EP4240648A1 - Device and system for releasing, maintaining in flight and recovering a tethered aerostat - Google Patents

Device and system for releasing, maintaining in flight and recovering a tethered aerostat

Info

Publication number
EP4240648A1
EP4240648A1 EP21810679.7A EP21810679A EP4240648A1 EP 4240648 A1 EP4240648 A1 EP 4240648A1 EP 21810679 A EP21810679 A EP 21810679A EP 4240648 A1 EP4240648 A1 EP 4240648A1
Authority
EP
European Patent Office
Prior art keywords
aerostat
cable
platform
sling
winch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21810679.7A
Other languages
German (de)
French (fr)
Inventor
Bernard Dabezies
Laurent GRUCHET
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CNIM Systemes Industriels SAS
Original Assignee
CNIM Systemes Industriels SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CNIM Systemes Industriels SAS filed Critical CNIM Systemes Industriels SAS
Publication of EP4240648A1 publication Critical patent/EP4240648A1/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/66—Mooring attachments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/40—Balloons
    • B64B1/50—Captive balloons
    • B64B1/52—Captive balloons attaching trailing entanglements
    • 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
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
    • B64F1/14—Towers or masts for mooring airships or balloons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft

Definitions

  • TITLE Device and system for releasing, keeping in flight and recovering a captive aerostat
  • the invention falls within the aeronautics sector.
  • the invention is more particularly part of the automatic recovery of a tethered aerostat, or tethered balloon, such aerostats being connected to a platform on the ground by at least one cable called the umbilical cable.
  • Some aerostats are tapered balloons in order to improve their stability and which, by virtue of their shape, are subjected to aerodynamic forces which it is necessary to take into account when recovering the aerostat, and in particular the weathervane effect which causes the rotation of the aerostat around an axis perpendicular to the axis of said aerostat, called the yaw axis.
  • the yaw axis In particular, when recovering the aerostat and in preparation for its mooring in a cradle attached to the platform, it is necessary to ensure that the axis of the balloon is aligned with that of the cradle and the platform.
  • the object of the invention is thus to propose a device and a system for releasing, keeping in flight and automatically recovering an aerostat that are simpler and less expensive to implement.
  • the invention relates to a device for releasing, keeping in flight and recovering a captive aerostat comprising:
  • a platform comprising a fixed part intended to be placed on the ground, a rotatable part which extends along a longitudinal axis and which is connected to the fixed part by rotational drive means, a recovery device called cradle secured to the moving part and provided to receive an aerostat, and at least first and second cable winding devices called first and second winches;
  • control and command means configured to control the rotation drive means and the first and second winches
  • the umbilical cable connected to the first winch and one end of which is provided to be secured to the aerostat, the umbilical cable being adapted to withstand the tension exerted by the aerostat, and
  • a second so-called sling cable divided into at least one mooring portion adapted to withstand the tension exerted by the aerostat and one end of which is provided to be secured to the aerostat, and a connecting portion connected to the second winch, which connecting portion has a linear mass less than or equal to seven grams per meter and a length greater than that of the mooring portion.
  • the device may also include the following optional characteristics considered individually or according to all possible technical combinations:
  • the rotation drive means are motorized and controlled via the control and command means.
  • the rotational drive means comprise an electric motor integral with the fixed part of the platform, at least one mobile pinion adapted to be driven by the motor and a ring gear integral with the mobile part of the platform and cooperating with the pinion, the crown pinion assembly being arranged to allow free rotation of the mobile part of the platform with respect to its fixed part.
  • the first winch comprises at least one drum arranged at a distance from the axis of rotation of the mobile part of the platform.
  • the first winch comprises at least one deflection pulley arranged on the longitudinal axis of the movable part of the platform, which deflection pulley is movable along the longitudinal axis of said movable part
  • the means for driving in rotation comprise at least one means for assisting the rotation of the mobile part of the platform, which means for assisting comprises at least one torque sensor connected to the control and command means and configured to detecting the torque exerted by the umbilical cable against said sensor and for triggering the motor of the rotation drive means as soon as the detected torque exceeds a determined threshold value.
  • the device comprises two traction sensors connected to the control and command means and configured to measure the tractions respectively of the umbilical cable and of the mooring portion of the sling.
  • the umbilical cable and the mooring portion of the sling have a tensile strength greater than or equal to 11.5 tons.
  • the invention also relates to a system for releasing, keeping in flight and automatically recovering a captive aerostat comprising:
  • a platform comprising a fixed part intended to be placed on the ground, a rotating mobile part connected to the fixed part by rotational drive means, a recovery device called a cradle secured to the mobile part and intended to receive the aerostat, and at least first and second cable winding devices called first and second winches;
  • control and command means configured to control the rotation drive means and the first and second winches
  • the umbilical cable connected to the first winch and one end of which is integral with the aerostat, the umbilical cable being adapted to withstand the tension exerted by the aerostat, and
  • a second so-called sling cable divided into at least one mooring portion suitable for supporting the tension exerted by the aerostat and one end of which is secured to the aerostat, the respective ends of the umbilical cable and of the mooring portion of the sling being aligned along an axis of the captive balloon, and a connecting portion connected to the second winch, which connecting portion has a linear mass less than or equal to seven grams per meter and a length greater than that of the portion mooring.
  • the system may also include the following optional characteristics considered separately or according to all possible technical combinations:
  • the sling is attached to the nose of the aerostat, which aerostat has a tapered shape.
  • the system comprises two traction sensors configured to measure the tractions respectively of the umbilical cable and of the mooring portion of the sling.
  • Figure 1 shows the system for releasing, keeping in flight and recovering a captive aerostat according to the invention, which aerostat is connected to a platform by an umbilical cable and a sling;
  • Figure 2 shows the different phases of flight and mooring of the captive aerostat to the platform of the system of the invention
  • FIG 3a Figure 3a shows the system of Figure 1 with a first winch in a first position
  • Figure 3b shows the system of Figure 1 with the first winch in a second position
  • Figure 4a shows a sling of the invention according to a first variant
  • Figure 4b shows a sling of the invention according to a second variant
  • Figure 4c shows a sling of the invention according to a third variant
  • Figure 5 shows a torque sensor exerted by the umbilical cable connecting the aerostat to the platform.
  • the invention relates to a device 1 for releasing, keeping in flight, recovering and mooring a tethered aerostat 2 called tethered balloon in the following description.
  • the assembly comprising this device 1 and the tethered aerostat 2 forms a system for releasing, keeping in flight, recovering and mooring according to the invention.
  • the tethered balloon 2 is of known type and has an inflatable flexible envelope with a gas lighter than air, in particular helium. This balloon 2 is advantageously tapered in shape to limit aerodynamic forces.
  • the balloon 2 is oriented according to the direction of the wind 18.
  • the captive balloon 2 comprises a plurality of onboard measurement devices such as cameras, radars, various probes, these onboard devices being arranged in frames (not shown ) attached to the envelope.
  • the balloon 2 being captive, it is constantly connected to a platform 3 on the ground forming part of the device 1 of the invention.
  • the platform 3 comprises a fixed part 4 placed on the ground and a rotatable part 5 about an axis Y and which extends along a longitudinal axis X perpendicular to the axis of Y rotation.
  • the Y axis is oriented vertically.
  • the fixed part 3 is equipped with a frame 19 allowing the transport of equipment, as well as wheels 20 allowing it to be moved by means of a motorized machine, in particular a conventional tractor.
  • the fixed part 4 further comprises wheel locking means 20 to ensure the immobility of the fixed part 4 with respect to the ground, and retractable feet.
  • the movable part 5, called terminal in the following description, comprises a rotatable movable frame 21 rotatably mounted on the frame 19 of the fixed part 4, and is equipped with a cradle 7 for receiving the captive balloon 2 with a view to its mooring to the platform 3, which cradle 7 is arranged on a structure 6 fixed to the mobile frame 21.
  • the platform 3 also comprises a first telescopic arm 22 oriented in a direction parallel to the axis Y, and whose free end part is formed by a front crown 23 for receiving the nose 17 of the captive balloon 2, as shown in Figures 1 and 2.
  • the platform 3 further comprises at least one other and preferably two other telescopic arms (not shown) oriented perpendicular to the Y axis and ensuring the positioning of horizontal mooring lines on the captive balloon 2 housed in the cradle 7.
  • the fixed and mobile parts 4, 5 of the platform 3 are interconnected via an assembly formed by at least one pinion connected to the fixed part 4 and a crown connected to the frame 21 of the terminal 5 and cooperating with the pinion.
  • the pinion is also connected to a drive motor (not shown) secured to the frame 19 of the fixed part 4 of the platform 3, the pinion, the crown and the motor forming drive means of the terminal 5.
  • the shaft of the motor is free in rotation when it is not supplied with energy to allow the free rotation of the terminal 5 with respect to the fixed part 4.
  • the motor is driven by control and command means installed on the platform 3.
  • any other known rotational drive means can be adapted to the platform 3 without departing from the scope of the invention.
  • the tethered balloon 2 is connected to the platform by a first cable called the umbilical cable 10.
