Remote autonomous leakage detection method and system for air bag of captive balloon

Abstract

The invention discloses a remote autonomous leakage detection method and system for an air bag of a captive balloon, and the method comprises the steps: adding an automatic judgment condition for the abnormality of the air bag in a software system of the captive balloon, preliminarily determining a leakage point range area, submitting a leakage detection instruction to an unmanned plane, and carrying out the real-time alarm display at a ground control station; the automatic judgment content of the abnormity of the air bag comprises frequent startup abnormity of a fan, net buoyancy constant abnormity, air bag volume abnormity, pitch angle larger abnormity, pitch angle smaller abnormity and net buoyancy larger abnormity; the unmanned aerial vehicle carries an acoustic imager and a laser range finder according to a leakage point range area judged by the system software and a leakage detection instruction to carry out full-autonomous detection on leakage points on the surface of the tethered balloon airbag; the tethered balloon air bag leak detection method has the advantages that the tethered balloon air bag leak detection method is comprehensive in application range and suitable for detecting large-range tiny leak points on the surface of a large tethered balloon body, and consumed time is short.

Description

Technical Field

[0001] The invention relates to the field of aviation aerostats, and in particular to a remote autonomous leak detection method and system for a tethered balloon airbag. Background Art

[0002] As a low-speed aircraft that uses the principle of buoyancy to achieve fixed-point aerial reconnaissance and surveillance missions, tethered balloons are widely used in various fields such as early warning and reconnaissance due to their advantages such as long hovering time, fixed-point airborne station, and high safety. Tethered balloons use the buoyancy gas inside them, generally filling the main airbag with helium to achieve buoyancy and weight balance in the air. In order to meet the weight requirements of heavy-duty missions, the size, volume and surface area of ​​tethered balloons are generally very large.

[0003] Due to various factors such as the material principle and processing technology of the tethered balloon envelope, tethered balloon products will inevitably face gas leakage during field testing and delivery. Since tethered balloons are tethered in the field for several months, and the surface area of ​​tethered balloons is large and the production and processing technology is relatively complex, small leaks during the ground tethering process may not be identified in the early stage and may cause trouble during the later tethering period. With the advancement of domestic balloon technology, the gap in some key processes has caused greater leakage of the balloon, so remote inspection of small leaks in the field of tethered balloons is more critical. The detection of small leaks has become a thorny problem in the use and maintenance of airships. How to design a method for remote and autonomous leak detection of tethered balloons in the field and after delivery has become a key to the maintenance of airships.

[0004] Traditional methods for checking leaks in tethered balloons include visual inspection, soapy water, etc. Among them, the on-site visual inspection method is generally applicable to easily accessible ground and large leak locations, while the soapy water inspection method is time-consuming and difficult to adapt to leak inspections in inaccessible areas on the surface of the balloon. Therefore, the application scope of traditional visual inspection and soapy water inspection methods is limited and is not suitable for the inspection of large-scale tiny leaks on the surface of large tethered balloons. Chinese Patent Publication No. CN111076873A discloses a leak detection method for an aerostat bladder and an aerostat bladder. Air is injected into the aerostat bladder. When the pressure value in the aerostat bladder reaches a preset pressure value, a characteristic gas is injected into the aerostat bladder; the concentration M2 of the characteristic gas in the preset environment of the aerostat bladder is detected; the concentration M1 of the characteristic gas in each area of ​​the outer surface of the aerostat bladder is detected; and the leak location of the aerostat bladder is determined by comparing the concentration M2 with the concentration M1. This method requires inflation and detection of the gas concentration in each surface area, which is also time-consuming. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the existing tethered balloon airbag leak detection method has a limited scope of application, is not suitable for the inspection of a large range of tiny leaks on the surface of a large tethered balloon airbag, and is relatively time-consuming.

