary separation device's driving element electricity is connected.

Based on the same inventive concept, the invention also provides a method for dispensing balloons by using the near space balloon dispensing control system, which comprises the following steps:

step one, the processor obtains an orientation angle alpha of a dispensing channel; the angle alpha is determined by the clockwise included angle between the axis of the dispensing channel and the north direction;

step two, the processor obtains the wind speed v and the wind direction angle beta acquired by the first sensor, wherein the wind direction angle beta is determined by the clockwise included angle between the north direction and the wind direction;

step three, the processor sends out a rotation driving instruction to a driving element of the rotation chassis;

the processor is arranged at intervalstCalculating the average value of the primary wind speed betaβ’Setting threshold values Q1 and Q2, and calculatingβ’Absolute deviation from alphaX=|α-β’Absolute value by deviation XComparing with the threshold value:

if it isXThe processor sends a rotary driving instruction to a driving element of the rotary chassis to enable the orientation angle alpha of the distribution channel to be oriented towards the wind direction of the test fieldβ’The angular deviation reducing direction rotates and adjusts the angleY=360°-X；

If Q1.gtoreqX> Q2, the processor sends out rotation driving instruction to the driving element of the rotation chassis, and adjusts the angleY=X；

If it isXQ2 is not more than or equal to, and the processor does not send out a rotation driving instruction;

step four, the driving element of the rotary chassis drives the rotary chassis to perform corresponding actions after receiving the instruction of the processor;

and fifthly, the processor sends an instruction to a driving element of the dispensing device to release the balloon in the adjacent space.

Further, in step three, the processor further sends a rotation speed command to a driving element of the rotating chassis, where the rotation speed command includes a slow steering command and a fast steering command, and the rotation speed of the slow steering command is s1=e°minThe rapid steering command rotational speed is s2=f°minThe method comprises the steps of carrying out a first treatment on the surface of the The processor is arranged every timeInterval (C)tCalculating the average value of the primary wind speed vv’And is opposite tov’Judging the value, ifv’＞Pm/sThe processor sends a slow steering instruction to a driving element of the rotary chassis; if it is v’≤Pm/sThe processor issues a fast steering command to a drive element of the rotating chassis.

Still further, the method further comprises the step of inflating the balloon by utilizing a near space balloon inflation system, wherein the near space balloon inflation system comprises a near space balloon device arranged on the upper end surface of the working platform and an air bag inflation unit for inflating the near space balloon device, and the processor is respectively and electrically connected with driving elements of the near space balloon device and the air bag inflation unit; the near space balloon device is arranged above the first through hole and comprises a storage and transportation cylinder and a near space balloon arranged in the storage and transportation cylinder, a working load is hung at the lower end of the near space balloon, and the working load is positioned below the first through hole; the barrel body of the storage and transportation barrel consists of at least two shells with mutually butted edges, the shells are detachably connected through a plurality of groups of barrel body separating devices, the processor is electrically connected with a driving element of the barrel body separating device, and the barrel body separating device is used for separating the shells;

the balloon inflation step comprises the following steps:

Step one, the processor sends a starting instruction to a driving element of the air bag inflating unit, and the air bag inflating unit starts inflating the air bag;

step two, after the volume value of the filled gas of the air bag inflating unit reaches a first-level preset value of a processor, the processor sends a starting instruction to a driving element of the barrel separating device, and the shell is separated;

and thirdly, after the gas volume value filled in the air bag inflating unit reaches a second-level preset value of the processor, the processor sends a stop instruction to a driving element of the air bag inflating unit, and the air bag inflating unit stops inflating and is disconnected with the air bag.

The near space balloon release control system has the following advantages: the invention adopts a modularized design, has compact and concise system structure, reduces the installation difficulty of the balloon distribution control system in the near space, shortens the installation and arrangement time before the balloon distribution, and improves the balloon distribution efficiency. In addition, the near space balloon issuing system realizes the remote and centralized monitoring and control of the issuing device, the air bag inflating unit, the first sensor and the near space balloon device through the processor, has high automation control level, particularly, the rotating chassis is arranged at the bottom of the issuing device, and can realize the rapid adjustment of the position and the azimuth of the working platform in a remote control mode, thereby greatly reducing the time limit requirement on a weather window of a test field, remarkably improving the issuing efficiency of the near space balloon and guaranteeing the safety of the near space balloon.

The control method for issuing the near space balloon mainly comprises the steps of based on the monitoring and analysis results of each component of a system by a processor under the support of a communication module of the near space balloon issuing system, issuing control instructions at appropriate time according to the near space balloon issuing flow in a man-machine cooperative mode, and completing the operation of an issuing device, an air bag inflating unit, a first sensor and the near space balloon device, wherein only a very small number of operators are needed to cooperate. Therefore, the control method has the advantages of real time and simplicity, and can effectively ensure the safety and rapidness of the release of the balloon in the nearby space.

The close-space balloon release control system and method provided by the invention can be suitable for safely and rapidly releasing small and medium-sized close-space balloons with various specifications.

