A tethered airship buoyancy center measurement system and measurement method thereof

Abstract

The present invention relates to a tethered airship buoyancy center measurement system and a measurement method thereof. A mounting frame of the tethered airship buoyancy center measurement system is rotatably equipped with a leg in front of a slide rail. The front end of the tethered airship is connected to the upper end of the leg through a force sensor a. A mobile trolley is slidably equipped on the slide rail. A winch is arranged on the mobile trolley. The pull rope wound on the winch can be respectively fixed to a first pulling point and a second pulling point on the tethered airship through a force sensor b. The mobile trolley is provided with a laser distance sensor. The laser distance sensor is used to detect the vertical distance between the two pulling points and the force sensor a. The tethered airship is provided with an inclination sensor. The present invention detects the pulling force received at the head and the pulling point of the tethered airship in two equilibrium states and the distance between the pulling point and the head of the tethered airship. The position of the actual buoyancy center is obtained by calculation, thereby solving the problem caused by the inconsistency between the theoretical buoyancy center and the actual buoyancy center in the prior art.

Description

Technical Field

[0001] The invention relates to a measuring system for measuring the buoyancy center of a floating object, in particular to a tethered airship buoyancy center measuring system. The invention also relates to a measuring method of the tethered airship buoyancy center measuring system. Background Art

[0002] Since the last century, tethered airships have gradually developed. However, due to technical limitations and a series of events, the research on tethered airship devices is at a standstill. As a space suspension platform mechanism, tethered airships are gradually used in communications, atmospheric and geographical environment monitoring, large-scale event and assembly safety monitoring, military reconnaissance, electronic information confrontation, tourism and other fields. The tethered launch platform generally consists of two parts: a tethered airship and an anchoring vehicle device. For the design of tethered airships, the theoretical center of buoyancy can be calculated in the model. However, due to the influence of the processing technology, the actual center of buoyancy is not consistent with the theoretical center of buoyancy, so a device for measuring the center of buoyancy of the airship is needed. Summary of the invention

[0003] The object of the present invention is to provide a tethered airship buoyancy center measurement system to determine the actual buoyancy center position of the tethered airship. The object of the present invention is also to provide a measurement method of the tethered airship buoyancy center measurement system.

[0004] In order to solve the above problems, the tethered airship buoyancy center measurement system involved in the present invention adopts the following technical scheme: a tethered airship buoyancy center measurement system, including a mounting frame, a slide rail is arranged on the mounting frame, a leg is rotatably mounted in front of the slide rail on the mounting frame, the leg can swing back and forth, a telescopic positioning piece is arranged between the leg and the mounting frame, the two ends of the telescopic positioning piece are respectively hinged to the leg and the mounting frame, a tethered airship is arranged above the mounting frame, the front end of the tethered airship is connected to the upper end of the leg through a force sensor a, a moving trolley is slidably mounted on the slide rail, a winch is arranged on the moving trolley, a pull rope wound on the winch can be respectively fixed to a first pulling point and a second pulling point on the tethered airship through a force sensor b, the moving trolley is provided with a laser ranging sensor, the laser ranging sensor is used to detect the vertical distance between the first pulling point and the second pulling point and the force sensor a, and the tethered airship is provided with an inclination sensor.

[0005] The tethered airship is connected to the outrigger through the head cone, the force sensor a is fixed on the upper end of the outrigger, the head cone is pressed on the force sensor a through an arc clamp, the arc clamp is fixed on the force sensor a, and the head cone is pressed upward on the inner arc surface of the arc clamp.

[0006] The pull rope is fixed to the tethered airship through an anchoring frame, the anchoring frame comprises a frame fixed on the tethered airship and a fixing rod assembled on the frame, and the pull rope is fastened to the fixing rod.

