A floating platform control method, operation method and system

Abstract

The embodiment of the application discloses a kind of floating platform control method, operation method and system, it is related to lighter-than-air vehicle technical field, solve the problem that floating platform is difficult to move horizontally in related art.The floating platform control method includes obtaining meteorological data and working data, working data includes actual coordinate parameter and target coordinate parameter;When actual coordinate parameter and target coordinate parameter do not satisfy equal condition, control floating platform to fly horizontally, to make floating platform by actual coordinate parameter corresponding actual position move horizontally to target coordinate parameter corresponding target position;When actual coordinate parameter and target coordinate parameter satisfy equal condition, control floating platform to stay flight, to make floating platform stay in target position.The floating platform control method of the application is used to control floating platform.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of airships, and particularly to an airship platform control method, operation method and system. Background Technology

[0002] Near space refers to the airspace 20 to 100 kilometers above the ground. Due to its unique altitude and environmental advantages, it holds immense scientific research value, and floating platforms are crucial for developing and utilizing near space resources.

[0003] Aerial platforms have advantages such as simple structure, mature technology, short response time, and high cost-effectiveness. Specifically, the 0-aerial platform stays in the air via an overpressured balloon, enabling it to acquire information long-term, in real-time, around the clock.

[0004] It can provide solutions for applications such as Earth observation, early warning detection, communication relay, disaster prevention and mitigation, environmental monitoring, and network coverage.

[0005] Among related technologies, there is a lack of flight control for the aerostat platform, and it can only rely on altitude adjustment technology to utilize wind.

[0006] The large-scale meandering flight under field conditions, with its difficult-to-adjust flight trajectory and area, makes the recovery of the aerostat platform 5 challenging, costly, and time-sensitive. This severely limits the use of high-value equipment and time-sensitive payloads, preventing its large-scale application. Summary of the Invention

[0007] The floating platform control method, operation method, and system provided in this application can realize floating platform control.

[0008] The platform has functions such as directional flight and fixed-point stationing, and can improve the efficiency of the floating platform and facilitate the recovery of the floating platform.

[0009] In a first aspect, embodiments of this application provide an airship platform control method, comprising: acquiring meteorological data and operational data, the operational data including actual coordinate parameters and target coordinate parameters; determining whether the actual coordinate parameters and target coordinate parameters satisfy an equality condition to control the flight state of the airship platform; when the actual coordinate parameters and target coordinate parameters do not satisfy an equality condition, controlling the airship platform to fly laterally according to at least one parameter in the meteorological data and operational data, so that the airship platform moves laterally from the actual position corresponding to the actual coordinate parameters to the target position corresponding to the target coordinate parameters; when the actual coordinate parameters and target coordinate parameters satisfy an equality condition, controlling the airship platform to remain stationary according to at least one parameter in the meteorological data and operational data, so that the airship platform remains stationary at the target position.

[0010] The airship platform control method provided in this application can acquire meteorological and operational parameters as decision-making basis and control the flight state of the airship platform accordingly. The flight state includes lateral flight and stationary flight. Lateral flight allows the airship platform to move laterally from its actual position (corresponding to actual coordinate parameters) to its target position (corresponding to target coordinate parameters). That is, when the airship is at the target altitude, it can move in a direction parallel or approximately parallel to the ground, enabling long-distance directional flight. Stationary flight allows the airship platform to remain stationary at the target position. Based on this, the airship platform control method of this application can achieve several effects. First, during airship platform recovery, the airship platform can be controlled to move laterally from its actual position to the landing point before separating and descending, allowing the landing point to be controlled within a small range, achieving a pinpoint landing and facilitating airship platform recovery operations. Second, utilizing the long-distance directional flight and pinpoint landing capabilities of the airship platform enables long-distance material delivery operations, using the airship platform as a transportation tool to enhance its functionality. Third, since the aerostat can move horizontally from its actual position to the target position at the target height, only one deployment and retrieval operation is needed to achieve multi-area operations, thus improving operational efficiency. Fourth, hovering flight allows the aerostat to hover more precisely at the target position, achieving fixed-point hovering, which facilitates high-precision operations. Compared with related technologies that can only control the vertical ascent and descent of the aerostat and lack lateral flight control, the aerostat control method of this application can control the lateral movement of the aerostat, thereby realizing the directional flight and fixed-point hovering functions of the aerostat. It also has the advantages of convenient aerostat retrieval and good operational timeliness.

[0011] In one possible implementation of this application, in the step of controlling the lateral flight of the airship platform based on at least one parameter from meteorological data and operational data, the control method includes: planning a flight path based on meteorological data and operational data; and controlling the maneuvering state of the airship platform based on the flight path.

[0012] In one possible implementation of this application, the meteorological data includes wind direction parameters, the operational data includes heading parameters, and the control method in the step of planning the flight path based on the meteorological data and operational data includes:

[0013] Multiple path segments are divided between the actual location and the target location based on wind direction and heading parameters; a flight path is generated based on these multiple path segments.

