A pressure control method and tethered balloon

Abstract

The present invention provides a pressure control method and a tethered balloon, comprising: determining the expected pressure value inside the auxiliary airbag according to the wind speed value and the actual pressure value inside the auxiliary airbag of the tethered balloon; and adjusting the pressure of the auxiliary airbag according to the actual pressure value and the expected pressure value. The pressure control method and tethered balloon provided by the present invention dynamically adjust the pressure of the auxiliary airbag by monitoring the real-time wind speed and the actual pressure value of the auxiliary airbag of the tethered balloon, so that the inside of the balloon can maintain the optimal pressure state during the flight of the tethered balloon, so that the optimal balance is achieved between the wind resistance of the balloon and the helium leakage of the balloon, which can effectively reduce the adverse effects caused by the slow leakage of helium, reduce the flight risk, and improve the economic value of the engineering task.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic digital data processing, and in particular to a pressure control method. Background Art

[0002] During the flight of a tethered balloon, a certain pressure must be maintained inside the balloon to maintain the balloon's good aerodynamic shape.

[0003] In the prior art, the operator of the tethered balloon monitors the pressure difference between the inside and outside of the tethered balloon airbag, and then adjusts the pressure of the tethered balloon airbag.

[0004] However, the tethered balloons controlled by this method have poor wind resistance. Summary of the invention

[0005] The present invention provides a pressure control method and a tethered balloon, which are used to solve the defect of poor wind resistance of the tethered balloon in the prior art and achieve a balance between the wind resistance of the balloon and helium leakage.

[0006] The present invention provides a pressure control method, comprising: determining a desired pressure value inside a secondary airbag of a tethered balloon according to a wind speed value and an actual pressure value inside the secondary airbag of the tethered balloon;

[0007] The pressure of the auxiliary airbag is adjusted according to the actual pressure value and the expected pressure value.

[0008] According to a pressure control method provided by the present invention, determining the expected pressure value inside the auxiliary airbag according to the wind speed value and the actual pressure value inside the auxiliary airbag of the tethered balloon comprises:

[0009] determining a normalized helium leakage of the tethered balloon according to the actual pressure value;

[0010] Determining a normalized horizontal displacement value of the tethered balloon according to the actual pressure value and the wind speed value;

[0011] The expected pressure value is determined according to the normalized horizontal displacement value and the normalized helium leakage amount.

[0012] According to a pressure control method provided by the present invention, determining the expected pressure value according to the normalized horizontal displacement value and the normalized helium leakage amount includes:

[0013] In a case where the normalized horizontal displacement value is not less than the normalized helium leakage amount, determining a calculated pressure value according to the wind speed value and the actual pressure value;

[0014] In a case where the normalized horizontal displacement value is less than the normalized helium leakage amount, determining the actual pressure value as a calculated pressure value;

[0015] The expected pressure value is determined according to the pressure upper limit value, the pressure lower limit value and the calculated pressure value.

[0016] According to a pressure control method provided by the present invention, the pressure of the auxiliary airbag is adjusted according to the actual pressure value and the expected pressure value, comprising:

[0017] When the sum of the expected pressure value and the preset value is less than the actual pressure value, a first control signal is generated, wherein the first control signal is used to control the exhaust valve to open and the blower to close;

[0018] When the difference between the expected pressure value and the preset value is greater than the actual pressure value, a second control signal is generated, and the second control signal is used to control the exhaust valve to close and the blower to open.

[0019] According to a pressure control method provided by the present invention, before determining the expected pressure value inside the auxiliary airbag according to the wind speed value and the actual pressure value inside the auxiliary airbag of the tethered balloon, the method further includes:

[0020] Acquire a wind field data set of the surrounding environment of the tethered balloon and a pressure data set inside the auxiliary airbag;

[0021] The median in the wind field data set is determined as the wind speed value, and the median in the pressure data set is determined as the actual pressure value.

