Planetary exploration floating system and planetary exploration method

Abstract

The invention provides a planetary exploration floating system, which comprises an aerostat, which comprises a superpressure balloon sphere, a pod and a pneumatic integrated wing, the superpressure balloon sphere comprises a main airbag and a secondary airbag, the secondary airbag is arranged inside the main airbag, the pod is connected with the superpressure balloon sphere, the pod comprises a buoyancy gas cylinder for storing gas, the pneumatic integrated wing is connected with the lower part of the pod and is hung on the pod, the buoyancy gas cylinder is connected with the main airbag through a first inflation device, the secondary airbag is connected with the atmospheric environment through a second inflation device, the main airbag can maintain a certain pressure difference through the buoyancy gas cylinder filled with buoyancy gas, the secondary airbag filled with air, the gas in the main airbag is adjusted by the first inflation device and the gas in the secondary airbag is adjusted by the second inflation device, so as to realize arbitrary adjustment of the buoyancy of the superpressure balloon sphere and the height of the aerostat, thereby realizing controllable adjustment of the height and long-term residence of the aerostat system.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary exploration systems, and in particular to a planetary exploration floating system and a planetary exploration method. Background Art

[0002] The use of planetary exploration systems to detect planetary atmospheres in situ and collect samples, as well as to detect and analyze topography, is an important tool for studying unknown planets. However, the complexity of planetary atmospheres and surface topography places high demands on planetary probes. Existing planetary probes mainly use ground-based exploration vehicles, which have limited detection ranges and obstacle-crossing capabilities, and are subject to great restrictions on the use environment. Moreover, since most probes are wheeled structures, they are not very maneuverable. Increasing the flexibility of their structures will indirectly increase the size of the spacecraft, thereby increasing energy consumption costs. In addition, there is a lack of long-term stable tools for detecting the atmospheric environment on the surface of planets.

[0003] Planetary exploration floating systems can be transported and deployed in the atmosphere of a planet through a vehicle, providing in-situ detection of the atmosphere or environment, landform observation, and sample collection within the planetary surface area. Compared with ground-based rover detection, they have greater advantages in space and time scale detection. In addition, because the Earth's stratospheric atmosphere is also relatively thin, similar to the conditions of some planets, it can also provide controllable trajectory stratospheric atmospheric environment detection and target monitoring, etc., which has broad application prospects.

[0004] Therefore, there is an urgent need for a planetary exploration floating system that can achieve highly controllable adjustment and long-term residence. Summary of the invention

[0005] The present invention provides a planetary exploration floating system and a planetary exploration method, which are used to solve the defects of the planetary exploration floating system in the prior art, such as poor stability and poor adjustability, which make it difficult to control the height and stay for a long time. The planetary exploration floating system can achieve controllable adjustment of height and long-term residence.

[0006] The present invention provides a planetary exploration floating system, the planetary exploration floating system comprises an aerostat, and the aerostat comprises:

[0007] A super-pressure balloon sphere, the super-pressure balloon sphere comprising a main airbag and a secondary airbag, wherein the secondary airbag is inside the main airbag;

[0008] A pod, the pod being connected to the super-pressure balloon body through a connecting device, the pod comprising a buoyancy gas cylinder;

[0009] An aerodynamic integrated wing, wherein the aerodynamic integrated wing is connected to the pod;

[0010] Wherein, the buoyancy gas cylinder is connected to the main airbag through a first inflation device, and the auxiliary airbag is connected to the atmospheric environment through a second inflation device.

[0011] According to a planetary exploration floating system proposed by the present invention, the aerostat further includes a detection payload, and the detection payload is connected to the pod.

[0012] According to a planetary exploration floating system proposed by the present invention, the pod also includes a retractable connecting device, and the aerodynamic integrated wing is connected to the pod via the retractable connecting device.