Drawings

Fig. 1 is a diagram of the composition of a near space balloon delivery system of the present invention;

FIG. 2 is a block diagram of the measurement and control unit of the present invention;

FIG. 3 is a block diagram of a first sensor of the present invention;

FIG. 4 is a schematic view of a dispensing apparatus according to the present invention;

FIG. 5 is a block diagram of a rotating chassis assembly of the present invention;

fig. 6 is an assembled view of a near space balloon apparatus of the present invention;

FIG. 7 is a schematic diagram of a near space balloon apparatus according to the present invention;

FIG. 8 is a schematic view of the structure of an airbag inflation unit of the present invention;

FIG. 9 is a block diagram of an airbag inflation unit of the present invention;

FIG. 10 is a block diagram of the top cover separating device of the present invention;

FIG. 11 is a schematic view of the bottom cover structure of the present invention;

FIG. 12 is a schematic view of the proximal balloon apparatus after the cap separation is completed;

FIG. 13 is a schematic view of a first embodiment of a cross-section of a cylinder of the present invention;

FIG. 14 is a schematic view of a second embodiment of a cross-section of a cylinder of the present invention;

FIG. 15 is a schematic view of a third embodiment of a cross-section of a cylinder in accordance with the present invention;

FIG. 16 is a schematic view of the inflated state of the airbag of the present invention;

FIG. 17 is a schematic view of the ground restraint system of the present invention;

FIG. 18 is a block diagram showing the construction of an airbag module according to the present invention;

FIG. 19 is a schematic view showing an opened state of the storage and transportation cylinder according to the present invention;

FIG. 20 is a schematic view of the present invention in a work load released state;

figure 21 is a schematic view of the lift-off of the near space balloon of the present invention after it has been fully released;

FIG. 22 is a schematic view of a load releasing device according to the present invention;

figure 23 is a block diagram of a balloon release system according to the present invention;

fig. 24 is a flow chart of the near space balloon delivery system of the present invention;

FIG. 25 is a schematic view of the automatic steering control of the dispensing apparatus of the present invention;

Fig. 26 is a diagram showing the composition of a near space balloon release control system according to the present invention;

fig. 27 is a block diagram of a near space balloon release control system of the present invention.

The figure indicates: 1. a processor; 2. a first sensor; 3. a measurement and control unit; 10. a near space balloon apparatus; 10. a near space balloon apparatus; 11. a valve assembly; 12. an air bag; 121. an airbag inflation tube; 122. an air bag restraint; 14. a parachute; 15. limiting tooling; 17. a hinged interface; 20. a storage and transportation cylinder; 21. a top cover; 211. a top cover separating device; 22. a cylinder; 221. a notch; 222. a tethered cable protector; 223. a barrel separation device; 224. a second through hole; 23. a bottom cover; 231. a releasable hinge; 232. a third through hole; 27. a foam; 31. an airbag module; 32. a parachute cabin; 34. a work load; 60. A dispensing device; 61. a working platform; 618. a first through hole; 619. a dispensing passage; 62. an auxiliary separation device; 631. a first push rod; 632. a second push rod; 64. the air bag is tethered with a winch; 641. an air bag tether; 65. the load mooring winch; 651. load mooring ropes; 66. rotating the chassis; 67. a climbing ladder; 68. a controller; 69. a load releasing device; 691. a lock lever; 692. a safety pin; 70. an airbag inflation unit; 71. a UPS power supply; 72. a measurement and control computer; 73. a communication module; 74. a load computer; 75. a meteorological parameter collector; 751. a wind speed sensor; 752. a wind direction sensor; 753. a temperature sensor; 76. a video server; 761. a camera; 77. a first power supply module; 78. a first battery; 79. a pressure gauge; 80. an electromagnetic valve; 81. a DC/DC module; 82. a second sensor; 83. a gas source; 87. a first cutter; 88. a second cutter; 91. A third sensor; 92. a second power supply module; 93. a motor driving module; 94. a motor; 95. a third power supply module; 96. a second battery; 97. an air bag separating device; 98. a buzzer; 99. an inflation controller; 100. a balloon release system; 101. a fourth power supply module; 102. an electric drive.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings for a better understanding of the objects, structures and functions of the present invention.

As shown in fig. 1, a proximal space balloon delivery control system of the present embodiment includes a processor 1, a first sensor 2, and a delivery device 60, wherein the processor 1 is electrically connected to the first sensor 2, and the processor 1 is electrically connected to a driving element of the delivery device 60. Specifically, the processor 1 includes a measurement and control unit 3 and a controller 68, the first sensor 2 is electrically connected to the measurement and control unit 3, and the driving element of the dispensing device 60 is electrically connected to the measurement and control unit 3.

As shown in fig. 1 and 2, the measurement and control unit 3 includes a UPS power supply 71, a measurement and control computer 72, a communication module 73, and a load computer 74, where the UPS power supply 71 is configured to provide a working power supply for the measurement and control computer 72, the communication module 73, and the load computer 74, and the measurement and control computer 72 is configured to receive and process data sent from each sensor. The controller 68 is disposed on the dispensing device 60, and the controller 68 is configured to control all driving elements disposed on the dispensing device 60, and obtain the working states and technical parameters of the corresponding driving elements. The output end of the measurement and control unit 3 is in communication connection with the receiving end of the controller 68, specifically, the measurement and control computer 72 sends a control command to the receiving end of the controller 68 through the communication module 73.