[0022] The present invention also provides a tethered balloon, comprising a pressure control device, in which a control module is arranged; and further comprising a memory and a program or instruction stored in the memory and executable on the control module, wherein when the program or instruction is executed by the control module, any one of the pressure control methods described above is executed.

[0023] According to a tethered balloon provided by the present invention, the pressure control device also includes a wind speed sensor, which is connected to the outer surface of the tethered balloon via a first connecting piece, and a signal port of the wind speed sensor is connected to the control module to send a wind field data group of the surrounding environment of the tethered balloon to the control module.

[0024] According to a tethered balloon provided by the present invention, the pressure control device further comprises a differential pressure sensor, the pressure measuring port of the differential pressure sensor is connected to the inside of the secondary airbag of the tethered balloon through a second connecting piece, and is used to measure the actual pressure value inside the secondary airbag;

[0025] The signal interface of the pressure difference sensor is connected to the control module to send the pressure data group inside the auxiliary airbag to the control module.

[0026] According to a tethered balloon provided by the present invention, the pressure control device further comprises a blower, the air outlet of the blower is connected to the auxiliary airbag of the tethered balloon through a third connecting member, and is used to blow gas into the auxiliary airbag;

[0027] The electrical interface of the blower is connected to the control module to receive a blower control signal sent by the control module; the blower control signal is used to control the blower to be turned off or on.

[0028] According to a tethered balloon provided by the present invention, the pressure control device further comprises: an exhaust valve, the exhaust valve being connected to the auxiliary airbag of the tethered balloon through a fourth connecting member, and being used to exhaust the gas inside the auxiliary airbag;

[0029] The electrical interface of the exhaust valve is connected to the control module to receive a valve control signal sent by the control module; the valve control signal is used to control the exhaust valve to close or open.

[0030] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the pressure control methods described above is implemented.

[0031] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the pressure control method described in any one of the above is implemented.

[0032] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the pressure control method described above is implemented.

[0033] The pressure control method and tethered balloon provided by the present invention monitor the real-time wind speed and the actual pressure value of the auxiliary airbag of the tethered balloon, and then dynamically adjust the pressure of the auxiliary airbag, so that the inside of the balloon can maintain an optimal pressure state during the flight of the tethered balloon, so as to achieve an optimal balance between the wind resistance of the balloon and the helium leakage of the balloon, effectively reduce the adverse effects caused by the slow leakage of helium, reduce the flight risk, and improve the economic value of the engineering task. 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 It is one of the flow charts of the pressure control method provided by the present invention;

[0036] Figure 2 This is the second flow chart of the pressure control method provided by the present invention;

[0037] Figure 3 This is the third flow chart of the pressure control method provided by the present invention;

[0038] Figure 4 It is a structural schematic diagram of the pressure control device provided by the present invention;

[0039] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0040] 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.

[0041] In actual flight missions, a pressure control module is used to control the internal pressure value of the auxiliary airbag within a fixed range, thereby achieving the purpose of pressure regulation. The specific value of the fixed range is generally adjusted manually.

[0042] On the one hand, based on the results of multiple flight tests of the tethered balloon platform, it can be known that when a tethered balloon flies in the atmosphere, it will inevitably be affected by the wind in the atmosphere. The greater the horizontal wind speed, the greater the horizontal displacement of the balloon. Excessive horizontal displacement is not conducive to the safe flight of the balloon. In view of this situation, the pressure value inside the tethered balloon can be increased to improve the wind resistance of the balloon and reduce the horizontal displacement.

[0043] On the other hand, the capsule of the tethered balloon is made of polymer composite materials, which will have a certain amount of helium leakage. The amount of helium leakage is proportional to the pressure difference inside the capsule. The higher the pressure inside the balloon capsule, the faster the internal helium leaks, and vice versa. Excessive helium leakage will cause the balloon's net buoyancy to be lost too quickly, which will have an adverse effect on the continuous flight time and helium cost expenditure.