[0013] According to a planetary exploration floating system proposed by the present invention, the pod further comprises a flight control unit, and the flight control unit is connected to the retractable connecting device;

[0014] The flight control unit controls the retractable connecting device to adjust the height position of the aerodynamic integrated wing by transmitting a first control instruction to the retractable connecting device.

[0015] According to a planetary exploration floating system proposed by the present invention, the flight control unit is electrically connected to the first inflatable device and the second inflatable device respectively;

[0016] The flight control unit controls the first inflator to inflate or extract gas from the main airbag by transmitting a first control instruction to the first inflator;

[0017] The flight control unit controls the second inflation device to inflate or extract gas from the auxiliary airbag by transmitting a second control instruction to the second inflation device.

[0018] According to a planetary exploration floating system proposed by the present invention, the aerodynamic integrated wing includes a wind field online measurement module, the wind field online measurement module is arranged on the fuselage of the aerodynamic integrated wing, and the wind field online measurement module is used to collect wind field information at the height of the aerodynamic wing;

[0019] The wind field online measurement module is electrically connected to the flight control unit, and the wind field online measurement module transmits the wind field information to the flight control unit;

[0020] The flight control unit controls the retractable connection device to adjust the height position of the aerodynamic integrated wing through the wind field information.

[0021] According to a planetary exploration floating system proposed by the present invention, the aerodynamic integrated wing includes a wing (including ailerons), an inverted V-shaped tail, an aerodynamic wing control module and a vector thruster, the inverted V-shaped tail includes a rudder and an elevator, and the flight control unit is electrically connected to the aerodynamic wing control module and the vector thruster respectively;

[0022] The flight control unit controls the flight speed of the aerodynamic integrated wing through the vector thruster;

[0023] The flight control unit controls the flight attitude of the aerodynamic integrated wing through the aerodynamic wing control module;

[0024] The pneumatic wing control module is used to control the roll of the pneumatic integrated wing by changing the deflection angle of the wing, and to control the pitch and yaw of the pneumatic integrated wing by changing the rudder deflection angles of the rudder and the elevator;

[0025] The vector thruster is used to increase the propulsion power of the aerodynamic integrated wing to actively adjust the posture.

[0026] According to a planetary exploration floating system proposed by the present invention, the main airbag is welded by a composite fabric material, the properties of the composite fabric material include high air tightness, resistance to planetary high temperatures and corrosion resistance, and the outer surface of the main airbag is coated with an anti-corrosion coating;

[0027] The gas in the buoyancy gas cylinder includes helium or hydrogen.

[0028] According to a planetary exploration floating system proposed by the present invention, the auxiliary airbag is made of high-temperature resistant fabric material.

[0029] The present invention also provides a planetary detection method, which is applied to the above-mentioned planetary detection floating system, and comprises:

[0030] Obtain the density difference or wind speed difference of wind layers at different heights in the planet's atmosphere;

[0031] Based on the density difference or the wind speed difference, the length of the retractable connection device is adjusted so that the aerodynamic integrated wing can use the density difference or the wind speed difference to pull or balance the super-pressure balloon sphere, thereby guiding the planetary exploration floating system to fly according to the planned trajectory;

[0032] Wherein, the height position of the superpressure ball is higher than the aerodynamic integrated wing.

[0033] The planetary exploration floating system provided by the present invention comprises an aerostat, which comprises a superpressure balloon sphere, a pod and a pneumatic integrated wing. The superpressure balloon sphere comprises a main airbag and a secondary airbag, the secondary airbag is arranged inside the main airbag, the pod is connected to the superpressure balloon sphere, the pod comprises a buoyancy gas cylinder for storing gas, the pneumatic integrated wing is connected to the lower part of the pod and is suspended from the pod, the buoyancy gas cylinder is connected to the main airbag through a first inflation device, the secondary airbag is connected to the atmospheric environment through a second inflation device, the main airbag can maintain a certain pressure difference through the buoyancy gas cylinder filled with buoyancy gas, the secondary airbag filled with air, the gas in the main airbag is adjusted by the first inflation device and the gas in the secondary airbag is adjusted by the second inflation device, so as to realize arbitrary adjustment of the buoyancy of the superpressure balloon sphere and the height of the aerostat, thereby realizing controllable adjustment of the height and long-term residence of the aerostat system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is one of the structural schematic diagrams of the planetary exploration floating system provided by the present invention;