[0006] The present invention solves the above technical problems by the following technical means: a remote autonomous leak detection method for a tethered balloon airbag, comprising:

[0007] S1. Add automatic judgment conditions for airbag abnormalities in the tethered balloon software system, preliminarily determine the leakage point range, report leakage detection instructions to the drone, and display real-time alarms at the ground control station. The automatic judgment of airbag abnormalities includes: abnormal frequent start-up of fans, abnormal net buoyancy unchanged, abnormal airbag volume, abnormal large pitch angle, abnormal small pitch angle, and abnormal large net buoyancy;

[0008] S2. The UAV carries an acoustic imager and a laser rangefinder to conduct a fully autonomous inspection of leaks on the surface of the tethered balloon airbag according to the leak range determined by the system software and the leak detection instructions.

[0009] Furthermore, the abnormal judgment of the frequent startup of the fan is that the computer on the tethered balloon independently judges the startup frequency and startup duration of the fan. If the startup frequency or startup duration of the fan is greater than the startup frequency and startup duration range when the fan is working normally, the tethered balloon software system will report a "check valve leakage" leak detection instruction.

[0010] Furthermore, the abnormal judgment of the unchanged net buoyancy is that the computer onboard the tethered balloon independently judges the cable tension. If the cable tension does not change significantly in two consecutive days during the tethered period, the net buoyancy remains unchanged and the volume of the auxiliary airbag is abnormal. The tethered balloon software system reports a leak detection instruction of "check the auxiliary airbag", wherein the no obvious change in the cable tension means that the change in the cable tension is within the preset floating range.

[0011] Furthermore, the abnormal airbag volume is judged by the computer on board the tethered balloon calculating the volume of the tethered balloon. If the volume of the auxiliary airbag is abnormal, the software system of the tethered balloon reports a leak detection instruction of "checking the auxiliary airbag".

[0012] Furthermore, the abnormal judgment of the pitch angle being too large is that the computer onboard the tethered balloon judges the pitch angle range during tethering. If the pitch angle during tethering is greater than the pitch angle range of normal tethering, the pitch angle is too large, and the tethered balloon software system reports a leak detection instruction of "check the lower tail wing".

[0013] Furthermore, the abnormal judgment of the small pitch angle is that the computer onboard the tethered balloon judges the pitch angle range during tethering. If the pitch angle during tethering is less than the pitch angle range of normal tethering, the pitch angle is small, and the tethered balloon software system reports a leak detection instruction of "check upper tail wing".

[0014] Furthermore, the abnormal judgment of the excessive net buoyancy is that the computer onboard the tethered balloon independently judges the cable tension. If the cable tension on one consecutive day during the tethered period is greater than the cable tension of normal tethering, the net buoyancy is excessively large and the volume of the auxiliary airbag is abnormal. The tethered balloon software system reports a leak detection instruction of "check the auxiliary airbag".

[0015] Furthermore, S2 includes:

[0016] The UAV is equipped with an acoustic imager and a laser rangefinder. Based on the fault described in S1 and the digital prototype model, the ground control station transmits the longitude and latitude coordinates of the abnormal parts of different airbags of the tethered balloon to the UAV through a communication link. After receiving the relevant leak detection instructions and coordinates, the UAV conducts a comprehensive inspection of the corresponding area of ​​the balloon. When the leak point is detected, the relevant information is transmitted to the ground control station and the computer on the tethered balloon.

[0017] The present invention also provides a tethered balloon airbag remote autonomous leak detection system, comprising:

[0018] The abnormality judgment module is used to add automatic judgment conditions for airbag abnormalities in the tethered balloon software system, preliminarily determine the leakage point range area, report the leakage detection command to the drone, and display the real-time alarm at the ground control station. The automatic judgment of airbag abnormalities includes: abnormal frequent start-up of the fan, abnormal net buoyancy unchanged, abnormal airbag volume, abnormal large pitch angle, abnormal small pitch angle, and abnormal large net buoyancy;

[0019] The autonomous leak detection module is used for the UAV to carry out a fully autonomous inspection of leaks on the surface of the tethered balloon airbag based on the leak range area determined by the system software and the leak detection instructions, using an acoustic imager and a laser rangefinder.

[0020] Furthermore, the abnormal judgment of the frequent startup of the fan is that the computer on the tethered balloon independently judges the startup frequency and startup duration of the fan. If the startup frequency or startup duration of the fan is greater than the startup frequency and startup duration range when the fan is working normally, the tethered balloon software system will report a "check valve leakage" leak detection instruction.

