Hot air balloon that moves horizontally with its own power

Abstract

The present invention relates to a hot air balloon that moves horizontally by autonomous power, and on the basis of a standard hot air balloon, it also includes a main blowing system and a balanced wind propeller system. The main blowing system blows the balloon from the lower half of the balloon sac by manually operating the direction, position and wind force of the axial flow fan that extends outward, thereby actively obtaining the force that moves the balloon horizontally; the balanced wind propeller system is arranged in different directions at the bottom of the hanging basket and blows horizontal wind of corresponding size and direction to the bottom of the hanging basket according to the degree of inclination of the balloon and the hanging basket and the degree of displacement of the main axis between each other, so that the hanging basket and the balloon of the hot air balloon maintain a safe relative position and posture under dynamic conditions, realize the active horizontal translation capability of the hot air balloon and can resist the influence of a certain size of external wind force; it provides a convenient, reliable and economical vehicle for low-altitude transportation without roads.

Description

Technical Field

[0001] The invention belongs to a new hot air balloon, which relates to a low-speed and large-load space carrier. Background Art

[0002] Since the first human flight in 1783, load-bearing aircraft have experienced the development of hydrogen balloons (airships), airplanes, helicopters, helium balloons (airships), and other types of development. With the help of technological advances in fuels and materials, hot air balloons achieved the first flight of modern material hot air balloons in 1960. At present, hydrogen balloons (airships) have been basically eliminated due to their flammability and explosiveness, and helium balloons (airships) are difficult to mass produce and promote due to their scarce resources. Fuel aircraft are also facing increasing cost restrictions due to the energy crisis. New energy aircraft with electric energy storage as the medium are also difficult to obtain good working performance due to the energy density and power density of batteries. At the same time, hot air balloons are becoming increasingly popular in sports, photography, tourism and other fields due to their advantages such as low flight costs and good air retention performance.

[0003] The Civil Aviation Administration of China issued the "Guidelines for Hot Air Balloon Operations" in 2016. When the guidelines are further improved, in addition to the regulations on the management and safety of hot air balloon operations, the complex weather phenomena that hot air balloons may encounter should be considered, and the new version of the guidelines should be formulated based on the performance plan of hot air balloons. The appearance of hot air balloons is mainly teardrop-shaped, and some special-shaped hot air balloons have obtained type certificates and are used for advertising and touring. Chinese patent application number: 201710571315.5, "A control structure for hot air balloon rotation or lateral movement" relies on the "pull rope-Velcro" structure to control the exhaust port on the side of the balloon to deflate or not to achieve the rotation and movement of the hot air balloon in the horizontal plane. However, because the exhaust port destroys the static air layer on the surface of the balloon when deflated, the heat loss of the balloon is doubled, which increases the instability of the hot air balloon and reduces the control accuracy. As the amount of deflation increases, the buoyancy stability further decreases, and the flight endurance is reduced, so it is not conducive to heavy-load flight. Chinese patent application number: 201910913772.7 "Autonomous marine rescue device based on hot air balloon" relies on the wind wing and wind wing control system installed near the equator of the balloon to achieve semi-controlled translational flight under tailwind and crosswind conditions. Chinese patent application number: 202220121883.1, "Hot air balloon frame and hot air balloon" sets an inflatable balloon frame inside the hot air balloon balloon, which helps the deployment of the hot air balloon before takeoff. At the same time, when facing adverse airflow conditions such as wind shear during the flight of the hot air balloon, the longitudinal axis between the "balloon-basket" is kept from displacement, and the fabric near the balloon mouth does not shrink or block the balloon mouth, thus avoiding collapse problems.

[0004] According to the International Hot Air Balloon Council, the maximum allowable total load of a standard hot air balloon (teardrop shape) when the air in the balloon is heated to 100 and 121 degrees Celsius under standard conditions is:

[0005] The specific parameters of the hot air balloon case (level 10) used in this application are: The hot air balloon is 25.74 meters high, with a balloon height of 21.42 meters, a maximum balloon diameter of 19.86 meters, a balloon volume of 4,400 cubic meters, a balloon bottom diameter of 4.42 meters, and a balloon vertical projection area of ​​617.50 square meters. The maximum outer diameter of the basket is 2.6 meters, the outer diameter of the basket wall is 2.2 meters, the inner diameter of the floor is 1.9 meters, and the basket height is 1.2 meters. The maximum allowable total load is 1,320 kilograms, the maximum flame height of the main burner is 3 meters (continuous) and 5 meters (when ignited), the maximum climbing speed is 5 meters / second, and the maximum landing speed after opening the valve and extinguishing the flame is 6 meters / second.

[0006] Conventional operating environment and operation methods of hot air balloons. It is usually stipulated that they can only fly freely when the wind speed is less than 6 meters per second, the visibility is greater than 1,500 meters, and there is no precipitation in the flying airspace. Otherwise, they need to be anchored and towed by the ground or grounded to ensure safety; when flying freely, hot air balloons cannot actively change the horizontal direction, and their flying speed is the same as the wind speed. They can only choose different wind belts by rising or falling. Before carrying out flight activities, a flight plan should be formulated based on many factors: restrictions on no-fly zones and restricted-fly zones, take-off-landing point orientation, obstacles near the expected route and landing point, including time zone weather forecasts, weather reports, weather maps, and macro and detailed weather information such as wind direction changes, low clouds, and low visibility caused by smoke near the planned track, including performance chart information such as the performance of the hot air balloon itself, load conditions, density altitude, and flight information broadcast by other pilots in the planned flight area; but during the flight, the original flight plan has to be temporarily changed due to the above-mentioned problems, as well as the uncertainty of the crew and the hot air balloon itself, and abnormal conditions related to flying over densely populated areas. During the flight, the crew includes at least the pilot and the flight assistant. The crew implements the flight plan while monitoring the airflow and other conditions in the space around the hot air balloon in real time, so as to modify the flight plan at any time according to the actual situation; the ground crew includes 3 to 4 ground crew members and ground vehicles, tracking the flight of the hot air balloon on the ground throughout the whole process and assisting in the take-off and recovery of the balloon. When taking off, the distribution and height of major obstacles downwind from the take-off point should be counted first, and the minimum safe distance of each obstacle should be calculated based on the 1-minute wind distance of the on-site wind speed. After take-off, the need for overspeed ascent (weight reduction) or valve opening to terminate the flight should be determined based on whether the flight altitude at the halfway point between the take-off point and the obstacle position reaches half of the lowest altitude to be crossed by the obstacle. The basis for determining whether to overspeed ascent by weight reduction or valve opening to terminate the flight is whether the hot air balloon has reached the critical altitude of 6 meters. After terminating the flight, the hot air balloon should be retaken at the take-off point until the minimum safe altitude is reached or exceeded. The ground crew arrives at the landing site in advance before the hot air balloon lands. When there are no obstacles between the hot air balloon and the landing site, landing can be easily achieved by choosing a low-altitude straight-line approach or a step-descent approach. When there are obstacles such as buildings or tall trees between the hot air balloon and the landing site, the pilot needs to operate the hot air balloon to pass over the obstacles at a height of more than 100 meters before landing to ensure a safe landing. At this time, the angle between the line connecting "top of the obstacle - bottom of the hot air balloon" measured from the crew's perspective and the horizontal plane should be greater than the descent angle formed by the horizontal moving speed and the descent speed of the hot air balloon.After the hot air balloon passes all obstacles at a safe descent angle, the crew recalculates the target angle of the landing point and adjusts the descent speed. After descending to within the length of the anchor rope, the ground crew uses the lowered anchor rope to assist in landing. When the hot air balloon approaches an obstacle at an excessively large descent angle, the pilot is required to over-inflate and over-exhaust for a period of time to adjust the angle to avoid obstacles and then land at the landing point. If the pilot accidentally misses the landing point due to excessive operation, it is necessary to reselect the landing point and temporarily formulate a new landing procedure.

[0007] Near the ground, wind speed and direction change significantly due to the influence of terrain and buildings. Often, the wind direction changes significantly or even reverses within a few to more than ten meters, and the wind change distribution is different at different times. Unstable air currents that affect hot air balloon flight also include pseudo-lift, wind shear, vortices, and thermals. Vortices are more powerful than hot air balloons, so when encountering vortices, the hot air balloon can only be lifted or lowered by crossing them from high altitudes or following the rising and falling positions of the air currents. Thermals are small-scale rising air currents, and their energy can be used when launching the hot air balloon or when landing, the hot air balloon can be lowered after the thermals disperse. Due to the size and shape of the hot air balloon, when it encounters horizontal wind near the ground, the wind speed on the balloon surface increases, causing the dynamic and static pressure difference to increase, resulting in a low-pressure area above the top of the hot air balloon, thereby forming an upward suction force - pseudo-lift. When the hot air balloon rises vertically, the low-pressure area shrinks rapidly until it disappears, and the pseudo-lift also disappears quickly. The pseudo-lift phenomenon is obvious when the wind speed is greater than 4 meters / second; the effect of pseudo-lift is more obvious when the hot air balloon lands, manifested as a greater force and disappearing faster when it descends to a certain level. Wind shear is a vortex or eddy caused by a relatively large wind speed gradient in a given direction (vertical or horizontal), forming turbulence; wind shear can cause the hot air balloon to encounter strong updrafts and downdrafts and sudden horizontal movements. For the balloon without a skeleton support, it will cause serious abnormalities such as balloon extrusion and deformation, and displacement between the longitudinal axis of the balloon and the basket. If the burner is still burning at this time, the side of the balloon, the balloon reinforcement belt or reinforcement rope will approach or even enter the flame zone, causing damage to the hot air balloon structure, and then the balloon mouth will shrink to blockage, tearing the balloon from the inside, and ultimately causing heavy losses. Summary of the invention

[0008] In view of this, the present invention aims to provide a hot air balloon that moves horizontally by autonomous power, taking advantage of the hot air balloon's good air retention and low energy consumption to provide an economical and reliable vehicle for medium and low altitude heavy load transportation.

[0009] In order to solve the above technical problems, the hot air balloon provided by the present invention for autonomous power translation also includes: a main blowing and moving fan module, a main blowing and moving fan driver, a main blowing and moving fan base, a balancing wind propeller and its electric drive assembly, an inclination sensor assembly, a driving power supply, and a balance controller (Balance Control Unit, referred to as BCU).

[0010] The ascent and descent operation method of the hot air balloon that relies on autonomous power translation is the same as that of a conventional hot air balloon. Its horizontal movement is achieved by the cooperation of the main blowing and moving system and the balancing wind propeller system; the main blowing and moving system includes a main blowing and moving fan module, a main blowing and moving fan base, and a main blowing and moving fan driver, and is manually operated by the crew; the balancing wind propeller system consists of a balancing wind propeller and its electric drive assembly, an inclination sensor assembly, and a balancing controller. It is automatically controlled by the balancing controller by default and can be switched to manual control when necessary; both systems are powered by a driving power supply.