[0014] In one possible implementation of this application, the multiple path segments include first-type path segments and second-type path segments. In the step of dividing the actual position and target position into multiple 5-path segments based on wind direction parameters and heading parameters, the control method includes: when the heading parameters and wind direction parameters satisfy an angle that is obtuse or right-angled...

[0015] When the heading parameter and wind direction parameter satisfy the condition that the included angle is acute, the path segment is determined to be a first-class path segment; when the included angle between the heading parameter and wind direction parameter is acute, the path segment is determined to be a second-class path segment.

[0016] In one possible implementation of this application, in the step of controlling the maneuvering state of the aerostat platform according to the flight path, the control method includes: when the actual coordinate parameters match a first type of path segment, activating the lateral propulsion mechanism of the aerostat platform to control the aerostat platform to perform powered flight; and when the actual coordinate parameters match a second type of path segment, deactivating the lateral propulsion mechanism of the aerostat platform to control the aerostat platform to perform floating flight.

[0017] In one possible implementation of this application, in the step of controlling the hovering flight of the airship platform based on at least one parameter from meteorological data and operational data, the control method includes: determining the hovering mode based on the meteorological data and operational data; and controlling the hovering state of the airship platform based on the hovering mode.

[0018] 5 In one possible implementation of this application, the meteorological data includes wind speed parameters. In the step of determining the dwell mode based on the meteorological data and the working data, the control method includes: comparing the wind speed parameters with a preset wind speed; when the wind speed parameters are less than the preset wind speed, determining the dwell mode as the first dwell mode.

[0019] When the wind speed parameter is greater than or equal to the preset wind speed, the dwell mode is determined to be the second dwell mode.

[0020] In one possible implementation of this application, the working data includes a power parameter. Before the step of comparing the wind speed parameter with a preset wind speed to determine the dwell mode, the method further includes: comparing the power parameter with a preset power level; when the power parameter is less than or equal to the preset power level, determining the dwell mode as a second dwell mode; when the power parameter is greater than the preset power level, performing the step of comparing the wind speed parameter with the preset wind speed to determine the dwell mode.

[0021] In one possible implementation of this application, in the step of controlling the dwelling state 5 of the airborne platform according to the dwelling mode, the control method includes: when the dwelling mode is the first dwelling mode, activating the lateral propulsion mechanism of the airborne platform to control the airborne platform to perform fixed-point dwelling at the target position corresponding to the target coordinate parameters; when the dwelling mode is the second dwelling mode, deactivating the lateral propulsion mechanism of the airborne platform to control the airborne platform to perform regional dwelling in the target area; wherein, the target area includes the target position.

[0022] In one possible implementation of this application, after controlling the hovering state of the aerostat platform according to the hovering mode, the control method includes: determining whether a new target coordinate parameter has been acquired; when a new target coordinate parameter is acquired, determining whether the new target coordinate parameter is a landing point coordinate parameter; when the new target parameter is a landing point coordinate parameter, controlling the aerostat platform to move laterally from its actual position to the landing point position corresponding to the landing point coordinate parameter and land based on at least one parameter from meteorological data and operational data; when the new target parameter is not a landing point coordinate parameter, performing a step of determining whether the actual coordinate parameter and the target coordinate parameter satisfy an equality condition; when no new target coordinate parameter is acquired, performing a step of determining whether the actual coordinate parameter and the target coordinate parameter satisfy an equality condition to control the flight state of the aerostat platform.

[0023] In one possible implementation of this application, the working data includes a height parameter. Before determining whether the actual coordinate parameter and the target coordinate parameter meet the equality condition, the control method further includes: comparing the height parameter with a preset height; when the height parameter of the floating platform is greater than or equal to the preset height, controlling the floating platform to enter the pre-operation stage; when the height parameter of the floating platform is less than the preset height, controlling the floating platform's ascent state according to at least one parameter in the working data.

[0024] In a second aspect, embodiments of this application provide a method for operating an airborne platform, the method comprising: deploying an airborne platform; controlling the airborne platform according to any one of the airborne platform control methods in the first aspect; and recovering the airborne platform.

[0025] Thirdly, embodiments of this application provide an airborne platform operation system, applied to the airborne platform control method of any one of the first aspects. The airborne platform operation system includes an airborne platform, an acquisition unit, and a processing unit. The acquisition unit is used to acquire meteorological data and operational data. The processing unit is used to control the airborne platform to fly laterally or stay in flight based on at least one parameter in the meteorological data and operational data.

[0026] The airborne platform control system provided in this application embodiment has the same technical effect as the airborne platform control method in the first aspect, namely, it can control the lateral movement of the airborne platform, thereby realizing the functions of directional flight and fixed-point stationing of the airborne platform. It also has the advantages of convenient airborne platform recovery and good operational timeliness.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processing module, implements the steps of the floating platform control method of any one of the first aspects.