[0021] Furthermore, the abnormal judgment of the unchanged net buoyancy is that the computer onboard the tethered balloon independently judges the cable tension. If the cable tension does not change significantly in two consecutive days during the tethered period, the net buoyancy remains unchanged and the volume of the auxiliary airbag is abnormal. The tethered balloon software system reports a leak detection instruction of "check the auxiliary airbag", wherein the no obvious change in the cable tension means that the change in the cable tension is within the preset floating range.

[0022] Furthermore, the abnormal airbag volume is judged by the computer on board the tethered balloon calculating the volume of the tethered balloon. If the volume of the auxiliary airbag is abnormal, the software system of the tethered balloon reports a leak detection instruction of "checking the auxiliary airbag".

[0023] Furthermore, the abnormal judgment of the pitch angle being too large is that the computer onboard the tethered balloon judges the pitch angle range during tethering. If the pitch angle during tethering is greater than the pitch angle range of normal tethering, the pitch angle is too large, and the tethered balloon software system reports a leak detection instruction of "check the lower tail wing".

[0024] Furthermore, the abnormal judgment of the small pitch angle is that the computer onboard the tethered balloon judges the pitch angle range during tethering. If the pitch angle during tethering is less than the pitch angle range of normal tethering, the pitch angle is small, and the tethered balloon software system reports a leak detection instruction of "check upper tail wing".

[0025] Furthermore, the abnormal judgment of the excessive net buoyancy is that the computer onboard the tethered balloon independently judges the cable tension. If the cable tension on one consecutive day during the tethered period is greater than the cable tension of normal tethering, the net buoyancy is excessively large and the volume of the auxiliary airbag is abnormal. The tethered balloon software system reports a leak detection instruction of "check the auxiliary airbag".

[0026] Furthermore, the abnormality judgment module is also used to:

[0027] The UAV is equipped with an acoustic imager and a laser rangefinder. Based on the faults described in the autonomous leak detection module and the digital prototype model, the ground control station transmits the longitude and latitude coordinates of abnormal parts of different airbags of the tethered balloon to the UAV through a communication link. After receiving the relevant leak detection instructions and coordinates, the UAV conducts a comprehensive inspection of the corresponding area of ​​the balloon. When the leak is detected, the relevant information is transmitted to the ground control station and the computer onboard the tethered balloon.

[0028] The advantages of the present invention are as follows: in response to the demand for automatic and accurate inspection of large-scale airbag surface area of ​​airbag leakage points in the field of tethered balloons, the present invention proposes a remote autonomous leak detection process method for airbags of tethered balloons, preliminarily determines the leakage range area through the autonomous judgment logic set by the tethered balloon software and displays a real-time alarm at the ground control station, and a small rotor UAV carries an acoustic imager and a laser rangefinder according to the leakage detection instruction of the range area judged by the system software to perform a fully autonomous inspection of the leakage points on the surface of the airbags of the tethered balloon, etc., so as to solve the problem of comprehensive and automated inspection of tiny leakage points of large airbags of tethered balloons, and provides a process method for comprehensive inspection of airbag leakage points in engineering for tethered balloon products in the field and during delivery and use, and the detection process of the entire scheme is relatively simple, the software directly conducts autonomous research and judgment and relies on the UAV to perform fixed-point detection according to the faults reported by the software, which takes a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a remote autonomous leak detection method for a tethered balloon airbag disclosed in an embodiment of the present invention;

[0030] Figure 2This is a flow chart of the system software autonomously judging and displaying the leakage point in a remote autonomous leakage detection method for a tethered balloon airbag disclosed in an embodiment of the present invention, wherein: Figure 2 (a) is the overall flow chart of the system software's autonomous judgment and display of leak points. Figure 2 (b) is a schematic diagram for judging the abnormality of frequent fan startup. Figure 2 (c) is a schematic diagram for judging abnormal cable tension. Figure 2 (d) is a schematic diagram for judging abnormal pitch angle. Figure 2 (e) is a schematic diagram for judging abnormal airbag volume;

