Buoyancy air bag rapid adjusting device and wind resistance cooperative control method thereof

Abstract

The invention belongs to the technical field of agricultural engineering and intellectualization, and particularly relates to a buoyancy air bag rapid adjusting device and a wind resistance cooperative control method thereof.The buoyancy air bag rapid adjusting device comprises a buoyancy providing original module and a flight control module, the buoyancy providing original module comprises an inner balloon, an outer balloon and a hot-air balloon, and the inner cambered surface of the inner balloon and the inner cambered surface of the outer balloon are provided with inflation cavities; a rope is connected to the bottoms of the outer cambered surfaces of the inner and outer balloons and the hot-air balloon, one end of the rope is connected with a frame in a penetrating manner, and a burner assembly is fixedly mounted on the upper surface of the frame; wind power is sensed in real time through an anemograph and a monitoring sensor, in combination with cooperative response of a flight control module, a buoyancy module and a connection adjusting module, measures of posture fine adjustment, height avoidance and safe landing are adopted in the gentle breeze, stroke and strong wind environments, so that the device keeps precision operation below multiple wind levels, safe risk avoiding is achieved in the strong wind, and the safety and reliability of the device are improved. The problems that a traditional aerostat is poor in wind resistance and prone to being out of control are solved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural engineering and intelligent technology, specifically a buoyancy airbag rapid adjustment device and its wind-resistant collaborative control method. Background Technology

[0002] In recent years, drone-based plant protection technology has developed rapidly. With its advantages of flexibility, strong terrain adaptability, high operational accuracy, and high degree of automation, it has shown great potential in plant protection of small and medium-sized plots and complex terrains. However, mainstream multi-rotor drones generally suffer from the core bottleneck of short flight time (usually only 15-30 minutes) and limited payload (the amount of pesticide carried is mostly in the range of 10-30 kg). This results in a small single operation area and the need for frequent return flights to change batteries and refill pesticides. In large-area, continuous operation scenarios, efficiency is severely restricted. At the same time, the downwash airflow generated by its small rotors may cause physical damage to tall or fragile crops.

[0003] Therefore, in order to overcome the technical limitations of multi-rotor drones, the industry has begun to explore the possibility of applying aerostats (such as hot air balloons and buoyancy airbags) to the field of plant protection. Aerostats rely on the principle of buoyancy to achieve long-term hovering, which theoretically can improve endurance and payload, and is expected to meet the needs of large-area, continuous plant protection operations. However, in practical applications, the stability of aerostats depends on the lift provided by the buoyancy airbags, and the airbags themselves are extremely sensitive to wind. Changes in the magnitude and direction of the wind can directly cause the airbags to sway irregularly, drift horizontally, or even become unbalanced, seriously affecting the accuracy of plant protection operations, such as the uniformity of pesticide spraying and the positioning accuracy of the target area. More seriously, strong winds may cause the aerostats to go out of control, which may not only damage the equipment but also pose safety hazards to farmland crops or the surrounding environment.

[0004] Therefore, the present invention provides a buoyancy airbag rapid adjustment device and its wind-resistant coordinated control method. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by this invention to solve its technical problem is as follows: A buoyancy airbag rapid adjustment device according to this invention includes a buoyancy supply module and a flight control module. The buoyancy supply module includes inner and outer balloons and a hot air balloon. The inner arc surface of the inner and outer balloons is provided with an inflation cavity. The bottom of the outer arc surface of the inner and outer balloons and the hot air balloon are connected by ropes. One end of the ropes is connected to a frame. A burner assembly is fixedly installed on the upper surface of the frame. The burner assembly includes a base plate fixedly installed on the surface of the frame. Both sides of the upper surface of the base plate are fixedly installed with fire-collecting plates. A fire valve controller is provided in the middle of the upper surface of the fire-collecting plate. A valve port is opened in the middle of the upper surface of the fire valve controller. A liquid-side gas generator is installed on the upper surface of the fire valve controller through the valve port. A flame head is fixedly installed on the upper surface of the liquid-side gas generator. An annular jet hole is opened on the upper surface of the base plate. An air-collecting shell is fixedly installed at the edge of the upper surface of the base plate. A connection adjustment module is fixedly installed on the lower surface of the frame via ropes.

[0007] The connection adjustment module includes a monitoring box connected to the lower end of the hot air balloon. A locking fastener is movably connected to one side of the top of the inner wall of the monitoring box via a pivot. A strip groove is provided on the top of the front of the monitoring box, and an opening is provided between one side of the strip groove and the monitoring box.

[0008] The locking fastener has a hook-shaped groove near the strip groove, and a snap-fit ​​end is provided at one end of the locking fastener near the hook-shaped groove. A lifting ring is movably sleeved on the inner side wall of the hook-shaped groove. The hot air balloon is connected to the lifting ring by a rope. A carrier lock is movably connected to the top of the inner side wall of the monitoring box by a rotating shaft.