[0036] Figure 2 This is the second structural schematic diagram of the planetary exploration floating system provided by the present invention;

[0037] Figure 3 It is a schematic diagram of the attitude of the aerodynamic integrated wing of the planetary exploration floating system provided by the present invention when the roll angle is 90 degrees;

[0038] Figure 4 It is a schematic diagram of the attitude of the aerodynamic integrated wing of the planetary exploration floating system provided by the present invention when the roll angle is 0 degree.

[0039] Reference numerals:

[0040] Superpressure balloon body 1; main airbag 11; auxiliary airbag 12; pod 2; buoyancy gas cylinder 21; retractable connecting device 22; flight control unit 23; pneumatic integrated wing 3; wind field online measurement module 31; wing (including aileron) 32; inverted V-shaped tail 33; pneumatic wing control module 34; vector thruster 35; connecting device 4; first inflation device 5; second inflation device 6. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Combine the following Figure 1-Figure 4 The aerostat of the present invention is described.

[0043] Please refer to Figure 1 The planetary exploration floating system proposed in the present invention comprises an aerostat, and the aerostat comprises:

[0044] A super-pressure balloon sphere 1, wherein the super-pressure balloon sphere 1 comprises a main airbag 11 and a secondary airbag 12, wherein the secondary airbag 12 is inside the main airbag 11;

[0045] A pod 2, the pod being connected to the super-pressure balloon body 1 via a connecting device 4, the pod 2 comprising a buoyancy gas cylinder 21;

[0046] An aerodynamic integrated wing 3, wherein the aerodynamic integrated wing 3 is connected to the pod 2;

[0047] The buoyancy gas cylinder 21 is connected to the main airbag 11 through a first inflator 5 , and the auxiliary airbag 12 is connected to the atmosphere through a second inflator 6 .

[0048] The pod can be a pneumatic integrated wing or a small drone. The buoyancy gas cylinder and the main airbag are filled with buoyancy gas, such as helium or hydrogen, to provide sufficient buoyancy for flying in the planet's atmosphere.

[0049] It is understandable that the gondola is connected to the super-pressure balloon body through a connecting device. Generally speaking, the weight of the gondola is greater than that of the super-pressure balloon body, and the gondola is usually suspended at the bottom of the super-pressure balloon body. The connecting device is used to fix the super-pressure balloon body and the gondola, and the connecting device can be a cable.

[0050] The first inflator is used to adjust the gas pressure and mass in the main airbag by using the buoyancy gas cylinder, and to extract the gas in the buoyancy gas cylinder into the main airbag or to extract the gas in the main airbag; the second inflator is used to adjust the gas pressure and mass in the auxiliary airbag by using the atmospheric environment, and to extract the gas in the atmospheric environment into the auxiliary airbag or to extract the gas in the auxiliary airbag into the atmospheric environment. The first inflator and the second inflator can be electronic extractable gas valves.

[0051] The main airbag is connected to the buoyancy gas cylinder in the pod through the first inflation device, and the gas is filled or recovered through the first inflation device. Inside the main airbag, the auxiliary airbag is equipped with a second inflation device, and the gas is filled or released into the auxiliary airbag through the second inflation device to control the height of the entire system. The buoyancy gas cylinder connected to the main airbag can appropriately replenish and recover the buoyancy gas. During the day, the temperature is high and the buoyancy gas expands. The buoyancy gas is discharged according to the set pressure difference and stored in the cylinder. At night, the temperature drops and the pressure difference between the main airbag and the outside world decreases, and the buoyancy gas can be replenished from the cylinder to the main airbag, so that the airship maintains a certain buoyancy and height.