The first sensor 2 as shown in fig. 2 and 3 comprises a communication module 73, a weather parameter collector 75 and a video server 76, wherein the communication module 73, the weather parameter collector 75 and the video server 76 are powered by a first power supply module 77. The weather parameter collector 75 is electrically connected with sensors such as a wind speed sensor 751, a wind direction sensor 752 and a temperature sensor 753, and is used for collecting weather parameters near a test field in real time, the video server 76 is electrically connected with the camera 761, the camera 761 is provided with an infrared night vision camera, working videos of a balloon distribution area of the test field can be collected at night, and the collected weather parameters and videos are sent to the measurement and control computer 72 of the measurement and control unit 3 through the communication module 73. In addition, according to the on-site monitoring requirement of balloon release, an operator can control actions such as pitching, deflecting, adjusting the size of the field of view and the like of the camera 761 through the measurement and control computer 72.

As shown in fig. 2, 4 and 5, the upper part of the dispensing device 60 is a working platform 61, one side of the dispensing device 60 is further provided with a climbing ladder 67 which can reach the working platform 61 from the ground, and an operator can safely and quickly reach the working platform 61 through the climbing ladder 67, so that the installation operation before the dispensing of the balloon system is conveniently realized. The first through hole 618 is formed in the working platform 61, a dispensing channel 619 is formed in one side of the working platform 61, the dispensing channel 619 is communicated with the first through hole 618, a second sensor 82 is arranged on the dispensing device 60, the second sensor 82 is used for acquiring orientation angle data of the dispensing channel 619, the second sensor 82 is electrically connected with the controller 68, and the orientation angle data are sent from an output end of the controller 68 to a receiving end of the measurement and control unit 3 and are processed through the measurement and control computer 72. A space for placing a balloon working load in the vicinity of the space is arranged below the first through hole 618, the bottom of the dispensing device 60 is a rotary chassis 66, the controller 68 is electrically connected with a driving element of the rotary chassis 66, and the rotary chassis 66 is used for adjusting the orientation of the dispensing channel 619. Specifically, as shown in fig. 2 and 5, the second sensor 82 may be disposed on the rotary chassis 66, where the direction and the speed of rotation of the dispensing device are obtained, and preferably the direction of the dispensing device uses the direction angle data of the dispensing channel, and the rotary chassis 66 further includes a second power supply module 92, a motor driving module 93, and a motor 94. The motor 94 is an executing mechanism of the rotary chassis 66, and under the instruction of the controller 68, the second sensor 82 may collect the position and orientation values of the dispensing device in real time and feed back to the measurement and control unit 3, set parameters such as platform orientation and moving speed on the measurement and control computer 72, and issue a moving instruction of the rotary chassis 66, so as to quickly implement position movement and orientation adjustment of the dispensing device.

As shown in fig. 4 and 6, the upper end surface of the working platform 61 is provided with a plurality of groups of auxiliary separating devices 62. The controller 68 is electrically connected to the driving elements of the auxiliary separation device 62, and the auxiliary separation device 62 is used to assist in separating the outer casing of the near space balloon apparatus 10.

Specifically, as a first embodiment of the present invention, the auxiliary separating device 62 is two sets of push rod assemblies disposed on the upper end surface of the working platform 61, the push rod assemblies are symmetrically disposed, and the moving directions of the two sets of push rod assemblies are perpendicular to the direction of the dispensing passage 619, so as to ensure that the balloon can smoothly enter the dispensing passage 619 from the first through hole 618 after the casing is opened. Each set of the pushrod assemblies includes a first pushrod 631 and a second pushrod 632, each of the first pushrod 631 and the second pushrod 632 being coupled to a housing. The lower outer surface of the barrel 22 is provided with two sets of hinge interfaces 17 that mate with the first and second pushers 631, 632. The first push rod 631 and the second push rod 632 are combined in pairs in a crossing way, and the tail end of the telescopic rod of the push rod is provided with a hinged interface.

As a second embodiment of the present invention, the auxiliary separating device 62 may also be a plurality of sets of sliding rail assemblies disposed on the upper end surface of the working platform 61, where the sets of sliding rail assemblies include a pulley mounted on the bottom of the housing and a sliding rail disposed on the working platform 61.