[0009] The buckle lock has a transverse locking head on one side near the locking member. The lower surface of the transverse locking head is connected to the surface of the locking end. The top of the front of the buckle lock has a moving groove. The buckle lock is connected to the monitoring box through a rotating shaft at the bottom. A distribution frame is fixedly installed on the bottom of the inner side wall of the monitoring box by bolts. A drive assembly is fixedly installed on the bottom surface of the distribution frame.

[0010] The drive assembly includes a servo motor fixedly installed on the inner side wall of the distribution frame. A worm gear is fixedly installed on one output end of the servo motor. A sector worm wheel is connected to the outer arc surface of the worm gear with toothed meshing. An auxiliary release link is provided at the axis point of the sector worm wheel. One end of the auxiliary release link is close to the moving groove on the top mounting lock and is slidably engaged with the moving groove by bolts.

[0011] Gear A is movably connected to one side of the back of the sector worm gear via a rotating shaft. Gear B is meshed with the sawtooth of the outer arc surface of gear A. Gear B is movably connected to the monitoring box via a rotating shaft. A winch is rotatably connected to the side of gear B away from the monitoring box.

[0012] A clutch lever is connected to the center of the front of the winch. A spring is sleeved on the tail end of the clutch lever, which is inserted into the gear B. A float groove is provided on the side of the monitoring box near the winch. One end of the clutch lever is slidably inserted into the inner wall of the float groove. A cable is wound in a ring around the outer arc surface of the winch. An anemometer is fixedly installed on one edge of the upper surface of the monitoring box. The bottom end of the anemometer is electrically connected to a monitoring sensor through a wire. The back of the monitoring sensor is fixedly installed inside the monitoring box by bolts.

[0013] The flight control module includes a mounting platform frame fixedly installed at one end of the cable. Lifting blades are movably connected to the four corners of the upper surface of the mounting platform frame via rotating shafts. A square support rod is provided on the lower end face of the mounting platform frame.

[0014] The mounting platform frame is fixedly mounted with a rotary motor via a square support rod. A shaft is fixedly mounted on the output end of the upper surface of the rotary motor. A clutch is connected to one side of the rotary motor. A control blade is rotatably connected to the outer arc surface of the shaft. The control blade is placed in the middle of the mounting platform frame.

[0015] This invention also provides a wind-resistant coordinated control method for a buoyancy airbag rapid adjustment device. This method employs the aforementioned buoyancy airbag rapid adjustment device and includes the following steps:

[0016] S1. Wind monitoring and level determination: The anemometer continuously collects external wind speed and direction data, and the monitoring sensor synchronously records the device's tilt angle, horizontal drift speed and vibration frequency. The data is transmitted to the control unit of the flight control module at preset intervals. The wind speed is combined with the device's dynamic response parameters to determine the current wind level, such as light wind, moderate wind or strong wind, and generate corresponding control commands.

[0017] S2. Multiple wind-resistant coordinated adjustment: The flight control module controls the propeller blades to fine-tune the angle to counteract drift. The lifting propeller blades correct small-angle tilt by the speed difference. The buoyancy provides the original module to keep the balloons inside and outside the module and the hot air balloon in the initial state, maintain buoyancy stability, and at the same time the cable lock and the fastener keep it locked to ensure connection rigidity.

[0018] The flight control module controls the propeller blades to increase the reverse thrust, the elevator blades drive the device to rise, the double-sided control blades are adjusted to the minimum windward side through the speed difference, the hot air balloon reduces the amount of flame, the inner and outer balloons finely adjust the buoyancy distribution through gas transfer, assist in attitude correction, and release part of the cable to lower the center of gravity, and the locking fasteners keep it locked to stabilize the tension.

[0019] The flight control module cuts off the propeller power to fold it downwind, the lift propellers operate at low power, the hot air balloon exhausts gas and transfers gas between the inner and outer balloons to quickly reduce buoyancy, and in coordination with the descent, all cables are released to bring the load close to the ground, the locking fasteners are partially locked, and the impact is buffered through flexible connections.

[0020] S3. Dynamic Feedback and Parameter Correction: The flight control module receives feedback data from the anemometer and monitoring sensors in real time, compares the deviation between the current attitude and the preset range, and adjusts the control blade angle, lift blade speed or buoyancy adjustment range if the deviation is not reduced. After each adjustment cycle, the wind force level is re-determined and the corresponding control strategy is switched according to the real-time wind force changes.

[0021] S4 Emergency Escape: When the wind force exceeds the device's limit capacity, the flight control module immediately triggers the lift propellers to operate at full power to maintain attitude. The hot air balloon and the inner and outer balloons quickly release buoyancy, driving the components to unlock the locking fasteners, separating the load from the airbag, and ensuring the safety of the core components.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. By sensing wind force in real time through an anemometer and monitoring sensors, and combining the coordinated response of the flight control module, buoyancy module and connection adjustment module, the device takes measures such as attitude fine-tuning, altitude avoidance and safe landing in light wind, medium wind and strong wind environments, so that the device can maintain accurate operation below multiple wind levels and achieve safe avoidance in strong winds, thus solving the problems of weak wind resistance and easy loss of control of traditional airships.