  • This cable is connected near the center of the balloon 2 via a plurality of lines 24, and to the platform 3 by through a first motorized winding means 8, typically a winch comprising at least one drum around which the umbilical cable 10 can wind up or unwind.
  • This umbilical cable 10 is provided to withstand the tensile forces generated by the balloon 2 subjected to the wind 18.
  • the resistance of the umbilical cable 10 is of the order of 10 to 15 tons, preferably around 12 tons, and is in in any event sufficient to prevent it from breaking when subjected to the tensile forces generated by the balloon 2 in flight.
  • the resistance of the umbilical cable 10 is adapted to the size of the captive balloon 2.
  • this umbilical cable 10 is long enough to allow the flight of the captive balloon 2 at great heights, typically greater than 1000 meters.
  • the first winch 8 is connected to the frame 21 of the terminal 5 and comprises a drum ensuring the winding and unwinding of the umbilical cable 10.
  • the first winch 8 comprises a return pulley 80 of the umbilical cable 10, which pulley 80 is movable in translation along the longitudinal axis X, by means of a motorized displacement device, between a first so-called flight position represented in FIG.
  • the pulley 80 is remote from the axis of rotation Y of the terminal 5, and a second so-called mooring position in which the pulley 80 is close to the axis of rotation Y, with the aim of putting the nose 17 of the captive ball 2 in contact contact against the crown front end 23 of the telescopic arm 22 when said tethered balloon 2 is moored to the cradle 7.
  • the return pulley 80 is arranged on the longitudinal axis X of the terminal 5.
  • the platform comprises means for assisting the rotation of the terminal 5 relative to the fixed part 4 of the platform 3.
  • These assistance means comprise a torque sensor 14 for determine the lateral tension exerted by the umbilical cable 10 when the tethered balloon 2 is in flight.
  • lateral tension is meant the force exerted by the umbilical cable 10 in a direction perpendicular to the axis of rotation Y and to the longitudinal axis X. In other words, it is the horizontal force perpendicular to the longitudinal axis X of terminal 5.
  • This torque sensor 14 comprises a frame 25, the planar base of which is integral with the structure 6 of the terminal 5 and is pierced to allow the passage of the umbilical cable 10.
  • the structure 6 also comprises a through hole opposite - screw of the hole 26 of the frame 25 of the torque sensor 14, to allow the passage of the umbilical cable 10 in the direction of the first winch 8.
  • the sensor comprises two rollers 27 spaced apart and parallel to each other, integral with the frame 25 of the sensor 14 and oriented along the longitudinal axis X of the terminal 5.
  • These rollers 27 are the sensitive elements of the torque sensor 14 and are suitable to detect the lateral forces exerted by the umbilical cable 10. They are in fact connected to the control and command means of the device 1 of the invention.
  • Each roller 27 of the torque sensor 14 is configured to continuously measure the lateral force exerted by the umbilical cable 10. In addition, as soon as this lateral force exceeds a predetermined threshold recorded in a memory space of the control and command means, these latter send a signal to the rotation drive motor to control an assisted rotation of the terminal 5 in the direction of application of the lateral force.
  • This assisted rotation of the terminal 5 is intended to align the umbilical cable 10 with the longitudinal axis X of said terminal 5, and thus prevent the captive balloon 2 from shifting too much relative to the platform 3.
  • the platform 3 also includes a second cable 11 called "sling" in the following description.
  • This sling 11 comprises a mooring portion 12 designed to withstand the forces exerted by the captive balloon 2 and the end of which is connected to said balloon 2 at a distance from the umbilical cable 10.
  • the mooring portion 12 is connected to the nose 17 of the tethered balloon 2.
  • This mooring portion 12 has structural characteristics identical to those of the umbilical cable 10, that is to say it has a tensile strength of between 10 and 15 tons, preferably of the order of 12 tons. .
  • the length of this mooring portion 12 is less than 100 meters, preferably between 30 and 40 meters.
  • the sling 11 comprises a second portion called connecting portion 13 connected to the platform 3 via a second motorized winch 9 provided in the frame of the vertical telescopic arm 22, which portion of connection 13 crosses said frame and the front crown 23 of the telescopic arm 22.
  • the sling 11 of the invention is provided to remain secured to the platform 3 and to the tethered balloon 2. Also, the length of the connecting portion 13 must be sufficient to allow the flight of the captive balloon 2, and is typically greater than 1000 meters.
  • the connecting portion 13 of the sling 11 has a much thinner section than the mooring portion 12, and has a mass linear weight less than or equal to 7 grams per meter. It is thus unnecessary to modify the tethered balloon 2 despite the presence of a second cable 11 attached to the platform 3 during the flight phases of the tethered balloon 2.
  • the different phases of the tethered balloon 2 will also be described below in connection with a mooring method according to the invention.
  • connection between the two portions 12, 13 of the sling 11 can be made in different ways. It may simply be a flexible connector 28 (FIG. 4a), an interlacing of the two cable portions 12, 13 forming a splice 29 (FIG. 4b), or even an insertion of the connecting portion 13 in a hollow part formed in the mooring portion 12 (FIG. 4c).
  • the device 1 comprises two traction sensors 15, 16 connected to and controlled by the control and command means, the traction sensors 15, 16 are respectively integrated at the level of the cable umbilical 10 and the mooring portion 12 of the sling 11, and make it possible to measure and control the tension exerted by the captive balloon 2 on the first and second winches 8, 9.
  • the function of these traction sensors 15, 16 will be specified below in connection with the mooring method according to the invention.
  • the device 1 for dropping, keeping in flight, recovering and mooring of the invention comprises the platform 3, the winches 8, 9, the umbilical cable 10, the sling 11, the sensors of traction 15, 16, the torque sensor 14, the drive means in rotation of the terminal 5 and the control and command means.
  • FIG. 2 also represents the different phases occupied by the captive balloon 2 during the implementation of the method.
  • the balloon 2 Prior to the implementation of the method, the balloon 2 is located in zone III of Figure 2, the tethered balloon 2 is said to be in flight phase. It is located at a stationary altitude greater than 1000 meters, and is in position to carry out its planned missions (for example study of the quality of the air) via the on-board devices.
  • the altitude of the captive balloon 2 is known at all times, for example using an altimeter integral with the balloon 2.
  • the control and command means increment a counter at each revolution performed by the drum of the first winch 8 connected to the umbilical cable 10, making it possible to determine the extended length of the umbilical cable 10.
  • the deployed length of the sling 11 is also known, and the control and command means control the two winches 8, 9 so that the winding of the umbilical cable 10 and of the sling 11 is controlled so that they have substantially the same extended lengths, so that the two cables 10, 11 never touch each other.
  • the control and command means control the winding of the sling 11 around the second winch 9 so that the tension of the sling 11, measured by the corresponding traction sensor 16, is always lower or equal to a determined value recorded in the memory space of the control and command means, when the tethered balloon 2 is in flight phase.
  • the force exerted by the sling 11 on the captive balloon is weak enough to prevent the nose 17 of the balloon 2 from tilting towards the ground. In other words, the pulling force of the sling 11 is less than the lift at any point of the captive balloon 2.
  • control and command means control the concomitant winding of the umbilical cable 10 and the connecting portion 13 of the sling 11 around the drums of the two winches 8, 9, by simultaneously actuating said winches 8, 9, to prevent the umbilical cable 10 and the sling 11 from touching and becoming entangled. Nevertheless, as long as the connecting portion 12 wraps around the considered winch 9, the traction force of the sling 11 must remain below the threshold value mentioned above. The tethered balloon 2 gradually descends, which corresponds to zone II represented in figure 2.
  • the latter control the simultaneous stopping of the two winches 8, 9, in order to avoid damaging the winches 8, 9 and/or the aerostat 2, for example in the event of strong gusts of wind.
  • the connecting portion 12 of the sling 11 is completely wound around the known drum of the second winch 9 and the latter begins winding the portion mooring 13 of the sling 11.
  • the altitude of the balloon 2 is then less than 100 meters, and preferably less than 30 or 40 meters.
  • the sling 11 is able to withstand the tensile forces exerted by the captive balloon 2, and the control and command means control the winches 8, 9 so that the mooring portion 12 of the sling 11 is put under tension in the same way as the umbilical cable 10.
  • the control and command means stop the winches 8, 9 and control the movement of the first winch 8 in the direction of the axis of rotation Y of the terminal 5, as shown in the right drawing of Figure 2.
  • This movement, combined with the winding end of the winch 9, has the effect of pressing the nose 17 of the balloon 2 against the front crown 23 of the vertical telescopic arm 22.
  • the second winch 9 stretches the mooring portion 12 of the sling 11 up to a determined tension value, then the control and command means stop the second winch 9.
  • Ground personnel can, if necessary but not compulsory, set up the last mooring lines, without worrying about the stability of the balloon 2 on the cradle 7.