[0011] The main blowing and moving fan module is rigidly connected by an axial flow fan, a blowing port guide cover and a movable front fork. The main blowing and moving fan module blows the outer side of the bottom of the hot air balloon upward or obliquely upward from the outside of the hanging basket, so that the outer side of the balloon moves in the opposite direction after being subjected to the unilateral wind force. In addition to providing mechanical connection, the movable front fork also has the wiring function of the control circuit. A group of hemispherical grooves of reinforced bearing layers are evenly arranged on the lower side of the main beam of the movable front fork to connect with the spherical fulcrum on the main blowing and moving fan seat to form a detachable ball joint. The end of the movable front fork is forked into a T-shape as an operating handle. A safety rope ring is provided on the movable front fork to prevent the main blowing and moving fan module from accidentally falling.

[0012] The main blowing and moving fan module can realize five-dimensional movement during operation, among which four-dimensional movement can be realized at the detachable ball joint fulcrum: the operator holds the operating handle of the movable front fork with both hands and can rotate it up and down, left and right around the ball joint fulcrum to make the fan at the other end rotate up and right and left around the ball joint fulcrum, and rotates it left and right around the main axis of the movable front fork to make the fan rotate left and right around the main axis of the movable front fork. After the operator disconnects the circuit of the main blowing and moving fan module, he holds the operating handle with one hand and lifts the middle section of the movable front fork with the other hand to separate the hemispherical groove tile from the spherical fulcrum, and then moves it forward and backward to adjust the extension amount of the main blowing and moving fan module as a whole out of the hanging basket, and puts down the movable front fork at a suitable position to cooperate with the detachable ball joint to form a new position.

[0013] The main blowing and moving fan seat is provided with a slide groove supporting the ball joint. The main blowing and moving fan seat is fastened to the wall of the hanging basket, and the slide groove is flush with the upper edge of the hanging basket; the ball joint is fixed to the slide groove by fixing bolts and T-nuts. Tightening the bolts and T-nuts can fasten the spherical fulcrum to the slide groove or move along the slide groove after loosening, thereby realizing the main blowing and moving fan module to move left and right on the slide groove through the three-dimensional ball joint; the radius of the sphere constituting the ball joint is smaller than the radius of the hemispherical groove tile connected to it. The greater the difference between the two radii, the greater the range of rotation of the main blowing and moving fan module around the main axis of the movable front fork. However, too small a spherical radius will affect the supporting strength of the ball joint. It is necessary to determine the difference between the two radii of the ball joint according to the angle range of blowing the hot air balloon balloon when the main blowing and moving fan module rotates around the main axis of the movable front fork, thereby determining the absolute value range of the two radii of the ball joint; due to the side wall of the hanging basket where the main blowing and moving fan seat is fixed There are several pillars between the bracket above the hanging basket that fixes the heater and the hanging basket pull rope, thereby dividing the main blowing and moving fan base surrounding the hanging basket into different sections. Therefore, a spherical fulcrum is set in the slide groove of each section of the main blowing and moving fan base. When the ball joint moves to the point where it needs to cross the pillar, it is only necessary to lift the movable front fork, retract the main blowing and moving fan module, bypass the pillar, and then assemble into a new ball joint at the spherical fulcrum of the new section. If the size of the main blowing and moving fan module is larger than the diameter of the hanging basket due to its extended movable front fork, it is only necessary to pass one end of the operating handle through the hanging basket between the two pillars on the opposite side, adjust the direction and angle, and then pass it back in the opposite direction. When disassembling and assembling the ball joint, it is necessary to pay attention to the wiring range of the main blowing and moving fan module circuit. If the movement of the main blowing and moving fan module needs to exceed the circuit wiring range, the main blowing and moving fan module circuit should be disconnected first, and then the circuit should be reconnected after the ball joint is restored.

[0014] The slide slot of the main blowing fan seat is opened at the inner side of a pillar of the hanging basket and the cut-out section is connected and fixed by a groove bar connector bent according to the curvature of the slide slot, and the bending direction of the groove bar connector is consistent with the bending direction of the slide slot when it is inserted into the slide slot; first remove the cut-out section and then install the bent groove bar connector from the slide slot cut-out and check whether its curvature can move smoothly in the slide slot to obtain a groove bar connector with the same groove curvature, and then push all the groove bar connectors with the same groove curvature into the slide slot and then put the cut-out section back in. At this time, move the groove bar connector with the same groove curvature along the slide slot until it overlaps with the cut-out section to lock the cut-out section and ensure that the slide slot is a closed track, and move the groove bar connector with the same groove curvature along the slide slot again until it is separated from the cut-out section, then take out the cut-out section again and reopen the slide slot. After opening the slide from the cut section, the T-nuts are installed into the slide from the cut, and after the T-nuts with the same number of slide sections are installed, each T-nut is moved along the slide to each slide section, and then the cut section is put back and locked with a groove bar connector with the same groove curvature; at this time, the bolt under the spherical fulcrum is screwed into the T-nut through the slide mouth to obtain the above-mentioned spherical fulcrum distributed along the slide between each hanging basket pillar.

[0015] The main blowing and moving fan driver is fixedly installed inside the hanging basket and matched with the axial flow fan main shaft motor to control the latter's wind force. It is powered by a driving power supply and supplies power to the axial flow fan of the main blowing and moving fan module through the movable front fork of the main blowing and moving fan module. A switch is provided near the operating handle of the movable front fork of the power supply circuit to manually control the start and stop of the axial flow fan; manual coarse adjustment and manual fine adjustment controls are provided on the driving circuit housing, and the speed regulation input is led to the operator through the circuit to facilitate the operator to control the fan speed at any time when operating the main blowing and moving fan module in different directions.

[0016] The balanced wind propeller system includes at least two sets of balanced wind propellers of the same size and their electric drive assemblies, which are distributed in two vertical directions of the bottom plane of the hanging basket and are located at the bottom of the hanging basket. The rotor of the balanced wind propeller is composed of two blades and extends out of the hanging basket through the main shaft. The blade diameter of the balanced wind propeller is smaller than the diameter of the hanging basket to prevent the blades from colliding with each other when adjacent wind propellers rotate at the same time; when the hot air balloon lands, the rotor maintains a horizontal angle and is flush with the bottom plate of the hanging basket. When the flight altitude of the hot air balloon exceeds the safe rotation range of the rotor blades, the balanced wind propeller electric drive system can be powered on to rotate. When the balancing wind propeller rotates, the upper half of the rotor area coincides with the projection surface of the basket and does not generate the main thrust, while the lower half protrudes from the bottom plate of the basket and is the main thrust generation area; the balancing wind propeller main shaft is driven by a servo motor located in the basket, which has the advantages of flexible forward and reverse rotation, adjustable speed and the ability to quickly reach the specified speed, and fast response speed; the balancing wind propeller main shaft is located in the section inside the basket and is also provided with a mechanical interface as an external power connection interface. When the hot air balloon lands, the main shaft can be manually rotated after the balancing wind propeller electric drive system is powered off to restore the blades to the ground flush angle position.

[0017] Furthermore, when the balanced wind propeller system is configured with two sets of vertically distributed balanced wind propellers and their electric drive assemblies, the balanced adjustment in four directions of front, back, left and right can be achieved by forward and reverse rotation of each set of balanced wind propellers. Alternatively, a set of balanced wind propellers and their electric drive assemblies can be arranged at corresponding positions on the front, back, left and right sides of the hanging basket to enhance the effect of the balanced wind propeller system. At this time, it should be ensured that the two sets of balanced wind propellers relative to the coaxial line rotate in the same direction and do not generate wind forces that cancel each other out. When the size of the hanging basket is larger, more balanced wind propellers and electric drive assemblies can be installed in parallel at the same height to obtain a stronger balancing effect.

[0018] Furthermore, the balancing wind propeller and its electric drive assembly can be automatically controlled by a balancing controller, or can be manually controlled by the balancing controller to control the balancing wind propeller electric drive and even the balancing wind propeller. When it is foreseen that the hot air balloon will tilt, the balancing wind propeller can be started in advance to compensate for the inertial lag response of the balancing wind propeller system; when the balancing wind propeller system cannot run automatically due to a power outage, it is necessary to disconnect the servo motor main shaft connection from the mechanical interface of the balancing wind propeller main shaft and drive the balancing wind propeller directly by manpower; if it is driven manually due to insufficient power energy, a suitable landing point should be found as soon as possible and driven manually to achieve a vector approach and landing, and the power energy should be replenished after landing in time.

[0019] The hot air balloon that moves horizontally by its own power is subject to three forces in the horizontal direction: external wind force, horizontal reaction force when the axial flow fan blows the balloon, and wind force directly acting on the bottom of the basket when the balancing wind propeller rotates; among them, the horizontal reaction force generated by the axial flow fan and the wind force generated by the balancing wind propeller are inevitably not in the same straight line, and the external wind force acting on a large-sized hot air balloon is often not in the same straight line with the other two forces. In this case, the hot air balloon is inevitably subject to torque under the action of multiple forces in the vertical plane; together with the vertical reaction force when the axial flow fan blows the balloon and the torque of the wind force in the vertical direction outside the main axis of the hot air balloon basket, the total torque after the two types of torques are superimposed often fluctuates in the positive and negative directions.

[0020] When there is no external wind interference, the blowing direction of the axial flow fan of the hot air balloon that moves horizontally by autonomous power is consistent with the direction of the combined force of the balancing wind propeller during translation, especially when the blowing direction of the axial flow fan is consistent with the direction of a single balancing wind propeller, only the balancing wind propeller rotates to output force. In this case, if the wind force of the axial flow fan is very small, the gravity acting on the hanging basket is greater than its own inertia, so the hanging basket can also be kept moving with the balloon and the axis deviation of the two is not large, which is similar to the wind drifting activity of ordinary hot air balloons under weak wind; if the wind force of the axial flow fan is too large, so that the main axis of the hanging basket is difficult to keep up with the main axis of the balloon when the wind force of the balancing wind propeller is turned to the maximum, it is similar to the situation of strong wind or wind shear encountered by ordinary hot air balloons during flight. At this time, the main blowing and moving fan module should be immediately turned off to restore the alignment position between the hanging basket and the balloon, and the balancing wind propeller and the heater should be turned off if necessary. At this time, the air pressure in the balloon and whether the balloon is leaking should also be checked. After the shape of the balloon and the heater are restored, the main blowing and moving fan module and the balancing wind propeller can be reopened to continue translation.

[0021] When the direction of the external wind is the same as the translation direction of the hot air balloon that moves horizontally by autonomous power, it is equivalent to flying with the wind. At this time, the main blowing and moving fan module can be turned off, and only the function of the balancing wind propeller can be used to make the basket move forward with the balloon. It is obvious that after adopting the balancing wind propeller system, the allowable wind force range is increased compared with that of ordinary hot air balloon flight. If the main blowing and moving fan module is turned on at this time, and the axial flow fan also blows the balloon in the target direction, the translation flight speed of the hot air balloon will undoubtedly be accelerated. If the external wind is too strong, so that the maximum wind force of the balancing wind propeller alone cannot maintain the balance between the basket and the balloon, the main blowing and moving fan module can be turned on in the opposite direction, so that the axial flow fan blows the balloon in the direction opposite to the external wind direction. Under the joint action of the main blowing and moving system and the balancing wind propeller system, the allowable wind force range of the hot air balloon flight is further expanded.