[0052] The main airbag is connected to the buoyancy gas cylinder of the pod through the first inflation device, which facilitates the control of the charging and discharging of the buoyancy gas and realizes the recycling of the buoyancy gas resources.

[0053] The second inflation device can be installed at the bottom of the auxiliary airbag and connected to the planetary atmosphere. By controlling the second inflation device, the pressure and weight of the atmosphere inside the auxiliary airbag can be adjusted, thereby assisting in achieving the buoyancy and height control of the aerostat system.

[0054] The operating principle of the aerostat is as follows: utilizing the large density difference or wind speed difference of wind layers at different altitudes in the planetary atmosphere, wherein the superpressure ball is located at a higher altitude, and the pod connected to the superpressure ball and the connected aerodynamic integrated wing are located at a lower altitude. The altitudes of the two parts can differ by several kilometers to tens of kilometers according to the wind speed and density difference of the wind layers of the deployed planetary atmosphere. The aerodynamic integrated wing utilizes the large density difference or wind speed difference to exert a strong traction or balancing effect on the main airbag at a higher altitude, thereby guiding the overall system of the aerostat to fly according to the planned trajectory.

[0055] Since the gas cylinder that can store buoyancy gas is connected to the main airbag, the buoyancy can be adjusted and supplemented to meet the flight needs of long-term aerial detection. At the same time, a secondary airbag is added as an auxiliary control means for buoyancy and altitude adjustment.

[0056] For ease of understanding, the following is an explanation of the working principle of adjusting the overall height of the main and auxiliary airbag bodies:

[0057] The working principle of the overall height adjustment of the airbag: after entering night, the superheat of the gas inside the main airbag of the airship decreases, and the height of the airship decreases. If the flight altitude is lower than the set altitude range, the flight control unit issues a command to control the first inflation device, open the buoyancy gas valve, and fill the main airbag with gas, so that the buoyancy increases and the height of the main airbag of the airship returns to the set altitude; during the day, due to the sunlight, the gas inside the main airbag is superheated and the height of the airship rises. If the flight altitude of the airship is higher than the set altitude range, the flight control unit issues a command to fill the planetary atmosphere through the second inflation device, so that the buoyancy decreases and the height of the airship is lowered.

[0058] The airship and planetary exploration airship system provided in the present embodiment include a superpressure balloon sphere, a pod and a pneumatic integrated wing. The superpressure balloon sphere includes a main airbag and a secondary airbag. The secondary airbag is placed inside the main airbag. The pod is connected to the superpressure balloon sphere. The pod includes a buoyancy gas cylinder for storing gas. The pneumatic integrated wing is connected to the lower part of the pod and is suspended from the pod. The buoyancy gas cylinder is connected to the main airbag through a first inflation device, and the secondary airbag is connected to the atmospheric environment through a second inflation device. The main airbag can maintain a certain pressure difference through the buoyancy gas cylinder filled with buoyancy gas. The secondary airbag filled with air can adjust the gas in the main airbag by the first inflation device and the gas in the secondary airbag by the second inflation device, so as to arbitrarily adjust the buoyancy of the superpressure balloon sphere and the height of the airship. Therefore, the airship system can achieve controllable height adjustment and long-term residence.

[0059] In one embodiment, the aerostat further comprises a detection payload, which is connected to the pod. The detection payload is used to detect the atmosphere and topography of the planet, and further, the detection payload may include a panoramic camera and / or a chemical imaging device and / or a gain antenna.

[0060] In one embodiment, the main airbag is welded from a composite fabric material, the properties of the composite fabric material include high air tightness, resistance to planetary high temperatures and corrosion resistance, and the outer surface of the main airbag is coated with an anti-corrosion coating;

[0061] The gas in the buoyancy gas cylinder includes helium or hydrogen.