  • the device 1 for releasing, keeping in flight and recovering the captive balloon 2 thus operates automatically and requires the intervention of specialized personnel only once the captive balloon 2 is secured on the cradle 7, to put in place the last mooring lines reinforcing the mooring of the tethered balloon 2 to the cradle 7.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The invention relates mainly to a device and system for automatically releasing, maintaining in flight and recovering a tethered aerostat (2), comprising: • a platform (3) having a rotatably movable part (5), a recovery device (7) for recovering the tethered balloon (2) secured to the movable part (5), and at least first (8) and second (9) winches; • a first cable (10) referred to as umbilical cable connected to the first winch (8) and of which one end is designed to be secured to the aerostat (2), and • a second cable (11) referred to as sling divided into at least one adapted mooring portion (12) of which one end is designed to be secured to the aerostat (2), and a connecting portion (13) connected to the second winch (9), said connecting portion (13) having a linear mass less than or equal to seven grams per metre and a length greater than that of the mooring portion (12).

Description

DESCRIPTION DESCRIPTION
TITRE : Dispositif et système de largage, de maintien en vol et de récupération d’un aérostat captif TITLE: Device and system for releasing, keeping in flight and recovering a captive aerostat
[0001] L'invention s’inscrit dans le secteur de l’aéronautique. The invention falls within the aeronautics sector.
[0002] L’invention s’inscrit plus particulièrement dans le cadre de la récupération automatique d’aérostat captif, ou ballon captif, de telles aérostats étant reliés à une plateforme au sol par au moins un câble dit câble ombilical. The invention is more particularly part of the automatic recovery of a tethered aerostat, or tethered balloon, such aerostats being connected to a platform on the ground by at least one cable called the umbilical cable.
[0003] Ces aérostats sont maintenus à une altitude contrôlée par l’aérostier, pour des applications diverses allant de l’attraction touristique à la station de mesure météorologique et de la qualité de l’air. [0003] These aerostats are maintained at an altitude controlled by the balloonist, for various applications ranging from tourist attraction to meteorological and air quality measuring station.
[0004] Certains aérostats sont des ballons fuselés afin d’améliorer leur stabilité et qui, de par leur forme, sont soumis à des forces aérodynamiques qu’il est nécessaire de prendre en compte lors de la récupération de l’aérostat, et en particulier l’effet girouette qui provoque la rotation de l’aérostat autour d’un axe perpendiculaire à l’axe dudit aérostat, nommé axe de lacet. En particulier, lors de la récupération de l’aérostat et en prévision de son amarrage dans un berceau solidaire de la plateforme, il est nécessaire de s’assurer que l’axe du ballon est aligné avec celui du berceau et de la plateforme. [0004] Some aerostats are tapered balloons in order to improve their stability and which, by virtue of their shape, are subjected to aerodynamic forces which it is necessary to take into account when recovering the aerostat, and in particular the weathervane effect which causes the rotation of the aerostat around an axis perpendicular to the axis of said aerostat, called the yaw axis. In particular, when recovering the aerostat and in preparation for its mooring in a cradle attached to the platform, it is necessary to ensure that the axis of the balloon is aligned with that of the cradle and the platform.
[0005] Cependant, l’opération d’alignement de l’aérostat lors de son amarrage nécessite l’intervention de plusieurs personnes, chacune gérant une amarre solidaire de l’aérostat et prévue pour l’amarrer à la plateforme. Cette opération est donc coûteuse en temps et en personnel. [0005] However, the alignment operation of the aerostat during its mooring requires the intervention of several people, each managing a mooring line integral with the aerostat and provided for mooring it to the platform. This operation is therefore costly in terms of time and personnel.
[0006] L’invention a ainsi pour objet de proposer un dispositif et un système de largage, de maintien en vol et de récupération automatique d’un aérostat plus simples et moins coûteux à mettre en œuvre. [0006] The object of the invention is thus to propose a device and a system for releasing, keeping in flight and automatically recovering an aerostat that are simpler and less expensive to implement.
[0007] À cet effet, l’invention vise un dispositif de largage, de maintien en vol et de récupération d’un aérostat captif comprenant : To this end, the invention relates to a device for releasing, keeping in flight and recovering a captive aerostat comprising:
• une plateforme comportant une partie fixe prévue pour être posée au sol, une partie mobile à rotation qui s’étend selon un axe longitudinal et qui est reliée à la partie fixe par des moyens d’entrainement en rotation, un dispositif de récupération dit berceau solidaire de la partie mobile et prévu pour réceptionner un aérostat, et au moins des premier et second dispositifs d’enroulement de câbles dits premier et second treuils ; • a platform comprising a fixed part intended to be placed on the ground, a rotatable part which extends along a longitudinal axis and which is connected to the fixed part by rotational drive means, a recovery device called cradle secured to the moving part and provided to receive an aerostat, and at least first and second cable winding devices called first and second winches;
• des moyens de contrôle et de commande configurés pour piloter les moyens d’entrainement à rotation et les premier et second treuils ; • control and command means configured to control the rotation drive means and the first and second winches;
• un premier câble dit câble ombilical relié au premier treuil et dont une extrémité est prévue pour être solidaire de l’aérostat, le câble ombilical étant adapté pour supporter la tension exercée par l’aérostat, et • a first cable called the umbilical cable connected to the first winch and one end of which is provided to be secured to the aerostat, the umbilical cable being adapted to withstand the tension exerted by the aerostat, and
• un second câble dit élingue divisé en au moins une portion d’amarrage adaptée pour supporter la tension exercée par l’aérostat et dont une extrémité est prévue pour être solidaire de l’aérostat, et une portion de liaison reliée au second treuil, laquelle portion de liaison présente une masse linéique inférieure ou égale à sept grammes par mètres et une longueur supérieure à celle de la portion d’amarrage. • a second so-called sling cable divided into at least one mooring portion adapted to withstand the tension exerted by the aerostat and one end of which is provided to be secured to the aerostat, and a connecting portion connected to the second winch, which connecting portion has a linear mass less than or equal to seven grams per meter and a length greater than that of the mooring portion.
[0008] Le dispositif peut également comporter les caractéristiques optionnelles suivantes considérées isolément ou selon toutes les combinaisons techniques possibles : [0008] The device may also include the following optional characteristics considered individually or according to all possible technical combinations:
- Les moyens d’entrainement en rotation sont motorisés et pilotés via les moyens de contrôle et de commande. - The rotation drive means are motorized and controlled via the control and command means.
- Les moyens d’entrainement en rotation comprennent un moteur électrique solidaire de la partie fixe de la plateforme, au moins un pignon mobile adapté pour être entrainé par le moteur et une couronne solidaire de la partie mobile de la plateforme et coopérant avec le pignon, l’ensemble pignon couronne étant agencé pour permettre une rotation libre de la partie mobile de la plateforme par rapport à sa partie fixe.- The rotational drive means comprise an electric motor integral with the fixed part of the platform, at least one mobile pinion adapted to be driven by the motor and a ring gear integral with the mobile part of the platform and cooperating with the pinion, the crown pinion assembly being arranged to allow free rotation of the mobile part of the platform with respect to its fixed part.
- Le premier treuil comprend au moins un tambour disposé à distance de l’axe de rotation de la partie mobile de la plateforme. - The first winch comprises at least one drum arranged at a distance from the axis of rotation of the mobile part of the platform.
- Le premier treuil comprend au moins une poulie de renvoi disposée sur l’axe longitudinal de la partie mobile de la plateforme, laquelle poulie de renvoi est mobile selon l’axe longitudinal de ladite partie mobile - The first winch comprises at least one deflection pulley arranged on the longitudinal axis of the movable part of the platform, which deflection pulley is movable along the longitudinal axis of said movable part
- Les moyens d’entrainement en rotation comprennent au moins un moyen d’assistance de la rotation de la partie mobile de la plateforme, lequel moyen d’assistance comprend au moins un capteur de couple relié aux moyens de contrôle et de commande et configuré pour détecter le couple exercé par le câble ombilical contre ledit capteur et pour déclencher le moteur des moyens d’entrainement en rotation dès que le couple détecté dépasse une valeur seuil déterminée. - Le dispositif comprend deux capteurs de traction reliés aux moyens de contrôle et de commande et configurés pour mesurer les tractions respectivement du câble ombilical et de la portion d’amarrage de l’élingue. - The means for driving in rotation comprise at least one means for assisting the rotation of the mobile part of the platform, which means for assisting comprises at least one torque sensor connected to the control and command means and configured to detecting the torque exerted by the umbilical cable against said sensor and for triggering the motor of the rotation drive means as soon as the detected torque exceeds a determined threshold value. - The device comprises two traction sensors connected to the control and command means and configured to measure the tractions respectively of the umbilical cable and of the mooring portion of the sling.
- Le câble ombilical et la portion d’amarrage de l’élingue présentent une résistance à la traction supérieure ou égale à 11 ,5 tonnes. - The umbilical cable and the mooring portion of the sling have a tensile strength greater than or equal to 11.5 tons.