[0022] When the external wind direction is opposite to the translation direction of the hot air balloon that is translated by autonomous power, it is equivalent to flying against the wind. It is necessary to first estimate and judge whether the headwind is a short-term gusty headwind or a long-term continuous headwind. At the same time, it is also necessary to distinguish whether the external wind blows the balloon evenly or the wind shear mainly blows the lower half of the balloon or the wind shear mainly blows the upper half of the balloon. For headwinds that blow evenly over the entire balloon, when the force of the axial flow fan blowing the balloon covers more of the balloon surface and is greater than the external wind force, the balloon tends to tilt forward. At this time, the balance wind propeller should be consistent with the blowing direction of the main blowing and moving fan module and push the basket forward; when the force of the axial flow fan blowing the balloon is concentrated in a very small area at the root of the balloon, the balloon tends to tilt backward. At this time, the balance wind propeller should be opposite to the blowing direction of the main blowing and moving fan module and push the basket backward. The balance position between the balloon and the basket should be guaranteed first, and then the translation operation should be considered. For the situation where the wind shear is mainly concentrated in the upper hemisphere of the balloon and the balloon tends to tilt backward, the analysis and treatment is similar to the second situation mentioned above; for the situation where the wind shear is mainly concentrated in the lower hemisphere of the balloon and the balloon tends to tilt forward under the blowing force of the axial flow fan, it is similar to the first situation mentioned above. At this time, more attention should be paid to the deformation near the balloon opening under the action of the combined force. If the balloon opening is excessively deformed due to the combined force, the heater should be turned off in time, and the operating handle of the movable front fork of the main blowing and moving fan module should be lifted to make the axial flow fan blow outward at the flattest angle possible, and at the same time, the output of the balancing wind propeller should be increased to alleviate the deformation. After the balloon deformation is restored, the heater should be turned on to continue the translation operation. When the external wind force is greater than the combined force of the maximum horizontal component of the balloon blown by the main blowing and moving fan module and the maximum force of the balancing wind propeller, and there is a long continuous headwind, the translation capacity limit of the hot air balloon has been exceeded. At this time, a landing point should be selected on the leeward side to land as soon as possible and the translation operation should be stopped; when the external wind force is greater than the force of the balloon blown by the main blowing and moving fan module and there is a short gust, the wind force of the main blowing and moving fan module can be appropriately increased to maintain hovering in place or allow a small amount of backward movement, and then continue to translate forward after the gust.

[0023] When the external wind direction is not in the same direction as the translation direction of the hot air balloon that is translated by autonomous power, and an orthogonal component wind appears, it is equivalent to crosswind flight. At this time, the wind direction should be decomposed into parallel wind direction and orthogonal wind direction according to the translation direction of the hot air balloon and considered separately: for the parallel wind direction, it is necessary to first determine whether it is a tailwind consistent with the translation direction of the hot air balloon or an opposite headwind to determine the blowing direction and blowing force component of the main blowing fan module in the translation direction of the hot air balloon; for the orthogonal wind direction, it must be regarded as a headwind flight and the main blowing fan module must be rotated around the main axis of the hot air balloon in the opposite direction of the orthogonal wind direction by a certain angle to generate a blowing force that offsets the orthogonal wind direction, thereby ensuring that the hot air balloon that is translated by autonomous power moves along the horizontal The balloon will move in the direction of translation without lateral movement; for wind in the orthogonal direction, if the wind force is too strong and the main blowing fan module is still unable to offset the wind force when blowing at an angle completely opposite to it, it is similar to the excessive headwind in the previous section, which exceeds the translation capacity limit of the hot air balloon and cannot provide the blowing component in the translation direction of the hot air balloon. A landing point should be selected on the leeward side to land as soon as possible and the translation operation should be stopped; when the orthogonal wind direction does not exceed the translation capacity limit of the hot air balloon and the parallel wind direction is a headwind opposite to the translation direction of the hot air balloon, it is a side headwind and the main blowing fan module should be rotated around the main axis of the hot air balloon to blow in the direction opposite to the two wind directions at the same time, and the wind direction orthogonal to the translation direction of the hot air balloon should be ensured. After balancing, increasing the output power of the main blowing and shifting fan module can increase the angular component of the translation direction. When the main blowing and shifting fan module outputs the maximum power and still cannot offset the wind force in the side headwind and parallel wind direction while ensuring balance in the direction orthogonal to the translation direction of the hot air balloon, this is still similar to the excessive headwind in the previous section and exceeds the translation capacity limit of this hot air balloon. A landing point should be selected on the leeward side to land as soon as possible and the translation operation should be stopped; when the orthogonal wind direction does not exceed the translation capacity limit of this hot air balloon and the parallel wind direction is the same tailwind as the translation direction of the hot air balloon, this is a side tailwind, which is divided into a side tailwind with smaller wind force and a side tailwind with excessive wind force: when it is a side tailwind with smaller wind force, the working margin is larger and can be ensured. After the balance in the direction perpendicular to the translation direction of the hot air balloon, the operation needs can be used to decide whether to increase the output power of the main blowing and moving fan module and rotate the main blowing and moving fan module around the main axis of the hot air balloon to increase the translation direction angle to increase the thrust component in the translation direction, or to keep the output power of the main blowing and moving fan module unchanged after ensuring the balance in the direction perpendicular to the translation direction of the hot air balloon to save the total endurance energy. When the wind force is too strong and tailwind, the output power of the main blowing and moving fan module should be increased after ensuring the balance in the direction perpendicular to the translation direction of the hot air balloon, and the main blowing and moving fan module should be rotated around the main axis of the hot air balloon to the angle opposite to the parallel wind direction, that is, to blow to the side and rear direction of the translation direction of the hot air balloon to maintain the balance of the basket and the balloon.

[0024] Furthermore, no matter how the external wind force and the main blowing fan module and the balancing wind propeller act on the balloon or even the hot air balloon, it should first ensure that the main axis of the basket and the balloon are aligned and in the vertical direction. Regardless of whether the two main axes of the balloon and the basket are misaligned or deflected, the main axis of the basket will quickly tilt under the action of the tension of the pull rope; the formation and monitoring of this situation can be monitored by the tilt sensor assembly fixedly installed on the basket in addition to the perception and prediction of the crew. The tilt sensor assembly includes all tilt sensors, sensor signal lines, sensor fasteners, etc. When the selected sensor is an open source device, it also includes a power line. The tilt sensor can be mechanical, electronic, or combined, but it should reliably reflect the tilt direction and angle of the basket and give a signal to the balancing wind propeller system.

[0025] The balancing control unit can be implemented by a logic control circuit or a single-chip microcomputer, and at least includes the control of the balancing wind propeller and its drive assembly and the collection function of the tilt sensor assembly signal. When a more complex logic control circuit or single-chip microcomputer control is adopted, the collection and comprehensive analysis functions of other status signals can also be added. When the balancing wind propeller is manually controlled, it is also necessary to pay attention to shielding the signal interference of the tilt sensor assembly.

[0026] The driving power supply can be powered by a battery pack, a generator, or a generator pack and a battery pack at the same time. The power supply targets include the main blowing and displacement system and the balanced wind propeller system, and can also be used for emergency charging of active equipment carried by the crew; the driving power supply also includes a rectifier, a transformer, a step-up and step-down transformer and other parts so as to provide AC and DC power of various voltages. If it is only powered by a battery pack and the main blowing and displacement system and the balanced wind propeller system motors are driven by AC power, an inverter is also required; when a gas generator set is selected, the hot air balloon fuel system can be used to divide the gas through a diversion manifold to generate electricity.

[0027] The beneficial effects of the present invention are: A. When the hot air balloon is landing, it can provide a balancing force that can keep it still in the horizontal direction, creating conditions for the fixed anchor rope to be pulled down by the ground for landing. The fixed anchor rope pulling down can eliminate the interference of pseudo lift on landing, thereby reducing the number of invalid landings, increasing the ability to choose the landing site of the hot air balloon, and increasing reliability and safety, while reducing the workload of ground staff for multiple detours and tracking; B. When the hot air balloon takes off, the requirements for the "initial ascent rate" and "climb rate" when the hot air balloon takes off can be reduced, which can save more fuel and complete the work of the take-off and departure links in a more relaxed atmosphere; because it has the ability to autonomously bypass obstacles, it does not have to be limited to the overspeed ascent or valve opening to terminate the flight at the half-height limit of the half-way point between the hot air balloon and the obstacle, thereby saving the energy loss of overspeed ascent, increasing the ability to choose the take-off location of the hot air balloon, and further reducing the workload of ground staff. C. When the hot air balloon is flying, the hot air balloon can realize autonomous translational flight capability in a windless environment and headwind flight capability under a certain wind speed, and increase the flight speed when flying with the wind and the stable control capability when flying with the wind in excessively strong winds; when encountering strong shear gusts and the longitudinal axis of the balloon is about to undergo vertical displacement, the timely activation of the balancing wind propeller helps to offset the vertical displacement, avoiding the misalignment of the "balloon-basket fire point" after displacement, burning the hot air balloon structure and vicious chain accidents, thereby improving safety; D. It has greater tolerance and choice when making flight plans, and the ability to actively avoid obstacles when designing takeoff procedures and approach and landing, greatly increasing the possibility of safe flight; E. When the power supply is insufficient or the electric drive is abnormal, human power can replace the electric drive to ensure reliability; or the main blowing and moving fan module can be stored in the basket, and the balance wind propeller can be tied to the side wall of the basket, so that it can be integrated with the basket. At this time, the flight mission can still be performed as a traditional hot air balloon, further ensuring reliability; F. Due to the dynamic characteristics of low wind pressure and moderate power when the main blowing fan module blows the balloon, the axial flow fan is required to work at low speed and moderate air volume, so it has low noise, low energy consumption, and is more environmentally friendly; it is conducive to promoting the energy-saving goal of "replacing oil with electricity"; G. After the hot air balloon has acquired the above-mentioned functions and energy efficiency advantages, it can complete space lifting tasks with higher operating accuracy under calmer conditions, and its lifting height and the size of the lifted object are not restricted. The lifting load can reach hundreds of kilograms or even more, which greatly reduces the cost of staying in the air. It provides a convenient and efficient means of transportation for infrastructure activities and special activities in mountains, forests, farmlands, rivers, lakes and seas without road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is an overall schematic diagram of a hot air balloon that moves horizontally by autonomous power according to an implementation example of the present invention.

[0029] Figure 2 This is a top view of a hot air balloon basket that moves horizontally by autonomous power according to an implementation example of the present invention, excluding a main blowing and moving fan module.