[0031] Figure 3 The present invention is a flowchart of unmanned autonomous inspection of airbag leakage points in a method for remote autonomous leakage detection of an airbag of a tethered balloon disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Example 1

[0034] like Figure 1 As shown, Embodiment 1 of the present invention provides a remote autonomous leak detection method for a tethered balloon airbag, which mainly includes two parts: autonomous judgment and display by system software, and unmanned autonomous inspection of airbag leak points, and specifically includes the following steps:

[0035] S1. The system software's autonomous judgment and display mainly adds automatic judgment conditions for airbag abnormalities in the tethered balloon software system, so that the system can automatically make autonomous qualitative judgments and displays according to the state of relevant parameters of the tethered balloon on the ground; the related abnormal state items autonomously judged by the system software need to be quantitatively evaluated according to the relevant state parameters of the tethered balloon. The system software's autonomous preliminary judgments on airbag abnormalities include: abnormalities of frequent fan startup, abnormalities of unchanged net buoyancy, abnormal airbag volume, abnormalities of large pitch angle, abnormalities of small pitch angle, abnormalities of large net buoyancy, etc. The detailed process of S1 is as follows:

[0036] S11. Frequent fan startup abnormality judgment. This abnormal status item tethers the onboard computer of the balloon to independently judge the startup frequency and startup duration of the fan. If the startup frequency or startup duration of the fan is greater than the startup frequency and startup duration range when the fan is working normally, the software reports "Check valve leakage".

[0037] S12, abnormal judgment of unchanged net buoyancy. This abnormal status item is the autonomous judgment of the cable tension by the computer on board the tethered balloon. If there is no obvious change in the cable tension between the two consecutive days during the tethered period, the net buoyancy remains unchanged and there is an abnormal volume of the auxiliary airbag. The software reports "Check the auxiliary airbag".

[0038] S13, judgment of abnormal airbag volume. The relationship between the auxiliary airbag volume V and the pitch angle θ of the tethered balloon and the height h of the laser rangefinder can be expressed by a two-dimensional interpolation polynomial relation V=f(θ, h). The polynomial can be obtained by pre-training the neural network model. For example, the pitch angle and height are input into the neural network model, and the neural network model outputs the auxiliary airbag volume. By setting the loss function, the auxiliary airbag volume output by the neural network is continuously trained to be close to the real volume. After the training is completed, the trained neural network model is used to output the auxiliary airbag volume according to the pitch angle and height collected in real time. The trained model or polynomial can be stored in the flight control computer in the design stage. The abnormal state item of the abnormal airbag volume judgment is that the flight control computer on the tethered balloon obtains the tethered balloon volume through the auxiliary airbag laser rangefinder height and the pitch angle of the tethered balloon. If the auxiliary airbag volume is abnormal, the software will report "check the auxiliary airbag".

[0039] S14, abnormal judgment of large pitch angle. This abnormal status item is that the computer on the tethered balloon collects real-time information of the pitch angle through the inertial navigation equipment on the tethered balloon. If the pitch angle during tethering is greater than the normal tethered pitch angle range, the pitch angle is too large, and the software reports "Check lower tail".

[0040] S15, abnormal judgment of small pitch angle. This abnormal status item is that the computer on the tethered balloon collects real-time information of the pitch angle through the inertial navigation equipment on the tethered balloon. If the pitch angle during tethering is less than the normal tethered pitch angle range, the pitch angle is small and the software reports "Check upper tail".

[0041] S16, abnormal judgment of excessive net buoyancy. This abnormal status item is the autonomous judgment of the cable tension by the computer on board the tethered balloon. If the cable tension on one consecutive day during the tethered period is greater than the cable tension of normal tethering, the net buoyancy is excessively large and the volume of the auxiliary airbag is abnormal. The software reports "Check the auxiliary airbag".

