Anchoring control method for tethered airship

Abstract

The invention relates to an anchoring control method for a tethered airship. According to the method, through geometric calculation, the target lengths of pull ropes L1, L2 and L3 after the tethered airship reaches a target position and the target included angles alpha, beta and delta between the pull ropes L1, L2 and L3 and the horizontal plane can be obtained; the mooring airship is released through the mooring system body, the length of the L3 is set to be the target length, at the moment, the lengths of the pull ropes L1 and L2 are initial lengths and are both larger than the target length, the mooring airship is made to lift off only under the constraint of the L3, and the initial lengths of the pull ropes L1 and L2 are adjusted so that the pull ropes L1 and L2 can reach the target length. According to the tethered airship, a three-rope arrangement scheme is adopted, the airship cannot freely rotate along with wind for equipment with orientation requirements, such as 5G base station equipment, the orientation requirements of the base station equipment are guaranteed, and the stability of signal transmission is further guaranteed.

Description

Technical Field

[0001] The invention relates to a tethered airship anchoring control method, in particular to a three-rope anchoring control method of a tethered airship, and belongs to the field of tethered airships. Background Art

[0002] Tethered airships are increasingly used in modern industry, but they are still blank in some areas, such as open-pit mines.

[0003] Due to the complex environment of the mine, the most commonly used monitoring equipment is drones. Although drones have advantages such as flexible operation and easy maintenance, it is difficult to continuously monitor the mine. In addition, the drone system has large losses when it is in the air for a long time, and it is easy to be damaged if it needs to be upgraded frequently, which makes it not suitable for 24-hour uninterrupted monitoring and communication.

[0004] Tethered airships can solve the above problems very well. Tethered airships have the characteristics of ultra-long hovering time and can replace drones in monitoring mines.

[0005] The existing tethered airship adopts a single tethering method, which is easily affected by wind force and cannot be precisely controlled at one point. The position accuracy is not high, which will seriously affect the positioning accuracy of the equipment. If it is deployed in a mine environment, the monitoring range is small and it is difficult to monitor the whole picture of the mine. In addition, it is greatly affected by wind force, and the mounted objects will rotate with the wind, which also has a great impact on the mounted base station equipment.

[0006] In addition, although the existing tethered airships have the ability to stay in the air for a long time, it is difficult to stay in the air for more than 30 days due to the large helium permeability of the materials. Summary of the invention

[0007] The object of the present invention is to provide a tethered airship anchoring control method to solve the problem of low positioning accuracy of the tethered airship anchoring control method in the prior art.

[0008] In order to solve the above problems, the tethered airship anchoring control method involved in the present invention adopts the following technical solution: A tethered airship anchoring control method comprises the following steps:

[0009] Step 1: fix the first winch, the second winch and the release ropes L1, L2 and L3 of the main body of the anchoring system together with the tethered airship 1 at the same point, and set tension sensors on the ropes L1, L2 and L3; specifically, a plurality of fixed ropes are fixed on the tethered airship 1, one end of each fixed rope is fixed together, and the other end is evenly not arranged on the tethered airship 1, and the ropes L1, L2 and L3 are connected to the fixed end of the fixed rope.

[0010] Step 2: Determine the target position of the tethered airship through GPS;

[0011] Step 3: Select a suitable location below the tethered airship to arrange the anchoring system body 2 as the launching body and the first and second winches. The anchoring system body, the first winch 3 and the second winch 4 are evenly distributed around the periphery of the target position of the tethered airship 1.

[0012] Step 4: Through geometric calculation, we can obtain: the target lengths of the ropes L1, L2 and L3 after the tethered airship reaches the target position, and the target angles α, β and δ between the ropes L1, L2 and L3 and the horizontal plane;

[0013] Step 5: Release the tethered airship through the main body of the mooring system. The length of the pull rope L3 is set to the target length. At this time, the lengths of the pull ropes L1 and L2 are the initial lengths, both greater than the target lengths. The tethered airship is lifted off only under the constraint of the pull rope L3. The initial lengths of the pull ropes L1 and L2 are adjusted so that the pull ropes L1 and L2 reach the target lengths.