[0030] Figure 3 This is a side sectional view of a hot air balloon basket that moves horizontally by autonomous power according to an implementation example of the present invention, excluding a main blowing and moving fan module.

[0031] Figure 4 A side view and bottom view of a main blowing fan module of a hot air balloon that moves horizontally by autonomous power according to an implementation example of the present invention.

[0032] Figure 5This is an oblique upward view near the operating handle of the main blowing and moving fan module of a hot air balloon that moves by autonomous power in an implementation example of the present invention.

[0033] Figure 6 This is an enlarged view of the details of the spherical crown surface inside the hemispherical groove tile, which is a perspective view of the spherical joint between the main blowing and moving fan module of a hot air balloon that relies on autonomous power translation and the main blowing and moving fan base, in an implementation example of the present invention.

[0034] Figure 7 This is a schematic diagram of the 72-degree angular range of the main blowing fan module blowing the hot air balloon when the hot air balloon balloon that relies on autonomous power translation pulls the hanging basket vertically in an implementation example of the present invention.

[0035] Figure 8 The movable front fork main beam at the ball joint between the main blowing and moving fan module of the hot air balloon which relies on autonomous power translation and the main blowing and moving fan base, which is an implementation example of the present invention, is shown as a semi-sectional schematic diagram of the hemispherical groove tile of the simple beam with the ball joint facing upward at the minimum boundary of 72 degrees and the maximum rotation angle of 36 degrees when the maximum arc is critically hung.

[0036] Fig. 9 The movable front fork main beam at the ball joint between the main blowing and moving fan module of the hot air balloon which relies on autonomous power translation and the main blowing and moving fan base, which is an implementation example of the present invention, is shown as a semi-sectional schematic diagram of the beam when the ball joint is directly pressed upward when the large arc of the hemispherical groove tile is at the maximum boundary angle of the superior arc, the ball joint can just pass through the bottom circle of the hemispherical groove tile to achieve disassembly and assembly, and the maximum rotation angle is critically hung at 36 degrees.

[0037] Fig.10 This is a schematic diagram of the slide groove structure and cross-section of the profile used for the main blowing and moving fan base of a hot air balloon that moves horizontally by autonomous power in an implementation example of the present invention.

[0038] Fig.11 This is a schematic structural diagram of the T-nuts used in the main blowing and moving fan base of a hot air balloon that moves horizontally by autonomous power in an implementation case of the present invention, when viewed from the front, from above, and from an oblique angle.

[0039] Fig.12 This is a partial cross-sectional view of the connection between the ball joint and the slide groove on the main blowing and moving fan seat of a hot air balloon that moves horizontally by autonomous power in an implementation example of the present invention.

[0040] Fig.13 This is a position distribution diagram of the cutout sections of the T-nut disassembly and assembly in the hanging basket of the main blowing and moving blower seat slide of a hot air balloon that moves horizontally by autonomous power in an implementation case of the present invention.

[0041] Fig.14 This is a groove strip connector before bending used for disassembling and assembling the cutout section of the T-nut of the slide slot of the main blowing and moving fan seat of a hot air balloon that moves horizontally by autonomous power in an implementation case of the present invention.

[0042] Fig.15It is a groove strip connector with the same groove curvature used for disassembling and assembling the cutout section of the T-nut of the slide slot of the main blowing and moving fan seat of a hot air balloon that moves horizontally by autonomous power in an implementation case of the present invention.

[0043] Fig.16 This is a schematic diagram of the opening and locking of the cutout section of the hot air balloon main blowing fan seat slide groove that moves horizontally by autonomous power when disassembling and assembling the T-nut in an implementation case of the present invention.

[0044] Fig.17 This is a mechanical interface of a hot air balloon balancing propeller in a hanging basket that relies on autonomous power translation in an implementation example of the present invention.

[0045] Fig.18 An overall schematic diagram of the main blowing fan module being placed cross-arm on the hanging basket when it is not in use with the movable front fork extended.

[0046] Fig.19 This is an endoscope view of the hot air balloon basket door that moves by autonomous power after being made transparent, according to an implementation example of the present invention.

[0047] Fig. 20 A side half-section view of a hot air balloon that moves by autonomous power according to an implementation example of the present invention.

[0048] Fig.21 This is a schematic diagram of the wind direction of a hot air balloon that relies on autonomous power translation when flying downwind according to an implementation example of the present invention.

[0049] Fig. 22 This is a schematic diagram of the wind direction of a hot air balloon flying against the wind in an implementation example of the present invention that relies on autonomous power translation.

[0050] Fig.23 This is a schematic diagram of an implementation example of the present invention, in which a hot air balloon that relies on autonomous power for translation encounters an orthogonal wind direction exactly perpendicular to a target direction and an active blowing direction angle during flight.

[0051] Fig.24 This is a schematic diagram of an implementation example of the present invention in which a hot air balloon that moves horizontally by autonomous power is tilted and pulled because the wind direction it receives is inconsistent with the active blowing direction.

[0052] Figure 1 —— Fig.24 middle: 1 main blowing and moving fan module, 11 axial flow fan, 12 air outlet guide cover, 13 movable front fork, 131 movable front fork schematic beam, 14 operating handle, 15 safety rope ring, 16 hemispherical groove tile, 17 switch and speed control input on the operating handle, 18 pluggable power and control cable, 2 balanced wind propeller and its electric drive assembly, 21 balanced wind propeller, 22 servo motor driving balanced wind propeller, 23 mechanical interface on the main shaft of balanced wind propeller, 24 motor driver for longitudinal and transverse balanced wind propeller, 3 balloon, 4 hanging basket, 41 pillar, 42 heater, 43 safety rope, 5 main blowing and moving fan driver, 6 main blowing and moving fan base, 61 spherical fulcrum, 611 bolt, 62 slide, 621 slide mouth, 622 slide bottom, 623 slide yoke, 624 cut section, 625 same groove curvature groove strip connector, 63 T-nut, 631 T-nut hanging ear, 632 T-nut screw hole, 7 driving power supply, 71 fuel bottle, 8 inclination sensor assembly, 81 inclination sensor, 82 sensor signal line, 9 balance controller. DETAILED DESCRIPTION

[0053] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0054] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 , Fig.18 , Fig.19 , Fig. 20 , Fig.21 , Fig. 22 , Fig.23 and Fig.24 , Figure 1 This is a schematic diagram of a hot air balloon that moves horizontally by autonomous power according to an embodiment of the present invention. Figure 2 , Figure 3 It is a top view and a side sectional view of a hot air balloon basket 4 that moves by autonomous power without the main blowing fan module 1 according to an embodiment of the present invention. Figure 4 , Figure 5 The side view and bottom view of the main blowing fan module 1 of the hot air balloon that moves by autonomous power in the embodiment of the present invention, and the oblique view near the operating handle 14 are shown. Figure 6 This is a perspective view of the details of the spherical cap curved surface of the hemispherical groove tile 16 at the spherical joint between the main blowing and moving fan module 1 of the hot air balloon that moves by autonomous power and the main blowing and moving fan base 6 in the implementation example of the present invention. Figure 7 This is a schematic diagram of the 72-degree angle range of the main blowing fan module 1 blowing the hot air balloon 3 when the hot air balloon 3 that moves horizontally by autonomous power pulls the hanging basket 4 vertically upward in an implementation case of the present invention. Figure 8 , Fig. 9 The main beam of the movable front fork 13 at the ball joint of the hot air balloon main blowing and moving fan module 1 and the main blowing and moving fan base 6 that rely on autonomous power translation is shown as a semi-sectional schematic diagram of the hemispherical slotted tile 16 of the simplified beam when the ball joint is facing upward and the maximum rotation angle of 36 degrees is critically hung at the minimum large arc boundary and the maximum large arc boundary angle, and the semi-sectional schematic diagram of the ball joint just being able to be disassembled and assembled through the bottom circle of the hemispherical slotted tile 16 at the maximum boundary angle, Fig.10 This is a schematic diagram of the structure and cross section of the chute 62 of the profile used in the main blowing and moving fan base 6 of the hot air balloon that moves horizontally by autonomous power in an implementation example of the present invention. Fig.11 This is a schematic diagram of the structure of the T-nut 63 used in the main blowing and moving fan base 6 of the hot air balloon that moves by autonomous power in the implementation case of the present invention when viewed from the front, top and obliquely. Fig.12 This is a partial cross-sectional view of the connection between the ball joint and the slide groove 62 on the main blowing and moving fan seat 6 of the hot air balloon that moves by autonomous power in an implementation example of the present invention. Fig.14 The slot connector before bending used for disassembly and assembly of the notch section 624 of the T-nut 63 of the main blowing and moving fan seat 6 of the hot air balloon that moves by autonomous power in the embodiment of the present invention, Fig.15 The embodiment of the present invention is a hot air balloon main blowing and moving fan seat 6 which relies on autonomous power translation, and the notch section 624 of the T-nut 63 used for disassembly and assembly of the slide slot 62, and the slot strip connector 625 with the same slot curvature used for disassembly and assembly, Fig.13 , Fig.16 This is a diagram showing the position distribution of the cutout section 624 of the slide slot 62 of the main blowing and moving fan seat 6 of the hot air balloon which is moved by autonomous power in the embodiment of the present invention, and the schematic diagram showing the opening and locking of the cutout section 624 when the T-nut 63 is disassembled. Fig.17 The mechanical interface of the hot air balloon balancing paddle 21 in the hanging basket 4 in the implementation case of the present invention, Fig.18 The overall schematic diagram of the main blowing fan module 1 when it is stopped with the movable front fork 13 extended and the cross arm on the hanging basket 4, Fig.19 This is an endoscope view of the four doors of the hot air balloon basket that moves by autonomous power after being made transparent, Fig. 20 , Fig.21 , Fig. 22A side half-section view of a hot air balloon that moves horizontally by autonomous power according to an implementation example of the present invention, and a schematic diagram of wind direction when flying with and against the wind, Fig.23 This is a schematic diagram of an implementation example of the present invention in which a hot air balloon that relies on autonomous power translation encounters an orthogonal wind direction exactly perpendicular to the target direction and an active blowing direction angle during flight. Fig.24 This is a schematic diagram of an implementation example of the present invention in which a hot air balloon that moves horizontally by autonomous power is tilted and pulled because the wind direction it receives is inconsistent with the active blowing direction; in order to avoid the figure being too cluttered, some circuit wiring and gas pipelines are not drawn, and it can be considered that they are hidden in the floor of the hanging basket 4, the backboard and the main beam of the movable front fork 13.