[0007] A method for measuring the buoyancy center of a tethered airship adopts the following technical solution:

[0008] A method for measuring the buoyancy center of a tethered airship is provided. The method adopts a tethered airship buoyancy center measurement system for measurement. The tethered airship buoyancy center measurement system comprises a mounting frame, a slide rail is provided on the mounting frame, a leg is rotatably mounted in front of the slide rail on the mounting frame, the leg can swing forward and backward, a telescopic positioning piece is provided between the leg and the mounting frame, the two ends of the telescopic positioning piece are respectively hinged to the leg and the mounting frame, a tethered airship is provided above the mounting frame, the front end of the tethered airship is connected to the upper end of the leg through a force sensor a, a moving trolley is slidably mounted on the slide rail, a winch is provided on the moving trolley, a pull rope wound on the winch can be respectively fixed to a first pulling point and a second pulling point on the tethered airship through a force sensor, the moving trolley is provided with a laser distance sensor, the laser distance sensor is used to detect the vertical distance between the first pulling point and the second pulling point and the force sensor a, the tethered airship is provided with an inclination sensor, and the tethered airship comprises the following steps:

[0009] Step 1:

[0010] Measure the total weight G of the tethered airship whose buoyancy center is being measured 总 , including: the weight of the tethered airship body and the weight of the appendages rigidly fixed thereon.

[0011] Step 2:

[0012] First, fix the tethered airship near the head to the upper end of the leg through a force sensor a;

[0013] Step 3:

[0014] Move the mobile trolley to the bottom of the first pulling point and tie it up, and connect the lifting winch of the mobile trolley to the tethered airship through the pull rope;

[0015] Step 4:

[0016] The attitude of the airship is adjusted, and the inclination attitude data of the airship is transmitted to the computer controller through the inclination sensor. According to the attitude data, the hoist is used to adjust the lifting and lowering of the tethered airship so that the airship is in a balanced state, that is, balanced state 1.

[0017] Step 5:

[0018] Read the data F of force sensor a when the tethered airship is in equilibrium state 1 a1 , read the data F of force sensor b when the airship is in equilibrium b1 , and record the data of both;

[0019] Step 6:

[0020] Read the vertical distance L1 between the first tension point and the force sensor a in the equilibrium state 1, and record the data.

[0021] Step 7:

[0022] Move the mobile trolley to the bottom of the second pulling point and tie it up, and connect the lifting winch of the mobile trolley to the tethered airship through the pull rope;

[0023] Step 8:

[0024] Adjust the attitude of the airship, transmit the inclination attitude data of the airship to the computer controller through the inclination sensor, and adjust the lifting and lowering of the tethered airship by the winch according to the attitude data, so that the airship is in a balanced state, that is, balanced state 2;

[0025] Step 9:

[0026] Read the data F of force sensor a when the airship is in equilibrium state 2 a2 , read the data F of force sensor b when the airship is in equilibrium state 2 b2 and record the data of both.

[0027] Step 10:

[0028] Read the vertical distance L2 between the second tension point and the force sensor a in the equilibrium state 1, and record the data.

[0029] Step 11:

[0030] Calculate the buoyancy of the airship: F 浮 =G 总 +F a1 +F b1 ,

[0031] Define the hypothetical surface, assume that the distance between the center of gravity and the center of the head force is X, and the distance between the center of buoyancy and the center of the head force is y, and list the equations to be solved based on the balance of the force arms.

[0032] Step 12:

[0033] The force arm balance formula is:

[0034] F 浮 Y=G 总 X+F b1 L1

[0035] F 浮 Y=G 总 X+F b2 L2

[0036] F 浮 =G 总 +F a1 +Fb1

[0037] Where X is the distance between the force sensor a and the center of gravity, Y is the distance between the force sensor a and the center of buoyancy, Fa and Fb are the measured quantities, F 浮 is the calculated quantity, L is the measured data, and the equation is solved to obtain the position quantities X and Y, thereby obtaining the center of buoyancy position.

[0038] In step one: the tethered airship is connected to the outrigger through the head cone, the force sensor a is fixed to the upper end of the outrigger, the head cone is pressed onto the force sensor a through an arc-shaped clamp, the arc-shaped clamp is fixed on the force sensor a, and the head cone is pressed upward onto the inner arc surface of the arc-shaped clamp.

