Intelligent control method and system for flight height of hot-air balloon

Abstract

The invention relates to the technical field of hot-air balloon control, and discloses an intelligent control method and system for the flight height of a hot-air balloon. The method comprises the steps that a sensor unit in the hot-air balloon collects internal parameters and environmental data; when the hot-air balloon takes off, the control unit starts the flame heater and the resistance wire heater at the same time, and when the take-off condition is met, the flame heater is removed; after each flight is completed, the internal parameters, the environment data and the action attitudes of the resistance wire heater and the action unit are stored as historical flight data; analyzing the historical flight data to generate a control strategy, wherein the control strategy comprises a plurality of temperature adjustment strategies of the resistance wire heater and an action adjustment strategy of the action unit; the control strategy is stored in a control unit, and in the flying process of the hot-air balloon, the control unit uses the corresponding control strategy to adjust the flying height based on the set target height, the current internal parameters and the environment data. According to the invention, the flight height of the hot-air balloon can be accurately and intelligently controlled.

Description

Technical Field

[0001] This application relates to the technical field of hot air balloon control, and particularly to an intelligent control method and system for the flight altitude of a hot air balloon. Background Art

[0002] The altitude control ability of a hot air balloon directly affects flight safety, mission effectiveness, and energy economy. For unmanned hot air balloons, automatic feedback control is currently mainly used. For example, the Chinese patent document with the publication number CN114115010A discloses a flight altitude control system for an unmanned hot air balloon. This system obtains the current longitude, latitude, altitude, and speed data of the hot air balloon and sends the data to a ground control station. The ground control station compares the sent altitude command with the current altitude of the unmanned hot air balloon and controls the combustion time of the burner according to the comparison result, thereby controlling the flight altitude of the unmanned hot air balloon. Another example is the Chinese patent document with the publication number CN106516068A, which discloses an intelligent balloon. This application controls the valves and ballast devices of the balloon according to flight modes, environmental parameters, and flight state information, thereby realizing intelligent lifting and lowering control of the balloon.

[0003] The current technical solution is to indirectly control the altitude of the hot air balloon by controlling the size of the flame to adjust the temperature of the hot air balloon. Therefore, there is a low temperature control accuracy, resulting in a poor altitude control effect of the hot air balloon. Summary of the Invention

[0004] To solve the problems mentioned in the above background art, this application provides an intelligent control method and system for the flight altitude of a hot air balloon.

[0005] To achieve the above invention purpose, this invention proposes an intelligent control method and system for the flight altitude of a hot air balloon, including: The sensor unit in the hot air balloon collects internal parameters and environmental data, and the internal parameters include the internal temperature and internal pressure of the hot air balloon itself; When the hot air balloon takes off, the control unit simultaneously starts the flame heater and the resistance wire heater, and removes the flame heater when the takeoff conditions are met; After each flight is completed, the server unit stores the internal parameters, the environmental data, and the action postures of the resistance wire heater and the action unit as historical flight data; When the historical flight data reaches a first quantity, the server unit analyzes the historical flight data to generate a control strategy, and the control strategy includes various temperature adjustment strategies of the resistance wire heater and action adjustment strategies of the action unit. The temperature adjustment strategy is used to adjust the temperature of the resistance wire heater, and the action adjustment strategy is used to adjust the action posture of the action unit; The server unit uploads the control strategy to the control unit. During the flight of the hot air balloon, the control unit adjusts the flight altitude using the corresponding control strategy based on the set target altitude, the current internal parameters, and the environmental data.

[0006] Further, the environmental data includes wind speed data, altitude data, geographical location data, and external temperature data. The action unit includes a fan and a rotor structure, and the action postures include the rotor rotation speed and the rotor rotation angle.

[0007] Further, analyzing the historical flight data includes the following steps: Based on the altitude data in the historical flight data, construct an altitude change sequence. Locate the time period during which the altitude changes continuously in the altitude change sequence as the first time period. Obtain the operation effective time, and define the first time period and the operation effective time before it as the second time period. Construct the internal parameters and the environmental data within the second time period into multiple basic sequences respectively, and construct the temperature value of the resistance wire heater and the action postures of the action unit within the second time period into an action variable sequence; Perform discretization processing on the basic sequences and the action variable sequence to obtain the corresponding first discrete sequence and second discrete sequence respectively. Perform the first clustering on the first discrete sequence based on the lowest altitude and the highest altitude within the second time period, and perform the second clustering on the result of the first clustering based on the similarity between the first discrete sequences to obtain multiple clusters; Obtain the second discrete sequence under a cluster, calculate the frequency ratio of the appearance of the second discrete sequence, and generate the control strategy based on the second discrete sequence with the largest frequency ratio.