[0042] The above system software autonomous judgment and display process method is as attached Figure 2 As shown in the figure, since displaying all the judgment processes on one figure will cause the font size of the figure to be too small and unclear, it is split into multiple figures for display. Figure 2 (a) is the overall flow chart of the system software's autonomous judgment and display of leak points. Figure 2 (b) is a schematic diagram for judging the abnormality of frequent fan startup. Figure 2 (c) is a schematic diagram for judging abnormal cable tension. Figure 2 (d) is a schematic diagram for judging abnormal pitch angle. Figure 2 (e) is a schematic diagram for judging abnormal airbag volume.

[0043] S2, airbag leak point unmanned autonomous inspection process For abnormal situations determined by the system software, relevant inspection instructions are sent to the autonomous leak point inspection drone. The airbag leak point autonomous inspection drone is equipped with an acoustic imager, laser rangefinder, etc. The detailed process of S2 is as follows:

[0044] S21. The principle of unmanned autonomous inspection of airbag leaks is as follows: the automatic airbag leak inspection drone is equipped with an acoustic imager, a laser rangefinder, etc. The ground control station combines the fault described in S1 with the digital prototype model to transmit the longitude and latitude coordinates of the approximate locations of the abnormalities of different airbags of the tethered balloon to the drone through a communication link. After receiving the relevant inspection instructions and coordinates, the drone conducts a comprehensive inspection of the area near the balloon. When a leak is detected, the relevant information is transmitted to the ground control station and the on-board computer.

[0045] S22. The acoustic imager carried by the UAV mainly adopts the beamforming sound source positioning technology, which can accurately locate the leakage position on the surface of the tethered balloon shell. Its main principle is: when the gas inside the tethered balloon shell leaks, the shell emits sound waves at the leakage point and radiates to the surroundings. At the same time, the software can perform various detections on the sound waves, and can quickly and accurately locate the tiny leakage point on the surface of the airship shell without blind spots. At the same time, the detection results can also be conveniently output as audio-visual images, output videos, etc., and the acoustic images can be superimposed with visible light images, so as to achieve real-time display. At the same time, the acoustic imager carried by the UAV can detect the obtained audio-visual images and videos, communicate with the UAV flight control computer, and transmit the relevant inspection images and videos through the communication link in real time to the tethered balloon remote ground control station for command and control and other operations through the UAV onboard measurement and control link. As shown in the attached Figure 3 As shown. Gas leak detection using an acoustic imager belongs to the prior art, such as Fluke ii500C / ii905C / ii915C acoustic imager, etc., which will not be described in detail here.

[0046] S23. The laser rangefinder on the drone is mainly used to measure the distance between the drone and the airbag at all times to avoid collision with the airbag. The drone control module adds control of the distance deviation from the tethered balloon. The control distance can be set to about 2m according to the control requirements. The parameters are adjustable. At the same time, the PID control rate is used to adjust the control law. The main control logic is to use the actual distance between the drone and the tethered balloon body and the distance difference of the control target as the target, and use proportional, integral, differential, etc. to control the real-time distance difference. By adjusting the coefficient values ​​of proportional, integral, and differential to detect the drone flight PID control, etc., the real-time distance difference finally reaches the set distance difference. PID control belongs to the existing technology. Its basic principle is to adjust the system error through three control methods: proportional, integral, and differential to achieve precise control. It will not be elaborated here.

[0047] Through the above technical scheme, the present invention aims at the demand for automatic and accurate inspection of large balloon surface area of ​​airbag leaks in the outdoor field of tethered balloons, and proposes a remote autonomous leak detection process method for tethered balloon airbags. The leak range area is preliminarily determined through the autonomous judgment logic set by the tethered balloon software, and a real-time alarm is displayed at the ground control station. A small rotor UAV is equipped with an acoustic imager and a laser rangefinder according to the leak detection command of the range area judged by the system software to perform a fully autonomous inspection of leaks on the surface of the tethered balloon airbag, etc., to solve the problem of comprehensive automated inspection of tiny leaks in large balloons of tethered balloons, and provide a process method for comprehensive inspection of airbag leaks in engineering for tethered balloon products in the outdoor field and during delivery and use.