[0055] In this specific embodiment, the present invention adds a main blowing and moving fan module 1, a main blowing and moving fan driver 5, a main blowing and moving fan base 6, a balancing wind propeller and its electric drive assembly 2, an inclination sensor assembly 8, a driving power supply 7, and a balancing controller 9 to the hot air balloon adopted; wherein, the main blowing and moving fan module 1, the main blowing and moving fan driver 5, and the main blowing and moving fan base 6 constitute a main blowing and moving system, which is manually operated by the crew; the balancing wind propeller and its electric drive assembly 2, the inclination sensor assembly 8, and the balancing controller 9 constitute a balancing wind propeller system, which is controlled by the balancing controller 9 by default, and can also be switched to manual drive before landing and when the battery is low; both systems are powered by the driving power supply 7.

[0056] In this specific embodiment, the main blowing and moving fan module 1 is rigidly connected by an axial flow fan 11, a blowing port air guide cover 12 and a movable front fork 13, and the end of the movable front fork 13 is bifurcated into a T-shaped operating handle 14 so that the crew can firmly and reliably grasp the main blowing and moving fan module 1 during manual operation; Fig.18The main blowing and moving fan module 1 uses the upper edge of the backboard of the hanging basket 4 as a fulcrum, the main beam of the movable front fork 13 as a lever, and the forces of the extended section and the unextended section should be kept balanced. In order to make the main blowing and moving fan module 1 blow the lower outer side of the hot air balloon sac 3 upward or obliquely upward from the outside of the hanging basket 4, so that the outer side of the sac 3 moves in the opposite direction after being subjected to the unilateral wind force, it is necessary to try to make the axial flow fan 11 of the main blowing and moving fan module 1 blow out the airflow through the blowing port guide cover 12 and all fall on the outside of the sac 3, and not blow in from the lower end of the sac 3. At this time, it should be ensured that the extension of the main blowing and moving fan module 1 is greater than the distance between the sac 3 sac 3 and the backboard of the hanging basket 4. The distance that the airflow blown out of the air outlet guide cover 12 spreads horizontally before reaching the balloon 3. According to the selected hot air balloon case parameters, the extension of the main blowing and moving fan module 1 should be greater than 3.3 meters; the main moments of the extended section of the main blowing and moving fan module 1 include: the gravity of the axial flow fan 11 and the air outlet guide cover 12 multiplied by the extended horizontal distance, the wind force of the axial flow fan 11 multiplied by the length of the extended section, and the gravity of the extended section of the movable front fork 13 multiplied by half of the extended horizontal distance. The main moments of the non-extended section of the main blowing and moving fan module 1 include: the torque applied by the crew when manually operating the operating handle 14, the gravity of the operating handle 14 multiplied by the length of the extended section. The horizontal distance of the unextended section and the gravity of the unextended section of the movable front fork 13 multiplied by half of the horizontal distance of the unextended section; in order to obtain a good blowing effect, the extension amount is 5 meters and the main beam length of the movable front fork 13 is 6 meters. At this time, the main beam of the movable front fork 13 is left in the inner section of the hanging basket 4 for 1 meter. According to the average weight of adult males in my country of 69.6 kg, the maximum torque of the main blowing fan module 1 in the inner section of the hanging basket 4 is greater than 700 Nm. After selecting suitable axial flow fan 11, blowing port guide cover 12 and movable front fork 13 main beam materials, the weight of the extended section meets the margin requirements. For example, if 6 kg, 2 kg and 20 kg are taken respectively, the gravity torque is 90 Nm. , together with the wind-out torque, the torque meets the requirements and there is still a margin for extension. During on-site operation, according to the average height of adult males in my country of 1.7 meters and the arm span of more than 1.6 meters, together with the weight of the aforementioned unextended section of 5.2 kilograms, a healthy adult male can hold the rear end of the movable front fork 13 with one hand and extend the other hand 1.3 meters forward to lift the main blowing and moving fan module 1 in a short time; in addition, the pressure range of the main blowing and moving fan module 1 on the fulcrum is about 600~700 Newtons, which is equivalent to a 60~70 kilogram weight pressing on one side of the four fulcrums of the hanging basket. The influence on the balance of the weight of a hot air balloon with a load capacity of one ton can be ignored.

[0057] Furthermore, if a smaller caliber balloon 3 is selected, a smaller elongation can be allowed, thereby a shorter movable front fork 13 and a lighter main blowing and moving fan module 1. Lighter materials and lighter structures can also be selected to manufacture the main blowing and moving fan module 1 while meeting the dynamic requirements.

[0058] In this specific embodiment, the axial flow fan 11 in the main blowing and moving fan module 1 is powered by the main blowing and moving fan driver 5 located in the hanging basket and provides control signals. Its power line and signal line are connected to the operating handle 14 from the main blowing and moving fan driver 5 through the pluggable power and control cable 18, so that the movable front fork 13 finally reaches the axial flow fan 11 at the front end of the main blowing and moving fan module 1. When the main blowing and moving fan module 1 is disabled or temporarily disabled due to the reverse extension of the hanging basket 4, the control cable can be unplugged. Fig.19 The control signal of the main blower fan driver 5 can be directly controlled by the crew on the main blower fan driver 5, or it can be controlled by the operator at any time near the operating handle 14 through the switch and speed input 17 thereon, such as Figure 5 shown.

[0059] Furthermore, the method in which the main blowing and moving fan driver 5 supplies power to the axial flow fan 11 and provides signal control input near the operating handle 14 can also be connected to the movable front fork 13 through wiring near the spherical fulcrum 61 of the main blowing and moving fan seat 6 on the backboard of the hanging basket 4, and thus connected to the axial flow fan 11 and the operating handle 14 respectively. This wiring method still needs to pay attention to the fact that the on-off of the circuit near the spherical fulcrum 61 should match the disassembly and assembly of the hemispherical groove tile 16.

[0060] In this specific embodiment, the main blowing and moving fan module 1 realizes five-dimensional movement through a detachable ball joint composed of a group of hemispherical groove tiles 16 opened at the bottom of the main beam of its movable front fork 13 and a spherical fulcrum 61-slide groove 62 set on the top of the main blowing and moving fan base 6 - not only can the center of the airflow blown out by the axial flow fan 11 fall on any point on the lower half of the curved surface of the balloon 3, but also the airflow direction in the main blowing area can be deflected according to the pitch and left and right angles, thereby more flexibly controlling the force on the balloon 3.

[0061] In this specific embodiment, when the operator holds the operating handle 14 of the movable front fork 13 with both hands and rotates it up and down and left and right around the ball joint fulcrum, the axial flow fan 11 located at the other end of the main blowing and moving fan module 1 rotates up and right and left around the ball joint fulcrum, thereby realizing the deflection of the blown airflow at a pitch angle and moving along a circular arc trajectory with the ball joint as the center; when the operator holds the operating handle 14 and rotates it left and right around the main axis of the movable front fork 13, the axial flow fan 11 also rotates left and right around the main axis of the movable front fork 13, thereby realizing the deflection of the blown airflow at left and right angles; after the operator disconnects the circuit of the main blowing and moving fan module 1, he lifts the main blowing and moving fan module 1 and moves it back and forth to adjust the extension amount of the main blowing and moving fan module 1 out of the hanging basket, and puts down the movable front fork 13 at a suitable position to cooperate with the detachable ball joint formed in a new position, so that the blown airflow can move along a circular arc trajectory with different radii.

[0062] In the main blower base 6 described in this specific embodiment, the profile selected for the slide slot 62 is provided as follows: Fig.10As shown, the selected T-nut 63 is as shown in Fig.11 As shown, the T-nut 63 matches the selected profile. There are slot yokes 623 on both sides of the slot opening 621, and there are T-nut hanging ears 631 on both sides of the T-nut 63. Fig.12 The T-nut 63 is installed into the slide groove 62 from both ends of the profile in the direction shown; the depth between the slide groove yoke 623 and the slide groove bottom 622 exceeds the thickness of the T-nut hanging ears 631 on both sides of the T-nut 63, the width of the slide groove mouth 621 is 8.2 mm, the width of the T-nut 63 boss is 8 mm, and the inner width of the slide groove 62 is greater than the width of the T-nut 63 by 4 mm; since the diameter of the slide groove 62 and the diameter of the main blowing fan base 6 and the diameter of the hanging basket 4 are all about 2 meters, and the length of the T-nut 63 is about 1.5 cm, the bending angle of the slide groove corresponding to the length of the T-nut 63 is about 0.86 degrees, and the arc height of the arc with a radius of 1 meter and 0.86 degrees is 0.1125 mm, and since the inner width of the slide groove is greater than the width of the T-nut 63 by 4 mm, and the width of the slide groove mouth 621 is 8.2 mm greater than the width of the top protrusion of the T-nut 63 by 8 mm, which is 0.2 mm, the T-nut 63 can move smoothly in the curved slide groove; If the T-nut 63 or the slide groove opening 621 is stuck due to excessive production error, sandpaper or a file can be used to trim and grind the stuck part until it meets the accuracy requirements; therefore, the space in the slide groove 62 can ensure that the T-nut 63 can move freely along the slide groove and the slide groove 62 forms a semi-constrained relationship with the T-nut 63; at this time, the bolt 611 is screwed into the T-nut screw hole 632 and tightened until the bolt 611 presses down against the slide groove bottom 622 and the T-nut 63 presses upward against the slide groove yoke 623 under the drive of the thread. At this time, the upper and lower pressing pressures generated between the slide groove bottom 622 and the bolt 611, the slide groove yoke 623 and the T-nut hanging ear 631 can make the bolt 611-T-nut 63-slide groove 62 a combined fixed connection body; after loosening the bolt 611 again, the bolt 611 and the T-nut 63 are subject to the semi-constraint effect of the slide groove 62, so a conditional semi-constraint relationship is formed between the bolt 611-T-nut 63 and the slide groove 62.

[0063] In this specific embodiment, the main blower fan base 6 is tightly fixed on the side wall of the hanging basket 4, and the upper slide groove 62 is flush with the upper edge of the hanging basket 4. The slide groove 62 and the bolts at the root of the spherical fulcrum 61 are constrained and fixed by T-nuts 63. Fig.12 As shown, when the bolts and T-nuts 63 are tightened, the spherical fulcrum 61 can be fastened on the slide groove 62. When the bolts and T-nuts 63 are loosened, the spherical fulcrum 61 can be moved along the slide groove 62, thereby realizing the main blowing fan module 1 to move left and right on the slide groove 62 through the three-dimensional ball joint, that is, the blown air flow moves according to the constraints of different centers of circles.

[0064] In this specific embodiment, the main blowing fan module 1 rotates around the main axis of the movable front fork 13 to blow the balloon 3 at an angle of about 72 degrees. Figure 1 , Figure 7 As shown, the radius of the sphere constituting the ball joint is selected to be slightly smaller than the radius of the hemispherical slot 16, and the arc of the spherical crown corresponding to the hemispherical slot 16 is greater than 72 degrees to ensure that the spherical joint can still be hung when the main blowing and moving fan module 1 rotates to the maximum angle around the main axis of the movable front fork 13, and when the arc of the spherical crown corresponding to the hemispherical slot 16 is the superior arc, the bottom circle radius is greater than the radius of the sphere constituting the ball joint to ensure that the ball joint can be detached, as shown in FIG. Figure 6 , Figure 8 , Fig. 9 shown.