[0024] 2. The propeller layout of the flight control module and the cable center of gravity adjustment of the connecting adjustment module work together with the optimization of the hot air balloon's windward surface to reduce the impact of wind on the device. Compared with similar airships, the amount of wind-induced drift is reduced and the tilt angle is relatively controlled, ensuring the uniformity and accuracy of agricultural spraying, monitoring and other operations.

[0025] 3. The inner and outer balloons achieve buoyancy adjustment through gas transfer, eliminating the need for a high-power compressor and relying solely on a high-pressure vortex fan. The hot air balloons precisely control their ascent and descent through the amount of flame, adapting to frequent take-off and landing needs. The combination of the two buoyancy adjustment modes not only solves the problems of short endurance and limited payload of multi-rotor drones, but also reduces energy consumption compared to traditional airships, extending the single operation time to several hours and improving the efficiency of large-area plant protection. Attached Figure Description

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] Figure 1 This is a schematic diagram of the overall structure of the buoyancy airbag of the present invention;

[0028] Figure 2This is a structural diagram of the flight control module and the connection adjustment module of the present invention.

[0029] Figure 3 This is a schematic diagram of the burner assembly in this invention;

[0030] Figure 4 This is a schematic diagram of the liquid-side gas engine in this invention;

[0031] Figure 5 This is a schematic diagram of the overall structure of the monitoring box in this invention;

[0032] Figure 6 This is a cross-sectional structural diagram of the connecting adjustment module in this invention;

[0033] Figure 7 This is a schematic diagram of the structure of the driving component in this invention;

[0034] Figure 8 This is a schematic diagram of the connection between the locking element and the sector-shaped worm gear in this invention;

[0035] Figure 9 This is a schematic diagram of the flight control module in this invention;

[0036] Figure 10 This is a schematic diagram of the structure of the hot air balloon in this invention;

[0037] Figure 11 This is a schematic diagram of the structure of another inner and outer balloon in the buoyancy airbag of the present invention.

[0038] In the diagram: 1. Buoyancy supply module; 11. Inner and outer balloons; 111. Inflation chamber; 12. Hot air balloon;

[0039] 2. Flight control module; 21. Mounting platform frame; 22. Elevator blades; 23. Rotary motor; 24. Shaft; 25. Control blades;

[0040] 4. Framework;

[0041] 5. Burner assembly; 51. Base plate; 52. Flame collection plate; 53. Flame valve controller; 531. Valve port; 54. Liquid-side gas pump; 55. Flame head; 56. Annular jet orifice; 57. Air collector shell;

[0042] 6. Connection adjustment module; 61. Monitoring box; 611. Strip groove; 612. Float groove; 62. Locking fastener; 621. Hook groove; 622. Snap-fit ​​end; 63. Lifting ring; 64. Carrier lock; 641. Horizontal clamp head; 642. Moving groove;

[0043] 7. Drive assembly; 71. Servo motor; 72. Worm gear; 73. Sector worm wheel; 74. Auxiliary release linkage; 75. Gear A; 76. Gear B;

[0044] 8. Winch; 9. Clutch lever; 10. Cable; 13. Anemometer; 14. Monitoring sensor. Detailed Implementation

[0045] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0046] like Figures 1 to 2 As shown, this embodiment of the invention includes a buoyancy-providing module 1 and a flight control module 2. The buoyancy-providing module 1 includes an inner and outer balloon 11 and a hot air balloon 12. The inner arc surface of the inner and outer balloons 11 is provided with an inflation cavity 111. The bottom of the outer arc surface of the inner and outer balloons 11 and the hot air balloon 12 is connected to a rope. One end of the rope is connected to a frame 4. A burner assembly 5 is fixedly installed on the upper surface of the frame 4. The burner assembly 5 includes a base plate 51 fixedly installed on the surface of the frame 4. Both sides of the upper surface of the base plate 51 are fixedly installed with a fire-gathering device. The upper surface of the fire-collecting plate 52 is provided with a fire valve controller 53. The upper surface of the fire valve controller 53 is provided with a valve port 531. A liquid-side gas generator 54 is installed on the upper surface of the fire valve controller 53 through the valve port 531. A flame head 55 is fixedly installed on the upper surface of the liquid-side gas generator 54. An annular jet hole 56 is provided on the upper surface of the base plate 51. An air collecting shell 57 is fixedly installed at the edge of the upper surface of the base plate 51. A connecting adjustment module 6 is fixedly installed on the lower surface of the frame 4 through ropes.

[0047] The inner and outer balloons 11 consist of two layers of balloons. The volume of the inner and outer balloons 11 does not change with the increase or decrease of the internal and external pressure. The outer layer is more elastic than the inner layer. Therefore, when the inner balloon is inflated, the internal pressure increases. Since the inner layer is less elastic, its volume only expands slightly. Most of the pressure is transferred to the outer layer through the gas. Because the outer layer is more elastic, it expands significantly under the pressure, which increases the overall volume of the airbag, increases the amount of air displaced, and thus increases the buoyancy.