[0008] Further, using the control strategy to adjust the flight altitude of the hot air balloon includes the following steps: The sensor unit obtains the average values of the internal parameters and the environmental data within the detection time period, determines the target altitude to be adjusted, matches the corresponding control strategy based on the average values and the target altitude as the target strategy, obtains the current temperature of the resistance wire heater and the target temperature to which the resistance wire heater is to be adjusted in the target strategy. The control unit calculates the difference between the current temperature and the target temperature, performs multi-stage adjustment on the temperature of the resistance wire heater based on the difference, and adjusts the current action of the action unit to the action posture in the target strategy to achieve the adjustment of the flight altitude of the hot air balloon.

[0009] Further, performing multi-stage adjustment on the temperature of the resistance wire heater includes the following steps: The control strategy includes an ideal height change curve. A standard value is set, and based on the standard value, the difference is split into multiple adjustment stages. The stage curves corresponding to each adjustment stage in the ideal height change curve are obtained. The first end temperature of the first adjustment stage is obtained. After the real-time temperature of the resistance wire heater reaches the first end temperature, the actual height change curve of the temperature adjustment process is plotted. If the deviation degree between the actual height change curve and the first stage curve is greater than the standard threshold, the control strategy is rematched based on the current internal parameters and environmental data. If the deviation degree is less than or equal to the standard threshold, the adjustment continues according to the second end temperature of the second adjustment stage until the target height is reached.

[0010] Further, the steps for generating the height change curve of the control strategy include: Taking the height change sequences corresponding to each of the second discrete sequences under the same group as analysis sequences, comprehensively analyzing all the analysis sequences under the same group to generate a height change function, and generating the ideal height change curve corresponding to the control strategy based on the height change function.

[0011] Further, the steps for generating the ideal height change function include: The ideal height change function includes a first function and a second function. The average change sequence of the flight height is generated based on the analysis sequences. The average change sequence is divided into a uniform change stage and a non-uniform change stage. The part of each analysis sequence located in the uniform change stage is defined as the first sequence, and the part located in the non-uniform change stage is defined as the second sequence. The first function is obtained by fitting the first sequence based on a linear function, the second function is obtained by fitting the second sequence based on a non-linear function, a first curve is plotted based on the first function, a second curve is plotted based on the second function, and the first curve and the second curve are used as the ideal height change curve.

[0012] Further, the steps for dividing the average change sequence into the uniform change stage and the non-uniform change stage include: Calculating the Burg coefficient sequence of the average change sequence, and dividing the average change sequence into the uniform change stage and the non-uniform change stage based on the Burg coefficient sequence.

[0013] Further, when the control unit adjusts the flight height based on the control strategy, if the hot air balloon is not adjusted to the target height within the preset time period, a manual adjustment reminder is generated.

[0014] The present application also provides an intelligent control system for the flight altitude of a hot air balloon, which is used to implement an intelligent control method for the flight altitude of a hot air balloon as described above. The system includes: A sensor unit for collecting internal parameters and environmental data. The internal parameters include the internal temperature and internal pressure of the hot air balloon itself; A control unit. When the hot air balloon takes off, the control unit starts both the flame heater and the resistance wire heater simultaneously. When the takeoff conditions are met, the flame heater is removed. During the flight of the hot air balloon, the control unit adjusts the flight altitude based on the set target altitude, the current internal parameters, and the environmental data using the corresponding control strategy; A server unit. After each flight is completed, the server unit stores the internal parameters, the environmental data, and the action postures of the resistance wire heater and the action unit as historical flight data. When the historical flight data reaches a first quantity, the server unit analyzes the historical flight data to generate a control strategy. The control strategy includes various temperature adjustment strategies for the resistance wire heater and action adjustment strategies for the action unit. The temperature adjustment strategy is used to adjust the temperature of the resistance wire heater, and the action adjustment strategy is used to adjust the action posture of the action unit. The server unit uploads the control strategy to the control unit.

[0015] By collecting the internal parameters and environmental data of the hot air balloon and storing them as historical flight data, analyzing and generating a control strategy including the temperature adjustment strategy of the resistance wire heater and the action posture of the action unit when a certain quantity is reached, and storing the control strategy in the control unit; during the subsequent flight of the hot air balloon, relevant personnel only need to set the target altitude of the flight, and the control unit can automatically combine the current internal parameters and the external environment to match the corresponding strategy to adjust the flight altitude, thus greatly improving the operation convenience.