[0009] L’invention vise également un système de largage, de maintien en vol et de récupération automatique d’un aérostat captif comprenant : [0009] The invention also relates to a system for releasing, keeping in flight and automatically recovering a captive aerostat comprising:
• un aérostat ; • an aerostat;
• une plateforme comportant une partie fixe prévue pour être posée au sol, une partie mobile à rotation reliée à la partie fixe par des moyens d’entrainement en rotation, un dispositif de récupération dit berceau solidaire de la partie mobile et prévu pour réceptionner l’aérostat, et au moins des premier et second dispositifs d’enroulement de câbles dits premier et second treuils ; • a platform comprising a fixed part intended to be placed on the ground, a rotating mobile part connected to the fixed part by rotational drive means, a recovery device called a cradle secured to the mobile part and intended to receive the aerostat, and at least first and second cable winding devices called first and second winches;
• des moyens de contrôle et de commande configurés pour piloter les moyens d’entrainement à rotation et les premier et second treuils ; • control and command means configured to control the rotation drive means and the first and second winches;
• un premier câble dit câble ombilical relié au premier treuil et dont une extrémité est solidaire de l’aérostat, le câble ombilical étant adapté pour supporter la tension exercée par l’aérostat, et • a first cable called the umbilical cable connected to the first winch and one end of which is integral with the aerostat, the umbilical cable being adapted to withstand the tension exerted by the aerostat, and
• un second câble dit élingue divisé en au moins une portion d’amarrage adaptée pour supporter la tension exercée par l’aérostat et dont une extrémité est solidaire de l’aérostat, les extrémités respectives du câble ombilical et de la portion d’amarrage de l’élingue étant alignées le long d’un axe du ballon captif, et une portion de liaison reliée au second treuil, laquelle portion de liaison présente une masse linéique inférieure ou égale à sept grammes par mètres et une longueur supérieure à celle de la portion d’amarrage. • a second so-called sling cable divided into at least one mooring portion suitable for supporting the tension exerted by the aerostat and one end of which is secured to the aerostat, the respective ends of the umbilical cable and of the mooring portion of the sling being aligned along an axis of the captive balloon, and a connecting portion connected to the second winch, which connecting portion has a linear mass less than or equal to seven grams per meter and a length greater than that of the portion mooring.
[0010] Le système peut également comporter les caractéristiques optionnelles suivantes considérées isolément ou selon toutes les combinaisons techniques possibles : [0010] The system may also include the following optional characteristics considered separately or according to all possible technical combinations:
L’élingue est solidaire du nez de l’aérostat, lequel aérostat présente une forme fuselée. The sling is attached to the nose of the aerostat, which aerostat has a tapered shape.
Le système comprend deux capteurs de tractions configurés pour mesurer les tractions respectivement du câble ombilical et de la portion d’amarrage de l’élingue. [0011 ] D’autres caractéristiques et avantages de l’invention ressortiront clairement de la description qui en est donnée ci-dessous, à titre indicatif et nullement limitatif, en référence aux figures annexées : The system comprises two traction sensors configured to measure the tractions respectively of the umbilical cable and of the mooring portion of the sling. [0011] Other characteristics and advantages of the invention will emerge clearly from the description which is given below, by way of indication and in no way limiting, with reference to the appended figures:
[0012] [Fig 1] la figure 1 représente le système de largage, de maintien en vol et de récupération d’un aérostat captif selon l’invention, lequel aérostat est relié à une plateforme par un câble ombilical et une élingue ; [0012] [Fig 1] Figure 1 shows the system for releasing, keeping in flight and recovering a captive aerostat according to the invention, which aerostat is connected to a platform by an umbilical cable and a sling;
[0013] [Fig 2] la figure 2 représente les différentes phases de vol et d’amarrage de l’aérostat captif à la plateforme du système de l’invention ; [0013] [Fig 2] Figure 2 shows the different phases of flight and mooring of the captive aerostat to the platform of the system of the invention;
[0014] [Fig 3a] la figure 3a représente le système de la figure 1 avec un premier treuil dans une première position ; [0014] [Fig 3a] Figure 3a shows the system of Figure 1 with a first winch in a first position;
[0015] [Fig 3b] la figure 3b représente le système de la figure 1 avec le premier treuil dans une seconde position ; [0015] [Fig 3b] Figure 3b shows the system of Figure 1 with the first winch in a second position;
[0016] [Fig 4a] la figure 4a représente une élingue de l’invention selon une première variante ; [0016] [Fig 4a] Figure 4a shows a sling of the invention according to a first variant;
[0017] [Fig 4b] la figure 4b représente une élingue de l’invention selon une seconde variante ; [0017] [Fig 4b] Figure 4b shows a sling of the invention according to a second variant;
[0018] [Fig 4c] la figure 4c représente une élingue de l’invention selon une troisième variante ; [0018] [Fig 4c] Figure 4c shows a sling of the invention according to a third variant;
[0019] [Fig 5] la figure 5 représente un capteur de couple exercée par le câble ombilical reliant l’aérostat à la plateforme. [0019] [Fig 5] Figure 5 shows a torque sensor exerted by the umbilical cable connecting the aerostat to the platform.
[0020] Il est tout d’abord précisé que sur les figures, les mêmes références désignent les mêmes éléments quelle que soit la figure sur laquelle elles apparaissent et quelle que soit la forme de représentation de ces éléments. De même, si des éléments ne sont pas spécifiquement référencés sur l’une des figures, leurs références peuvent être aisément retrouvées en se reportant à une autre figure. It is first specified that in the figures, the same references designate the same elements regardless of the figure in which they appear and regardless of the form of representation of these elements. Similarly, if elements are not specifically referenced in one of the figures, their references can easily be found by referring to another figure.
[0021] Il est également précisé que les figures représentent essentiellement un mode de réalisation de l’objet de l’invention mais qu’il peut exister d’autres modes de réalisation qui répondent à la définition de l’invention. It is also specified that the figures essentially represent one embodiment of the subject of the invention but that there may be other embodiments which meet the definition of the invention.
[0022] En référence aux figures 1 à 3b, l’invention concerne un dispositif 1 de largage, de maintien en vol, de récupération et d’amarrage d’un aérostat captif 2 nommé ballon captif dans la suite de la description. L’ensemble comprenant ce dispositif 1 et l’aérostat captif 2 forme un système de largage, de maintien en vol, de récupération et d’amarrage selon l’invention. [0023] Le ballon captif 2 est de type connu et présente une enveloppe souple gonflable avec un gaz plus léger que l’air, en particulier de l’hélium. Ce ballon 2 est avantageusement de forme fuselée pour limiter les efforts aérodynamiques. En outre, le ballon 2 s’oriente selon le sens du vent 18. Le ballon captif 2 comprend une pluralité de dispositifs de mesure embarqués tels que des caméras, des radars, diverses sondes, ces dispositifs embarqués étant disposés dans des châssis (non représentés) solidaires de l’enveloppe. Referring to Figures 1 to 3b, the invention relates to a device 1 for releasing, keeping in flight, recovering and mooring a tethered aerostat 2 called tethered balloon in the following description. The assembly comprising this device 1 and the tethered aerostat 2 forms a system for releasing, keeping in flight, recovering and mooring according to the invention. The tethered balloon 2 is of known type and has an inflatable flexible envelope with a gas lighter than air, in particular helium. This balloon 2 is advantageously tapered in shape to limit aerodynamic forces. In addition, the balloon 2 is oriented according to the direction of the wind 18. The captive balloon 2 comprises a plurality of onboard measurement devices such as cameras, radars, various probes, these onboard devices being arranged in frames (not shown ) attached to the envelope.
[0024] Le ballon 2 étant captif, il est constamment relié à une plateforme 3 au sol faisant partie du dispositif 1 de l’invention. The balloon 2 being captive, it is constantly connected to a platform 3 on the ground forming part of the device 1 of the invention.
[0025] En référence à la figure 1 , la plateforme 3 comprend une partie fixe 4 posée sur le sol et une partie mobile à rotation 5 autour d’un axe Y et qui s’étend selon un axe longitudinal X perpendiculaire à l’axe de rotation Y. Typiquement, l’axe Y est orienté verticalement. [0025] Referring to Figure 1, the platform 3 comprises a fixed part 4 placed on the ground and a rotatable part 5 about an axis Y and which extends along a longitudinal axis X perpendicular to the axis of Y rotation. Typically, the Y axis is oriented vertically.
[0026] La partie fixe 3 est équipée d’un châssis 19 permettant le transport de matériel, ainsi que de roues 20 lui permettant d’être déplacée par l’intermédiaire d’un engin motorisé, notamment un tracteur conventionnel. La partie fixe 4 comprend en outre des moyens de blocage des roues 20 pour assurer l’immobilité de la partie fixe 4 par rapport au sol, et des pieds rétractables. The fixed part 3 is equipped with a frame 19 allowing the transport of equipment, as well as wheels 20 allowing it to be moved by means of a motorized machine, in particular a conventional tractor. The fixed part 4 further comprises wheel locking means 20 to ensure the immobility of the fixed part 4 with respect to the ground, and retractable feet.