[0014] Step 6: Based on the force balance diagram of the airship reaching the target position and the mathematical model of center of gravity balance, it can be concluded that:

[0015] F combined * L4 = F floating * L3

[0016] F floating = G weight + F closing

[0017] F combined=F1*sinα+F2*sinβ+F3*sinδ

[0018] F1*cosα*sin30°+F2*cosβ*sin30°=F3*cosδ*sin30°

[0019] Wherein: Ftotal is the combined force of the ropes L1, L2 and L3 on the tethered airship after it reaches the target position; Ffloat is the buoyancy given by the air on the tethered airship after it reaches the target position; L3 is the distance between the buoyancy center and the center of gravity of the tethered airship on the horizontal plane; L4 is the distance between the center of gravity of the tethered airship and the point of action of Ftotal on the tethered airship on the horizontal plane, and the point of action of Ftotal on the tethered airship is the fixed point where the ropes L1, L2, L3 and the tethered airship are fixed in step 1; Gweight is the total weight of the tethered airship after it is lifted to the target position, that is, it includes the weight of the gas filled in it; F1, F2, F3 are the pulling forces of the ropes L1, L2 and L3 after the tethered airship is lifted to the target position, and α, β, δ are the target angles in step 4;

[0020] Step seven, read the value F3 from the tension sensor, solve the equation in step 6, get the values ​​of F1 and F2, and use the first winch and the second winch to retract and release the pull ropes L1 and L2, so that the values ​​of F1 and F2 measured by the tension sensor match the values ​​of F1 and F2 calculated, so that the tethered airship reaches a balanced state.

[0021] The pull rope L3 is an optical-electrical composite cable.

[0022] The anchoring system body is provided with a drag pulley device, and the pull rope L3 is retracted and released through the drag pulley device.

[0023] The bottom of the anchoring system body is provided with a rotating platform, and the first winch and the second winch are movable winches.

[0024] The tethered airship is provided with a pressure sensor, which transmits the measured pressure to a pressure monitoring system, and the pressure monitoring system inflates the airship through an optical-electrical composite cable according to a predetermined pressure value of the tethered airship.

[0025] The tethered airship of the present invention adopts a three-rope arrangement scheme. For some equipment with directional requirements, such as 5G base station equipment, the airship will not rotate freely with the wind, thereby ensuring the directional requirements of the base station equipment and further ensuring the stability of the transmission signal.

[0026] The present invention adopts a three-rope structure, and the three ropes play different roles. The pull rope L3 is the main restraint structure in the initial stage of release. The pull rope L3 is used to quickly realize the release and initially reach the preset height. L1 and L2 can realize the adjustment of the horizontal position.

[0027] The pull rope L3 of the present invention is an optical-electrical composite cable, which is a composite cable integrating multiple functional units such as optical fiber, power line and inflation. This cable is specially designed for tethering airships to meet their power supply, signal transmission and data communication needs in the air. In addition, it realizes the function of air replenishment in the air.

[0028] The main body of the mooring system of the present invention is provided with a drag pulley device, and the pull rope L3 is retracted and released through the drag pulley device. The drag pulley can prevent the main cable from being subjected to a large shear force during the release process.

[0029] The bottom of the anchoring system body of the present invention is provided with a rotating platform, and the first winch and the second winch are movable winches. When it is necessary to monitor adjacent mines, the anchoring system body is rotated, and the first winch and the second winch are quickly moved to complete the transfer of the monitored mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment:

[0031] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0032] Figure 2 for Figure 1 Schematic diagram of the structure of the main body of the middle mooring system;

[0033] Figure 3 A control flow chart for releasing a tethered airship and a pressure monitoring flow chart for a tethered airship according to an embodiment of the present invention;

[0034] Figure 4 It is the force analysis diagram of the pull ropes L1, L2 and L3 (stereoscopic force diagram in three-dimensional direction);

[0035] Figure 5 A diagram of the forces required to keep the airship in equilibrium. DETAILED DESCRIPTION

[0036] In order to make the technical purpose, technical solution and beneficial effects of the present invention clearer, the technical solution of the present invention is further described below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0037] A specific embodiment of the anchoring control method of a tethered airship involved in the present invention is as follows: Figure 1-Figure 5 A method for controlling the anchoring of a tethered airship comprises the following steps:

[0038] Step 1: fix the first winch, the second winch and the release ropes L1, L2 and L3 of the anchoring system body to the tethered airship at the same point, and set tension sensors on the ropes L1, L2 and L3;

[0039] Step 2: Determine the target position of the tethered airship through GPS; the specific target is determined by technicians based on experience according to the location of the mine pit, and then, with the help of GPS, specific positioning is achieved to obtain the relative position of the target position and the mine pit in the three coordinate directions. This position is generally directly above the mine pit and becomes a known condition after determination.

[0040] Step 2: Select a suitable location below the tethered airship to arrange the main body of the mooring system as the launching body and the first winch and the second winch. The main body of the mooring system, the first winch and the second winch are evenly distributed around the periphery of the target position of the tethered airship. After the arrangement is completed, it becomes a known condition.

[0041] Step 4: Through geometric calculation, we can obtain: the target lengths of the ropes L1, L2 and L3 after the tethered airship reaches the target position, and the target angles α, β and δ between the ropes L1, L2 and L3 and the horizontal plane;

[0042] Step 5: Release the tethered airship through the main body of the mooring system, and set the length of the pull rope L3 to the target length. At this time, the lengths of the pull ropes L1 and L2 are the initial lengths, both greater than the target lengths, so that the tethered airship is lifted off only under the constraint of the pull rope L3, and adjust the initial lengths of the pull ropes L1 and L2 so that the pull ropes L1 and L2 reach the target lengths; in specific implementation, the pull ropes L1, L2 and L3 are made to reach the target lengths through the computer system, which is realized by programming, and the target values ​​are input into the computer system, and the computer system controls the first and second winches and the main winch of the main body of the mooring system to adjust the pull ropes; this embodiment adopts a tethered airship arrangement scheme for coal mine monitoring, which can realize the long-term airship stationing; the three-rope anchoring structure is simple in structure and easy to operate. The three-rope structure combined with the adjustment control algorithm and various sensors on the airship can realize the rapid positioning of the coordinates of the tethered airship, realize the automatic adjustment of the position, and reduce manual intervention.

[0043] Step 6, according to the force balance of the airship reaching the target position, such as Figure 4 As shown in the figure, and the mathematical model of center of gravity balance, as Figure 5 As mentioned above, it can be concluded that:

[0044] F combined * L4 = F floating * L3

[0045] F floating = G weight + F closing

[0046] F combined=F1*sinα+F2*sinβ+F3*sinδ

[0047] F1*cosα*sin30°+F2*cosβ*sin30°=F3*cosδ*sin30°

[0048] Wherein: F is the combined force of the ropes L1, L2 and L3 on the tethered airship after it reaches the target position; F is the buoyancy given by the air on the tethered airship after it reaches the target position; L3 is the distance between the buoyancy center and the center of gravity of the tethered airship on the horizontal plane; L4 is the distance between the center of gravity of the tethered airship and the point of action of F on the tethered airship on the horizontal plane, and the point of action of F on the tethered airship is the fixed point where the ropes L1, L2, L3 and the tethered airship are fixed in step 1; G is the total weight of the tethered airship after it is raised to the target position, that is, it includes the weight of the gas filled in, and the amount of gas filled can be calculated according to the flow sensor, that is, the weight of the tethered airship can be weighed first, and then the weight of the gas filled can be added; F1, F2, F3 are the tensions of the ropes L1, L2 and L3 after the tethered airship is raised to the target position, and α, β, δ are the target angles in step 4;

[0049] Step 7, read the value F3 from the tension sensor, solve the equation in step 6, get the values ​​of F1 and F2, and use the first winch and the second winch to retract and release the ropes L1 and L2, so that the values ​​of F1 and F2 measured by the tension sensor match the values ​​of F1 and F2 calculated, so that the tethered airship reaches a balanced state. In other words, this is an engineering method, not a theoretical method.

[0050] Specifically, the pull rope L3 is an optical-electrical composite cable.