[0028] Fifthly, embodiments of this application provide an electronic device, including a readable storage medium and a processing module. The readable storage medium stores a computer program that can be run on the processing module. When the processing module executes the computer program, it implements the steps of the floating platform control method of any one of the first aspects. Attached Figure Description

[0029] Figure 1 A schematic diagram of the structure of the floating platform operation system provided in the embodiments of this application.

[0030] Figure 2 A flowchart of the floating platform operation method provided in the embodiments of this application;

[0031] Figure 3 A schematic diagram of the floating platform operation method provided in the embodiments of this application;

[0032] Figure 4 A flowchart of the launch phase in the airborne platform operation method provided in the embodiments of this application;

[0033] Figure 5 A flowchart of the ascent phase in the floating platform control method provided in this application embodiment;

[0034] Figure 6 A flowchart illustrating lateral flight in the airborne platform control method provided in this application embodiment;

[0035] Figure 7 A flowchart illustrating the hovering flight in the airborne platform control method provided in this application embodiment;

[0036] Figure 8 A flowchart illustrating the separation and descent process in the airborne platform control method provided in this application embodiment;

[0037] Figure 9 A schematic diagram of the launch phase in the airborne platform control method provided in the embodiments of this application;

[0038] Figure 10 A schematic diagram of lateral flight in the airborne platform control method provided in the embodiments of this application;

[0039] Figure 11 This is a schematic diagram of the area dwell in the floating platform control method provided in the embodiments of this application.

[0040] Figure label:

[0041] 1-Floating platform; 11-Airbag; 12-Pod; 13-Parachute; 2-Launch and recovery module; 21-Launch vehicle; 22-Launch roller; 23-Launch clamp. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0043] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0044] In the description of the embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0045] Furthermore, in the embodiments of this application, directional terms such as "up," "down," "left," and "right" are relative.

[0046] For the orientation of the components in the accompanying drawings, it should be understood that these directional terms are relative concepts, used for description and clarification relative to each other, and can change accordingly depending on the orientation of the components in the accompanying drawings.

[0047] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0048] In the embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover...

[0049] Non-exclusive inclusion means that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a…" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0050] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0051] This application provides a floating platform control system that can provide solutions for applications such as Earth observation, early warning detection, communication relay, disaster prevention and mitigation, environmental monitoring, and network coverage.

[0052] Reference Figure 1 The control system of the floating platform 1 provided in this application embodiment includes a floating platform 1, an acquisition unit, a processing unit, a delivery and recovery module 2, etc.

[0053] The floating platform 1 may include a height adjustment mechanism and a lateral propulsion mechanism, etc. The height adjustment mechanism 5 includes an airbag 11, an inflation and deflation mechanism, etc. The airbag 11 includes a main airbag and a secondary airbag disposed within the main airbag.

[0054] The airbags, and the gas density inflated into the main airbag is less than the gas density inflated into the auxiliary airbag, are controlled by the main airbag /

[0055] The inflation and deflation of the auxiliary airbags enables the height adjustment of the aerostat platform 1. The lateral propulsion mechanism can be a propeller, jet propulsion, etc., and is equipped with a corresponding steering mechanism, allowing the lateral propulsion mechanism to adjust the direction of the horizontal propulsion force. In addition, the aerostat platform 1 may also include a pod 12 and a parachute 13. The parachute 13 is connected to the pod 12, and the pod 12 is connected to the airbag 11. The pod 12 can be used to carry energy devices, experimental instruments, and other loads. Any aerostat platform 1 that can achieve the above functions is acceptable, and its specific structure is not limited in this application.

[0056] The acquisition unit can be a sensor installed on the aerostat 1, such as an altitude sensor, temperature sensor, wind direction sensor, etc., or a communication device to receive weather forecast data sent by the transmitting device. This application does not limit this. The aerostat 1 and the acquisition unit are both electrically connected to the processor. The processor controls the aerostat 1 according to the data input by the acquisition unit to control the aerostat 1's ascent, lateral flight, hovering flight, landing, etc.

[0057] The dispensing and recycling module 2 may include a dispensing platform, a dispensing vehicle 21, a dispensing boom, a dispensing clamp 23, a dispensing roller 22, a recycling vehicle, a landing site, recycling equipment, etc., and this application does not limit these.

[0058] Based on this, the embodiments of this application provide a method for operating an aerial platform, referring to... Figure 2 and Figure 3 The floating platform operation method of this application includes:

[0059] S100: Deployment of the floating platform, i.e., the deployment phase;

[0060] S200: Controls the floating platform to rise to the preset height, i.e., the ascent phase;

[0061] S300: Controls the airborne platform to enter the pre-operation phase, i.e., the level flight phase;

[0062] S400: Controls the flight status of the airborne platform, i.e., the flight phase;

[0063] S500: Controls the airborne platform to descend, i.e., the separation and descent phase;

[0064] S600: Recoverable floating platform.

[0065] The step S100 of launching the airborne platform is used to launch the airborne platform into the air; the step S600 of recovering the airborne platform is used to recover the airborne platform and its onboard instruments after landing.