[0027] La partie mobile 5, appelée borne dans la suite de la description, comprend un châssis mobile à rotation 21 monté à rotation sur le châssis 19 de la partie fixe 4, et est équipée d’un berceau 7 de réception du ballon captif 2 en vue de son amarrage à la plateforme 3, lequel berceau 7 est disposé sur une structure 6 solidaire du châssis mobile 21. la plateforme 3 comprend également un premier bras télescopique 22 orienté selon une direction parallèle à l’axe Y, et dont la partie d’extrémité libre est formée par une couronne frontale 23 de réception du nez 17 du ballon captif 2, comme cela est représenté sur les figures 1 et 2. La plateforme 3 comprend en outre au moins un autre et préférentiellement deux autres bras télescopiques (non représentés) orientés perpendiculairement à l’axe Y et assurant le positionnement d’amarres horizontales sur le ballon captif 2 logé dans le au berceau 7. The movable part 5, called terminal in the following description, comprises a rotatable movable frame 21 rotatably mounted on the frame 19 of the fixed part 4, and is equipped with a cradle 7 for receiving the captive balloon 2 with a view to its mooring to the platform 3, which cradle 7 is arranged on a structure 6 fixed to the mobile frame 21. the platform 3 also comprises a first telescopic arm 22 oriented in a direction parallel to the axis Y, and whose free end part is formed by a front crown 23 for receiving the nose 17 of the captive balloon 2, as shown in Figures 1 and 2. The platform 3 further comprises at least one other and preferably two other telescopic arms ( not shown) oriented perpendicular to the Y axis and ensuring the positioning of horizontal mooring lines on the captive balloon 2 housed in the cradle 7.
[0028] Les parties fixe et mobile 4, 5 de la plateforme 3 sont reliées entre elles par l’intermédiaire d’un ensemble formé par au moins un pignon relié à la partie fixe 4 et une couronne reliée au châssis 21 de la borne 5 et coopérant avec le pignon. Le pignon est en outre relié à un moteur d’entrainement (non représenté) solidaire du châssis 19 de la partie fixe 4 de la plateforme 3, le pignon, la couronne et le moteur formant des moyens d’entrainement de la borne 5. De manière particulièrement avantageuse, l’axe du moteur est libre en rotation lorsqu’il n’est pas alimenté en énergie pour permettre la rotation libre de la borne 5 par rapport à la partie fixe 4. Enfin, le moteur est piloté par des moyens de contrôle et de commande installés sur la plateforme 3. Bien entendu, tout autre moyen d’entrainement en rotation connu peut-être adapté à la plateforme 3 sans sortir du cadre de l’invention. The fixed and mobile parts 4, 5 of the platform 3 are interconnected via an assembly formed by at least one pinion connected to the fixed part 4 and a crown connected to the frame 21 of the terminal 5 and cooperating with the pinion. The pinion is also connected to a drive motor (not shown) secured to the frame 19 of the fixed part 4 of the platform 3, the pinion, the crown and the motor forming drive means of the terminal 5. In a particularly advantageous manner, the shaft of the motor is free in rotation when it is not supplied with energy to allow the free rotation of the terminal 5 with respect to the fixed part 4. Finally, the motor is driven by control and command means installed on the platform 3. Of course, any other known rotational drive means can be adapted to the platform 3 without departing from the scope of the invention.
[0029] Le ballon captif 2 est relié à la plateforme par un premier câble dit câble ombilical 10. Ce câble est relié au voisinage du centre du ballon 2 par l’intermédiaire d’une pluralité de suspentes 24, et à la plateforme 3 par l’intermédiaire d’un premier moyen d’enroulement motorisé 8, typiquement un treuil comprenant au moins un tambour autour duquel le câble ombilical 10 peut s’enrouler ou se dérouler. Ce câble ombilical 10 est prévu pour résister aux efforts de traction engendrés par le ballon 2 soumis au vent 18. Typiquement, la résistance du câble ombilical 10 est de l’ordre de 10 à 15 tonnes, préférentiellement autour de 12 tonnes, et est dans tous les cas suffisante pour éviter sa rupture lorsqu’il est soumis aux forces de tension générées par le ballon 2 en vol. Bien entendu, la résistance du câble ombilical 10 est adaptée à la taille du ballon captif 2. Enfin, ce câble ombilical 10 est suffisamment long pour permettre le vol du ballon captif 2 à des hauteurs importantes, typiquement supérieure à 1000 mètres. The tethered balloon 2 is connected to the platform by a first cable called the umbilical cable 10. This cable is connected near the center of the balloon 2 via a plurality of lines 24, and to the platform 3 by through a first motorized winding means 8, typically a winch comprising at least one drum around which the umbilical cable 10 can wind up or unwind. This umbilical cable 10 is provided to withstand the tensile forces generated by the balloon 2 subjected to the wind 18. Typically, the resistance of the umbilical cable 10 is of the order of 10 to 15 tons, preferably around 12 tons, and is in in any event sufficient to prevent it from breaking when subjected to the tensile forces generated by the balloon 2 in flight. Of course, the resistance of the umbilical cable 10 is adapted to the size of the captive balloon 2. Finally, this umbilical cable 10 is long enough to allow the flight of the captive balloon 2 at great heights, typically greater than 1000 meters.
[0030] Le premier treuil 8 est relié au châssis 21 de la borne 5 et comprend un tambour assurant l’enroulement et le déroulement du câble ombilical 10. En outre, le premier treuil 8 comprend une poulie de renvoi 80 du câble ombilical 10, laquelle poulie 80 est mobile en translation selon l’axe longitudinal X, par l’intermédiaire d’un dispositif de déplacement motorisé , entre une première position dite de vol représentée sur la figure 3a dans laquelle la poulie 80 est éloignée de l’axe de rotation Y de la borne 5, et une seconde position dite d’amarrage dans laquelle la poulie 80 est à proximité de l’axe de rotation Y, dans le but de mettre le nez 17 du ballon captif 2 en appui de contact contre la couronne frontale 23 du bras télescopique 22 lorsque ledit ballon captif 2 est amarré au berceau 7. En outre, la poulie de renvoi 80 est disposée sur l’axe longitudinal X de la borne 5. The first winch 8 is connected to the frame 21 of the terminal 5 and comprises a drum ensuring the winding and unwinding of the umbilical cable 10. In addition, the first winch 8 comprises a return pulley 80 of the umbilical cable 10, which pulley 80 is movable in translation along the longitudinal axis X, by means of a motorized displacement device, between a first so-called flight position represented in FIG. 3a in which the pulley 80 is remote from the axis of rotation Y of the terminal 5, and a second so-called mooring position in which the pulley 80 is close to the axis of rotation Y, with the aim of putting the nose 17 of the captive ball 2 in contact contact against the crown front end 23 of the telescopic arm 22 when said tethered balloon 2 is moored to the cradle 7. In addition, the return pulley 80 is arranged on the longitudinal axis X of the terminal 5.
[0031 ] En référence à la figure 5, la plateforme comprend des moyens d’assistance de la rotation de la borne 5 par rapport à la partie fixe 4 de la plateforme 3. Ces moyens d’assistance comprennent un capteur de couple 14 permettant de déterminer la tension latérale exercé par le câble ombilical 10 lorsque le ballon captif 2 est en vol. Par tension latérale, on entend la force exercée par le câble ombilical 10 selon une direction perpendiculaire à l’axe de rotation Y et à l’axe longitudinal X. Autrement dit, il s’agit de la force horizontale perpendiculaire à l’axe longitudinal X de la borne 5. [0031] Referring to Figure 5, the platform comprises means for assisting the rotation of the terminal 5 relative to the fixed part 4 of the platform 3. These assistance means comprise a torque sensor 14 for determine the lateral tension exerted by the umbilical cable 10 when the tethered balloon 2 is in flight. By lateral tension is meant the force exerted by the umbilical cable 10 in a direction perpendicular to the axis of rotation Y and to the longitudinal axis X. In other words, it is the horizontal force perpendicular to the longitudinal axis X of terminal 5.
[0032] Ce capteur de couple 14 comprend un châssis 25 dont la base plane est solidaire de la structure 6 de la borne 5 et est percée pour permettre le passage du câble ombilical 10. La structure 6 comprend également un trou traversant en vis-à-vis du perçage 26 du châssis 25 du capteur de couple 14, pour permettre le passage du câble ombilical 10 en direction du premier treuil 8. [0032] This torque sensor 14 comprises a frame 25, the planar base of which is integral with the structure 6 of the terminal 5 and is pierced to allow the passage of the umbilical cable 10. The structure 6 also comprises a through hole opposite - screw of the hole 26 of the frame 25 of the torque sensor 14, to allow the passage of the umbilical cable 10 in the direction of the first winch 8.