[0044] In summary, too high or too low balloon pressure values ​​will have an adverse effect on the flight of tethered balloons. How to combine these two factors to maintain a balance between the balloon's wind resistance and helium leakage is an urgent problem that needs to be solved in the current tethered balloon engineering applications.

[0045] Combine the following Figures 1 to 5 The pressure control method and tethered balloon provided by the embodiments of the present invention are described.

[0046] Figure 1 It is one of the flow charts of the pressure control method provided by the present invention, such as Figure 1 As shown, including but not limited to the following steps:

[0047] First, in step S1, the expected pressure value inside the secondary airbag of the tethered balloon is determined according to the wind speed value and the actual pressure value inside the secondary airbag of the tethered balloon.

[0048] The wind speed sensor installed on the surface of the tethered balloon can measure the horizontal wind speed in the surrounding environment of the tethered balloon in real time to obtain the wind speed value; the pressure difference sensor installed on the tethered balloon can also monitor the inside of the secondary airbag of the tethered balloon in real time to obtain the actual pressure value.

[0049] The wind speed value and the actual pressure value are normalized and calculated to obtain the normalized horizontal displacement, and the bag characteristic coefficient and the actual pressure value of the main airbag are normalized and calculated to obtain the normalized helium leakage; according to the normalized horizontal displacement and the normalized helium leakage, the expected pressure value inside the secondary airbag of the tethered balloon can be determined.

[0050] Further, in step S2, the pressure of the auxiliary airbag is adjusted according to the actual pressure value and the expected pressure value.

[0051] When the sum of the expected pressure value and the preset value is less than the actual pressure value of the auxiliary airbag, the exhaust valve is controlled to open and the blower is controlled to close; when the difference between the expected pressure value and the preset value is greater than the actual pressure value, the exhaust valve is controlled to close and the blower is controlled to open.

[0052] Among them, the preset value can avoid frequent opening and closing operations of the actuator at the critical point, and can be flexibly adjusted according to actual conditions. The smaller the preset value is set, the more frequent the adjustment, and the higher the accuracy of the airbag pressure control.

[0053] The pressure control method provided by the present invention monitors the real-time wind speed and the actual pressure value of the auxiliary airbag of the tethered balloon, and then dynamically adjusts the pressure of the auxiliary airbag, so that the inside of the balloon can maintain an optimal pressure state during the flight of the tethered balloon, so as to achieve an optimal balance between the wind resistance of the balloon and the helium leakage of the balloon, effectively reduce the adverse effects of slow helium leakage, reduce flight risks, and improve the economic value of engineering tasks.

[0054] Optionally, before determining the expected pressure value inside the secondary airbag according to the wind speed value and the actual pressure value inside the secondary airbag of the tethered balloon, the method further comprises:

[0055] Acquire a wind field data set of the surrounding environment of the tethered balloon and a pressure data set inside the auxiliary airbag;

[0056] The median in the wind field data set is determined as the wind speed value, and the median in the pressure data set is determined as the actual pressure value.

[0057] The control module obtains the raw data of the wind speed sensor at a frequency of 2 Hz, receives 5 raw data as a wind field data group, and takes the median value in the wind field data group as the real-time wind speed value V r , the other data in the wind field data group are discarded.

[0058] Similarly, the control module acquires the raw data of the pressure difference sensor at a frequency of 2 Hz, receives 5 raw data as a pressure data group, and takes the median value in the pressure data group as the actual pressure value P r , the other data in this pressure data group are discarded.

[0059] According to the pressure control method provided by the present invention, the most representative median is selected from multiple data for data processing, thereby filtering out erroneous data and improving data validity.

[0060] Optionally, determining the expected pressure value inside the secondary airbag according to the wind speed value and the actual pressure value inside the secondary airbag of the tethered balloon includes:

[0061] determining a normalized helium leakage of the tethered balloon according to the actual pressure value;

[0062] Determining a normalized horizontal displacement value of the tethered balloon according to the actual pressure value and the wind speed value;

[0063] The expected pressure value is determined according to the normalized horizontal displacement value and the normalized helium leakage amount.