[0066] Reference Figure 4 and Figure 9 Step S100 of issuing the floating platform includes:

[0067] S110: Inspect the airship platform and related equipment, and deploy the sounding ball; used to complete various preparations before deploying the airship platform, check the status of the airship platform, experimental instruments, deployment and recovery modules, etc., and submit flight plans, and obtain the latest high-altitude wind field data through the sounding ball, etc.

[0068] S120: Determine the distribution location; specifically, this includes: determining the location of the distribution vehicle and distribution roller based on the actual wind speed and direction at the time of distribution, and in conjunction with forecast meteorological data, and installing all equipment in the distribution and recovery module in place.

[0069] S130: Assemble the air platform at the launch location and install the air platform on the launch and recovery module; specifically including: laying tarpaulin on the ground at the launch location, transporting the air platform to the launch location, connecting and installing the airbag, pod, parachute, etc., to the corresponding equipment of the launch and recovery module, connecting the inflation pipe to the main airbag, and reconfirming the equipment status.

[0070] S140: Inflate the airbags of the floating platform; specifically including: confirming inflation, issuing an inflation command, calculating the inflation volume until inflation is complete, and cutting off the inflation hose.

[0071] S150: Open the dispensing roller of the dispensing and recovery module to allow the airbag to rise slowly; specifically, this includes: starting the dispensing vehicle, adjusting the position of the dispensing vehicle according to actual weather conditions, and then opening the roller to gradually release the airbag, allowing the airbag to rise slowly.

[0072] S160: Release the airborne platform and lift it into the air. Specifically, this includes: when the airbag drifts directly above the pod, issuing a release command, opening the release chuck, and completing the release.

[0073] Based on this, embodiments of this application provide a method for controlling an airborne platform. This method can be used to control the airborne state of the airborne platform provided in this application, such as ascent and descent, lateral flight, hovering flight, and landing. Specifically, when the control method is executed, the processing unit controls the airborne platform based on meteorological data and operational data obtained by the acquisition unit, referring to... Figure 2 The control method for the aerobatic platform includes the following steps in the aerobatic platform operation method:

[0074] S200: Controls the floating platform to rise to the preset height;

[0075] S300: Controls the aerobatic platform to enter the pre-operation phase;

[0076] S400: Controls the flight status of the aerostat platform;

[0077] S500: Controls the descent of the airborne platform.

[0078] The meteorological data includes wind direction, wind speed, solar irradiance, and cloud / fog parameters. These parameters can be actual measurements obtained by various sensors in the acquisition unit on the aerostat platform, or forecast meteorological parameters obtained from other meteorological equipment and sent to the acquisition unit. This application does not impose any restrictions on this. The operational data includes lift parameters, actual coordinate parameters, target coordinate parameters, altitude parameters, heading parameters, overspeed time, low speed time, and power parameters. These operational parameters are those required for the aerostat platform during operation, or operating condition parameters measured by various sensors in the acquisition unit. This application does not impose any restrictions on this. It should be noted that when the aerostat platform is in the air, the acquisition unit acquires the meteorological and operational data required for the current stage in real time and sends them to the processing unit so that the processing unit can make decisions based on the latest parameters.

[0079] Reference Figure 5 Step S200, which controls the floating platform to rise to a preset height, includes:

[0080] S210: Pre-inflated auxiliary airbag. Specifically, this includes: turning on the auxiliary airbag blower to perform pre-inflation, and turning it off after a period of inflation, or turning off the auxiliary airbag blower after a certain amount of gas has been added to the auxiliary airbag.

[0081] S221: Compare the acceleration parameter with the preset acceleration to determine if the acceleration parameter is greater than the preset acceleration. If the acceleration parameter is greater than the preset acceleration, execute the following:

[0082] S222: Compare the overspeed time with the preset time to determine if the overspeed time is greater than or equal to the preset time. If the overspeed time is greater than or equal to the preset time, execute the following:

[0083] S223: Control the floating platform to reduce its ascent speed. For example, open the exhaust valve of the main airbag to release air, thereby reducing the ascent speed of the floating platform. The exhaust can be closed after a certain period of time, or closed when the ascent speed of the floating platform stabilizes to the preset ascent speed.

[0084] In step S222, if the overspeed time is less than a preset time, then the following is executed:

[0085] S224: Control the aerostat to maintain its ascent speed, for example, by closing an open exhaust valve or ballast valve to maintain the aerostat's current ascent speed.

[0086] In step S221, the following is executed when the acceleration parameter is less than or equal to the preset acceleration:

[0087] S225: Compare the acceleration parameter with the preset acceleration to determine if the acceleration parameter is less than the preset acceleration. If the acceleration parameter is greater than or equal to the preset acceleration, proceed to step S224. If the acceleration parameter is less than the preset acceleration, proceed to step S225.