[0062] It is understandable that the main airbag material of the superpressure ball is a composite fabric material with high air tightness, high temperature resistance, planetary high temperature resistance and corrosion resistance, which is welded by composite fabric materials, and the composite fabric material can be nylon fabric material. The gas in the buoyancy gas cylinder includes helium or hydrogen, and the main airbag can be filled with helium or hydrogen. The outer surface of the main airbag skin is coated with an anti-corrosion coating, which can prevent acid rain corrosion in the planetary atmosphere and adapt to different planetary atmospheric environments such as high temperature and high acidity of Venus.

[0063] In one embodiment, the main airbag is made of high temperature resistant fabric material to adapt to flying in high temperature and other different planetary atmospheric environments, and the auxiliary airbag can be made of high temperature resistant fabric material.

[0064] In one embodiment, see Figure 2 The pod 2 further includes a retractable connecting device 22 , and the aerodynamic integrated wing 3 is connected to the pod 2 via the retractable connecting device 22 .

[0065] It is understood that the retractable connection device is used to adjust the position of the aerodynamic integrated wing, and the position of the aerodynamic integrated wing in the planetary atmosphere is adjusted by retracting the connection components therein. The retractable connection device can be a winch with a retractable rope, and the winch includes a rope with an adjustable length.

[0066] One end of the retractable connecting device is connected to the pod, and the other end is connected to the aerodynamic integrated wing.

[0067] This embodiment uses a retractable connecting device to hang the pneumatic integrated wing below, and uses the relative wind speed changes in the wind field where the pneumatic integrated wing and the main airbag are located to adjust the flight trajectory. It is simple, reliable and consumes little energy.

[0068] Furthermore, the pod is suspended under the main airbag, with a solar array arranged outside the pod and energy storage batteries inside. The solar array is used to generate solar power, and excess electricity is stored in the energy storage batteries for use at night. Instruments and detection payloads required for flight can also be installed inside the pod.

[0069] In one embodiment, see Figure 2 , the pod 2 further comprises a flight control unit 23, and the flight control unit 23 is electrically connected to the retractable connecting device 22;

[0070] The flight control unit 23 controls the retractable connecting device 22 to adjust the height position of the aerodynamic integrated wing 3 by transmitting a first control instruction to the retractable connecting device 22 .

[0071] It is understandable that the flight control unit can be arranged in the pod, and the flight control unit is electrically connected to the retractable connection device. The flight control unit transmits a first control instruction to the retractable connection device to control the retractable connection device to retract the connection component to adjust the height position of the aerodynamic integrated wing, adjust the height position of the wind layer where the aerodynamic integrated wing is located, and realize that the aerodynamic integrated wing is in a favorable wind field for active trajectory control.

[0072] In one embodiment, the flight control unit 23 is electrically connected to the first inflatable device 5 and the second inflatable device 6 respectively;

[0073] The flight control unit 23 controls the first inflator 5 to inflate or extract gas from the main airbag 11 by transmitting a first control instruction to the first inflator 5;

[0074] The flight control unit 23 controls the second inflator 6 to inflate or extract gas from the auxiliary airbag 12 by transmitting a second control instruction to the second inflator 6 .

[0075] It can be understood that the flight control unit is also electrically connected to the first inflation device and the second inflation device respectively, and controls the first inflation device and the second inflation device to extract or inflate gas.

[0076] By utilizing the large density difference or wind speed difference of wind layers at different altitudes in the planetary atmosphere, where the overpressure ball is located at a higher altitude, the flight control unit controls the first inflation device to fill or extract gas in the main airbag and controls the second inflation device to fill or extract gas in the auxiliary airbag, so as to achieve overall adjustment of the density of the overpressure ball. The gas cylinder connected to the main airbag can appropriately replenish and recover buoyancy gas for it. During the day, the temperature is high and the buoyancy gas expands. The buoyancy gas is discharged and stored in the gas cylinder according to the set pressure difference. At night, the temperature drops and the pressure difference between the main airbag and the outside world decreases, so the buoyancy gas can be replenished from the gas cylinder to the main airbag, thereby maintaining a certain buoyancy and altitude of the overpressure ball.