[0048] When the outer balloon is inflated, the outer layer first bears the pressure and contracts, squeezing the gas back into the inner layer. Due to the elastic limitation, the inner layer has a smaller volume contraction range, the overall airbag volume decreases, and the buoyancy decreases. Helium or hydrogen can be filled into the inflation chamber 111 to provide the buoyancy source. The control method is to use the property that the gas density is lower than that of air to generate basic buoyancy. In the initial state, the inner inflation chamber 111 maintains a constant inflation volume to provide the basic buoyancy required for the device to hover.

[0049] The buoyancy adjustment of the inner and outer balloons 11 is achieved through the transfer of gas between the two layers. Therefore, during descent, the air in the outer interlayer is pressurized and injected into the inner inflation chamber 111 by a high-pressure vortex blower, causing the inner layer to expand and the outer layer to contract. At this time, the low-density gas in the inner layer is compressed, the equivalent density of the displaced air increases, the buoyancy decreases, and the mounting platform frame 21 descends under the action of gravity. During ascent, the airflow direction is switched by a reversing valve, and some of the mixed gas in the inner inflation chamber 111 is drawn back to the outer interlayer. The inner layer contracts and the outer layer expands, the density of the equivalent displaced air decreases, the buoyancy increases, and the mounting platform frame 21 rises. Therefore, there is no need to discharge or replenish low-density gas. The buoyancy can be quickly responded to simply by distributing the gas space, which is suitable for high-frequency fine-tuning scenarios.

[0050] The hot air balloon 12 generates buoyancy by relying on the thermal expansion and contraction properties of the air inside the airbag. When not in operation, the air inside the airbag is at the same temperature as the outside air, and the buoyancy is slightly greater than the weight of the airbag itself. After starting, the air inside the airbag is heated by the burner assembly 5. The air expands due to heat, which reduces its density and creates a density difference with the outside air, thereby generating upward buoyancy.

[0051] During the ascent of the hot air balloon 12, the fire valve controller 53 receives external fuel through the valve port 531. The liquid-side gas generator 54 atomizes the liquid fuel into combustible gas, which mixes with the air introduced by the air collector shell 57 at the flame head 55. A high-temperature flame is generated by the electronic ignition device. The flame ejected from the flame head 55 directly enters the interior of the hot air balloon 12. At the same time, the annular jet hole 56 of the base plate 51 ejects auxiliary hot airflow, forming an annular heating zone, which rapidly heats the air inside the balloon. According to the principle of thermal expansion and contraction of gases, the density of air decreases as the temperature rises. When the density of the internal air is lower than that of the external air, the hot air balloon 12 generates upward buoyancy. As combustion continues, the temperature of the air inside the balloon continues to rise, and the buoyancy gradually increases. When the buoyancy is greater than the total weight of the device, the entire device moves upward. The flame intensity can be controlled by adjusting the fuel supply through the fire valve controller 53, thereby changing the heating rate and controlling the ascent speed.

[0052] When descent is required, the fire valve controller 53 closes the valve port 531, cutting off the fuel supply. The flame head 55 stops flaring, and the hot air inside the hot air balloon 12 exchanges heat with the cold air outside through the balloon wall. The temperature gradually decreases, the density increases, and the buoyancy gradually decreases, making the gravity greater than the buoyancy, and the entire device begins to descend.

[0053] like Figures 1 to 2 As shown, the connection adjustment module 6 includes a monitoring box 61 connected to the lower end face of the hot air balloon 12. A locking fastener 62 is movably connected to one side of the inner wall of the monitoring box 61 via a pivot. A strip groove 611 is provided on the top front of the monitoring box 61, and an opening is provided between one side of the strip groove 611 and the monitoring box 61.

[0054] The locking fastener 62 has a hook-shaped groove 621 near the strip groove 611, and a snap-fit ​​end 622 at one end of the locking fastener 62 near the hook-shaped groove 621. A hanging ring 63 is movably fitted onto the inner wall of the hook-shaped groove 621. The hot air balloon 12 is connected to the hanging ring 63 via a rope. A mounting lock 64 is movably connected to the top of the inner wall of the monitoring box 61 via a pivot. A transverse snap head 641 is provided on one side of the mounting lock 64 near the locking fastener 62. The lower surface of the transverse snap head 641 is connected to the surface of the snap-fit ​​end 622. A moving groove 642 is provided on the top front of the mounting lock 64. The mounting lock 64 passes through the bottom... The rotating shaft is connected to the monitoring box 61. A distribution frame is fixedly installed on the bottom of the inner side wall of the monitoring box 61 by bolts. A drive assembly 7 is fixedly installed on the bottom surface of the distribution frame. The drive assembly 7 includes a servo motor 71 fixedly installed on the inner side wall of the distribution frame. A worm gear 72 is fixedly installed on one output end of the servo motor 71. A sector worm wheel 73 is meshed with the outer arc surface of the worm gear 72. An auxiliary release link 74 is provided at the axis point of the sector worm wheel 73. One end of the auxiliary release link 74 is close to the moving groove 642 on the top mounting lock 64 and is slidably engaged with the moving groove 642 by bolts.