[0065] In the ball joint described in this specific embodiment, the hemispherical groove bushing 16 is first directly cut out on the bottom surface of the main beam profile of the movable front fork 13 to form a row of spherical grooves with a radius greater than the radius of the spherical fulcrum 61, and then a wear-resistant reinforced bearing bushing layer with the same spherical crown surface is added to the inner curved surface to ensure that the sharp corners and sharp edges generated at the intersection of the lightweight groove edges inside the main beam profile of the movable front fork 13 and the spherical crown surface of the hemispherical groove bushing 16 will not be deformed and damaged due to extrusion when the hemispherical groove bushing 16 is used in combination with the spherical fulcrum 61, or even the spherical fulcrum 61 will not be stuck and cannot rotate, thereby ensuring the reliability of the hemispherical groove bushing 16 when it is working; but Figure 6 In order to show the curved surface features inside the hemispherical groove shoe 16, the enlarged view of the details of the joint at the ball joint is shown. Here, the internal ball crown is made transparent, and only the bottom circle edge of the ball crown is shown. Figure 8 , Fig. 9 Two groups of half-section diagrams simplifying the main beam of the movable front fork 13 into a simplified beam further explain the detachable ball joint composed of the hemispherical groove shoe 16 and the spherical fulcrum 61 and its use process. The hemispherical groove shoe 16 and the spherical fulcrum 61 are mainly hinged after the pressure between the contact points of the two and the stabilizing torque provided by the operator holding the operating handle 14 with both hands to the entire movable front fork 13 are balanced. In the horizontal direction, the shear force on the main beam of the movable front fork 13 is mainly transmitted by the friction force of the operator holding the operating handle 14 with both hands. When translation occurs, the centripetal constraint force between the inner spherical crown surface of the hemispherical groove shoe 16 and the spherical fulcrum 61 works together to maintain balance. When the hemispherical groove shoe 16 with a major circle as the major arc is used and the movable front fork 13 is in a large deflection angle posture, causing the bottom circle of the hemispherical groove shoe 16 to hit the bolt in the middle section of the spherical fulcrum 61, there is also a constraint force between the two contact points, such as Fig. 9 As shown in the figure below; in the vertical direction, the ball joint is balanced by the pressure between the hemispherical groove shoe 16 and the spherical fulcrum 61 and the stabilizing torque provided by the operator holding the operating handle 14 with both hands to the entire movable front fork 13. When the hemispherical groove shoe 16 with a large circle as the major arc and the large deflection angle of the movable front fork 13 cause the bottom circle of the hemispherical groove shoe 16 to hit the bolt in the middle section of the spherical fulcrum 61, there is also a vertical friction between the two contact points, as shown in FIG. Fig. 9As shown in the figure below; after the forces in the vertical and horizontal directions are balanced, effective constraint of the ball joint can be achieved.

[0066] In the ball joint described in this specific embodiment, if the major circle of the hemispherical groove shoe 16 is designed as a minor arc, it is easy to realize the rapid disassembly and assembly of the ball joint, but attention should be paid to the problem that the movable front fork 13 is kept tight at a large angle when the boundary angle of the rotation range of 72 degrees around the main axis is large. Figure 8 As shown, assuming that the hot air balloon sac 3 pulls the hanging basket 4 vertically upward, when the main blowing fan module 1 is required to blow the sac 3 at the maximum boundary angle, it is only necessary to rotate the movable front fork 13 extending horizontally along the radial direction of the hanging basket 4 around the main axis of the movable front fork 13 to an angle of 36 degrees to the left or right to achieve the above Figure 7 As shown, if the great circle of the hemispherical groove tile 16 is designed as a minimum boundary angle of 72 degrees, the spherical support point 61 is just at the great arc boundary point of the hemispherical groove tile 16, that is, the bottom circle of the hemispherical groove tile 16. Figure 8 As shown in the figure below, at this moment, if the operator controls the movable front fork 13 to rotate too much or to vibrate slightly, or if the balloon 3 pulls the hanging basket 4 upward when the hot air balloon is flying horizontally, the hanging basket 4 and the main blowing fan base 6 are not level. Fig.24 As shown, the gravity direction is not perpendicular to the tangent plane of the spherical fulcrum 61 and the vertex of the hemispherical slot bush 16, and the ball joint is very likely to be disengaged, so that the main blowing and moving fan module 1 cannot work normally at the required angle. Therefore, when the major circle of the hemispherical slot bush 16 is designed as an inferior arc, the arc of the major circle should be greater than 72 degrees to ensure that the ball joint can still be hung when the main blowing and moving fan module 1 rotates to the maximum angle around the main axis of the movable front fork 13; if the major circle of the hemispherical slot bush 16 is designed as an excellent arc, it is easy to ensure that the ball joint can be hung and not disengaged when the movable front fork 13 rotates at a large angle around the main axis, but it should be noted that the hemispherical slot bush 16 should ensure the detachability of the ball joint during manufacturing, such as Fig. 9 As shown in the figure, if the bottom circle outlet radius of the hemispherical groove shoe 16 after the bearing layer is reinforced is exactly equal to the spherical radius of the spherical support point 61 constituting the spherical joint, when disassembling the spherical joint, the spherical support point 61 can only be aligned with the bottom circle of the hemispherical groove shoe 16 through the following method: Fig. 9 As shown in the right figure, for the operator who lifts the entire main blowing and moving fan module 1 with both arms, this increases the difficulty and time of operation, which is not conducive to the rapid response of the front and rear extension and conversion slide 62 sections of the main blowing and moving fan module 1. Therefore, the bottom circle outlet radius of the hemispherical groove shoe 16 should be larger than the spherical fulcrum 61 of the ball joint to ensure that the ball joint can be easily disassembled and assembled.

[0067] Furthermore, applying lubricating grease inside the hemispherical groove shoe 16 can increase the rotation flexibility and adsorption viscosity of the ball joint, further improving the performance of the detachable ball joint.

[0068] In this specific embodiment, the length of the main blowing and moving fan module 1 is greater than the diameter of the hanging basket 4. When the main blowing and moving fan module 1 needs to move along the slide slot 62 to pass over the support column 41 of the hanging basket 4, the pluggable power and control cable 18 must be removed first, the main blowing and moving fan module 1 is lifted and moved in the opposite direction until the axial flow fan 11 is retracted into the hanging basket 4 (at this time, the operating handle 14 is extended in the opposite direction), the direction is adjusted until the axial flow fan 11 passes over the support column 41 to the required main blowing and moving fan seat 6 section, and then extends to a suitable extension amount and forms a new ball joint with the spherical fulcrum 61 in the new section, and finally the pluggable power and control cable 18 is reconnected and the machine can be started for operation. Figure 1 , Fig.18 , Fig.19 shown.

[0069] In this specific embodiment, the T-nut 63 is inserted into the slide slot 62 from the opening of the slide slot 62 located on the inner side of a support 41 of the hanging basket 4. The opening is realized by the cutout section 624 and the groove connecting piece 625 with the same curvature to realize the opening and closing function of the slide slot 62. Fig.13 , Fig.16 As shown. Cut the slide 62 in an inverted trapezoidal shape from the inner side of a pillar 41 to obtain a cutout section 624 of about the size of a palm, then remove the cutout section 624 and align the T-nuts 63 to be installed in each section of the slide 62 from the original position of the cutout section 624 according to the shape of the slide 62, then install them into the slide 62 and move them to each section. Select or cut a palm-sized slot connector as shown in FIG. Fig.14 As shown, the groove 62 is slightly bent and formed according to the curvature of the groove to obtain a groove bar connector 625 with the same groove curvature as shown in FIG. Fig.15 As shown, the cross-section of this same-groove curvature slot strip connector 625 is the same as the front view of the T-nut 63, and can move freely in the slide groove 62 like the T-nut 63; since the diameter of the slide groove 62 and the diameter of the main blowing fan base 6 and the diameter of the hanging basket 4 are all about 2 meters, and the length of the same-groove curvature slot strip connector 625 is about 10 to 15 centimeters, the bending angle of the same-groove curvature slot strip connector 625 is between 5.7 degrees and 9 degrees, and since the depth in the slide groove is greater than the thickness of the same-groove curvature slot strip connector 625, when the slot strip connector is processed according to the bending direction of the inner cylindrical slide groove 62 of the main blowing fan base 6, the degree margin and accuracy margin of the bending processing of the same-groove curvature slot strip connector 625 are relatively large.

[0070] In this specific embodiment, after removing the cutout section 624 and installing the T-nuts 63 and the same-groove curvature slot bar connectors 625 of each section of the slide groove 62, the same-groove curvature slot bar connectors 625 are all pushed into the slide groove 62. Fig.16 As shown in the figure below, the cutout section 624 is then installed back and the groove bar connector 625 with the same groove curvature is moved to pass through the cutout section 624 to lock the cutout section 624 and the slide groove 62 into a whole. Fig.16 As shown in the picture above.

[0071] Furthermore, the bending direction of the same-groove curvature slot strip connector 625 and the slide slot 62 selected and installed on the main blower fan base 6 can also be the slide slot 62 above or below the main blower fan base 6. At this time, the clearance margin between the upper and lower slide slot opening 621 and the boss portion of the same-groove curvature slot strip connector 625 is 0.2 mm. Fig.12 As shown, at this time, the processing accuracy requirement for the curved slot connector 625 having the same slot curvature is relatively high.

[0072] In this specific embodiment, the main blowing and moving fan driver 5 is arranged next to the driving power supply 7 at the bottom of the hanging basket 4. The control function on the main blowing and moving fan driver 5 includes two speed control inputs of fast coarse adjustment and fine adjustment in addition to the start and stop switch. The corresponding speed control input on the operating handle 14 includes at least the fine adjustment gear; when the main blowing and moving fan module 1 needs to reduce the extension amount to the minimum extension amount of 3.3 meters to blow the balloon 3, at this time, the main beam of the movable front fork 13 is cross-armed on the wall panels on both sides of the hanging basket 4 (similar to deactivation) and the operating handle 14 is extended in the reverse direction by a maximum of 0.1 meters. At this time, the pluggable power and control cable 18 is still connected to the operating handle 14 and pulled out in the reverse direction. At this time, the operator can control the input on the main blowing and moving fan driver 5 without having to turn around to control the operating handle 14 that extends in the reverse direction.

[0073] In this specific embodiment, the balancing wind propeller and its electric drive assembly 2 are composed of four groups of balancing wind propellers 21 distributed in the front, back, left, and right directions-a servo motor 22 combination driving the balancing wind propellers and a motor driver 24 for the longitudinal and transverse balancing wind propellers, such as Figure 2 As shown; the two servo motors in each direction are connected to the servo electric drive in reverse and energized, so that when viewed from the front of the motor, each group of motors rotates in opposite directions, and after being arranged oppositely around the hanging basket, the main shafts of each pair of servo motors actually rotate in the same direction, so that the wind directions of each pair of balanced wind propellers 21 are consistent when they rotate vertically and horizontally.