As shown in fig. 4, the first through hole 618 is provided with a load releasing device 69. As shown in fig. 6, the load uncoupling device 69 is used for assisting in suspending the working load 34, the controller 68 is electrically connected with a driving element of the load uncoupling device 69, and the driving element of the load uncoupling device 69 is used for driving the opening and closing of the load uncoupling device 69. Specifically, the load releasing device 69 includes an electromechanical assembly formed by combining a clamping member and a driving element, wherein the clamping member can be installed at the first through hole 618 in a ring type combined separating structure or a locking pin combined height dividing structure. The load release device 69 is in a locked state before the near space balloon is released, and the working load 34 is hung on the clamping component of the load release device 69 in a rope manner and is reliably restrained by the clamping component. Upon receiving a release control command from the controller 68, the drive element drives the gripping members to rapidly disengage, and the work load 34 is released from the load release device 69 and eventually exits the dispensing device 60 as the air bag 12 is raised. Preferably, as shown in fig. 4 and 22, the load releasing device 69 is in a ring-type combined and separated structure, the load releasing device 69 is arranged in the release channel 619, the working load 34 of the adjacent space balloon is hung on the locking rod 691 of the load releasing device 69, when the load releasing device 69 is in a locking state, the locking rod 691 forms a ring-shaped closed state, a safety pin 692 is provided for guaranteeing reliable locking of the working load 34, when the load releasing device 69 is unlocked, the receiving end of the load releasing device 69 receives an instruction sent by the output end of the controller 68, the driving element of the load releasing device 69 drives the safety pin 692 to withdraw, at the moment, the locking rod 691 is completely opened, and the working load 34 is released from the release channel 619. The dispensing passage 619 is a flared gap of gradually increasing width from one end thereof to one side of the work platform 61. As shown in fig. 4, 6 and 7, the upper end surface of the working platform 61 may be provided with a near space balloon device 10, the near space balloon device 10 includes a storage and transportation cylinder 20 and a near space balloon disposed in the storage and transportation cylinder 20, the cylinder 22 of the storage and transportation cylinder 20 is composed of at least two shells with edges butted with each other, the cylinder 22 is vertically disposed above the first through hole 618, and the shells are connected through a plurality of sets of cylinder separating devices 223. The controller 68 is electrically connected to a driving element of the cartridge separating apparatus 223, and the cartridge separating apparatus 223 is configured to separate the housing. Specifically, the barrel separating device 223 may be an explosion bolt, an electric ignition cutter, a detonating cord, or the like, which can realize rapid separation.

The near space balloon comprises an air bag 12, a parachute 14 and a working load 34, wherein the air bag 12 is arranged on the upper portion of the near space balloon, the working load 34 is arranged on the lower portion of the near space balloon, the working load 34 is located below the first through hole 618, and the parachute 14 is connected between the air bag 12 and the working load 34.

As shown in fig. 7 and 10, the storage and transportation cylinder 20 is a sealed thin-walled cylinder structure and is made of a high-strength light composite material or an alloy material, and the storage and transportation cylinder 20 comprises a top cover 21, a cylinder 22 and a bottom cover 23, wherein the top cover 21 is detachably connected with the cylinder 22. Specifically, the cylinder 22 is provided with a top cover separating device 211 at one end near the top cover 21, the top cover separating device 211 is used for separating the top cover 21 from the cylinder 22, the top cover separating device 211 is powered by the first battery 78 and the DC/DC module 81, and is in communication connection with the controller 68 and the measurement and control computer 72 in a wireless communication manner through the communication module 73. Thus, the complexity of a power supply system of the top cover separating device is obviously reduced, and the working reliability of the top cover separating device is effectively improved.

As shown in fig. 7 and 11, the bottom cover 23 is detachably coupled to the cylinder 22. The cylinder 22 is a storage and transportation cylinder body part and is used for installing and storing the air bag 12 and the parachute 14. The top cover 21 is a top end sealing part of the storage and transportation cylinder 20, and is mainly used for accommodating the installation and storage of the balloon system valve assembly 11 and the folded airbag inflation tube 121. The top cover 21 is a semi-closed cylinder or cone with an opening at the lower end, and a limiting tool 15 for supporting the valve assembly 11 is further arranged in the top cover 21. The bottom cover 23 is a bottom end sealing member of the storage and transportation cylinder 20. The bottom cover 23 is installed at the bottom of the cylinder 22, and is formed by connecting two rigid plates through a detachable hinge 231, and is used for sealing the bottom opening of the storage and transportation cylinder. The hinge connection can be released manually, so that the bottom cover 23 can be divided into two for use. A third through hole 232 is arranged at the center of the bottom cover 23, and the parachute strap of the parachute can pass through the third through hole 232.

Specifically, as shown in fig. 7 and 12, the parachute 14 may be folded and installed in the storage and transportation cylinder 20 in the form of a bag. The air bag 12 is a closed bag body made of ultrathin flexible composite materials, one or two longer air inflation pipes 121 are arranged on the closed bag body, the air bag 12 and the air inflation pipes 121 thereof are folded into a cuboid or other polygonal structure in a mode of S-shaped or S-shaped and the like which are beneficial to subsequent rapid inflation and self-expansion, the folded air inflation pipes 121 are arranged at the top of the air bag 12, and the maximum outline dimension of the folded air bag 12 is matched with the inner cavity dimension of the storage and transportation cylinder 20, so that the storage and transportation cylinder 20 can accommodate the air bag 12. In order to facilitate positioning and installing the folded air bag 12 and the parachute 14, two connected cabin sections of an air bag cabin 31 and a parachute cabin 32 are arranged on the barrel 22 from top to bottom in a partitioning mode, and the two cabin sections are in smooth transition. The foam plastic 27 with smooth surface is adhered on the inner surfaces of the cylinder 22 and the top cover 21, the foam plastic 27 adopts a plurality of blocks to splice or integrally injection molding to obtain the external shape and size similar to the storage and transportation cylinder, and the material thickness is generally 10mm~50mmPreferably 40mm. As shown in FIG. 13, the storage and transportation cylinder 20 is formed into a ring shape by an outer cylinder 22 and an inner foam 27 In addition to the cross-sectional shape, as shown in fig. 14 and 15, it is also possible to provide: the combination patterns of the outer rectangle, the inner circle, the outer regular polygon and the inner circle are used for improving the stability and the space utilization rate of the adjacent space balloon device in the storage and transportation process.