[0064] According to the actual pressure value P r , calculate the normalized helium leakage value J r , as follows:

[0065] J r =F(k,P r );

[0066] Wherein, k is the capsule characteristic coefficient, which is determined by the material properties of the capsule itself; P r is the actual pressure value of the capsule. The helium leakage of the capsule is positively correlated with the internal gas pressure.

[0067] According to the actual pressure value P r And real-time wind speed value V r , calculate the normalized horizontal displacement value X r , as follows:

[0068] X r =G(V r ,P r );

[0069] Among them, V r is the horizontal wind speed value; P r is the actual pressure value inside the capsule; the horizontal displacement is negatively correlated with the actual pressure value inside the capsule and positively correlated with the wind speed.

[0070] According to the pressure control method provided by the present invention, the normalized helium leakage amount and the normalized horizontal displacement value are calculated to determine the expected pressure value, thereby providing a basis for the pressure control of the retention balloon.

[0071] Optionally, determining the expected pressure value according to the normalized horizontal displacement value and the normalized helium leakage amount includes:

[0072] In a case where the normalized horizontal displacement value is not less than the normalized helium leakage amount, determining a calculated pressure value according to the wind speed value and the actual pressure value;

[0073] In a case where the normalized horizontal displacement value is less than the normalized helium leakage amount, determining the actual pressure value as a calculated pressure value;

[0074] The expected pressure value is determined according to the pressure upper limit value, the pressure lower limit value and the calculated pressure value.

[0075] Normalize the horizontal displacement value X r and normalized helium leakage J r For comparison, if Xr ≥J r , then according to the input real-time wind speed value V r , let X in the above formula r =J r , calculate the expected pressure value P d ; if X r <J r , X r The function curve and J r The function curve has no intersection point, and the expected pressure value is P d =P r .

[0076] P d Respectively with P max and P min For comparison, if P d ≤P min , then take P d =P min If P d ≥P max , take P d =P max If P min <P d <P max , take P d =P d .

[0077] Among them, P min is the lower limit of the expected pressure, P max The upper limit of the expected pressure is determined by the structural design of the tethered balloon, mainly considering the maximum pressure that the balloon can withstand and the balloon pressure that maintains the minimum aerodynamic shape of the balloon.

[0078] According to the pressure control method provided by the present invention, by comparing the normalized horizontal displacement value and the normalized helium leakage, an optimized expected pressure value is calculated, and the expected pressure value can not only ensure that the horizontal displacement of the balloon is within the safety limit and reduce the risk factor, but also reduce the helium leakage of the capsule and improve the economic performance of the platform.

[0079] Optionally, adjusting the pressure of the auxiliary airbag according to the actual pressure value and the expected pressure value includes:

[0080] When the sum of the expected pressure value and the preset value is less than the actual pressure value, a first control signal is generated, wherein the first control signal is used to control the exhaust valve to open and the blower to close;

[0081] When the difference between the expected pressure value and the preset value is greater than the actual pressure value, a second control signal is generated, and the second control signal is used to control the exhaust valve to close and the blower to open.

[0082] Drive the blower to fill the balloon with air to increase the pressure inside the balloon. As the balloon pressure increases, the wind resistance increases and the horizontal displacement of the balloon gradually decreases. Within the maximum pressure limit of the balloon, the higher the pressure, the better. Drive the exhaust valve to open and discharge part of the air in the balloon to reduce the balloon pressure and helium leakage. Above the minimum pressure to keep the balloon in shape, the lower the balloon pressure, the better.

[0083] The preset value can be 10. The control module compares the actual pressure value with the expected pressure value. r >P d +10, then the first control signal is generated to open the exhaust valve and close the blower; if P r <P d -10, a second control signal is generated to close the exhaust valve and start the blower. The units of the values ​​in the above relationship are all Pascals (Pa).