[0074] In this specific embodiment, the main shaft height of the balancing wind propeller and its electric drive assembly 2 is arranged on the floor of the hanging basket 4 to obtain the maximum driving efficiency. In order not to affect the opening and closing of the door of the hanging basket 4 and the landing of the balancing wind propeller 21, a double-blade fan structure is adopted, such as Figure 3 , Fig.19 As shown; in order to prevent the driving power supply 7 from being insufficient, the balancing wind propeller and its electric drive assembly 2 from working abnormally, or the blades from being unable to return to their original positions when the external balancing wind propeller 21 is accidentally stuck, a mechanical interface is provided inside the hanging basket to switch the motor drive to human drive, such as Fig.17As shown; the motor driver 24 of the longitudinal and transverse balanced wind propeller can be automatically controlled by the balance controller 9 or manually controlled. When in the automatic control mode, it is driven by the basket posture obtained by the inclination sensor assembly 8 and therefore has a certain lag. When the operator can foresee the external wind force, he can press the speed adjustment button of the motor driver 24 of the longitudinal and transverse balanced wind propeller in advance for manual active control. At this time, it is necessary to shield the signal interference between the balance controller 9 and the inclination sensor assembly 9.

[0075] Furthermore, the balancing wind propeller and its electric drive assembly 2 can also be set to a lifting type, that is, the balancing wind propeller 21 is lowered by an external lifting mechanism until all sectors are lower than the bottom plate of the basket 4 when the hot air balloon is flying, and is lifted to the outside of the basket for storage when the balancing wind propeller and its electric drive assembly 2 are deactivated before landing. In this case, the balancing wind propeller 21 can be a multi-blade fan structure.

[0076] In this specific embodiment, the tilt sensor assembly 8 is composed of a tilt sensor 81 and a sensor signal line 82, which is fastened to appropriate positions around the inner side of the wall plate of the hanging basket 4 through sensor fasteners, and is connected to a balance controller 9 also fastened to the inner side of the wall plate of the hanging basket 4 to collect the tilt state of the hanging basket 4, such as Figure 3 , Fig.19 As shown; when the inclination sensor 81 is a passive component with a relatively small mass, the sensor can be fastened only by glue or the like. When the inclination sensor 81 is an active component with a relatively large mass, it not only requires special sensor fasteners to fix it but also requires a special circuit to power it. At this time, the required electrical energy can be obtained from the driving power supply 7.

[0077] Furthermore, the tilt sensor 81 may be a mechanical or electromechanical combination type in addition to an electronic type.

[0078] In this specific embodiment, the balance controller 9 is implemented using a single-chip microcomputer system, and its functions include at least issuing corresponding control instructions to the two sets of vertical and horizontal balance wind propellers and their electric drive assemblies 2 based on the collected inclination signal of the hanging basket 4 so that the hanging basket 4 can remain horizontal under the blowing of each balance wind propeller 21, thereby maintaining the balance of the entire hot air balloon; in addition, after adopting the single-chip microcomputer system, it can also receive more other newly added sensor signals and control signals, program setting functions and leave more communication margin; when the balance wind propellers and their electric drive assemblies 2 are manually actively controlled, logical shielding should be performed at the balance controller 9.

[0079] In this specific implementation, when there is no external wind interference, when the target translation direction is facing one of the four directions of front, back, left and right, the main blowing fan module 1 is first placed on the spherical fulcrum 61 in that direction and extended by a suitable amount, during the process of increasing the power of the axial flow fan 11 from small to large: when the wind force of the axial flow fan 11 is very small, the balloon 3 only deflects a very small angle, at this time, the hanging basket 4 overcomes its own inertia under the combined action of gravity and the pulling force of the balloon 3 and moves with the balloon 3, and the deviation of the axes of the two is not large, which is similar to the wind drifting activity of an ordinary hot air balloon under the action of weak wind; when the wind force of the axial flow fan 11 increases, the inclination angle of the balloon 3 increases, and if it is in automatic control mode, When the hanging basket 4 tilts under the pulling force of the balloon 3, the balancing wind propeller and its electric drive assembly 2 in the target direction at the bottom are automatically started, blowing the hanging basket 4 to follow the balloon 3 until the hanging basket 4 swings to a horizontal angle and then the balancing wind propeller and its electric drive assembly 2 are shut down. Setting a suitable response sensitivity in the balancing controller 9 can make the hanging basket 4 and the balloon 3 translate together while maintaining a small axial angle. If the response sensitivity is too large, the hanging basket 4 will be blown to the front of the balloon 3 under the impact response of the balancing wind propeller 21 and will swing in the opposite direction. Thereafter, the hanging basket 4 will easily swing back and forth under the repeated action of the balancing wind propeller and its electric drive assembly 2. If the response sensitivity is too small, the hanging basket 4 and the balloon 3 will swing together. The angle between the capsules 3 is constantly increasing, the balancing wind propeller and its electric drive assembly 2 are slowly adding force, and the hanging basket 4 has a large tilt swing when starting and stopping translation; if in manual control mode, the balancing wind propeller and its electric drive assembly 2 can be opened synchronously with the axial flow fan 11 and the latter's motor speed can be controlled according to the pre-calculated or tested form data to control the air volume, so that the hanging basket 4 is always kept in a horizontal or nearly horizontal state. The manual control mode has high requirements on the operator's level. After enough data is accumulated, the experience can also be written into the balancing controller 9 to improve the level of automatic control; when the axial flow fan 11 continues to increase the wind force so that the balancing wind propeller 21 wind force is opened to the maximum hanging basket, the balancing wind propeller 21 wind force is opened to the maximum hanging basket, and ... When the main axis of the basket 4 is also difficult to maintain a safe angle with the main axis of the balloon 3, or when the wind force of the axial flow fan 11 blowing the balloon 3 is too concentrated so that the balloon 3 undergoes a large deformation, similar to the situation of strong wind or wind shear encountered by ordinary hot air balloon flight, the main blowing and moving fan module 1 should be immediately turned off to restore the alignment position between the hanging basket 4 and the balloon 3, and the balancing wind propeller 21 and the heater 42 should be turned off if necessary to prevent accidents caused by excessive swinging. At this time, the air pressure in the balloon 3 and whether the balloon 3 is leaking should also be checked. After the shape of the balloon 3 is restored and the swing is within a controllable range, the heater 42, the main blowing and moving fan module 1 and the balancing wind propeller and its electric drive assembly 2 can be turned on one by one to continue translation. When the target translation direction is not directly facing the four directions of front, back, left, and right but has a horizontal angle with these directions, the main blowing and moving fan module 1 is rotated to the corresponding angle on the slide 62 through the spherical fulcrum 61, and then the two pairs of balancing wind propellers and their electric drive assembly 2 below are distributed according to the orthogonal decomposition method to achieve the aforementioned translation effect.

[0080] In this specific implementation, when the external wind force is consistent with the target translation direction, it is equivalent to flying with the wind. Fig.21 In this case, the installation direction of the main blowing and moving fan module 1 must be determined based on the external wind force and the maximum wind force that the balancing wind propeller and its electric drive assembly 2 can provide: when the external wind force is less than the maximum wind force that the balancing wind propeller and its electric drive assembly 2 can provide, the main blowing and moving fan module 1 is installed and arranged in the downwind direction and is on standby; when the external wind force is greater than the maximum wind force that the balancing wind propeller and its electric drive assembly 2 can provide, the main blowing and moving fan module 1 is installed in the upwind direction and needs to be turned on immediately, and the balancing wind propeller and its electric drive assembly 2 should also be turned on immediately to ensure the balance of the balloon 3 and the hanging basket 4. After the main blowing and moving fan module 1 is set up, the output wind force of the balancing wind propeller and its electric drive assembly 2 and the output wind force and direction of the main blowing and moving fan module 1 shall be determined in turn according to the deflection angle of the main axis of the balloon 3 and the deformation of the balloon 3 caused by the external wind force. At this time, first turn on the balancing wind propeller and its electric drive assembly 2 to fan to the left and apply force to make the hanging basket 4 translate to the right and keep it in a synchronous vertical state with the main axis of the balloon 3. Continue to increase the output of the main blowing and moving fan module 1 and increase the output wind force of the balancing wind propeller and its electric drive assembly 2 to speed up the overall translation speed until the maximum output power of the balancing wind propeller and its electric drive assembly 2 is reached, and then the fastest translation speed is reached; when the external wind force is strong, When the main blowing and shifting fan module 1 is set up to the right, the balancing wind propeller and its electric drive assembly 2 are still outputting at the maximum power, and the hot air balloon as a whole still maintains the fastest translational speed under the reverse blowing of the main blowing and shifting fan module 1. At this time, the crew should closely monitor whether the inclination angle of the balloon 3 and the deformation of the balloon 3 are within the safe range; when the external wind is too strong, so that the main blowing and shifting fan module 1 and the balancing wind propeller and its electric drive assembly 2 cannot meet the balance condition even when they are turned to the maximum power, or the balloon 3 undergoes a large deformation under the combined action of the main blowing and shifting fan module 1 and the external wind, this is the maximum wind force limit for downwind flight. The flight mission should be interrupted quickly and a suitable landing site should be found nearby to avoid the wind.

[0081] In this specific implementation, when the external wind force is opposite to the target translation direction, it is equivalent to flying against the wind. Fig. 22The external wind force shown is blowing to the left but needs to move to the right. In this case, it is necessary to first estimate and judge whether this headwind is a short-term gusty headwind or a long-term continuous headwind. If the external wind force is greater than the maximum horizontal component of the main blowing and moving fan module 1 blowing the balloon 3 and the maximum force of the balancing wind propeller 21, and it is a long-term continuous headwind, it has exceeded the translation capacity limit of the hot air balloon, and the flight mission should be quickly interrupted and a suitable landing place should be found nearby to avoid the wind; when the external wind force is greater than the force of the main blowing and moving fan module blowing the balloon, and it is a short-term gust, the wind force of the main blowing and moving fan module 1 and the balancing wind propeller 21 can be appropriately increased to keep hovering in place or allow a small amount of retreat, and continue to translate to the right after the gust. When flying against the wind, the main blowing fan module 1 keeps blowing the left side of the balloon 3 in the same direction, but the balancing wind propeller and its electric drive assembly 2 will change direction as the external wind blows the balloon 3 in shear to ensure the balance position between the hanging basket 4 and the balloon 3. At this time, it is necessary to take advantage of the automatic control of the balance controller 9 and improve its response sensitivity accordingly. When flying against the wind, it is also necessary to pay attention to the coverage of the airflow blown by the axial flow fan 11 on the outer surface of the balloon 3: the lower the area where the axial flow fan 11 blows the balloon 3, the more concentrated the airflow and the higher the airflow propulsion efficiency, but it is easy to cause deformation of the balloon 3; lifting the operating handle 14 so that the airflow blown by the axial flow fan 11 tilts outward, the more the surface of the balloon 3 is covered, and the less likely it is to deform, but the more airflow is lost; this is especially important when encountering external wind shear blowing different parts of the balloon 3 during flying against the wind. When the external headwind shear mainly blows the upper half of the balloon 3 or the airflow is concentrated at the root of the balloon 3 due to the axial flow fan 11 of the main blowing and moving fan module 1, the balloon 3 will tilt to the left. At this time, the smooth wind paddle 21 should blow to the right to restore balance and cause a certain amount of retreat; when the external headwind shear mainly blows the lower half of the balloon 3, the external wind force is concentrated near the center of gravity of the hot air balloon. At this time, the smooth wind paddle 21 keeps blowing to the left, but it should be noted that the lower half of the balloon 3 undergoes excessive deformation under the squeezing force of the axial flow fan 11 and the external wind force. Once the deformation of the balloon 3 exceeds the safe range, the heater 42 should be turned off immediately, and the operating handle 14 of the movable front fork 13 of the main blowing and moving fan module 1 should be lifted to make the axial flow fan 11 blow outward at a flat angle, and at the same time, the output of the balancing wind paddle 21 should be increased to ensure that no secondary problems of tilting are caused by the external wind force during the deformation relief process, and the translation operation can be resumed after the deformation of the balloon 3 is restored.