As shown in fig. 12 and 16, an airbag restraint 122 is installed at a proper position on the upper portion of the folded airbag 12, the main body of the airbag restraint 122 is made of flexible materials, and is fixedly connected with the airbag 12 in a rope tight wrapping mode, and a mooring rope is fixedly arranged on the airbag restraint 122, after the airbag 12 is folded, the airbag restraint 122 is folded together, and the mooring rope connected with the airbag restraint 122 is reserved outside the airbag 12. Specifically, one end of the mooring rope is wound on a winch and used for adjusting the position of the air bag in the process of inflation and release preparation. The balloon restraint 122 may restrain the uninflated portion of the balloon 12 and is connected to the upper end of the tether for securing the balloon 12 to the work platform 61.

As shown in fig. 7 and 17, a notch 221 is further formed in the top of the barrel 22, a set of mooring rope protector 222 is mounted on the inner side of the notch, the mooring rope protector 222 adopts a double-well wheel structure, a second through hole 224 is formed in the center of the double-well wheel structure, and the mooring rope can pass through the second through hole 224, so that the mooring rope is prevented from being worn or jammed. The mounting position of the airbag restraint 122 on the airbag 12 is determined in advance by calculating the airbag ground inflation amount.

Specifically, as shown in fig. 2 and 18, the present embodiment controls the un-restraint of the airbag 12 by the airbag separation device 97, the airbag restraint 122 includes a communication module 73, a first cutter 87 and a second cutter 88, and the airbag restraint 122, and the communication module 73, the first cutter 87 and the second cutter 88 are powered by a second battery 96. Wherein the first cutter 87 is used to cut the tether line and the second cutter 88 is used to cut the balloon restraint strap of the balloon restraint 122. The air bag restraint device 122 adopts a battery power supply mode and is in communication connection with the controller 68 and the measurement and control computer 72 through a wireless communication mode, when the near space balloon is issued, the measurement and control computer 72 issues an air bag separation instruction, the controller 68 receives the instruction, a signal is sent out through the controller 68, and the first cutter 87 is started first, so that the air bag is separated from the mooring rope. When the near space balloon is released, the second cutter 88 is activated to release the balloon restraint 122 from the balloon 12 and the balloon 12 is released. The buzzer 98 or the flash lamp may be further disposed in the balloon restraint 122, the buzzer 98 or the flash lamp is powered by the second battery 96, and is electrically connected with the controller 68 through the second battery 96, and the working state of the balloon restraint 122 is checked and tested in the process of issuing the balloon in the near space through the audible and visual indication mode.

As shown in fig. 4 and 19, the working platform 61 is provided with a plurality of mooring ropes which are matched with the adjacent space balloon, the mooring ropes are divided into an air bag mooring rope 641 and a load mooring rope 651, and the air bag mooring rope 641 and the load mooring rope 651 are controlled by an air bag mooring winch 64 and a load mooring winch 65 which are respectively arranged on the upper end face of the working platform 61. Specifically, the balloon mooring winch 64 and the load mooring winch 65 are oriented parallel to the deployment channel 619. Wherein the air bag tether winch 64 is mounted behind the firing channel 619 and the load tether winch 65 is mounted beside the firing channel 619. Preferably, a load mooring winch 65 may be mounted on the side of the dispensing channel 619 below the work platform 61 to promote the mooring effect on the work load 34. Preferably, the first cutter 87 is used to cut the balloon tether 641, and the balloon tether 641 on the balloon tether winch 64 is used to adjust the position of the balloon during inflation and deployment preparations

As shown in fig. 8 and 9, the air bag 12 is inflated by the air bag inflating unit 70, the measurement and control unit 3 is electrically connected with an inflation controller 99 of the air bag inflating unit 70, the air bag inflating unit 70 is further provided with a third sensor 91, an output end of the third sensor 91 is communicatively connected with a receiving end of the inflation controller 99, as shown in fig. 9 and 2, the third sensor 91 is used for sending pressure, volume or mass data of the filled air in the air source 83 to the measurement and control computer 72 of the measurement and control unit 3 through the inflation controller 99. Specifically, the airbag inflation unit 70 includes a pressure gauge 79, a solenoid valve 80, a third sensor 91, and an inflation tube. The pressure gauge 79, the solenoid valve 80 and the third sensor 91 are powered by a third power supply module 95. The measurement and control unit 3 controls the on-off of the electromagnetic valve 80 on the air inflation pipeline by giving an instruction to the air inflation controller 99, and the third sensor 91 can accurately measure the volume or mass value of the buoyancy gas flowing through the air inflation pipeline, and the third sensor 91 can send the pressure in the gas source 83 and the filled gas volume or mass data to the measurement and control computer 72 of the measurement and control unit 3.