[0084] The control module sends corresponding control signals to the exhaust valve, the blower and other actuators to drive them to operate so as to adjust the actual pressure value inside the bladder to approach the expected pressure value.

[0085] According to the pressure control method provided by the present invention, by setting a preset value, frequent opening and closing operations of the actuator at the critical point can be avoided.

[0086] The tethered balloon provided by the present invention is described below. The tethered balloon described below and the pressure control method described above can be referenced to each other.

[0087] Figure 2 FIG. 2 is a flow chart of the pressure control method provided by the present invention. Figure 2 As shown, including:

[0088] First, the wind field data set of the surrounding environment of the tethered balloon is obtained through the wind speed sensor, and the pressure data set inside the auxiliary airbag of the tethered balloon is obtained through the pressure difference sensor;

[0089] Further, the wind field data group and the pressure data group are preprocessed to obtain the real-time wind speed value and the actual pressure value;

[0090] Furthermore, the expected pressure value of the capsule is calculated based on the real-time wind speed value and the actual pressure value;

[0091] Furthermore, based on the difference between the expected pressure value and the actual pressure value, the actuator is driven to realize the dynamic pressure control function, and the wind field data group of the surrounding environment of the tethered balloon is repeatedly obtained through the wind speed sensor, and the pressure data group inside the secondary airbag of the tethered balloon is obtained through the pressure difference sensor, and the above steps are repeated to realize dynamic closed-loop control of the balloon pressure value.

[0092] Figure 3 FIG. 3 is a flow chart of the pressure control method provided by the present invention. Figure 3 As shown, including:

[0093] First, calculate the normalized helium leakage J r , and calculate the normalized horizontal displacement value X r ;

[0094] Furthermore, the normalized horizontal displacement value X r and normalized helium leakage J r For comparison, if X r ≥J r , then according to the input real-time wind speed value V r , let X in the above formula r =J r , calculate the expected pressure value P d ; if X r <J r , then the expected pressure value is P d =P r ;

[0095] Furthermore, P d Respectively with P max and P min For comparison, if P d ≤P min , then take P d =P min If P d ≥P max , take P d =P max If P min <P d <P max , take P d =P d ;

[0096] Furthermore, the actual pressure value P r and the expected pressure value P d For comparison, if P r >P d +10, the exhaust valve opens and the blower closes;

[0097] Furthermore, if P r <Pd -10, the exhaust valve is closed and the blower is turned on;

[0098] Furthermore, if P d -10≤P r ≤P d +10, the exhaust valve is closed and the blower is turned off.

[0099] In view of the defects of the pressure difference step open-loop control method in the prior art, the pressure control method provided by the present invention introduces real-time wind speed data into the control loop, realizes closed-loop control of the pressure value, achieves a dynamic balance between the flight risk and helium loss of the tethered balloon, and improves the economic value of the engineering task.

[0100] The present invention also provides a tethered balloon, comprising a pressure control device, in which a control module is arranged; and also comprising a memory and a program or instruction stored in the memory and executable on the control module, wherein the above-mentioned pressure control method is executed when the program or instruction is executed by the control module.

[0101] Figure 4 Schematic diagram of the structure of the pressure control device provided by the present invention. Figure 4 As shown, it includes: a control module, and a wind speed sensor, a pressure difference sensor, a blower and an exhaust valve connected to the control module.

[0102] The control module can be installed in the balloon platform cabin to receive the raw data from the wind speed sensor and the pressure difference sensor, process the raw data, and output the drive signals of the blower and the exhaust valve according to the processing results.

[0103] The tethered balloon provided by the present invention monitors the real-time wind speed and the actual pressure value of the auxiliary airbag of the tethered balloon, and then dynamically adjusts the pressure of the auxiliary airbag, so that the inside of the balloon can maintain an optimal pressure state during the flight of the tethered balloon, so as to achieve an optimal balance between the wind resistance of the balloon body and the helium leakage of the balloon body, effectively reduce the adverse effects caused by the slow leakage of helium, reduce the flight risk, and improve the economic value of the engineering task.