[0077] In one embodiment, see Figure 2 The aerodynamic integrated wing 3 includes a wind field online measurement module 31, which is arranged on the fuselage of the aerodynamic integrated wing, and is used to collect wind field information at the height of the aerodynamic wing 3;

[0078] The wind field online measurement module 31 is electrically connected to the flight control unit 23, and the wind field online measurement module 31 transmits the wind field information to the flight control unit 23;

[0079] The flight control unit 23 controls the retractable connection device 22 to adjust the height position of the aerodynamic integrated wing 3 according to the wind field information.

[0080] The wind field online measurement module can be installed at the head of the aerodynamic integrated wing, and the measured wind field information is fed back to the flight control unit of the pod through the signal cable. The flight control unit determines whether the overall height of the aerodynamic wing needs to be adjusted based on the real-time measured wind field information, and then transmits a first control instruction to the retractable connection device to control the retractable connection device to retract the connecting component to adjust the height position of the aerodynamic integrated wing, adjust the height position of the wind layer where the aerodynamic integrated wing is located, and realize that the aerodynamic integrated wing is placed in a favorable wind field for active trajectory control according to different wind layers.

[0081] In this embodiment, the height and attitude of the aerodynamic integrated wing in the wind field can be actively adjusted according to the real-time monitored wind field information. By making full use of the wind field information, the aerodynamic guiding function of the aerodynamic wing in a suitable wind field can be realized, thereby ensuring the active trajectory control of the planetary floating detection system.

[0082] In one embodiment, see Figure 2The aerodynamic integrated wing 3 includes a wing (including ailerons) 32, an inverted V-shaped tail wing 33, an aerodynamic wing control module 34 and a vector thruster 35, and the flight control unit 23 is electrically connected to the aerodynamic wing control module 34 and the vector thruster 35 respectively;

[0083] The flight control unit 23 controls the flight speed of the aerodynamic integrated wing 3 through the vector thruster 35;

[0084] The flight control unit 23 controls the flight attitude of the aerodynamic integrated wing 3 through the aerodynamic wing control module 34;

[0085] The pneumatic wing control module 34 is used to control the roll of the pneumatic integrated wing 3 by changing the deflection angle of the wing 32, and to control the pitch and yaw of the pneumatic integrated wing 3 by changing the rudder deflection angles of the rudder and the elevator;

[0086] The vector thruster 35 is used to increase the propulsion power of the aerodynamic integrated wing 3 to actively adjust the posture.

[0087] The wind field online measurement module feeds back the real-time measured wind field information to the flight control unit installed in the pod. The flight control unit determines the posture of the aerodynamic integrated wing based on the real-time wind field information and the planned trajectory, and transmits the action instructions to the aerodynamic wing control module on the fuselage, changing the ailerons, rudders, elevators and rotation angles of the aerodynamic integrated wing to achieve favorable flight of the integrated wing in the current wind layer, thereby guiding the entire planetary floating detection system to fly according to the planned trajectory in the atmosphere.

[0088] Furthermore, the aerodynamic integrated wing also includes a fuselage, wings (including ailerons) and an inverted V-shaped tail. The wings are the main components for generating lift, and the inverted V-shaped tail has a rudder and an elevator. The aerodynamic wing control module is electrically connected to the fuselage, wings and tail, respectively. The aerodynamic wing control module controls the fuselage, wings and tail to achieve favorable flight of the integrated wing in the current wind layer and change the flight attitude.