As shown in fig. 23, the balloon release system 100 of the present embodiment is an important component of the near space balloon release system of the present embodiment for performing near space balloon release, and the controller 68 is a control center and a hub of the entire balloon release system, and the remote control computer is connected to the controller 68 in a wireless or wired manner, and controls the actions of each actuating mechanism through the controller 68. Under the instruction of a remote measurement and control computer, the shell driving device 62 can be controlled to synchronously act through the controller 68, the rotation of the air bag mooring winch 64 and the load mooring winch 65 can be controlled, the retraction or length adjustment of the air bag mooring rope 641 and the load mooring rope 651 can be respectively realized, the steerable chassis 66 can be driven to work, and the rapid adjustment of the direction and the position of the dispensing device 60 can be realized. The balloon release system 100 includes a controller 68 and a plurality of sets of separation and release devices, each powered by a fourth power module 101. Wherein the load uncoupling device 69, the top cover separation device 211 and the air bag separation device 97 are all in communication connection with the controller 68 in a wireless manner, and the air bag mooring winch 64, the load mooring winch 65 and the barrel separation device 223 are respectively and electrically connected with the controller 68 through an electric driver 102 matched with the air bag mooring winch 64, the load mooring winch 65 and the barrel separation device. Further, the balloon release system 100 adopts a closed-loop control manner for the load releasing device 69, the barrel separating device 223, the air bag mooring winch 64 and the load mooring winch 65, that is, the working states and technical parameters of the load releasing device 69, the barrel separating device 223, the air bag mooring winch 64 and the load mooring winch 65 can be obtained in real time through the balloon release system 100.

Method for dispensing balloons using a near-space balloon-dispensing control system according to any one of claims 1 to 7

As shown in fig. 24, 25 and 26, the method for delivering a balloon using the near space balloon delivery control system of the present embodiment includes the steps of:

first, the configuration, electrical installation and communication interfacing of the dispensing device 60 with the near space balloon device 10 is developed and completed upon completion of the status check and test of the near space balloon device.

As shown in fig. 2, the self-checking operation after the power-on of the measurement and control unit 3 is performed, and the operation state checking and testing of the measurement and control computer 72 and the load computer 74 are completed. The working states of the first sensor 2, the air bag inflating unit 70 and the controller 68 are remotely tested through the test control computer 72 of the test control unit 3, the communication, the functions and the actions among the parts of the balloon release control system are detected to be in a normal state, and the instruction is issued through the load computer 74 to test that the working load 34 is in a normal working state.

As shown in fig. 2, 3, 5 and 6, the measurement and control computer 72 obtains the meteorological data of the test field collected by the first sensor 2 and the position and orientation information of the working platform 61 by the second sensor 91, and after analysis, issues a command to the controller 68 to program the movement and orientation adjustment of the rotating chassis 66.

Specifically, the adjustment method of the rotary chassis 66 according to the present embodiment is as follows:

in the first step, when the dispensing device 60 is viewed from above, the north direction is taken as 0 ° angle, the axis of the dispensing channel 619 is taken as the direction of the dispensing channel 619, the axis and the 0 ° angle are determined to be the clockwise direction, and the second sensor 82 obtains the direction angle α of the dispensing channel 619 and sends α to the measurement and control computer 72.

And step two, the first sensor 2 sends the collected wind speed v and a wind direction angle beta to the processor 1, wherein the wind direction angle beta is 0 degree in the north direction, and the wind direction and the 0 degree angle are determined in the clockwise direction.

And thirdly, the measurement and control computer 72 processes the data in the first step and the second step and sends a rotating speed instruction and/or a rotating driving instruction to the driving element of the rotating chassis 66.

The rotation speed command comprises a slow rotation speed command and a fast rotation speed command, wherein the rotation speed of the slow rotation speed command is s1=e° and-min=30°/minThe rapid steering command rotational speed is s2=f°min=15°/minThe method comprises the steps of carrying out a first treatment on the surface of the Every other time the processor 1tCalculating the average value of the primary wind speed vv’And is opposite tov’Judging the value, ifv’＞Pm/s=3m/sThe processor 1 issues a slow steering command to the drive elements of the rotating chassis 66; if it is v’≤Pm/s=3m/sThe processor 1 issues a fast steering command to the drive elements of the rotating chassis 66.

The measurement and control computer 72 controls the operation of the device at intervalstCalculating the average value of the primary wind speed betaβ’The rotation driving instruction adopts alpha,β’Numerical comparison and calculationβ’Absolute deviation from alphaX=|α-β’I, set the threshold q1=180°, q2=10°, letXComparing with threshold values Q1, Q2:

if it isXMore than 180 DEG, the measurement and control computer 72 sends a rotation driving instruction to the controller 68, and the controller 68 receives the instruction and then controls the driving element of the rotation chassis 66 to start, so that the direction angle alpha of the distribution channel 619 is opposite to the direction of the wind of the test fieldβ’The angular deviation reducing direction rotates and adjusts the angleY=360°-X。

If 180 degrees is more than or equal toXMore than 10 DEG, the measurement and control computer 72 sends a rotation driving instruction to the controller 68, the controller 68 receives the instruction to control the driving element of the rotation chassis 66 to start, and the angle is adjustedY=X。

If it isXAnd less than or equal to 10 degrees, the measurement and control computer 72 does not send out a rotation driving instruction.