[0039] In step three: the pull rope is fixed to the tethered airship through an anchoring frame, the anchoring frame includes a frame fixed to the tethered airship and a fixing rod assembled on the frame, and the pull rope is fastened to the fixing rod.

[0040] The present invention detects the tension received by the head and the first tension point of the tethered airship in a balanced state and the distance between the first tension point and the head of the tethered airship, and detects the tension received by the head and the second tension point in another balanced state and the distance between the second tension point and the head of the tethered airship, and calculates the position of the actual buoyancy center, thereby solving the problem caused by the inconsistency between the theoretical buoyancy center and the actual buoyancy center in the prior art.

[0041] In addition, the present invention uses a mobile trolley and a hoisting mechanism to measure the tension of the first tension point and the second tension point, which is easy to operate and simplifies the equipment. In addition, the mobile trolley can be moved and operated, and has strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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:

[0043] Figure 1 It is a structural schematic diagram of an embodiment of a tethered airship buoyancy center measurement system of the present invention;

[0044] Figure 2 for Figure 1 Schematic diagram of the structure after removing the tethered airship;

[0045] Figure 3 for Figure 1 A schematic diagram of the structure of the assembly between the nose cone and the legs of the tethered airship;

[0046] Figure 4 for Figure 1 The diagram of the mooring frame and the guy rope;

[0047] Figure 5This is the force principle diagram of the airship. DETAILED DESCRIPTION

[0048] 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.

[0049] The specific embodiment of the tethered airship buoyancy center measurement system and the measurement method thereof involved in the present invention is as follows: Figure 1-Figure 4 In the figure, a slide rail 2-3 is provided on the mounting frame 2-2, and a leg 2-5 is rotatably mounted in front of the slide rail 2-3 on the mounting frame 2-2. The leg 2-5 can swing back and forth, and a telescopic positioning member is provided between the leg 2-5 and the mounting frame 2-2. The telescopic positioning member is a hydraulic cylinder 2-7, and the two ends of the hydraulic cylinder 2-7 are respectively hinged to the leg 2-5 and the mounting frame 2-2. The base 2-1 of the mounting frame is fixed to the lower part of the mounting frame 2-2. A tethered airship 1 is provided above the mounting frame 2-2, and the front end of the tethered airship 1 is connected to the upper end of the leg 2-5 through a force sensor a5. A moving trolley 3 is slidably mounted on the slide rail 2-3, and a winch 4 is provided on the moving trolley 3. The winch 4 is fixed to the moving trolley 3 by bolts. The pull rope 7 wound on the winch 4 can be fixed to the first pulling point and the second pulling point on the tethered airship 1 respectively through the force sensor b6. A laser ranging sensor 11 is arranged at the front end of the mobile vehicle 3. The laser ranging sensor 11 is used to detect the vertical distance between the first pulling point and the second pulling point and the force sensor a5. An inclination sensor 9 is also arranged on the tethered airship 1.

[0050] Specifically, the tethered airship 1 is connected to the leg 2-5 through the head cone 1-1, the force sensor a5 is fixed to the upper end of the leg 2-5, the arc clamp 2-6 is fixed to the force sensor a5, and the front of the head cone 1-1 presses upward on the inner arc surface of the arc clamp 2-6. In this way, the head cone and the arc clamp are not rigidly connected, and the tethered airship 1 can rotate to adjust its posture. Specifically, the pull rope 7 is fixed to the tethered airship 1 through the mooring frame 8, and the mooring frame 8 has a frame fixed to the tethered airship 1 and a fixing rod assembled on the frame, the force sensor b6 is fixed to the fixing rod, and the pull rope 7 is tied to the force sensor b6.