[0055] The rope at the bottom of the hot air balloon 12 is introduced through the strip groove 611 on the front of the monitoring box 61 and rigidly connected to the lifting ring 63. The lifting ring 63 naturally engages with the hook groove 621 of the locking member 62. At this time, the locking member 62 maintains a horizontal posture around the top pivot under its own weight and the tension of the rope. Its locking end 622 is tilted upward, forming an alignment relationship with the transverse locking head 641 of the mounting lock member 64. Subsequently, when the locking device driven by the drive component 7 is activated, the servo motor 71 of the drive component 7 receives the initial locking signal and drives the worm gear 72 to rotate counterclockwise. Through tooth meshing, it drives the sector worm wheel 73 to swing upward. The pivot point of the sector worm wheel 73 is... The auxiliary release linkage 74 at the location swings upward, and its top end slides in the moving groove 642 of the carrier lock 64, pushing the carrier lock 64 to rotate clockwise around the bottom pivot. When the carrier lock 64 rotates to the preset angle, the transverse locking head 641 engages below the locking end 622 of the locking member 62, forming a dual constraint of horizontal limiting and vertical locking. The hook groove 621 restricts the radial displacement of the lifting ring 63, and the transverse locking head 641 prevents the locking member 62 from rotating around the axis through mechanical engagement, firmly locking the lifting ring 63 in the working position. At this time, the connecting adjustment module 6 is in a rigid connection state and can withstand the full tension of the hot air balloon 12 and the load.

[0056] When emergency separation or attitude adjustment is required, the servo motor 71 of the drive assembly 7 receives a control signal and starts, driving the worm gear 72 to rotate. The worm gear 72 meshes with the toothed structure of the sector worm wheel 73, converting the rotational motion of the motor into the oscillation of the sector worm wheel 73. The auxiliary release link 74 at the axis of the sector worm wheel 73 oscillates with the worm wheel, and its top end slides in the moving groove 642 of the carrier lock 64, pushing the carrier lock 64 to rotate around the bottom pivot, causing the transverse locking head 641 to disengage from the locking end 622, releasing the constraint on the locking member 62. At this time, the locking member 62 rotates around its own pivot under the action of the cable tension, and the hook groove 621 separates from the lifting ring 63, realizing the rapid unlocking of the hot air balloon 12 from the load.

[0057] like Figures 1 to 2 As shown, a gear A75 is movably connected to one side of the back of the sector worm gear 73 via a rotating shaft. A gear B76 is meshed with the sawtooth part of the outer arc surface of the gear A75. The gear B76 is movably connected to the monitoring box 61 via a rotating shaft. A winch 8 is rotatably connected to the side of the gear B76 away from the monitoring box 61. A clutch rod 9 is connected to the center of the front of the winch 8. A spring is sleeved on the end of the clutch rod 9 that is inserted into the tail of the gear B76. A float groove 612 is opened on the side of the monitoring box 61 near the winch 8. One end of the clutch rod 9 is slidably inserted into the inner wall of the float groove 612. A cable 10 is wound in a ring around the outer arc surface of the winch 8. An anemometer 13 is fixedly installed on one edge of the upper surface of the monitoring box 61. A monitoring sensor 14 is electrically connected to the bottom of the anemometer 13 via a wire. The back of the monitoring sensor 14 is fixedly installed inside the monitoring box 61 by bolts.

[0058] Anemometer 13 is mounted on the edge of the upper surface of monitoring box 61. It monitors the external wind speed and direction in real time through a cup-shaped rotating structure or an ultrasonic sensor. The sampling frequency captures instantaneous wind speed fluctuations. When the wind speed exceeds a preset threshold, anemometer 13 converts the analog signal into a digital signal and transmits it to monitoring sensor 14 via a wire. Monitoring sensor 14 sends an adjustment signal to servo motor 71 of drive assembly 7. The motor outputs a corresponding torque according to the distance from the ground. The motor drives worm gear 72 to drive sector worm wheel 73 to swing at a small angle. Through the transmission of gear A75 and gear B76, winch 8 slowly releases the cable. Rope 10 is released at one-third of its total length to lower the overall center of gravity of the device and enhance stability. Two-thirds of the cable 10 is released by the motor-driven worm gear swing winch 8, increasing the load suspension length. The flexibility of the cable 10 buffers the wind impact. When replacement or release is needed, the motor-driven worm gear swings to its limit position to release more than half of the cable 10, making the load almost close to the ground. At the same time, it triggers the release of some buoyancy, further reducing the wind-receiving area. After the wind speed stabilizes, the clutch lever 9 is engaged in the positioning hole of the float 612 under the action of spring force, locking the winch 8 to prevent accidental rotation.

[0059] When the monitoring sensor 14 detects that the device tilts due to crosswinds, the system initiates adjustment of the single-sided cable 10. By adjusting the length of the cable 10, the relative position of the load center of gravity and the buoyancy airbag is changed. The cable 10 on the windward side is tightened, causing the overall center of gravity to shift towards the windward side. Gravity is used to counteract the wind thrust, changing the center of the overall device. This, combined with the attitude adjustment of the hot air balloon 12, improves wind resistance stability.