[0082] In this specific implementation, when the direction of external wind force is not in the same direction as the translation direction of the hot air balloon that is translated by autonomous power and an orthogonal component wind appears, it is equivalent to crosswind flight. At this time, the wind direction should be decomposed into parallel wind direction and orthogonal wind direction according to the translation direction of the hot air balloon and considered separately; the main blowing fan module 1 should also be deflected around the main axis of the hot air balloon to the orthogonal wind direction by a certain angle to offset the offset in the orthogonal direction, and it should be ensured that the hot air balloon blown by the main blowing fan module 1 still has power margin while being balanced in both the translation direction and the orthogonal direction, and then the blowing component in the translation direction of the hot air balloon is increased.For the parallel wind direction, it is necessary to first determine whether it is a tailwind consistent with the translation direction of the hot air balloon or an opposite headwind to determine the blowing direction and blowing force of the main blowing fan module 1 in the translation direction of the hot air balloon; for the orthogonal wind direction, it must be regarded as a headwind flight in that direction and the main blowing fan module 1 is rotated around the main axis of the hot air balloon in the opposite direction of the orthogonal wind direction by a certain angle to generate a blowing force that offsets the orthogonal wind direction, thereby ensuring that the hot air balloon that is translated by autonomous power moves along the translation direction and does not shift sideways. If the orthogonal wind force is too strong and the main blowing fan module 1 still cannot offset its wind force when blowing at a completely opposite angle to it, at this time If the translation capacity limit of the hot air balloon is exceeded, and the blowing component along the translation direction of the hot air balloon cannot be provided, a landing point should be selected on the leeward side to land as soon as possible and the translation operation should be stopped; when the orthogonal wind direction does not exceed the translation capacity limit of the hot air balloon and the parallel wind direction is a headwind opposite to the translation direction of the hot air balloon, it is a side headwind. The main blowing and moving fan module 1 should be rotated around the main axis of the hot air balloon to blow in the direction opposite to the two wind directions at the same time, and the output power of the main blowing and moving fan module 1 should be increased after ensuring the balance in the direction orthogonal to the translation direction of the hot air balloon, so as to increase the translation direction angular component. When the main blowing and moving fan module 1 outputs the maximum power and is maintaining When the wind force in the parallel wind direction cannot be offset while ensuring balance in the direction orthogonal to the translation direction of the hot air balloon, it is still similar to the excessive headwind in the previous section and exceeds the translation capacity limit of the hot air balloon. You should choose a landing point on the leeward side to land as soon as possible and stop the translation operation; when the wind in the orthogonal wind direction does not exceed the translation capacity limit of the hot air balloon and the parallel wind direction is the same tailwind as the translation direction of the hot air balloon, it is a side tailwind, which is divided into a side tailwind with smaller wind force and a side tailwind with excessive wind force: when it is a side tailwind with smaller wind force, the working margin is larger, and you can decide whether to operate according to the needs of the operation after ensuring balance in the direction orthogonal to the translation direction of the hot air balloon. Increase the output power of the main blowing and moving fan module 1 so as to rotate the main blowing and moving fan module 1 around the main axis of the hot air balloon to increase the translation direction angle to increase the thrust component in the translation direction, or keep the output power of the main blowing and moving fan module 1 unchanged only after ensuring the balance in the direction orthogonal to the translation direction of the hot air balloon to save the total endurance energy. When the wind force is too strong, the output power of the main blowing and moving fan module 1 should be increased after ensuring the balance in the direction orthogonal to the translation direction of the hot air balloon, and the main blowing and moving fan module 1 should be rotated around the main axis of the hot air balloon to the angle opposite to the parallel wind direction, that is, blow to the side and rear direction of the translation direction of the hot air balloon to maintain the balance of the basket and the balloon.

[0083] In this specific implementation, the driving power supply 7 adopts a dual-fuel generator set and a battery pack to supply power simultaneously, and a 3-5 kW generator set commonly seen in the market is selected: its original parameter level is: volume of about 0.6*0.45*0.4 cubic meters, weight of about 20-50 kilograms, built-in fuel tank capacity of about 5-13 liters, and a set of built-in lead-acid batteries. The lead-acid batteries are replaced with lithium battery packs of the same voltage level and expanded, and then a transformer rectifier with the voltage required by each power load is installed to a total volume of 0.7*0.6*0.6 cubic meters. m3, at this time the driving power supply 7 weighs about 100 kg; together with the aforementioned main blowing and moving fan module 1, the balancing wind propeller and its electric drive assembly 2, the main blowing and moving fan driver 5, the main blowing and moving fan base 6, the inclination sensor assembly 8 and the balancing controller 9, this hot air balloon that relies on autonomous power translation is about 200 kg heavier than the standard hot air balloon of the same level. Under the condition that the maximum allowable load remains unchanged, together with 210 kg of the three-person crew, 80 kg of fuel, and 200 kg of the hanging basket and bracket, it can still carry about 630 kg of payload.

[0084] Furthermore, when a hot air balloon with other size parameters is selected so that the viewing angle of looking up at the balloon 3 from the hot air balloon basket 4 is not 72 degrees, the curvature range requirement for the hemispherical slot tile 16 in the main blowing fan module 1 corresponding to the major arc of the spherical crown when the curvature is a minor arc is also different, and needs to be re-defined according to the viewing angle of looking up at the balloon 3 from the hot air balloon basket 4.

[0085] The hot air balloon provided by the present invention that moves by autonomous power is introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians who use the present invention in this technical field and other fields, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. Hot air balloons that move horizontally by autonomous power, in addition to standard hot air balloons used for modification, include: Main blowing and moving fan module, main blowing and moving fan driver, main blowing and moving fan base, balancing wind propeller and its electric drive assembly, inclination sensor assembly, driving power supply, balancing controller.

2. The hot air balloon according to claim 1, characterized in that: The main blowing and moving fan module blows the outer side of the lower half of the hot air balloon from below to form an artificial wind of suitable size, direction and focus, thereby using the horizontal reaction force of the reflected airflow to push the balloon to move in the desired direction.

3. The hot air balloon according to claim 1, characterized in that: By balancing the wind propeller and its electric drive assembly to blow the lower end of the basket, the relative inclination angle and main axis offset of the basket and the balloon are kept within a safe range during the overall translation of the hot air balloon, thereby achieving the overall translation of the hot air balloon.

4. The hot air balloon according to claim 1, characterized in that: The flexibility of the control method is increased by arranging the start, stop and speed regulation of the main blowing and moving fan module at two locations: the main blowing and moving fan driver and the operator's operating handle.

5. The hot air balloon according to claim 1, characterized in that: The tilt sensor assembly and the balance controller are used to realize automatic control of the steering, speed and angle of the balancing wind propeller and its electric drive assembly, giving full play to the advantages of fast and accurate servo drive response, thereby improving the automatic balancing ability of the hanging basket.

6. The hot air balloon according to claim 1, characterized in that: Through the detachable ball joint and slide groove design between the main blowing and moving fan module and the main blowing and moving fan base, the five-dimensional movement ability and movement fulcrum of the main blowing and moving fan module are obtained, and together with the speed regulation function of the main blowing and moving fan module, the effect of five-dimensional blowing of the hot air balloon capsule is obtained; the five-dimensional movement includes three-dimensional rotational movement around a single ball joint, front and rear telescopic movement of disassembling the ball joint, and left and right translational movement between dragging the ball joint and the slide groove, and the five-dimensional blowing effect includes the force point of the airflow blown out by the main blowing and moving fan module on the three-dimensional curved surface of the capsule and the force angle adjustment of the pitch deflection and left and right deflection of the airflow around the force point; the detachable ball joint includes a spherical fulcrum with a smaller internal radius and a group of spherical hemispherical groove tiles with a larger radius opened at the bottom of the main beam of the main blowing and moving fan module, the large arc angle of the hemispherical groove tile is larger than the viewing angle of looking up at the capsule from the hot air balloon basket, and when the large arc angle of the hemispherical groove tile is the major arc, the bottom circle radius is larger than the radius of the spherical fulcrum.

7. The main blowing and moving fan module according to claim 2, characterized in that: An electrically controlled axial flow fan is fixed at the outer end of the long straight main beam, and a two-handed operating handle is set at an appropriate height and angle on the operator's end to achieve reliable control of the mechanical movement of the main blowing and moving fan module, thereby ensuring the main blowing and moving fan module has a longer extension distance and higher power operating conditions, providing a guarantee for controlling the active translation of large-sized hot air balloons.

8. The main blowing and moving fan base according to claim 6 is characterized in that: The fulcrum is semi-constrainedly fixed in the slide groove with the slotted yoke by bolts and T-nuts. It is firmly fixed when the bolts are tightened, and the T-nut is allowed to slide freely in the slide groove when the bolts are loosened. The T-nut is installed by cutting a palm-sized inverted trapezoidal detachable cut section on the inner side of the slide groove on the supporting column of the hanging basket; the cut section is locked or opened by a groove strip connector with the same curvature as the slide groove and the same length as the palm.

9. The balanced wind propeller and its electric drive assembly as claimed in claim 3 are characterized by: A mechanical interface is provided between the main shaft of the balancing wind propeller and the servo motor driving it to realize the switching between motor drive and human drive, ensuring the controllability of the basket attitude when the power supply is insufficient, thereby improving the reliability of the hot air balloon that moves horizontally by autonomous power.

10. The balanced wind propeller and its electric drive assembly as claimed in claim 3, characterized in that: At least two sets of balanced wind propellers and their electric drive assemblies are arranged in two dimensions at different angles on the bottom plane of the hanging basket, and they cooperate with each other to drive the hanging basket in different directions on the horizontal plane.

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