[0051] Specifically, a drag pulley device 6 is provided on the anchor system body, and the pull rope L3 is retracted and released through the drag pulley device. Specifically, the pull rope L3 is wound on the main winch 7 of the anchor system body, and the pull rope L3 is fixed to the moored airship after the drag pulley device 6. Specifically, a rotating platform is provided at the bottom of the anchor system body, and the first winch and the second winch are movable winches.

[0052] like Figure 5 Specifically, a pressure sensor is provided in the tethered airship, and the pressure sensor transmits the measured pressure to the pressure monitoring system. The pressure monitoring system inflates the airship through the optical-electrical composite cable according to the predetermined pressure value of the tethered airship.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate but not limit the technical solutions of the present invention, and any equivalent substitutions of the present invention and any modifications or partial substitutions that do not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for controlling the anchoring of a tethered airship, characterized in that: The steps include: Step 1: fix the first winch, the second winch and the release ropes L1, L2 and L3 of the anchoring system body to the tethered airship at the same point, and set tension sensors on the ropes L1, L2 and L3; Step 2: Determine the target position of the tethered airship through GPS; Step 3: Select a suitable location below the tethered airship to arrange the anchoring system body as the launching body and the first winch and the second winch, and the anchoring system body, the first winch and the second winch are evenly distributed around the periphery of the target position of the tethered airship; Step 4: Through geometric calculation, we can obtain: the target lengths of the ropes L1, L2 and L3 after the tethered airship reaches the target position, and the target angles α, β and δ between the ropes L1, L2 and L3 and the horizontal plane; Step 5: Release the tethered airship through the main body of the mooring system. The length of L3 is set to the target length. At this time, the lengths of the pull ropes L1 and L2 are the initial lengths, both greater than the target lengths. The tethered airship is lifted off only under the constraint of L3, and the initial lengths of the pull ropes L1 and L2 are adjusted so that the pull ropes L1 and L2 reach the target lengths. Step 6: Based on the force balance diagram of the airship reaching the target position and the mathematical model of center of gravity balance, it can be concluded that: F combined * L4 = F floating * L3 F floating = G weight + F closing F combined=F1*sinα+F2*sinβ+F3*sinδ F1*cosα*sin30°+F2*cosβ*sin30°=F3*cosδ*sin30° Wherein: Ftotal is the combined force of the ropes L1, L2 and L3 on the tethered airship after it reaches the target position; Ffloat is the buoyancy given by the air on the tethered airship after it reaches the target position; L3 is the distance between the buoyancy center and the center of gravity of the tethered airship on the horizontal plane; L4 is the distance between the center of gravity of the tethered airship and the point of action of Ftotal on the tethered airship on the horizontal plane, and the point of action of Ftotal on the tethered airship is the fixed point where the ropes L1, L2, L3 and the tethered airship are fixed in step 1; Gweight is the total weight of the tethered airship after it is lifted to the target position; F1, F2, F3 are the tensions of the ropes L1, L2 and L3 after the tethered airship is lifted to the target position, and α, β, δ are the target angles in step 4; Step seven, read the value F3 from the tension sensor, solve the equation in step 6, get the values ​​of F1 and F2, and use the first winch and the second winch to retract and release the pull ropes L1 and L2, so that the values ​​of F1 and F2 measured by the tension sensor match the values ​​of F1 and F2 calculated, so that the tethered airship reaches a balanced state.

2. The method for controlling the anchoring of a tethered airship according to claim 1, characterized in that: The pull rope L3 is an optical-electrical composite cable.

3. The anchoring control method of a tethered airship according to claim 2, characterized in that: The anchoring system body is provided with a drag pulley device, and the pull rope L3 is retracted and released through the drag pulley device.

4. The anchoring control method of a tethered airship according to claim 1, 2 or 3, characterized in that: The bottom of the anchoring system body is provided with a rotating platform, and the first winch and the second winch are movable winches.

5. The method for controlling the anchoring of a tethered airship according to claim 2, characterized in that: The tethered airship is provided with a pressure sensor, which transmits the measured pressure to a pressure monitoring system, and the pressure monitoring system inflates the airship through an optical-electrical composite cable according to a predetermined pressure value of the tethered airship.

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