[0051] The force sensor b6 in the above embodiment is fixed on the fixed rod, and the pull rope 7 is tied to the force sensor b6. In other embodiments, the force sensor b6 can also be strung on the pull rope, or the fixed rod can be connected to the frame through the force sensor b6, that is, as long as it can measure force.

[0052] The tethered airship in the above embodiment is assembled by its nose cone and legs. In other embodiments, other assemblies may be used as long as they can measure force and maintain the position of the tethered airship.

[0053] The pull rope in the above-mentioned embodiment is fixed to the tethered airship via an anchoring frame. In other embodiments, no anchoring frame may be provided, and the pull rope may be directly fixed to the tethered airship.

[0054] In this embodiment, because the moving trolley needs to move between two pulling points, the bracket between the two pulling points needs to be removed, and the bracket is detachable.

[0055] An embodiment of a method for measuring the buoyancy center of a tethered airship, the method adopts the embodiment of the tethered airship buoyancy center measurement system to perform measurement, and the method for measuring the buoyancy center of a tethered airship comprises the following steps:

[0056] Step 1:

[0057] Measure the total weight G of the tethered airship whose buoyancy center is being measured 总 , including: the weight of the tethered airship body and the weight of the rigidly fixed appendages thereon. For example: the weight of the tethered airship G1, the weight of the gas filled G2, the weight of the nose cone G3, the weight of the mooring frame G4, the weight of the attitude sensor G5, etc., and the weight of the structure launched together with the tethered airship must also be counted. In this embodiment, the total weight of the tethered airship with the measured buoyancy center G 总 =G1+G2+G3+G4+G5; the above weights can be realized by measuring scales and flow sensors. In the embodiment without anchoring frame, this weight G is removed. 4。

[0058] Step 2:

[0059] First, fix the tethered airship near the head to the upper end of the leg through a force sensor a;

[0060] Step 3:

[0061] Move the mobile trolley to the bottom of the first pulling point and tie it up, and connect the lifting winch of the mobile trolley to the tethered airship through the pull rope;

[0062] Step 4:

[0063] Adjust the attitude of the airship, transmit the inclination attitude data of the airship to the computer controller through the inclination sensor, and use the winch to adjust the lifting of the tethered airship according to the attitude data, so that the airship is in a balanced state, that is, balanced state 1. The so-called balanced state refers to the state of the tethered airship after it is launched. The parameters of this state are determined after the tethered airship is produced. Its attitude parameters are detected by the inclination sensor and transmitted to the computer controller. The computer controller uses the winch to adjust the lifting of the tethered airship according to the attitude data, so that the airship is in a balanced state. How to adjust the tethered airship to make it balanced is common knowledge of those skilled in the art.

[0064] Step 5:

[0065] Read the data F of force sensor a when the tethered airship is in equilibrium state 1 a1 , read the data F of force sensor b when the airship is in equilibrium b1 , and record the data of both;

[0066] Step 6:

[0067] Read the vertical distance L1 between the first tension point and the force sensor a in the equilibrium state 1, and record the data.

[0068] Step 7:

[0069] Move the mobile trolley to the bottom of the second pulling point and tie it up, and connect the lifting winch of the mobile trolley to the tethered airship through the pull rope;

[0070] Step 8:

[0071] Adjust the attitude of the airship, transmit the inclination attitude data of the airship to the computer controller through the inclination sensor, and adjust the lifting and lowering of the tethered airship by the winch according to the attitude data, so that the airship is in a balanced state, that is, balanced state 2;

[0072] Step 9:

[0073] Read the data F of force sensor a when the airship is in equilibrium state 2 a2 , read the data Fb2 of force sensor b when the airship is in equilibrium state 2, and record the data of both.

[0074] Step 10:

[0075] Read the vertical distance L2 between the second tension point and the force sensor a in the equilibrium state 1, and record the data.

[0076] Step 11:

[0077] Calculate the buoyancy of the airship: F 浮 =G 总 +F a1 +Fb1 ,

[0078] Define the hypothetical surface, assume that the distance between the center of gravity and the center of the head force is X, and the distance between the center of buoyancy and the center of the head force is y, and list the equations to be solved based on the balance of the force arms.