Further, to avoid disturbance of test field wind field changes during adjustment of the rotating chassis 66 over a short period of time, the test field wind field data obtained by the controller 68 from the test control computer 72 is for a period of timetAverage wind speed in v’And wind directionβ’This istThe value can be set in the measurement and control computer 72, typically 10min~30minPreferably set to 20min。

And step four, the driving element of the rotary chassis 66 drives the rotary chassis 66 to move after receiving the instruction of the controller 68, so that the dispensing passage 619 faces downwind.

Next, when the weather parameters of the test field meet the conditions for issuing the near space balloon, a control command is issued to the controller 68 by the measurement and control computer 72, and the top cover separating device 211 is started to separate the top cover from the launching tube, as shown in fig. 12, the upper end part of the air bag 12 of the near space balloon is exposed to the atmosphere from the inside of the launching tube.

As shown in fig. 9 and 16, the operator completes the structural interface of the airbag inflation unit 70 with the airbag 12, the airbag tether 641, and the airbag tether winch. The buoyancy gas supply source 83 is turned on. The measurement and control computer 72 issues an air bag inflation instruction, the inflation controller 99 controls the electromagnetic valve 80 to open, the third sensor 91 collects the gas inflation amount in real time, and the inflation controller 99 synchronously sends the gas volume or the gas quality value collected from the third sensor 91 to the measurement and control computer 72.

Specifically, after the volume value of the filled gas output by the third sensor 91 reaches the first preset value of the measurement and control computer 72, the measurement and control computer 72 sends a start command to the driving element of the barrel separation device 223. As shown in fig. 19, the housing is separated and the near space balloon is detached from the storage and transportation drum 20, and the balloon tether winch 64 and the load tether winch 65 stably suspend the near space balloon above the work platform 61 under the control of the measurement and control computer 72. When the volume value of the filled gas output by the third sensor 91 reaches the second level preset value of the processor 1, the electromagnetic valve 80 is automatically disconnected under the control of the measurement and control computer 72. Finally, with the assistance of the operator, the inflation structure between the airbag inflation unit 70 and the airbag 12 is quickly separated, completing the airbag inflation.

Finally, the control computer 72 issues control commands to the balloon release system 100, and the controller 68 controls the balloon tether winch 64 to release the balloon tether 641, so that the balloon 12 and the parachute 14 are gradually and slowly stretched out of the barrel 22 under the buoyancy of the balloon 12. Further, retraction of the airbag tether 641 is achieved by controlling the operation of the airbag tether winch 64. As shown in fig. 19, the height adjustment of the airbag 12 is achieved.

The controller 68 controls the operation of the envelope tether winch 64 to release the envelope tether 641 and the adjacent space balloon is fully straightened. The operator further controls the load mooring winch 65 to tighten the working load 34 through the measurement and control computer 72, and triggers the load unbinding device 69 to act, so that unbinding of the working load 34 is completed. As shown in fig. 20, the work load is separated from the work platform. The controlled load mooring winch 65 smoothly releases the work load 34, allowing the work load 34 to be released from the release passage 619 until the work load 34 is at a height from the ground that meets the release requirements, i.e., the near space balloon is in a pre-release state.

Immediately when the near-space balloon freely rises to a certain height, the controller 68 sends out a remote control signal to control the airbag separation device 97 to further act, and the second cutter 88 is triggered to cut off the airbag restraint belt, so that the airbag restraint 122 falls off from the airbag 12, and the airbag 12 is freely released. As shown in fig. 21, the near space balloon is now successfully flown.

It will be understood that the application has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the application. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the application without departing from the essential scope thereof. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.

Claims

1. A near space balloon release control system is characterized by comprising a processor (1), a release device (60) and a first sensor (2) for acquiring wind speed and wind direction data, wherein the first sensor (2) is electrically connected with the processor (1), and the processor (1) is electrically connected with a driving element of the release device (60);

the upper portion of dispensing device (60) is work platform (61), be equipped with first through-hole (618) on work platform (61), one side of work platform (61) is equipped with dispensing channel (619), dispensing channel (619) and first through-hole (618) intercommunication, the bottom of dispensing device (60) is equipped with and is used for adjusting rotating chassis (66) of dispensing channel (619) orientation, processor (1) with the driving element electricity of rotating chassis (66) is connected.

2. The near space balloon issuance control system according to claim 1, wherein the issuance device (60) is provided with a second sensor (82) for acquiring the orientation angle of the issuance passageway (619), the second sensor (82) being electrically connected to the processor (1).

3. The near space balloon release control system according to claim 1, wherein an airbag mooring winch (64) and a load mooring winch (65) are arranged on the upper end surface of the working platform (61), an airbag mooring rope (641) for connecting with an airbag (12) is arranged on the airbag mooring winch (64), a load mooring rope (651) for connecting with a working load (34) is arranged on the load mooring winch (65), and driving elements of the airbag mooring winch (64) and the load mooring winch (65) are electrically connected with the first controller (68).

4. The near space balloon release control system according to claim 1, wherein a placing space for a near space balloon working load is arranged below the first through hole (618), a load releasing device (69) for limiting the movement of the working load (34) is arranged at the first through hole (618), the processor (1) is electrically connected with a driving element of the load releasing device (69), and the driving element of the load releasing device (69) is used for driving the opening and closing of the load releasing device (69).