[0088] S226: Compare the low-speed time with the preset time to determine if the low-speed time is greater than or equal to the preset time. If the low-speed time is greater than or equal to the preset time, execute the following:

[0089] S227: Control the floating platform to increase its ascent speed, for example: intermittently open the ballast valve for a maximum of 10 seconds each time, and close the ballast valve when the ascent speed of the floating platform stabilizes at the preset ascent speed.

[0090] In step S226, step S224 is executed when the low-speed time is less than the preset time.

[0091] It should be noted that the ascent speed is the speed at which the floating platform rises and falls along the direction of gravity. The ascent speed parameter is a parameter that reflects the ascent speed and is processed by the processing unit. The preset ascent speed can be a range or a specific value. This application does not limit this. For example, the preset ascent speed is 1 m / s to 10 m / s, or 4 m / s to 6 m / s.

[0092] Overspeed time is the duration of the current overspeed state, and low speed time is the duration of the current low speed state. To avoid frequent opening or closing of the exhaust valve and ballast valve, the preset time can optionally be 0.5 to 1.5 hours. The preset times corresponding to overspeed time and low speed time can be the same or different. For example, the preset time corresponding to both can be 1 hour.

[0093] In order for the floating platform to carry out subsequent work after reaching the preset height, refer to Figure 5 In one possible embodiment of this application, the following steps are performed after S223, S224, and S227:

[0094] S230: Compare the height parameter with the preset height to determine whether the height parameter is greater than or equal to the preset height. If the height parameter is greater than or equal to the preset height, execute step S300, that is, step S200, which controls the floating platform to rise to the preset height, has been completed. If the height parameter is less than the preset height, execute step S221, so that the floating platform continues to rise.

[0095] It should be noted that, unless otherwise specified, during step S300 and subsequent steps, the aerostat should be maintained at a preset altitude by the altitude adjustment mechanism. The altitude parameter is a parameter that reflects the current altitude of the aerostat and is processed by the processing unit. The preset altitude can be any value or range from 20km to 100km, and this application does not impose any limitation on it.

[0096] Step S300 is used to control the aerostat platform to enter the pre-operation phase, such as activating the energy management system, altitude control system, and automatic pressure control system included in the aerostat platform. Specifically, the automatic pressure control system is used to control the pressure difference inside and outside the main airbag within a suitable range for flight; the energy management system can use photovoltaic panels and lithium battery management systems to achieve automatic energy replenishment and supply-demand balance; the altitude adjustment system adjusts the altitude of the aerostat platform by inflating or deflating gas into the auxiliary airbags.

[0097] After step S300 is completed, step S400 is executed. Step S400 is used to control the flight status of the aerostat platform. (Refer to...) Figure 6 and Figure 7 In one possible embodiment of this application, step S400 includes:

[0098] S410: Initialize flight control data;

[0099] S420: Determine if the actual coordinate parameters and the target coordinate parameters meet the equality condition; if the actual coordinate parameters and the target coordinate parameters do not meet the equality condition, execute:

[0100] S430: Controls the lateral flight of the aerostat platform based on at least one parameter from meteorological and operational data, so as to move the aerostat platform laterally from its actual position corresponding to the actual coordinate parameters to its target position corresponding to the target coordinate parameters.

[0101] In step S420, the following is executed when the actual coordinate parameters and the target coordinate parameters meet the equality condition:

[0102] S440: Controls the hovering flight of the aerostat based on at least one parameter from meteorological data and operational data, so that the aerostat remains at the target location.

[0103] It should be noted that the actual coordinate parameters are parameters that reflect the current position of the floating platform and are processed by the processing unit, while the target coordinate parameters are parameters that reflect the next destination position of the floating platform and are processed by the processing unit. The equality condition between the actual coordinate parameters and the target coordinate parameters means that they are equal or the areas they represent overlap.

[0104] In step S430, the flight path needs to be planned based on meteorological and operational data, and then the maneuverability of the aerostat platform needs to be controlled according to the flight path. Please refer to [link / reference needed] for details. Figure 6 Step S430 includes:

[0105] S431: Divide the actual position and the target position into multiple path segments based on wind direction and heading parameters.

[0106] S432: Generates a flight path based on multiple path segments.

[0107] S433: Determine if the actual position of the floating platform corresponds to a first-type path segment. If the actual position of the floating platform corresponds to a first-type path segment, execute the following:

[0108] S434: Controls the powered flight of the aerostat platform, specifically by activating the lateral propulsion mechanism of the aerostat platform.

[0109] In step S433, when the actual position of the floating platform does not correspond to the first type of path segment, that is, when the actual position of the floating platform corresponds to the second type of path segment, the following is executed:

[0110] S435: Controls the floating flight of the aerostat platform, specifically by shutting down the lateral propulsion mechanism of the aerostat platform.

[0111] Among them, the wind direction parameter is used to indicate the wind direction on the path segment where the aerostat is located; the heading parameter is used to indicate the actual flight direction of the aerostat, and the flight path is the path that enables the aerostat to reach the target position from its actual position.