[0079] The force principle diagram of the airship is as follows Figure 5 shown.

[0080] Step 12:

[0081] The force arm balance formula is:

[0082] F 浮 Y=G 总 X+F b1 L1

[0083] F 浮 Y=G 总 X+F b2 L2

[0084] F 浮 =G 总 +F a1 +F b1

[0085] Where X is the distance between the force sensor a and the center of gravity, Y is the distance between the force sensor a and the center of buoyancy, Fa and Fb are measured quantities, Fbuoy is the calculated quantity, and L is the measured data. Solve the equation to obtain the position quantities X and Y, and thus the center of buoyancy position.

[0087] When the pull rope is connected to the first tension point, the measured F a , F b , L is recorded as: F a1 , F b1 , L1; when the pull rope is connected to the second tension point, the measured F a , F b , L is recorded as: F a2 , F b2 , L2.

[0088] In step 1: the tethered airship 1 is connected to the leg 2-5 through the head cone 1-1, the force sensor a5 is fixed to the upper end of the leg 2-5, the arc clamp 2-6 is fixed to the force sensor a5, and the front part of the head cone 1-1 presses upward on the inner arc surface of the arc clamp 2-6. In this way, the head cone and the arc clamp are not rigidly connected, and the tethered airship 1 can rotate to adjust its posture.

[0089] Specifically, in step three: the pull rope 7 is fixed to the tethered airship 1 through the mooring frame 8, the mooring frame 8 has a frame fixed on the tethered airship 1 and a fixing rod assembled on the frame, the force sensor b6 is fixed on the fixing rod, and the pull rope 7 is tied to the force sensor b6.

[0090] The force sensor b6 in the above embodiment is fixed on the fixed rod, and the pull rope 7 is tied to the force sensor b6. In other embodiments, the force sensor b6 can also be strung on the pull rope, or the fixed rod can be connected to the frame through the force sensor b6, that is, as long as it can measure force.

[0091] 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 tethered airship buoyancy center measurement system, characterized in that: The utility model comprises a mounting frame, on which a slide rail is arranged, on which a leg is rotatably mounted in front of the slide rail, and the leg can swing forward and backward, a telescopic positioning piece is arranged between the leg and the mounting frame, and the two ends of the telescopic positioning piece are respectively hinged to the leg and the mounting frame, a tethered airship is arranged above the mounting frame, and the front end of the tethered airship is connected to the upper end of the leg through a force sensor a, a moving trolley is slidably mounted on the slide rail, a winch is arranged on the moving trolley, and a pull rope wound on the winch can be respectively fixed to a first pulling point and a second pulling point on the tethered airship through a force sensor b, the moving trolley is provided with a laser ranging sensor, and the laser ranging sensor is used to detect the vertical distance between the first pulling point and the second pulling point and the force sensor a, and the tethered airship is provided with an inclination sensor.

2. The tethered airship buoyancy center measurement system according to claim 1, characterized in that: The tethered airship is connected to the outrigger through the head cone, the force sensor a is fixed on the upper end of the outrigger, the head cone is pressed on the force sensor a through an arc clamp, the arc clamp is fixed on the force sensor a, and the head cone is pressed upward on the inner arc surface of the arc clamp.

3. The tethered airship buoyancy center measurement system according to claim 2, characterized in that: The pull rope is fixed to the tethered airship through an anchoring frame, the anchoring frame comprises a frame fixed on the tethered airship and a fixing rod assembled on the frame, and the pull rope is fastened to the fixing rod.