[0089] Changing the deflection angle of the wing can control the roll of the integrated wing, while controlling the pitch and yaw of the aerodynamic integrated wing requires changing the deflection angles of the rudder and elevator at the same time. When the two rudders are deflected up or down at the same time, they act as elevators, and when the deflection directions are opposite, they act as rudders. The vector thruster can be installed at the tail of the fuselage, which can increase the propulsion power of the aerodynamic integrated wing at the appropriate time to actively adjust the attitude of the aerodynamic integrated wing.

[0090] The aerodynamic integrated wing is mainly composed of an integrated wing, ailerons, a V-shaped tail, a rudder, an integrated wing fuselage, a vector propeller, a wind field online measurement module, and an aerodynamic wing control module. The integrated wing, V-shaped tail and vector propeller are installed on the fuselage, the wind field online measurement module is installed in front of the fuselage, and the aerodynamic wing control module is inside the fuselage. The wind field at the height of the aerodynamic wing is applied to the wing and tail, and the aerodynamic force generated by the aerodynamic integrated wing is transmitted to the aerostat system through the fuselage and the adjustable rope. The command of the flight control unit in the pod is transmitted to the control module in the fuselage. Combined with the wind field measured by the wind field online measurement module, the vector thruster is turned on or off through the control module in the fuselage. The vector thruster applies the propeller thrust to the fuselage to change the flight speed and attitude of the fuselage, thereby transmitting the aerodynamic force generated by the flight to the aerostat detection system in real time; the aerodynamic wing and the vector thruster are propulsed in coordination to meet the attitude control requirements of the aerostat system in the horizontal plane; the control module in the fuselage controls the opening of the vector thruster and the deflection angle of the wing, aileron, tail and rudder. The working angles of the wing, aileron or rudder include the angle of attack and the roll angle. The angle of attack is changed by changing the angle of the elevator on the tail, thereby changing the lift. Changing the roll angle of the aileron can change the direction of the lift. The aerodynamic integrated wing effectively controls the flight track of the aerostat system.

[0091] When the integrated wing roll angle is between 0 and 90 degrees, the lift has both a downward component and a lateral component. The lateral component changes the motion state of the aerostat system through the adjustable rope connected to the pod. Figure 3 When the roll angle is 90 degrees, that is, the aerodynamic wing surface is vertical, the lift is all lateral force, with no downward component, and the entire integrated wing is approximately a flat sail surface. Figure 4 When the roll angle is 0 degrees, that is, the wing does not roll, there is no lateral force, and the original motion state of the balloon does not change. In order to save energy consumed in flight, the aerodynamic integrated wing glides or adjusts its attitude through the rudder in most cases, and uses the wind speed and wind direction of different wind layers of the aerodynamic integrated wing and the main airbag to guide the floating system to achieve trajectory control. When the wind field is unfavorable for flight, the vector propulsion device is turned on to ensure the trajectory guidance function of the aerodynamic wing.

[0092] Based on the above example, a planetary detection method is proposed, which is applied to the above planetary detection floating system, including:

[0093] Obtain the density difference or wind speed difference of wind layers at different heights in the planet's atmosphere;

[0094] Based on the density difference or the wind speed difference, the length of the retractable connection device is adjusted so that the aerodynamic integrated wing can use the density difference or the wind speed difference to pull or balance the super-pressure balloon sphere, thereby guiding the planetary exploration floating system to fly according to the planned trajectory;

[0095] Wherein, the height position of the superpressure ball is higher than the aerodynamic integrated wing.

[0096] The large density difference or wind speed difference of wind layers at different altitudes in the planetary atmosphere is utilized, with the superpressure ball located at a higher altitude, and the pod connected by cables and the aerodynamic integrated wing connected by adjustable length ropes located at a lower altitude. The altitudes of the two parts can be adjusted to a difference of several kilometers to tens of kilometers based on the difference in wind speed and density of the wind layers of the deployed planetary atmosphere. The aerodynamic integrated wing utilizes the large density difference or wind speed difference to exert a strong traction or balancing effect on the main airbag at a higher altitude, thereby guiding the overall planetary exploration system to fly according to the planned trajectory.