[0112] Optionally, during path planning, it is determined whether the heading and wind direction parameters of the path segment satisfy an obtuse or right angle. When the heading and wind direction parameters satisfy an obtuse or right angle, the corresponding path segment is classified as a first-class path segment. That is, the aerostat flies against the wind on the first-class path segment and needs to activate the lateral propulsion mechanism to counteract the wind force in order to prevent the aerostat from deviating too much from the target position. When the heading and wind direction parameters satisfy an acute angle, the corresponding path segment is classified as a second-class path segment. That is, the aerostat flies with the wind on the second-class path segment and can move towards the target position with the help of the wind force. Turning off the lateral propulsion mechanism can save energy.

[0113] The stratosphere exhibits wind direction reversal; by actively adjusting the altitude of the overpressure balloon using an altitude control system, wind conditions can be utilized efficiently, enabling lateral flight with minimal energy and power costs. When the actual location and the target location are close, lateral flight can be used to directly reach the target location; if the two locations are far apart, appropriate flight strategies can be developed.

[0114] Reference Figure 10 In one possible embodiment of this application, point A is the actual location, point B is the target location, the path segment from point A to point P1 satisfies the first type of path segment, and the aerobatic platform reaches point P1 by powered flight. The path segment from point P1 to point P2 satisfies the second type of path segment, and the aerobatic platform reaches point P2 by floating flight. During this process, energy is stored through photovoltaic panels. The path segment from point P2 to point B satisfies the first type of path segment, and the aerobatic platform finally reaches point B by powered flight. In this process, the altitude adjustment system finds a suitable flight altitude to maximize the use of wind conditions and effectively save time and energy.

[0115] Furthermore, step S440 requires first determining the dwell mode based on meteorological and operational data, and then controlling the dwell status of the aerostat platform according to the dwell mode. Please refer to [link / reference needed] for details. Figure 7 Step S440 includes:

[0116] S441: Compare the battery level parameter with the preset battery level to determine if the battery level parameter is greater than the preset battery level. If the battery level parameter is greater than the preset battery level, execute the following:

[0117] S442: Determine the dwell mode as the first dwell mode, and control the floating platform to stay at a fixed point. Specifically, activate the horizontal propulsion mechanism of the floating platform, and use the driving force of the horizontal propulsion mechanism to counteract the wind force, so as to control the floating platform to stay at the target position corresponding to the target coordinate parameters.

[0118] Among them, the power parameter is used to represent the remaining available power of the energy device. The preset power can be any value from 0% to 20%, such as a preset power of 15%.

[0119] In step S441, when the power parameter is less than or equal to the preset power, the following is executed:

[0120] S443: Determine the dwell mode as the second dwell mode, control the hovering platform to dwell in the area, specifically: shut down the lateral propulsion mechanism of the hovering platform to control the hovering platform to fly around the target area, wherein the target area includes the target location.

[0121] Regional stationary operation can be achieved by utilizing the opposite wind directions above and below the zero-level wind layer, actively employing wind fields by adjusting the flight altitude of the aerostat. (Refer to...) Figure 11When the wind belt is between the westerly winds above the zero level and the easterly winds below, first control the floating platform to ascend into the westerly winds, allowing it to travel with the wind. Upon reaching the western boundary of the target area, control the floating platform to descend into the easterly winds, allowing it to return with the wind until it reaches the target area.

[0122] When the target area reaches the eastern boundary, the floating platform is then controlled to ascend into the westerly wind belt. By repeating this process, the area can be maintained through low-energy-consumption, roundabout flight.

[0123] It should be noted that in the above embodiments, the north-south wind direction is relatively stable, making it impossible to maneuver by adjusting altitude. In this case, position adjustment is primarily achieved through powered flight. For example, when the aerostat reaches the northern boundary of the target area, the lateral propulsion mechanism is activated to move the aerostat southward.

[0124] Upon reaching the southern boundary of the target area, the lateral propulsion mechanism is activated to move the floating platform northward. Once the floating platform returns to the vicinity of the target position, the lateral propulsion mechanism is deactivated, thus achieving [the desired effect] with minimal energy consumption.

[0125] Regional presence.

[0126] Based on this, the dwell mode can also be determined according to wind speed parameters, referring to... Figure 7 In one possible embodiment of this application, when the power parameter is less than or equal to a preset power level, step S442 is not performed directly, but instead the following is executed:

[0127] 5S444: Compare the wind speed parameter with the preset wind speed to determine whether the wind speed parameter is less than the preset wind speed. If the wind speed parameter is less than the preset wind speed, execute step S442. If the wind speed parameter is greater than or equal to the preset wind speed, execute step S443.

[0128] The wind speed parameter represents the wind speed in the area where the floating platform is located. The preset wind speed can be any value between 4m / s and 6m / s, for example, the preset wind speed is 5m / s.

[0129] 0 Of course, the dwell state of the airborne platform can also be controlled solely based on the wind speed parameter, i.e., in step S430

[0130] First, execute step S444, and do not execute step S441.