4. A method for measuring the buoyancy center of a tethered airship, characterized in that: The method adopts a tethered airship buoyancy center measurement system for measurement. The tethered airship buoyancy center measurement system includes a mounting frame, a slide rail is arranged on the mounting frame, a leg is rotatably mounted in front of the slide rail on the mounting frame, the leg can swing forward and backward, a telescopic positioning piece is arranged between the leg and the mounting frame, the two ends of the telescopic positioning piece are respectively hinged to the leg and the mounting frame, a tethered airship is arranged above the mounting frame, the front end of the tethered airship is connected to the upper end of the leg through a force sensor a, a moving trolley is slidably mounted on the slide rail, a winch is arranged on the moving trolley, a pull rope wound on the winch can be respectively fixed to a first pulling point and a second pulling point on the tethered airship through a force sensor, the moving trolley is provided with a laser distance sensor, the laser distance sensor is used to detect the vertical distance between the first pulling point and the second pulling point and the force sensor a, the tethered airship is provided with an inclination sensor, and the tethered airship buoyancy center measurement method includes the following steps: Step 1: Measure the total weight G of the tethered airship whose buoyancy center is being measured 总 , including: the weight of the tethered airship body and the weight of the appendages rigidly fixed thereon. Step 2: First, fix the tethered airship near the head to the upper end of the leg through a force sensor a; Step 3: Move the mobile trolley to the bottom of the first pulling point and tie it up, and connect the lifting winch of the mobile trolley to the tethered airship through the pull rope; Step 4: The attitude of the airship is adjusted, and the inclination attitude data of the airship is transmitted to the computer controller through the inclination sensor. According to the attitude data, the hoist is used to adjust the lifting and lowering of the tethered airship so that the airship is in a balanced state, that is, balanced state 1. Step 5: Read the data F of force sensor a when the tethered airship is in equilibrium state 1 a1 , read the data F of force sensor b when the airship is in equilibrium b1 , and record the data of both; Step 6: Read the vertical distance L1 between the first tension point and the force sensor a in the equilibrium state 1, and record the data. Step 7: Move the mobile trolley to the bottom of the second pulling point and tie it up, and connect the lifting winch of the mobile trolley to the tethered airship through the pull rope; Step 8: Adjust the attitude of the airship, transmit the inclination attitude data of the airship to the computer controller through the inclination sensor, and adjust the lifting and lowering of the tethered airship by the winch according to the attitude data, so that the airship is in a balanced state, that is, balanced state 2; Step 9: Read the data F of force sensor a when the airship is in equilibrium state 2 a2 , read the data F of force sensor b when the airship is in equilibrium state 2 b2 and record the data of both. Step 10: Read the vertical distance L2 between the second tension point and the force sensor a in the equilibrium state 1, and record the data. Step 11: Calculate the buoyancy of the airship: F 浮 =G 总 +F a1 +F b1 , Define the hypothetical surface, assume that the distance between the center of gravity and the center of the head force is X, and the distance between the center of buoyancy and the center of the head force is y, and list the equations to be solved based on the balance of the force arms. Step 12: The force arm balance formula is: F 浮 Y=G 总 X+F b1 L1 F 浮 Y=G 总 X+F b2 L2 F 浮 =G 总 +F a1 +F b1 Where X is the distance between the force sensor a and the center of gravity, Y is the distance between the force sensor a and the center of buoyancy, Fa and Fb are the measured quantities, F 浮 is the calculated quantity, L is the measured data, and the equation is solved to obtain the position quantities X and Y, thereby obtaining the center of buoyancy position.

5. The method for measuring the buoyancy center of a tethered airship according to claim 4, characterized in that: In step one: the tethered airship is connected to the outrigger through the head cone, the force sensor a is fixed to the upper end of the outrigger, the head cone is pressed onto the force sensor a through an arc-shaped clamp, the arc-shaped clamp is fixed on the force sensor a, and the head cone is pressed upward onto the inner arc surface of the arc-shaped clamp.

6. The method for measuring the buoyancy center of a tethered airship according to claim 5, characterized in that: In step three: the pull rope is fixed to the tethered airship through an anchoring frame, the anchoring frame includes a frame fixed to the tethered airship and a fixing rod assembled on the frame, and the pull rope is fastened to the fixing rod.

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