[0060] like Figures 1 to 2 As shown, the flight control module 2 includes a mounting platform frame 21 fixedly installed at one end of the cable 10. Lifting blades 22 are movably connected to the four corners of the upper surface of the mounting platform frame 21 via rotating shafts. A square receiving rod is provided on the lower end face of the mounting platform frame 21. A rotary motor 23 is fixedly installed on the mounting platform frame 21 via the square receiving rod. A shaft 24 is fixedly installed on the output end of the upper surface of the rotary motor 23. A clutch is connected to one side of the rotary motor 23. A control blade 25 is rotatably connected to the outer arc surface of the shaft 24. The control blade 25 is placed in the middle of the mounting platform frame 21.

[0061] When a gradual altitude adjustment is required, the system prioritizes buoyancy adjustment. For hot air balloon 12, the air density inside the gasbag is changed by adjusting the firepower of the burner assembly 5, thereby adjusting the buoyancy. For inner and outer balloons 11, the overall buoyancy is changed by the transfer of gas between the two layers. This method does not require starting or only requires low-power operation of the lift propellers 22, minimizing motor energy consumption. It is suitable for routine operation scenarios where the requirements for ascent and descent speed are not high. When a rapid altitude change or fine altitude calibration is required, the flight control module 2 activates the lift propellers 22, providing additional lift or thrust through changes in the propeller rotation speed. This superimposed effect with buoyancy adjustment accelerates the response speed of altitude changes, ensuring efficient completion of work in scenarios requiring rapid positioning or precise control.

[0062] Flight control module 2 combines real-time environmental perception data from anemometer 13 and monitoring sensor 14 to take wind-resistant measures:

[0063] By finely adjusting its tilt angle, the control blade 25 generates a horizontal force opposite to the wind direction, counteracting the slight deviation caused by the wind and keeping the device in the predetermined position or on the flight path, thus avoiding unnecessary drift that could affect operational accuracy.

[0064] At the same time, the flight control module 2 simultaneously activates the lift blades 22 and 25. The lift blades 22 increase lift to raise the entire device and avoid areas with strong winds near the ground. The length of the cable 10 is adjusted by the adjustment module 6 to lower the center of gravity of the device and enhance overall stability. The control blades 25 continuously correct the horizontal attitude to counteract the tilt or deviation caused by the wind.

[0065] To reduce the wind-exposed area, the clutch cuts off the power to control the blades 25, causing the blades to fold naturally in the wind direction. The lifting blades 22 maintain a minimum power operation to maintain the basic attitude. At the same time, in conjunction with the exhaust operation of the hot air balloon 12, the buoyancy is reduced, allowing the device to slowly and smoothly descend to a safe area, avoiding damage to the device structure caused by strong winds.

[0066] This invention also provides a buoyancy airbag rapid adjustment device and its wind-resistant coordinated control method, the specific wind-resistant coordinated control method including:

[0067] S1. Wind monitoring and level determination: The anemometer 13 continuously collects external wind speed and direction data, and the monitoring sensor 14 synchronously records the tilt angle, horizontal drift speed and vibration frequency of the device. The data is transmitted to the control unit of the flight control module 2 at preset intervals.

[0068] The control unit performs fusion analysis on the received data: combining the wind speed with the device's dynamic response parameters to determine the current wind level, such as light wind, moderate wind, or strong wind, and generates corresponding control commands.

[0069] S2. Multiple wind-resistant coordinated adjustment: In wind resistance, the flight control module 2 controls the blades 25 to finely adjust the tilt angle, generating a horizontal thrust opposite to the wind direction to counteract the slight drift of the device. The diagonal lifting blades 22 correct the small angle tilt of the device through a small speed difference, so that the attitude returns to the preset range.

[0070] The buoyancy-providing module 1, together with the inner and outer balloons 11, maintains the initial gas distribution state without actively adjusting. The burner assembly 5 of the hot air balloon 12 maintains a stable flame output to ensure constant buoyancy and provide basic support for attitude fine-tuning. The connecting adjustment module 6, together with the winch 8, is kept locked by the clutch lever 9. The length of the cable 10 remains unchanged, and the locking fastener 62 and the carrier lock 64 remain locked to ensure connection rigidity.

[0071] Flight control module 2 controls the blades 25 to increase the tilt angle and enhance the horizontal thrust. The lift blades 22 start synchronously, and the overall lift drives the device to rise and leave the strong wind layer near the ground. The dual control blades 25 generate rotational torque through the speed difference, minimizing the windward surface of the device.

[0072] The buoyancy-providing module 1, in conjunction with the burner assembly 5 of the hot air balloon 12, reduces the amount of flame and lowers some buoyancy. This, along with the lifting blades 22, adjusts the altitude. The inner and outer balloons 11, through gas transfer, fine-tune the buoyancy distribution, increasing the amount of gas in the inner layer in the opposite direction of tilt to assist in correcting the attitude. The connection adjustment module 6, in conjunction with the servo motor 71 of the drive assembly 7, starts the device. Through gear transmission, the winch 8 releases part of the cable 10, increasing the load suspension length to lower the center of gravity of the device. The locking fastener 62 keeps it locked, ensuring stable tension of the cable 10 and using the load gravity to suppress further tilting.