[0097] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A planetary exploration floating system, characterized in that: The planetary exploration floating system comprises an aerostat, and the aerostat comprises: A super-pressure balloon sphere, the super-pressure balloon sphere comprising a main airbag and a secondary airbag, wherein the secondary airbag is inside the main airbag; A pod, the pod being connected to the super-pressure balloon body through a connecting device, the pod comprising a buoyancy gas cylinder; An aerodynamic integrated wing, wherein the aerodynamic integrated wing is connected to the pod; Wherein, the buoyancy gas cylinder is connected to the main airbag through a first inflator, and the auxiliary airbag is connected to the atmospheric environment through a second inflator; The pod also includes a retractable connecting device, and the aerodynamic integrated wing is connected to the pod via the retractable connecting device; The pod also includes a flight control unit, which is connected to the retractable connection device; The flight control unit controls the retractable connecting device to adjust the height position of the aerodynamic integrated wing by transmitting a first control instruction to the retractable connecting device; The aerodynamic integrated wing includes a wind field online measurement module, which is arranged on the fuselage of the aerodynamic integrated wing and is used to collect wind field information at the height of the aerodynamic integrated wing; The wind field online measurement module is electrically connected to the flight control unit, and the wind field online measurement module transmits the wind field information to the flight control unit; The flight control unit controls the retractable connection device to adjust the height position of the aerodynamic integrated wing according to the wind field information; The aerodynamic integrated wing comprises a wing, an inverted V-shaped tail, an aerodynamic integrated wing control module and a vector thruster, the inverted V-shaped tail comprises a rudder and an elevator, the flight control unit is electrically connected to the aerodynamic integrated wing control module and the vector thruster respectively; the wing comprises ailerons; The flight control unit controls the flight speed of the aerodynamic integrated wing through the vector thruster; The flight control unit controls the flight attitude of the aerodynamic integrated wing through the aerodynamic integrated wing control module; The pneumatic integrated wing control module is used to control the roll of the pneumatic integrated wing by changing the deflection angle of the wing, and to control the pitch and yaw of the pneumatic integrated wing by changing the rudder deflection angles of the rudder and the elevator; The vector thruster is used to increase the propulsion power of the aerodynamic integrated wing to actively adjust the posture.

2. The planetary exploration floating system according to claim 1, characterized in that: The aerostat further comprises a detection payload connected to the pod.

3. The planetary exploration floating system according to claim 1, characterized in that: The flight control unit is electrically connected to the first inflatable device and the second inflatable device respectively; The flight control unit controls the first inflator to inflate or extract gas from the main airbag by transmitting a first control instruction to the first inflator; The flight control unit controls the second inflation device to inflate or extract gas from the auxiliary airbag by transmitting a second control instruction to the second inflation device.

4. The planetary exploration floating system according to claim 1, characterized in that: The main airbag is welded from a composite fabric material, the composite fabric material has the properties of high air tightness, planetary high temperature resistance and corrosion resistance, and the outer surface of the main airbag is coated with an anti-corrosion coating; The gas in the buoyancy gas cylinder includes helium or hydrogen.

5. The planetary exploration floating system according to claim 1, characterized in that: The auxiliary airbag is made of high temperature resistant fabric material.

6. A planetary exploration method, characterized in that: The planetary detection method is applied to a planetary detection floating system as claimed in any one of claims 1 to 5, comprising: Obtain the density difference or wind speed difference of wind layers at different heights in the planet's atmosphere; Based on the density difference or the wind speed difference, the length of the retractable connection device is adjusted so that the aerodynamic integrated wing can use the density difference or the wind speed difference to pull or balance the super-pressure balloon sphere, thereby guiding the planetary exploration floating system to fly according to the planned trajectory; Wherein, the height position of the super pressure balloon sphere is higher than that of the aerodynamic integrated wing.

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