[0033] Le capteur comprend deux rouleaux 27 espacées et parallèles entre eux, solidaires du châssis 25 du capteur 14 et orientés selon l’axe longitudinal X de la borne 5. Ces rouleaux 27 sont les éléments sensibles du capteur de couple 14 et sont aptes à détecter les forces latérales exercées par le câble ombilical 10. Ils sont de fait reliés aux moyens de contrôle et de commande du dispositif 1 de l’invention. Chaque rouleau 27 du capteur de couple 14 est configuré pour mesurer en continu la force latérale exercée par le câble ombilical 10. En outre, dès que cette force latérale dépasse un seuil prédéterminé enregistré dans un espace mémoire des moyens de contrôle et de commande, ces derniers envoient un signal au moteur d’entrainement en rotation pour commander une rotation assistée de la borne 5 dans le sens d’application de la force latérale. The sensor comprises two rollers 27 spaced apart and parallel to each other, integral with the frame 25 of the sensor 14 and oriented along the longitudinal axis X of the terminal 5. These rollers 27 are the sensitive elements of the torque sensor 14 and are suitable to detect the lateral forces exerted by the umbilical cable 10. They are in fact connected to the control and command means of the device 1 of the invention. Each roller 27 of the torque sensor 14 is configured to continuously measure the lateral force exerted by the umbilical cable 10. In addition, as soon as this lateral force exceeds a predetermined threshold recorded in a memory space of the control and command means, these latter send a signal to the rotation drive motor to control an assisted rotation of the terminal 5 in the direction of application of the lateral force.
[0034] Cette rotation assistée de la borne 5 a pour but d’aligner le câble ombilical 10 avec l’axe longitudinal X de ladite borne 5, et ainsi éviter que le ballon captif 2 ne se déporte trop par rapport à la plateforme 3. [0034] This assisted rotation of the terminal 5 is intended to align the umbilical cable 10 with the longitudinal axis X of said terminal 5, and thus prevent the captive balloon 2 from shifting too much relative to the platform 3.
[0035] La plateforme 3 comprend également un second câble 11 nommé « élingue » dans la suite de la description. Cette élingue 11 comprend une portion d’amarrage 12 prévue pour supporter les efforts exercés par le ballon captif 2 et dont l’extrémité est reliée audit ballon 2 à distance du câble ombilical 10. En particulier, la portion d’amarrage 12 est reliée au nez 17 du ballon captif 2. Ainsi et lorsque le ballon captif 2 est en vol, les extrémités libres respectives du câble ombilical 10 et de la portion d’amarrage 12 de l’élingue 11 sont alignés sur l’axe longitudinal du ballon captif 2. Cette portion d’amarrage 12 présente des caractéristiques structurelles identiques à celles du câble ombilical 10, c’est-à-dire qu’elle présente une résistance à la traction comprise entre 10 et 15 tonnes, préférentiellement de l’ordre de 12 tonnes. La longueur de cette portion d’amarrage 12 est inférieure à 100 mètres, préférentiellement comprise entre 30 et 40 mètres. [0036] Selon l’invention, l’élingue 11 comprend une deuxième portion dite portion de liaison 13 reliée à la plateforme 3 par l’intermédiaire d’un second treuil motorisé 9 ménagé dans le châssis du bras télescopique vertical 22, laquelle portion de liaison 13 traverse ledit châssis et la couronne frontale 23 du bras télescopique 22. L’élingue 11 de l’invention est prévue pour rester solidarisée à la plateforme 3 et au ballon captif 2. Aussi, la longueur de la portion de liaison 13 doit être suffisante pour permettre le vol du ballon captif 2, et est typiquement supérieure à 1000 mètres. The platform 3 also includes a second cable 11 called "sling" in the following description. This sling 11 comprises a mooring portion 12 designed to withstand the forces exerted by the captive balloon 2 and the end of which is connected to said balloon 2 at a distance from the umbilical cable 10. In particular, the mooring portion 12 is connected to the nose 17 of the tethered balloon 2. Thus and when the tethered balloon 2 is in flight, the respective free ends of the umbilical cable 10 and of the mooring portion 12 of the sling 11 are aligned on the longitudinal axis of the tethered balloon 2 This mooring portion 12 has structural characteristics identical to those of the umbilical cable 10, that is to say it has a tensile strength of between 10 and 15 tons, preferably of the order of 12 tons. . The length of this mooring portion 12 is less than 100 meters, preferably between 30 and 40 meters. According to the invention, the sling 11 comprises a second portion called connecting portion 13 connected to the platform 3 via a second motorized winch 9 provided in the frame of the vertical telescopic arm 22, which portion of connection 13 crosses said frame and the front crown 23 of the telescopic arm 22. The sling 11 of the invention is provided to remain secured to the platform 3 and to the tethered balloon 2. Also, the length of the connecting portion 13 must be sufficient to allow the flight of the captive balloon 2, and is typically greater than 1000 meters.
[0037] De manière à limiter le poids en vol du ballon 2 et des deux câbles 10, 11 , la portion de liaison 13 de l’élingue 11 est de section beaucoup plus fine que la portion d’amarrage 12, et présente une masse linéique inférieure ou égale à 7 grammes par mètre. Il est ainsi inutile de modifier le ballon captif 2 malgré la présence d’un second câble 11 accroché à la plateforme 3 durant les phases de vol du ballon captif 2. Les différentes phases du ballon captif 2 seront par ailleurs décrites ci-après en lien avec un procédé d’amarrage selon l’invention. [0037] In order to limit the weight in flight of the balloon 2 and of the two cables 10, 11, the connecting portion 13 of the sling 11 has a much thinner section than the mooring portion 12, and has a mass linear weight less than or equal to 7 grams per meter. It is thus unnecessary to modify the tethered balloon 2 despite the presence of a second cable 11 attached to the platform 3 during the flight phases of the tethered balloon 2. The different phases of the tethered balloon 2 will also be described below in connection with a mooring method according to the invention.
[0038] Le raccord entre les deux portions 12, 13 de l’élingue 11 peut être réalisé de différentes manières. Il peut s’agir simplement d’un raccord souple 28 (figure 4a), d’un entrelacement des deux portions 12, 13 de câble formant une épissure 29 (figure 4b), ou bien encore une insertion de la portion de liaison 13 dans une partie creuse ménagée dans la portion d’amarrage 12 (figure 4c). The connection between the two portions 12, 13 of the sling 11 can be made in different ways. It may simply be a flexible connector 28 (FIG. 4a), an interlacing of the two cable portions 12, 13 forming a splice 29 (FIG. 4b), or even an insertion of the connecting portion 13 in a hollow part formed in the mooring portion 12 (FIG. 4c).
[0039] Enfin et en référence à la figure 1 , le dispositif 1 comprend deux capteurs de traction 15, 16 reliés aux et pilotés par les moyens de contrôle et de commande, les capteurs de traction 15, 16 sont respectivement intégrés au niveau du câble ombilical 10 et de la portion d’amarrage 12 de l’élingue 11 , et permettent de mesurer et contrôler la tension exercée par le ballon captif 2 sur les premier et second treuils 8, 9. La fonction de ces capteurs de traction 15, 16 sera précisée ci-dessous en lien avec le procédé d’amarrage selon l’invention. [0039] Finally and with reference to Figure 1, the device 1 comprises two traction sensors 15, 16 connected to and controlled by the control and command means, the traction sensors 15, 16 are respectively integrated at the level of the cable umbilical 10 and the mooring portion 12 of the sling 11, and make it possible to measure and control the tension exerted by the captive balloon 2 on the first and second winches 8, 9. The function of these traction sensors 15, 16 will be specified below in connection with the mooring method according to the invention.
[0040] Ainsi, le dispositif 1 de largage, de maintien en vol, de récupération et d’amarrage de l’invention comprend la plateforme 3, les treuils 8, 9, le câble ombilical 10, l’élingue 11 , les capteurs de traction 15, 16, le capteur de couple 14, les moyens d’entrainement en rotation de la borne 5 et les moyens de contrôle et de commande. Thus, the device 1 for dropping, keeping in flight, recovering and mooring of the invention comprises the platform 3, the winches 8, 9, the umbilical cable 10, the sling 11, the sensors of traction 15, 16, the torque sensor 14, the drive means in rotation of the terminal 5 and the control and command means.
[0041] En référence à la figure 2, un procédé d’amarrage du ballon captif 2 va maintenant être décrit. La figure 2 représente en outre les différentes phases occupées par le ballon captif 2 au cours de la mise en œuvre du procédé. [0042] Préalablement à la mise en œuvre du procédé, le ballon 2 se situe dans la zone III de la figure 2, le ballon captif 2 est dit en phase de vol. Il se situe à une altitude stationnaire supérieure à 1000 mètres, et est en position pour effectuer ses missions prévues (par exemple étude de la qualité de l’air) par l’intermédiaire des dispositifs embarqués. L’altitude du ballon captif 2 est connue à chaque instant par exemple à l’aide d’un altimètre solidaire du ballon 2. En outre, les moyens de contrôle et de commande incrémentent un compteur à chaque tour effectué par le tambour du premier treuil 8 relié au câble ombilical 10, permettant de déterminer la longueur déployée de câble ombilical 10. [0041] With reference to FIG. 2, a tethered balloon 2 mooring method will now be described. FIG. 2 also represents the different phases occupied by the captive balloon 2 during the implementation of the method. Prior to the implementation of the method, the balloon 2 is located in zone III of Figure 2, the tethered balloon 2 is said to be in flight phase. It is located at a stationary altitude greater than 1000 meters, and is in position to carry out its planned missions (for example study of the quality of the air) via the on-board devices. The altitude of the captive balloon 2 is known at all times, for example using an altimeter integral with the balloon 2. In addition, the control and command means increment a counter at each revolution performed by the drum of the first winch 8 connected to the umbilical cable 10, making it possible to determine the extended length of the umbilical cable 10.