[0073] Flight control module 2 uses an action clutch to cut off power to control propeller blade 25, causing the blades to fold downwind to reduce wind-caught area. Elevator blade 22 operates at minimum power, maintaining only basic attitude while planning a safe landing path.

[0074] The buoyancy-providing module 1, in conjunction with the hot air balloon 12, opens the top exhaust valve to release hot air, quickly reducing buoyancy. The inner and outer balloons 11 inject outer gas into the inner layer, simultaneously reducing overall buoyancy. This, combined with the lifting propellers 22, enables controlled descent. The connecting adjustment module 6, in conjunction with the drive assembly 7, releases the cable 10 to its maximum length, bringing the load close to the ground. Ground friction is used to assist in stabilization. The locking fastener 62 and the load fastener 64 are in a semi-locked state, allowing the hot air balloon 12 and the load to rotate slightly relative to each other. The flexible connection buffers the impact of wind.

[0075] S3. Dynamic Feedback and Parameter Correction: The flight control module 2 receives feedback data from the anemometer 13 and monitoring sensor 14 in real time, compares the deviation between the current attitude and the preset range, and if the deviation is not reduced, adjusts the angle of the control blade 25, the speed of the lift blade 22, or the buoyancy adjustment range. After each adjustment cycle is completed, the wind force level judgment result is updated, and the corresponding control strategy is switched according to the real-time wind force changes.

[0076] S4. Emergency Evacuation and System Recovery: When the wind force exceeds the device's limit capacity, such as strong winds causing the device to shake violently or the structural stress to exceed the standard, the flight control module 2 immediately triggers the emergency procedure: the lift propeller 22 operates at full power to maintain attitude, the hot air balloon 12 and the inner and outer balloons 11 quickly release buoyancy, the drive component 7 unlocks the locking fastener 62 to separate the load from the airbag, and ensures the safety of core components when necessary.

Claims

1. A rapid adjustment device for a buoyancy airbag, characterized in that: Includes a buoyancy supply module (1) and a flight control module (2); The buoyancy-providing module (1) includes an inner and outer balloon (11) and a hot air balloon (12). The inner arc surface of the inner and outer balloon (11) is provided with an inflation cavity (111). The bottom of the outer arc surface of the inner and outer balloon (11) and the hot air balloon (12) are connected with ropes. One end of the ropes is connected to a frame (4). A burner assembly (5) is fixedly installed on the upper surface of the frame (4). The burner assembly (5) includes a base plate (51) fixedly installed on the surface of the frame (4). A fire collection plate (52) is fixedly installed on both sides of the upper surface of the base plate (51). A fire valve controller (53) is provided in the middle of the upper surface of the fire collection plate (52). A valve port (531) is opened in the middle of the upper surface of the fire valve controller (53). A liquid-side gas generator (54) is installed on the upper surface of the fire valve controller (53) through the valve port (531). A flame head (55) is fixedly installed on the upper surface of the liquid-side gas generator (54). An annular jet hole (56) is opened on the upper surface of the base plate (51). An air collection shell (57) is fixedly installed at the edge of the upper surface of the base plate (51). A connecting adjustment module (6) is fixedly installed on the lower surface of the frame (4) by a cable.

2. The buoyancy airbag rapid adjustment device according to claim 1, characterized in that: The connection adjustment module (6) includes a monitoring box (61) connected to the lower end face of the hot air balloon (12). A locking fastener (62) is movably connected to the top side of the inner wall of the monitoring box (61) via a rotating shaft. A strip groove (611) is provided on the top front of the monitoring box (61), and an opening is provided between one side of the strip groove (611) and the monitoring box (61).

3. The buoyancy airbag rapid adjustment device according to claim 2, characterized in that: The locking fastener (62) has a hook-shaped groove (621) near the strip groove (611), and a snap-fit ​​end (622) is provided at one end of the locking fastener (62) near the hook-shaped groove (621). A hanging ring (63) is movably sleeved on the inner side wall of the hook-shaped groove (621). The hot air balloon (12) is connected to the hanging ring (63) by a rope. The top of the inner side wall of the monitoring box (61) is movably connected to a fastener (64) through a rotating shaft.

4. The buoyancy airbag rapid adjustment device according to claim 3, characterized in that: The buckle lock (64) has a transverse locking head (641) on one side near the buckle (62). The lower surface of the transverse locking head (641) is connected to the surface of the locking end (622). The top front of the buckle lock (64) has a moving groove (642). The buckle lock (64) is connected to the monitoring box (61) through the bottom pivot. The bottom inner wall of the monitoring box (61) is fixedly installed with a distribution frame by bolts. The bottom surface of the distribution frame is fixedly installed with a drive assembly (7).