[0048] Example 2

[0049] Based on Example 1, Example 2 of the present invention also provides that the present invention also provides a tethered balloon airbag remote autonomous leak detection system, comprising:

[0050] The abnormality judgment module is used to add automatic judgment conditions for airbag abnormalities in the tethered balloon software system, preliminarily determine the leakage point range area, report the leakage detection command to the drone, and display the real-time alarm at the ground control station. The automatic judgment of airbag abnormalities includes: abnormal frequent start-up of the fan, abnormal net buoyancy unchanged, abnormal airbag volume, abnormal large pitch angle, abnormal small pitch angle, and abnormal large net buoyancy;

[0051] The autonomous leak detection module is used for the UAV to carry out a fully autonomous inspection of leaks on the surface of the tethered balloon airbag based on the leak range area determined by the system software and the leak detection instructions, using an acoustic imager and a laser rangefinder.

[0052] Specifically, the abnormal judgment of the frequent startup of the fan is that the computer on the tethered balloon independently judges the startup frequency and startup duration of the fan. If the startup frequency or startup duration of the fan is greater than the startup frequency and startup duration range when the fan is working normally, the tethered balloon software system will report a "check valve leakage" leak detection instruction.

[0053] Specifically, the abnormal judgment of the unchanged net buoyancy is that the computer onboard the tethered balloon independently judges the cable tension. If the cable tension does not change significantly in two consecutive days during the tethered period, the net buoyancy remains unchanged and the volume of the auxiliary airbag is abnormal. The tethered balloon software system reports a leak detection instruction of "check the auxiliary airbag", wherein the no obvious change in the cable tension means that the change in the cable tension is within the preset floating range.

[0054] Specifically, the abnormal airbag volume is determined by the computer on the tethered balloon calculating the volume of the tethered balloon. If the volume of the auxiliary airbag is abnormal, the software system of the tethered balloon reports a leak detection instruction of "checking the auxiliary airbag".

[0055] Specifically, the abnormal large pitch angle is judged by the computer onboard the tethered balloon to judge the pitch angle range during tethering. If the pitch angle during tethering is greater than the pitch angle range of normal tethering, the pitch angle is large, and the tethered balloon software system reports a leak detection instruction of "check the lower tail wing".

[0056] Specifically, the abnormal judgment of the small pitch angle is that the computer onboard the tethered balloon judges the pitch angle range during tethering. If the pitch angle during tethering is less than the pitch angle range of normal tethering, the pitch angle is small, and the tethered balloon software system reports a leak detection instruction of "check upper tail wing".

[0057] Specifically, the abnormal judgment of the excessive net buoyancy is that the computer onboard the tethered balloon independently judges the cable tension. If the cable tension on one adjacent day during the tethered period is greater than the cable tension of normal tethering, the net buoyancy is excessively large and the volume of the auxiliary airbag is abnormal. The tethered balloon software system reports a leak detection instruction of "check the auxiliary airbag".

[0058] Specifically, the abnormality judgment module is also used for:

[0059] The UAV is equipped with an acoustic imager and a laser rangefinder. Based on the faults described in the autonomous leak detection module and the digital prototype model, the ground control station transmits the longitude and latitude coordinates of abnormal parts of different airbags of the tethered balloon to the UAV through a communication link. After receiving the relevant leak detection instructions and coordinates, the UAV conducts a comprehensive inspection of the corresponding area of ​​the balloon. When the leak is detected, the relevant information is transmitted to the ground control station and the computer onboard the tethered balloon.

[0060] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote autonomous leak detection method for a tethered balloon airbag, characterized in that: include: S1. Add automatic judgment conditions for airbag abnormalities in the tethered balloon software system, preliminarily determine the leakage point range, report leakage detection instructions to the drone, and display real-time alarms at the ground control station. The automatic judgment of airbag abnormalities includes: abnormal frequent start-up of fans, abnormal net buoyancy unchanged, abnormal airbag volume, abnormal large pitch angle, abnormal small pitch angle, and abnormal large net buoyancy; S2. The UAV carries an acoustic imager and a laser rangefinder to conduct a fully autonomous inspection of leaks on the surface of the tethered balloon airbag according to the leak range determined by the system software and the leak detection instructions.