[0043] Par ailleurs, et de la même manière, la longueur déployée de l’élingue 11 est également connue, et les moyens de contrôle et de commande pilotent les deux treuils 8, 9 de sorte que l’enroulement du câble ombilical 10 et de l’élingue 11 soit piloté pour qu’ils aient sensiblement les mêmes longueurs déployées, de sorte que les deux câbles 10, 11 ne se touchent jamais. D’autre part, les moyens de contrôle et de commande pilotent l’enroulement de l’élingue 11 autour du second treuil 9 de sorte que la tension de l’élingue 11 , mesurée par le capteur de traction correspondant 16, soit toujours inférieure ou égale à une valeur déterminée enregistrée dans l’espace mémoire des moyens de contrôle et de commande, lorsque le ballon captif 2 est en phase de vol. De la sorte, la force exercée par l’élingue 11 sur le ballon captif est suffisamment faible pour éviter que le nez 17 du ballon 2 s’incline vers le sol. En d’autres termes, la force de traction de l’élingue 11 est inférieure à la portance en tout point du ballon captif 2. Furthermore, and in the same way, the deployed length of the sling 11 is also known, and the control and command means control the two winches 8, 9 so that the winding of the umbilical cable 10 and of the sling 11 is controlled so that they have substantially the same extended lengths, so that the two cables 10, 11 never touch each other. On the other hand, the control and command means control the winding of the sling 11 around the second winch 9 so that the tension of the sling 11, measured by the corresponding traction sensor 16, is always lower or equal to a determined value recorded in the memory space of the control and command means, when the tethered balloon 2 is in flight phase. In this way, the force exerted by the sling 11 on the captive balloon is weak enough to prevent the nose 17 of the balloon 2 from tilting towards the ground. In other words, the pulling force of the sling 11 is less than the lift at any point of the captive balloon 2.
[0044] Au cours de la première étape du procédé, les moyens de contrôle et de commande pilotent l’enroulement concomitant du câble ombilical 10 et de la portion de liaison 13 de l’élingue 11 autour des tambours des deux treuils 8, 9, en actionnant simultanément lesdits treuils 8, 9, pour éviter que le câble ombilical 10 et l’élingue 11 ne se touchent et ne s’emmêlent. Néanmoins, tant que la portion de liaison 12 s’enroule autour du treuil considéré 9, la force de traction de l’élingue 11 doit demeurer inférieure à la valeur seuil citée ci-dessus. Le ballon captif 2 descend progressivement, ce qui correspond à la zone II représentée sur la figure 2. During the first step of the process, the control and command means control the concomitant winding of the umbilical cable 10 and the connecting portion 13 of the sling 11 around the drums of the two winches 8, 9, by simultaneously actuating said winches 8, 9, to prevent the umbilical cable 10 and the sling 11 from touching and becoming entangled. Nevertheless, as long as the connecting portion 12 wraps around the considered winch 9, the traction force of the sling 11 must remain below the threshold value mentioned above. The tethered balloon 2 gradually descends, which corresponds to zone II represented in figure 2.
[0045] De manière avantageuse, si la force de traction mesurée sur le câble ombilical 10 dépasse une seconde valeur seuil enregistrée dans l’espace mémoire des moyens de contrôle et de commande, alors ces derniers pilotent l’arrêt simultané des deux treuils 8, 9, afin d’éviter de détériorer les treuils 8, 9 et/ou l’aérostat 2, par exemple en cas de rafales de vent importantes. Advantageously, if the tensile force measured on the umbilical cable 10 exceeds a second threshold value recorded in the memory space of the control and command means, then the latter control the simultaneous stopping of the two winches 8, 9, in order to avoid damaging the winches 8, 9 and/or the aerostat 2, for example in the event of strong gusts of wind.
[0046] Lorsque le ballon captif 2 arrive dans la zone I représentée sur la figure 2, la portion de liaison 12 de l’élingue 11 est totalement enroulée autour du su tambour du second treuil 9 et ce dernier commence l’enroulement de la portion d’amarrage 13 de l’élingue 11. L’altitude du ballon 2 est alors inférieure à 100 mètres, et préférentiellement inférieure à 30 ou 40 mètres. When the tethered balloon 2 arrives in zone I shown in Figure 2, the connecting portion 12 of the sling 11 is completely wound around the known drum of the second winch 9 and the latter begins winding the portion mooring 13 of the sling 11. The altitude of the balloon 2 is then less than 100 meters, and preferably less than 30 or 40 meters.
[0047] A ce stade, l’élingue 11 est en mesure de supporter les efforts de traction exercés par le ballon captif 2, et les moyens de contrôle et de commande pilotent les treuils 8, 9 de sorte que la portion d’amarrage 12 de l’élingue 11 soit mise sous tension au même titre que le câble ombilical 10. Ceci apporte un double avantage : non seulement le ballon captif 2 est aligné avec l’axe longitudinal X de la borne 5, mais en plus l’effet de girouette engendré par la forme fuselée du ballon 2 est maitrisé. [0047] At this stage, the sling 11 is able to withstand the tensile forces exerted by the captive balloon 2, and the control and command means control the winches 8, 9 so that the mooring portion 12 of the sling 11 is put under tension in the same way as the umbilical cable 10. This brings a double advantage: not only the captive balloon 2 is aligned with the longitudinal axis X of the terminal 5, but in addition the effect of weathervane generated by the tapered shape of the ball 2 is mastered.
[0048] L’enroulement des câbles 10, 11 se poursuit jusqu’à ce que le ballon captif 2 rentre en contact avec le berceau 7. Dès que la tension du câble ombilical 10 dépasse une valeur déterminée, les moyens de contrôle et de commande stoppent les treuils 8, 9 et commandent le déplacement du premier treuil 8 en direction de l’axe de rotation Y de la borne 5, comme cela est représenté sur le dessin de droite de la figure 2. Ce déplacement, combiné à l’enroulement final du treuil 9, a pour effet de plaquer le nez 17 du ballon 2 contre la couronne frontale 23 du bras télescopique vertical 22. The winding of the cables 10, 11 continues until the captive balloon 2 comes into contact with the cradle 7. As soon as the tension of the umbilical cable 10 exceeds a determined value, the control and command means stop the winches 8, 9 and control the movement of the first winch 8 in the direction of the axis of rotation Y of the terminal 5, as shown in the right drawing of Figure 2. This movement, combined with the winding end of the winch 9, has the effect of pressing the nose 17 of the balloon 2 against the front crown 23 of the vertical telescopic arm 22.
[0049] Enfin, le second treuil 9 tend la portion d’amarrage 12 de l’élingue 11 jusqu’à une valeur de tension déterminée, puis les moyens de contrôle et de commande stoppent le second treuil 9. Le personnel au sol peut, le cas échéant mais de manière non obligatoire, mettre en place les dernières amarres, sans se soucier de la stabilité du ballon 2 sur le berceau 7. Finally, the second winch 9 stretches the mooring portion 12 of the sling 11 up to a determined tension value, then the control and command means stop the second winch 9. Ground personnel can, if necessary but not compulsory, set up the last mooring lines, without worrying about the stability of the balloon 2 on the cradle 7.
[0050] Le dispositif 1 de largage, de maintien en vol et de récupération du ballon captif 2 fonctionne ainsi de manière automatique et ne nécessite l’intervention du personnel spécialisé qu’une fois le ballon captif 2 sécurisé sur le berceau 7, pour mettre en place les dernières amarres renforçant l’amarrage du ballon captif 2 au berceau 7. The device 1 for releasing, keeping in flight and recovering the captive balloon 2 thus operates automatically and requires the intervention of specialized personnel only once the captive balloon 2 is secured on the cradle 7, to put in place the last mooring lines reinforcing the mooring of the tethered balloon 2 to the cradle 7.

Claims

REVENDICATIONS
[Revendication 1] Dispositif (1 ) de largage, de maintien en vol et de récupération automatique d’un aérostat captif (2), comprenant : [Claim 1] Device (1) for releasing, keeping in flight and automatically recovering a captive aerostat (2), comprising:
• une plateforme (3) comportant une partie fixe (4) prévue pour être posée au sol, une partie mobile à rotation (5) qui s’étend selon un axe longitudinal (X) et qui est reliée à la partie fixe (4) par des moyens d’entrainement en rotation, un dispositif de récupération dit berceau (7) solidaire de la partie mobile (5) et prévu pour réceptionner un aérostat (2), et au moins des premier (8) et second (9) dispositifs d’enroulement de câbles dits premier et second treuils ; • a platform (3) comprising a fixed part (4) intended to be placed on the ground, a rotatable part (5) which extends along a longitudinal axis (X) and which is connected to the fixed part (4) by rotary drive means, a recovery device called cradle (7) secured to the movable part (5) and provided to receive an aerostat (2), and at least first (8) and second (9) devices winding cables called first and second winches;
• des moyens de contrôle et de commande configurés pour piloter les moyens d’entrainement à rotation et les premier et second treuils (8, 9) ; • control and command means configured to control the rotation drive means and the first and second winches (8, 9);
• un premier câble (10) dit câble ombilical relié au premier treuil (8) et dont une extrémité est prévue pour être solidaire de l’aérostat (2), le câble ombilical (10) étant adapté pour supporter la tension exercée par l’aérostat (2), et • a first cable (10) called umbilical cable connected to the first winch (8) and one end of which is provided to be secured to the aerostat (2), the umbilical cable (10) being adapted to withstand the tension exerted by the aerostat (2), and
• un second câble (11 ) dit élingue divisé en au moins une portion d’amarrage (12) adaptée pour supporter la tension exercée par l’aérostat (2) et dont une extrémité est prévue pour être solidaire de l’aérostat (2), et une portion de liaison (13) reliée au second treuil (9), laquelle portion de liaison (13) présente une masse linéique inférieure ou égale à sept grammes par mètres et une longueur supérieure à celle de la portion d’amarrage (12). • a second cable (11) called sling divided into at least one mooring portion (12) adapted to withstand the tension exerted by the aerostat (2) and one end of which is provided to be integral with the aerostat (2) , and a connecting portion (13) connected to the second winch (9), which connecting portion (13) has a linear density less than or equal to seven grams per meter and a length greater than that of the mooring portion (12 ).