[0104] Optionally, the pressure control device also includes a wind speed sensor, which is connected to the outer surface of the tethered balloon via a first connecting piece, and a signal port of the wind speed sensor is connected to the control module to send a wind field data group of the surrounding environment of the tethered balloon to the control module.

[0105] The wind speed sensor is generally installed on the back or abdomen of the tethered balloon. The specific location is not fixed and is based on the standard of not affecting the wind speed measurement. It is used to sense the wind speed in the surrounding environment of the tethered balloon.

[0106] The wind speed sensor is installed on the back of the tethered balloon, and realizes fluid-solid connection with the spherical membrane surface on the back of the sphere through a flange. There is no shielding around this position, which is conducive to measuring the horizontal wind speed in the surrounding environment of the tethered balloon. The signal interface of the sensor is connected to the control module with the same cable;

[0107] The control module can power the wind speed sensor, set the wind speed sensor parameters so that its data sampling and output frequency is 2Hz, and detect the sensor data to ensure that the sensor data is normal.

[0108] Optionally, the pressure control device further comprises a differential pressure sensor, the pressure measuring port of the differential pressure sensor is connected to the interior of the auxiliary airbag of the tethered balloon through a second connecting piece, and is used to measure the actual pressure value inside the auxiliary airbag;

[0109] The signal interface of the pressure difference sensor is connected to the control module to send the pressure data group inside the auxiliary airbag to the control module.

[0110] The differential pressure sensor can be installed on the flange of the tethered balloon body. The pressure measuring port is connected to the inside of the secondary airbag of the tethered balloon through the flange to measure the pressure value inside the balloon. The sensor signal interface is connected to the control module through a cable.

[0111] Optionally, the pressure control device further comprises a blower, the air outlet of the blower is connected to the auxiliary airbag of the tethered balloon through a third connecting member, and is used to blow gas into the auxiliary airbag;

[0112] The electrical interface of the blower is connected to the control module to receive a blower control signal sent by the control module; the blower control signal is used to control the blower to be turned off or on.

[0113] The blower can be installed on the surface of the auxiliary airbag of the tethered balloon, and realize fluid-solid connection with the airbag through a flange. When it is activated, it can blow air into the interior of the airbag, and its electrical interface is connected to the control module through a cable.

[0114] Optionally, the pressure control device further comprises: an exhaust valve, the exhaust valve being connected to the auxiliary airbag of the tethered balloon via a fourth connecting piece, and being used for exhausting the gas inside the auxiliary airbag;

[0115] The electrical interface of the exhaust valve is connected to the control module to receive a valve control signal sent by the control module; the valve control signal is used to control the exhaust valve to close or open.

[0116] The exhaust valve can be installed on the surface of the auxiliary airbag of the tethered balloon, and realize fluid-solid connection with the balloon body through a flange. When the valve is opened, air is discharged from the inside of the balloon body. When the valve is closed, it can prevent the air from flowing in and out of the balloon body to ensure the air tightness of the balloon body. Its electrical interface is connected to the control module through a cable.

[0117] Figure 5 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the pressure control method, which includes: determining the expected pressure value inside the auxiliary airbag according to the wind speed value and the actual pressure value inside the auxiliary airbag of the tethered balloon; and adjusting the pressure of the auxiliary airbag according to the actual pressure value and the expected pressure value.

[0118] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0119] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the pressure control method provided by the above-mentioned methods, which includes: determining the expected pressure value inside the auxiliary airbag based on the wind speed value and the actual pressure value inside the auxiliary airbag of the tethered balloon; and adjusting the pressure of the auxiliary airbag based on the actual pressure value and the expected pressure value.