2. A method for remote autonomous leak detection of a tethered balloon airbag according to claim 1, characterized in that: The abnormal judgment of the frequent startup of the fan is that the computer on the tethered balloon independently judges the startup frequency and startup duration of the fan. If the startup frequency or startup duration of the fan is greater than the startup frequency and startup duration range when the fan is working normally, the tethered balloon software system will report a "check valve leakage" leak detection instruction.

3. A method for remote autonomous leak detection of a tethered balloon airbag according to claim 1, characterized in that: The abnormal judgment of unchanged net buoyancy is that the computer on board the tethered balloon independently judges the cable tension. If the cable tension does not change significantly in the adjacent days during the tethered period, the net buoyancy remains unchanged and there is an abnormal volume of the auxiliary airbag. The tethered balloon software system reports a leak detection instruction of "check auxiliary airbag", wherein no significant change in cable tension means that the change in cable tension is within the preset floating range.

4. A method for remote autonomous leak detection of a tethered balloon airbag according to claim 1, characterized in that: The abnormal airbag volume judgment is that the computer on the tethered balloon calculates the volume of the tethered balloon. If the volume of the auxiliary airbag is abnormal, the tethered balloon software system reports a leak detection instruction of "check the auxiliary airbag".

5. A method for remote autonomous leak detection of a tethered balloon airbag according to claim 1, characterized in that: The abnormal judgment of the pitch angle being too large is that the computer onboard the tethered balloon judges the pitch angle range during tethering. If the pitch angle during tethering is greater than the pitch angle range of normal tethering, the pitch angle is too large, and the tethered balloon software system reports a leak detection instruction of "check the lower tail wing".

6. A method for remote autonomous leak detection of a tethered balloon airbag according to claim 1, characterized in that: The abnormal judgment of the small pitch angle is that the computer on the tethered balloon judges the pitch angle range during tethering. If the pitch angle during tethering is less than the pitch angle range of normal tethering, the pitch angle is small, and the tethered balloon software system reports a leak detection instruction of "check upper tail wing".

7. A method for remote autonomous leak detection of a tethered balloon airbag according to claim 1, characterized in that: The abnormal judgment of the excessive net buoyancy is that the computer on board the tethered balloon independently judges the cable tension. If the cable tension on one consecutive day during the tethered period is greater than the cable tension of normal tethering, the net buoyancy is excessively large and the volume of the auxiliary airbag is abnormal. The tethered balloon software system reports a leak detection instruction of "check the auxiliary airbag".

8. A method for remote autonomous leak detection of a tethered balloon airbag according to claim 1, characterized in that S2 include: The UAV is equipped with an acoustic imager and a laser rangefinder. Based on the fault described in S1 and the digital prototype model, the ground control station transmits the longitude and latitude coordinates of the abnormal parts of different airbags of the tethered balloon to the UAV through a communication link. After receiving the relevant leak detection instructions and coordinates, the UAV conducts a comprehensive inspection of the corresponding area of ​​the balloon. When the leak point is detected, the relevant information is transmitted to the ground control station and the computer on the tethered balloon.

9. A remote autonomous leak detection system for a tethered balloon airbag, characterized in that: include: The abnormality judgment module is used to add automatic judgment conditions for airbag abnormalities in the tethered balloon software system, preliminarily determine the leakage point range area, report the leakage detection command to the drone, and display the real-time alarm at the ground control station. The automatic judgment of airbag abnormalities includes: abnormal frequent start-up of the fan, abnormal net buoyancy unchanged, abnormal airbag volume, abnormal large pitch angle, abnormal small pitch angle, and abnormal large net buoyancy; The autonomous leak detection module is used for the UAV to carry out a fully autonomous inspection of leaks on the surface of the tethered balloon airbag based on the leak range area determined by the system software and the leak detection instructions, using an acoustic imager and a laser rangefinder.

10. A tethered balloon airbag remote autonomous leak detection system according to claim 9, characterized in that: The abnormal judgment of the frequent startup of the fan is that the computer on the tethered balloon independently judges the startup frequency and startup duration of the fan. If the startup frequency or startup duration of the fan is greater than the startup frequency and startup duration range when the fan is working normally, the tethered balloon software system will report a "check valve leakage" leak detection instruction.

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