5. A proximal balloon distribution control system according to any one of claims 1 to 4, further comprising a proximal balloon inflating system comprising a proximal balloon apparatus (10) mounted on an upper end surface of the work platform (61), and an air bag inflating unit (70) for inflating the proximal balloon apparatus (10), the processor (1) being electrically connected to driving elements of the proximal balloon apparatus (10) and the air bag inflating unit (70), respectively;

the near space balloon device (10) is arranged above the first through hole (618), the near space balloon device (10) comprises a storage and transportation cylinder (20) and a near space balloon arranged in the storage and transportation cylinder (20), a working load (34) is hung at the lower end of the near space balloon, and the working load (34) is arranged below the first through hole (618);

the barrel (22) of the storage and transportation barrel (20) consists of at least two shells with mutually butted edges, wherein the shells are detachably connected through a plurality of groups of barrel separating devices (223), the processor (1) is electrically connected with driving elements of the barrel separating devices (223), and the barrel separating devices (223) are used for separating the shells.

6. The near space balloon release control system according to claim 5, wherein a third sensor (91) for acquiring filled gas volume data is further provided on the envelope inflation unit (70), the third sensor (91) being electrically connected to the processor (1).

7. The near space balloon issuing control system according to claim 5, characterized in that the upper end surface of the working platform (61) is provided with an auxiliary separating means (62) for cooperation with the housing, and the processor (1) is electrically connected to the driving element of the auxiliary separating means (62).

8. A method of dispensing a balloon using the near space balloon dispensing control system of any of claims 1 to 7, comprising the steps of:

step one, the processor (1) obtains an orientation angle alpha of a dispensing channel (619); the angle alpha is determined by the clockwise included angle between the axis of the dispensing channel (619) and the north direction;

step two, the processor (1) obtains the wind speed v and the wind direction angle beta acquired by the first sensor (2), wherein the wind direction angle beta is determined by the clockwise included angle between the north direction and the wind direction;

Step three, the processor (1) sends out a rotation driving instruction to a driving element of the rotation chassis (66);

the processor (1) is arranged at intervalstCalculating the average value of the primary wind speed betaβ’Setting threshold values Q1 and Q2, and calculatingβ’Absolute deviation from alphaX=|α-β’Absolute value by deviationXComparing with the threshold value:

if it isX> Q1, the processor (1) sends a rotary drive command to the drive element of the rotary chassis (66) to orient the dispensing passage (619) at an angle alpha to the test field wind directionβ’The angular deviation reducing direction rotates and adjusts the angleY=360°-X；

If Q1.gtoreqX> Q2, the processor (1) issues rotational drive commands to the drive elements of the rotating chassis (66) and adjusts the angleY=X；

If it isXQ2 is not more than, and the processor (1) does not send out a rotation driving instruction;

step four, the driving element of the rotary chassis (66) drives the rotary chassis (66) to perform corresponding actions after receiving the instruction of the processor (1);

and fifthly, the processor (1) sends an instruction to a driving element of the dispensing device (60) to release the adjacent space balloon.

9. According to claim 8The control method is characterized in that in the third step, the processor (1) further sends a rotation speed command to a driving element of the rotary chassis (66), wherein the rotation speed command comprises a slow steering command and a fast steering command, and the rotation speed of the slow steering command is s1=e° minThe rapid steering command rotational speed is s2=f°minThe method comprises the steps of carrying out a first treatment on the surface of the The processor (1) is arranged at intervalstCalculating the average value of the primary wind speed vv’And is opposite tov’Judging the value, ifv’＞P m/s-the processor (1) issues a slow steering command to a driving element of the rotating chassis (66); if it isv’≤P m/sThe processor (1) issues a fast steering command to a drive element of the rotating chassis (66).

10. The control method according to claim 8, further comprising the step of inflating a balloon with a near space balloon inflation system including a near space balloon apparatus (10) mounted on an upper end surface of a work platform (61), and an air bag inflation unit (70) inflating the near space balloon apparatus (10), the processor (1) being electrically connected to driving elements of the near space balloon apparatus (10) and the air bag inflation unit (70), respectively; the near space balloon device (10) is arranged above the first through hole (618), the near space balloon device (10) comprises a storage and transportation cylinder (20) and a near space balloon arranged in the storage and transportation cylinder (20), a working load (34) is hung at the lower end of the near space balloon, and the working load (34) is arranged below the first through hole (618); the barrel (22) of the storage and transportation barrel (20) consists of at least two shells with mutually butted edges, wherein the shells are detachably connected through a plurality of groups of barrel separating devices (223), the processor (1) is electrically connected with driving elements of the barrel separating devices (223), and the barrel separating devices (223) are used for separating the shells;

The balloon inflation step comprises the following steps:

step one, the processor (1) sends an actuating instruction to a driving element of the air bag inflating unit (70), and the air bag inflating unit (70) starts to inflate into the air bag (12);

step two, after the air bag inflating unit (70) has been filled with the gas volume value and reaches the first-level preset value of the processor (1), the processor (1) sends a starting instruction to a driving element of the barrel separating device (223), and the shells are separated;

and thirdly, after the gas volume value filled in the air bag inflating unit (70) reaches a second-level preset value of the processor (1), the processor (1) sends a stop instruction to a driving element of the air bag inflating unit (70), and the air bag inflating unit (70) stops inflating and is disconnected with the air bag (12).