[0120] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the pressure control method provided by the above-mentioned methods. The method includes: determining an expected pressure value inside the auxiliary airbag according to a wind speed value and an actual pressure value inside the auxiliary airbag of the tethered balloon; and adjusting the pressure of the auxiliary airbag according to the actual pressure value and the expected pressure value.

[0121] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0122] 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.

[0123] 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 pressure control method, characterized in that: include: Determining a desired pressure value inside the secondary airbag according to the wind speed value and the actual pressure value inside the secondary airbag of the tethered balloon; adjusting the pressure of the auxiliary airbag according to the actual pressure value and the expected pressure value; The step of determining the expected pressure value inside the auxiliary airbag according to the wind speed value and the actual pressure value inside the auxiliary airbag of the tethered balloon comprises: Determine the normalized helium leakage of the tethered balloon according to the actual pressure value; determine the normalized horizontal displacement value of the tethered balloon according to the actual pressure value and the wind speed value; determine the expected pressure value according to the normalized horizontal displacement value and the normalized helium leakage; Determining the expected pressure value according to the normalized horizontal displacement value and the normalized helium leakage amount includes: In the case where the normalized horizontal displacement value is not less than the normalized helium leakage amount, determining the calculated pressure value according to the wind speed value and the actual pressure value; in the case where the normalized horizontal displacement value is less than the normalized helium leakage amount, determining the actual pressure value as the calculated pressure value; determining the expected pressure value according to the upper pressure limit value, the lower pressure limit value and the calculated pressure value; The step of adjusting the pressure of the auxiliary airbag according to the actual pressure value and the expected pressure value includes: When the sum of the expected pressure value and the preset value is less than the actual pressure value, a first control signal is generated, and the first control signal is used to control the exhaust valve to open and the blower to close; when the difference between the expected pressure value and the preset value is greater than the actual pressure value, a second control signal is generated, and the second control signal is used to control the exhaust valve to close and the blower to open; Before determining the expected pressure value inside the auxiliary airbag according to the wind speed value and the actual pressure value inside the auxiliary airbag of the tethered balloon, the method further includes: Obtain a wind field data group of the surrounding environment of the tethered balloon and a pressure data group inside the auxiliary airbag; determine the median of the wind field data group as the wind speed value, and determine the median of the pressure data group as the actual pressure value.

2. A tethered balloon, characterized in that: It comprises a pressure control device in which a control module is arranged; it also comprises a memory and a program or instruction stored in the memory and executable on the control module, wherein the pressure control method as claimed in claim 1 is executed when the program or instruction is executed by the control module.

3. The tethered balloon according to claim 2, characterized in that: The pressure control device also includes a wind speed sensor, which is connected to the outer surface of the tethered balloon via a first connector. The signal port of the wind speed sensor is connected to the control module to send a wind field data group of the surrounding environment of the tethered balloon to the control module.

4. The tethered balloon according to claim 2, characterized in that: The pressure control device further comprises a pressure differential sensor, the pressure measuring port of the pressure differential sensor is connected to the interior of the auxiliary airbag of the tethered balloon through a second connecting piece, and is used to measure the actual pressure value inside the auxiliary airbag; The signal interface of the pressure difference sensor is connected to the control module to send the pressure data group inside the auxiliary airbag to the control module.

5. The tethered balloon according to claim 4, characterized in that: The pressure control device further comprises a blower, the air outlet of the blower being connected to the auxiliary airbag of the tethered balloon via a third connecting member, for blowing gas into the auxiliary airbag; The electrical interface of the blower is connected to the control module to receive a blower control signal sent by the control module; the blower control signal is used to control the blower to be turned off or on.

6. The tethered balloon according to claim 4, characterized in that: The pressure control device further comprises: an exhaust valve, the exhaust valve being connected to the auxiliary airbag of the tethered balloon via a fourth connecting member, and being used for exhausting the gas inside the auxiliary airbag; The electrical interface of the exhaust valve is connected to the control module to receive a valve control signal sent by the control module; the valve control signal is used to control the exhaust valve to close or open.

Images