[0131] The aerostat may operate at multiple locations in the air; therefore, the following steps are performed after steps S442 and S443:

[0132] S445: Determine whether new target coordinate parameters have been obtained; if it is determined that no new target coordinate parameters have been obtained, proceed to step S441.

[0133] This can be achieved by comparing the newly acquired target coordinates with the current target coordinates. If the two values ​​are the same, it is determined that no new target coordinates have been acquired. If the two values ​​are different, it is determined that new target coordinates have been acquired, and the current target coordinates are replaced with the new target coordinates.

[0134] In step S445, when it is determined that new target coordinate parameters have been obtained, the following is executed:

[0135] S450: Determine if the new target coordinate parameters are landing point coordinate parameters; when a new target parameter is determined...

[0136] If the target parameter is not the landing point coordinate parameter, proceed to step S420. If the new target parameter is determined to be the landing point coordinate parameter, proceed to step S500.

[0137] Among them, it can be determined whether it is the landing point coordinate parameter by the specific identification code contained in the target coordinate parameter.

[0138] Reference Figure 8 In one possible embodiment of this application, step S500 includes:

[0139] S510: Determine if the actual coordinate parameters and the landing point coordinate parameters meet the equality condition; if the actual coordinate parameters and the target coordinate parameters do not meet the equality condition, execute the following:

[0140] S520: Controls the lateral flight of the aerostat platform based on at least one parameter from meteorological and operational data. This allows the aerostat platform to move laterally from its actual position corresponding to the actual coordinate parameters to its landing position corresponding to the landing point coordinate parameters.

[0141] In step S510, when the actual coordinate parameters and the target coordinate parameters meet the equality condition, the following step is executed: S530: Separate the airbag and pod in the aerostat platform, and deploy the parachute connected to the pod, so that...

[0142] The pod and its connected devices descended slowly.

[0143] Step S600 is executed after step S530 to enable ground personnel to recover the pod and its cargo. Specifically, ground recovery personnel ride in a recovery vehicle to track the pod synchronously. After the pod lands, the recovery and disposal work is completed, so as to achieve accurate recovery of high-value payloads and time-sensitive payloads.

[0144] 0. Among them, the landing point coordinate parameter is used to represent the pre-set landing position of the aerostat platform, and step S520 can be implemented in a similar manner to step S430. Specifically, in step S520, the flight path needs to be planned first based on meteorological data and operational data, and then the aerostat platform needs to be controlled to move to the landing point position according to the flight path.

[0145] Please refer to the details. Figure 8 Step S520 includes:

[0146] S521: Based on wind direction and heading parameters, multiple path segments are divided between the actual location and the landing location.

[0147] S522: Generates flight paths based on multiple path segments.

[0148] S523: Determine whether the actual position of the floating platform corresponds to a first-type path segment. If the actual position of the floating platform corresponds to a first-type path segment, execute the following:

[0149] S524: Controls the powered flight of the aerostat platform, specifically by activating the lateral propulsion mechanism of the aerostat platform.

[0150] In step S523, when the actual position of the floating platform does not correspond to the first type of path segment, that is, when the actual position of the floating platform corresponds to the second type of path segment, the following is executed:

[0151] S525: Controls the floating flight of the aerostat platform, specifically by shutting down the lateral propulsion mechanism of the aerostat platform.

[0152] Steps S510, S520, and S530 reduce the difficulty of the recycling operation, resulting in faster recycling speed, lower cost, and better timeliness. This provides strong support for the precise delivery of materials over long distances, the safe recycling of high-value equipment, and the practical application of time-sensitive loads.

[0153] Furthermore, embodiments of this application also provide a computer-readable storage medium and an electronic device. The computer-readable storage medium stores a computer program, which, when executed by a processing module, implements the steps in the floating platform control method provided in embodiments of this application. The electronic device includes a readable storage medium and a processing module. The readable storage medium stores a computer program that can run on the processing module, which, when executed by the processing module, implements the steps in the floating platform control method provided in embodiments of this application.