[Revendication 2] Dispositif (1 ) selon la revendication précédente, caractérisé en ce que les moyens d’entrainement en rotation sont motorisés et pilotés via les moyens de contrôle et de commande. [Claim 2] Device (1) according to the preceding claim, characterized in that the rotation drive means are motorized and controlled via the control and command means.
[Revendication 3] Dispositif (1 ) selon la revendication précédente, caractérisé en ce que les moyens d’entrainement en rotation comprennent un moteur électrique solidaire de la partie fixe (4) de la plateforme (3), au moins un pignon mobile adapté pour être entrainé par le moteur et une couronne solidaire de la partie mobile (5) de la plateforme (3) et coopérant avec le pignon, l’ensemble pignon couronne étant agencé pour permettre une rotation libre de la partie mobile (5) de la plateforme par rapport à sa partie fixe (4). [Claim 3] Device (1) according to the preceding claim, characterized in that the rotational drive means comprise an electric motor integral with the fixed part (4) of the platform (3), at least one movable pinion adapted to to be driven by motor and a crown integral with the mobile part (5) of the platform (3) and cooperating with the pinion, the crown and pinion assembly being arranged to allow free rotation of the mobile part (5) of the platform with respect to its fixed part (4).
[Revendication 4] Dispositif (1 ) selon l’une quelconque des revendications précédentes, caractérisé en ce que le premier treuil (8) comprend au moins un tambour disposé à distance de l’axe de rotation (Y) de la partie mobile (5) de la plateforme (3). [Claim 4] Device (1) according to any one of the preceding claims, characterized in that the first winch (8) comprises at least one drum disposed at a distance from the axis of rotation (Y) of the movable part (5 ) of the platform (3).
[Revendication 5] Dispositif (1 ) selon la revendication précédente, caractérisé en ce que le premier treuil (8) comprend au moins une poulie de renvoi (80) disposée sur l’axe longitudinal (X) de la partie mobile (5) de la plateforme (3), laquelle poulie de renvoi (80) est mobile selon l’axe longitudinal (X) de ladite partie mobile (5). [Claim 5] Device (1) according to the preceding claim, characterized in that the first winch (8) comprises at least one deflection pulley (80) arranged on the longitudinal axis (X) of the movable part (5) of the platform (3), which return pulley (80) is movable along the longitudinal axis (X) of said movable part (5).
[Revendication 6] Dispositif (1 ) selon l’une quelconque des revendications 2 à 5, caractérisé en ce que les moyens d’entrainement en rotation comprennent au moins un moyen d’assistance de la rotation de la partie mobile de la plateforme, lequel moyen d’assistance comprend au moins un capteur de couple (14) relié aux moyens de contrôle et de commande et configuré pour détecter le couple exercé par le câble ombilical (10) contre ledit capteur (14) et pour déclencher le moteur des moyens d’entrainement en rotation dès que le couple détecté dépasse une valeur seuil déterminée.[Claim 6] Device (1) according to any one of claims 2 to 5, characterized in that the rotational drive means comprise at least one means for assisting the rotation of the movable part of the platform, which assistance means comprises at least one torque sensor (14) connected to the control and command means and configured to detect the torque exerted by the umbilical cable (10) against said sensor (14) and to trigger the motor of the means of rotational drive as soon as the detected torque exceeds a determined threshold value.
[Revendication 7] Dispositif (1 ) selon l’une quelconque des revendications précédentes, caractérisé en ce qu’il comprend deux capteurs de traction (15, 16) reliés aux moyens de contrôle et de commande et configurés pour mesurer les tractions respectivement du câble ombilical (10) et de la portion d’amarrage (12) de l’élingue (11 ). [Claim 7] Device (1) according to any one of the preceding claims, characterized in that it comprises two traction sensors (15, 16) connected to the control and command means and configured to measure the tractions respectively of the cable umbilical (10) and the mooring portion (12) of the sling (11).
[Revendication s] Dispositif (1 ) selon l’une quelconque des revendications précédentes, caractérisé en ce que le câble ombilical (10) et la portion d’amarrage (12) de l’élingue (11) présentent une résistance à la traction supérieure ou égale à 11 ,5 tonnes. [Claim s] Device (1) according to any one of the preceding claims, characterized in that the umbilical cable (10) and the mooring portion (12) of the sling (11) have a greater tensile strength or equal to 11.5 tonnes.
[Revendication 9] Système de largage, de maintien en vol et de récupération automatique d’un aérostat captif comprenant : • un aérostat (2) ; • une plateforme (3) comportant une partie fixe (4) prévue pour être posée au sol, une partie mobile à rotation (5) reliée à la partie fixe (4) par des moyens d’entrainement en rotation, un dispositif de récupération (7) dit berceau solidaire de la partie mobile (5) et prévu pour réceptionner l’aérostat (2), et au moins des premier et second dispositifs d’enroulement de câbles dits premier (8) et second (9) treuils ; [Claim 9] System for releasing, keeping in flight and automatically recovering a captive aerostat comprising: • an aerostat (2); • a platform (3) comprising a fixed part (4) intended to be placed on the ground, a rotatable part (5) connected to the fixed part (4) by rotation drive means, a recovery device ( 7) said cradle secured to the movable part (5) and provided to receive the aerostat (2), and at least first and second cable winding devices called first (8) and second (9) winches;
• des moyens de contrôle et de commande configurés pour piloter les moyens d’entrainement à rotation et les premier et second treuils (8, 9) ; • control and command means configured to control the rotation drive means and the first and second winches (8, 9);
• un premier câble dit câble ombilical (10) relié au premier treuil (8) et dont une extrémité est solidaire de l’aérostat (2), le câble ombilical (10) étant adapté pour supporter la tension exercée par l’aérostat (2), et • a first cable called umbilical cable (10) connected to the first winch (8) and one end of which is integral with the aerostat (2), the umbilical cable (10) being adapted to withstand the tension exerted by the aerostat (2 ), and
• un second câble dit élingue (11 ) divisé en au moins une portion d’amarrage (12) adaptée pour supporter la tension exercée par l’aérostat (2) et dont une extrémité est solidaire de l’aérostat (2), les extrémités respectives du câble ombilical (10) et de la portion d’amarrage (12) de l’élingue (11 ) étant alignées le long d’un axe du ballon captif (2), et une portion de liaison (13) reliée au second treuil (9), laquelle portion de liaison (13) présente une masse linéique inférieure ou égale à sept grammes par mètres et une longueur supérieure à celle de la portion d’amarrage (12). • a second cable called sling (11) divided into at least one mooring portion (12) adapted to withstand the tension exerted by the aerostat (2) and one end of which is integral with the aerostat (2), the ends respective portions of the umbilical cable (10) and of the mooring portion (12) of the sling (11) being aligned along an axis of the captive balloon (2), and a connecting portion (13) connected to the second winch (9), which connecting portion (13) has a linear mass less than or equal to seven grams per meter and a length greater than that of the mooring portion (12).
[Revendication 10] Système selon la revendication précédente, caractérisé en ce que l’élingue (11 ) est solidaire du nez (17) de l’aérostat (2), lequel aérostat (2) présente une forme fuselée. [Claim 10] System according to the preceding claim, characterized in that the sling (11) is integral with the nose (17) of the aerostat (2), which aerostat (2) has a tapered shape.
[Revendication 11] Système selon la revendication 9 ou 10, caractérisé en ce qu’il comprend deux capteurs de tractions (15, 16) configurés pour mesurer les tractions respectivement du câble ombilical (10) et de la portion d’amarrage (12) de l’élingue (11 ). [Claim 11] System according to claim 9 or 10, characterized in that it comprises two traction sensors (15, 16) configured to measure the tractions respectively of the umbilical cable (10) and of the mooring portion (12) of the sling (11).
EP21810679.7A 2020-11-03 2021-11-02 Device and system for releasing, maintaining in flight and recovering a tethered aerostat Pending EP4240648A1 (en)

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