5. The buoyancy airbag rapid adjustment device according to claim 4, characterized in that: The drive assembly (7) includes a servo motor (71) fixedly installed on the inner side wall of the distribution frame. A worm gear (72) is fixedly installed on one output end of the servo motor (71). A fan-shaped worm wheel (73) is connected to the outer arc surface of the worm gear (72) in a toothed meshing manner. An auxiliary release link (74) is provided at the axis point of the fan-shaped worm wheel (73). One end of the auxiliary release link (74) is close to the moving groove (642) on the top mounting lock (64) and is slidably engaged with the moving groove (642) by bolts.

6. The buoyancy airbag rapid adjustment device according to claim 5, characterized in that: The back side of the fan-shaped worm gear (73) is movably connected to a gear A (75) via a rotating shaft. The outer arc surface of the gear A (75) is meshed with a gear B (76). The gear B (76) is movably connected to the monitoring box (61) via a rotating shaft. The side of the gear B (76) away from the monitoring box (61) is rotatably connected to a winch (8).

7. A buoyancy airbag rapid adjustment device according to claim 6, characterized in that: A clutch rod (9) is connected to the center of the front of the winch (8). A spring is sleeved on the tail end of the clutch rod (9) which is inserted into the gear B (76). A float groove (612) is provided on the side of the monitoring box (61) near the winch (8). One end of the clutch rod (9) is slidably inserted into the inner wall of the float groove (612). A cable (10) is wound around the outer arc surface of the winch (8). An anemometer (13) is fixedly installed on one edge of the upper surface of the monitoring box (61). The bottom end of the anemometer (13) is electrically connected to a monitoring sensor (14) through a wire. The back of the monitoring sensor (14) is fixedly installed inside the monitoring box (61) by bolts.

8. The buoyancy airbag rapid adjustment device according to claim 7, characterized in that: The flight control module (2) includes a mounting platform frame (21) fixedly installed at one end of the cable (10). The four corners of the upper surface of the mounting platform frame (21) are movably connected to lifting blades (22) through rotating shafts. The lower end face of the mounting platform frame (21) is provided with a square support rod.

9. A buoyancy airbag rapid adjustment device according to claim 8, characterized in that: The mounting platform frame (21) is fixedly mounted with a rotary motor (23) by a square support rod. A shaft (24) is fixedly mounted on the output end of the upper surface of the rotary motor (23). A clutch is connected to one side of the rotary motor (23). A control blade (25) is rotatably connected to the outer arc surface of the shaft (24). The control blade (25) is placed in the middle of the mounting platform frame (21).

10. A wind-resistant coordinated control method for a buoyancy airbag rapid adjustment device, wherein the method employs a buoyancy airbag rapid adjustment device as described in any one of claims 1-9, characterized in that: Includes the following steps: S1. Wind monitoring and level determination: The anemometer (13) continuously collects external wind speed and wind direction data, and the monitoring sensor (14) synchronously records the tilt angle, horizontal drift speed and vibration frequency of the device. The data is transmitted to the control unit of the flight control module (2) at preset intervals. The wind speed is combined with the device's dynamic response parameters to determine the current wind level and generate corresponding control commands. S2, Multiple wind-resistant coordinated adjustment: The flight control module (2) controls the blade (25) to fine-tune the angle to offset drift, the lifting blade (22) corrects the small angle tilt through the speed difference, and the buoyancy provides the original module (1) so that the inner and outer balloons (11) and hot air balloons (12) remain in the initial state to maintain buoyancy stability. At the same time, the cable (10) is locked and the locking fastener (62) is kept locked to ensure connection rigidity. The flight control module (2) controls the propeller (25) to increase the reverse thrust, the lift propeller (22) drives the device to rise, the double-sided control propeller (25) adjusts to the minimum windward surface through the speed difference, the hot air balloon (12) reduces the amount of flame, the inner and outer balloons (11) finely adjust the buoyancy distribution through gas transfer, assist in attitude correction, and release part of the cable (10) to lower the center of gravity, and the locking fastener (62) keeps it locked to stabilize the tension; The flight control module (2) cuts off the power of the control blade (25) to fold it downwind, the lift blade (22) operates at low power, the hot air balloon (12) exhausts gas, the inner and outer balloons (11) transfer gas to quickly reduce buoyancy, cooperate with the descent, and at the same time release all cables (10) to bring the load close to the ground, the locking fastener (62) is half-locked, and the impact is buffered by the flexible connection. S3. Dynamic feedback and parameter correction: The flight control module (2) receives feedback data from the anemometer (13) and monitoring sensor (14) in real time, compares the deviation between the current attitude and the preset range, and if the deviation is not reduced, adjusts the angle of the control blade (25), the speed of the lift blade (22) or the buoyancy adjustment range. After each adjustment cycle is completed, the wind force level is re-determined, and the corresponding control strategy is switched according to the real-time wind force change. S4. Emergency Escape: When the wind force exceeds the limit of the device, the flight control module (2) immediately triggers the lift blades (22) to operate at full power to maintain the attitude. The hot air balloon (12) and the inner and outer balloons (11) quickly release buoyancy, and the drive component (7) unlocks the locking fastener (62) to separate the load from the airbag and ensure the safety of the core components.

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