[0154] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A control method for a floating platform, characterized in that, include: Acquire meteorological data and operational data, wherein the operational data includes actual coordinate parameters and target coordinate parameters; Determine whether the actual coordinate parameters and the target coordinate parameters meet the equality condition to control the flight state of the aerostat platform; When the actual coordinate parameters and the target coordinate parameters do not meet the equality condition, the aerospace platform is controlled to fly laterally according to at least one parameter in the meteorological data and the working data, so that the aerospace platform moves laterally from the actual position corresponding to the actual coordinate parameters to the target position corresponding to the target coordinate parameters. When the actual coordinate parameters and the target coordinate parameters meet the condition of equality, the aerostat is controlled to remain stationary and fly according to at least one parameter from the meteorological data and the working data, so that the aerostat remains stationary at the target position; In the step of controlling the hovering flight of the aerostat platform based on at least one parameter from the meteorological data and the operational data, the control method includes: The stay mode is determined based on the meteorological data and the operational data; The dwelling state of the aerostat is controlled according to the dwelling mode; The meteorological data includes wind speed parameters. In the step of determining the dwell mode based on the meteorological data and operational data, the control method includes: The wind speed parameter is compared with the preset wind speed. When the wind speed parameter is less than the preset wind speed, the dwell mode is determined to be the first dwell mode; When the wind speed parameter is greater than or equal to the preset wind speed, the dwell mode is determined to be the second dwell mode; The working data includes power parameters. Before the step of comparing the wind speed parameters with a preset wind speed to determine the dwell mode, the method further includes: Compare the power parameter with the preset power level; When the power parameter is less than or equal to the preset power, the dwell mode is determined to be the second dwell mode; When the power parameter is greater than the preset power, the step of comparing the wind speed parameter with the preset wind speed is executed to determine the dwell mode; In the step of controlling the dwelling state of the aerostat according to the dwelling mode, the control method includes: When the dwell mode is the first dwell mode, the lateral propulsion mechanism of the floating platform is activated to control the floating platform to perform fixed-point dwell at the target position corresponding to the target coordinate parameters; When the dwell mode is the second dwell mode, the lateral propulsion mechanism of the air platform is shut down to control the air platform to perform regional dwell in the target area; The target area includes the target location.

2. The floating platform control method according to claim 1, characterized in that, In the step of controlling the lateral flight of the aerostat platform based on at least one parameter from the meteorological data and the operational data, the control method includes: Plan the flight path based on the meteorological data and the operational data; The maneuverability of the aerostat is controlled according to the flight path.

3. The floating platform control method according to claim 2, characterized in that, The meteorological data includes wind direction parameters, and the operational data includes heading parameters. In the step of planning the flight path based on the meteorological data and the operational data, the control method includes: Based on the wind direction parameter and the heading parameter, multiple path segments are divided between the actual position and the target position; The flight path is generated based on the multiple path segments.

4. The floating platform control method according to claim 3, characterized in that, The multiple path segments include first-type path segments and second-type path segments. In the step of dividing the multiple path segments between the actual position and the target position based on the wind direction parameter and the heading parameter, the control method includes: When the heading parameter and the wind direction parameter satisfy the condition that the included angle is an obtuse angle or a right angle, the path segment is determined to be a first-class path segment; When the heading parameter and the wind direction parameter satisfy the condition that the included angle is an acute angle, the path segment is determined to be a second type of path segment.

5. The floating platform control method according to claim 4, characterized in that, In the step of controlling the maneuvering state of the aerostat platform according to the flight path, the control method includes: When the actual coordinate parameters match the first type of path segment, the lateral propulsion mechanism of the aerostat is activated to control the aerostat to perform powered flight; When the actual coordinate parameters match the second type of path segment, the lateral propulsion mechanism of the aerostat is shut down to control the aerostat to perform floating flight.

6. The floating platform control method according to claim 1, characterized in that, After controlling the dwell state of the aerostat according to the dwell mode, the control method includes: Determine whether new target coordinate parameters have been obtained; When new target coordinate parameters are obtained, it is determined whether the new target coordinate parameters are landing point coordinate parameters; When the new target parameter is the landing point coordinate parameter, the floating platform is controlled to move laterally from the actual position to the landing point position corresponding to the landing point coordinate parameter and land according to at least one parameter in the meteorological data and the working data. When the new target parameter is not the landing point coordinate parameter, the step of determining whether the actual coordinate parameter and the target coordinate parameter satisfy the equality condition is executed; When no new target coordinate parameters are obtained, a judgment is made on whether the actual coordinate parameters and the target coordinate parameters meet the equality condition in order to control the flight state of the aerostat platform.

7. The method for controlling a floating platform according to any one of claims 1 to 5, characterized in that, The working data includes height parameters. Before determining whether the actual coordinate parameters and the target coordinate parameters meet the equality condition, the control method further includes: Compare the height parameter with the preset height; When the height parameter of the floating platform is greater than or equal to the preset height, the floating platform is controlled to enter the pre-operation stage; When the height parameter of the floating platform is less than the preset height, the floating platform is controlled to ascend according to at least one parameter in the working data.

8. A method for operating a floating platform, characterized in that, The operation method includes: Deploy floating platforms; The floating platform is controlled by the floating platform control method according to any one of claims 1 to 7; The floating platform was recovered.

9. A floating platform operation system, characterized in that, The aerostat platform control method applied to any one of claims 1 to 7, wherein the aerostat platform operation system comprises: Floating platform; The acquisition unit is used to acquire meteorological and operational data. The processing unit is used to control the lateral flight or stationary flight of the aerostat platform based on at least one parameter from the meteorological data and the operational data.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by the processing module, implements the steps of the floating platform control method according to any one of claims 1 to 7.

11. An electronic device, characterized in that, The method includes a readable storage medium and a processing module, wherein the readable storage medium stores a computer program that can run on the processing module, characterized in that the processing module, when executing the computer program, implements the steps of the floating platform control method according to any one of claims 1 to 7.

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