[0016] During the flight process of the present invention, the traditional flame heating is replaced by a resistance wire heater, and the cooperative control of the real-time fusion of environmental parameters and the action unit is combined through multi-source sensors to achieve high-precision adjustment of the hot air balloon altitude. And through the dynamic compensation of wind disturbance by the rotor, the control precision of the hot air balloon altitude is further improved. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of an intelligent control method for the flight altitude of a hot air balloon in the present application; Figure 2 It is a schematic diagram of the monitoring interface of the hot air balloon in the present application; Figure 3 It is a segmented schematic diagram of the ideal altitude change curve in the present application; Figure 4This is a schematic structural diagram of an intelligent control system for the flight altitude of a hot air balloon in this application. Specific embodiments

[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and 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.

[0019] It can be understood that the terms "first", "second", etc. used in this application can be used in this article to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of this application, the first xx script can be called the second xx script, and similarly, the second xx script can be called the first xx script.

[0020] As Figure 1 shown, an intelligent control method for the flight altitude of a hot air balloon includes: S1: The sensor unit in the hot air balloon collects internal parameters and environmental data. The internal parameters include the internal temperature and internal pressure of the hot air balloon itself.

[0021] In this embodiment, the environmental data includes wind speed data, altitude data, geographical location data and external temperature data. The action unit includes a fan and a rotor structure, and the action postures include the rotor rotation speed and the rotor rotation angle.

[0022] S2: When the hot air balloon takes off, the control unit simultaneously starts the flame heater and the resistance wire heater. When the takeoff conditions are met, the flame heater is removed.

[0023] Specifically, the sensor unit includes a temperature sensor, a barometric altimeter, a pressure sensor, etc. The wind speed data includes the wind speed magnitude and direction. The altitude data includes the flight altitude of the hot air balloon. The geographical location data includes longitude and latitude. The external temperature data is the environmental temperature at the altitude where the hot air balloon is located. The hot air balloon in this embodiment is provided with a flame heater and a resistance wire heater. During the takeoff of the hot air balloon, the flame heater is first used to quickly heat the hot air balloon, and at the same time, the resistance wire heater is preheated. There is a counterweight in the hot air balloon. When the hot air balloon can drive the counterweight to rise, the takeoff conditions are met. At this time, the counterweight and the flame heater are removed, and the resistance wire heater is used to maintain the temperature inside the hot air balloon, so that the hot air balloon rises to a certain height and maintains a flight state. When the hot air balloon needs to land, its height is reduced by reducing the temperature of the resistance wire heater.

[0024] The hot air balloon is also equipped with an action unit, specifically including a rotor structure. The rotor structure is arranged on both sides of the hot air balloon. By controlling the rotation and orientation of the rotor structure, it can assist the hot air balloon in adjusting the forward direction and altitude. The hot air balloon is also provided with a fan structure, which is used to blow air into or extract air from the hot air balloon to achieve the ascent of the hot air balloon and the ball collection after landing.

[0025] S3: After each flight is completed, the server unit stores the internal parameters, environmental data, and the action postures of the resistance wire heater and the action unit as historical flight data.

[0026] S4: When the historical flight data reaches the first quantity, the server unit analyzes the historical flight data to generate a control strategy. The control strategy includes various temperature adjustment strategies for the resistance wire heater and action adjustment strategies for the action unit. The temperature adjustment strategy is used to adjust the temperature of the resistance wire heater, and the action adjustment strategy is used to adjust the action posture of the action unit.

[0027] During the flight of the hot air balloon, historical flight data is first collected through simulation or actual flight. And during the flight of the hot air balloon, the flight data is transmitted to the central server in real time through satellite communication or other communication methods, so that ground personnel can see the current flight state of the hot air balloon in real time. The specific monitoring interface is as Figure 2 shown. When there are 2000 pieces of historical flight data, the historical flight data is analyzed to generate a control strategy. And in the subsequent process, whenever the historical flight data increases by 2000 pieces, a data analysis is carried out once to continuously optimize the control strategy. The current flight altitude is 1000m, the target flight altitude is 1050m, the wind speed is 8m / s (southwest direction), the external temperature is 5℃, the airbag temperature is 90℃, the pressure is 110kPa. The control strategy adopted is, for example, in the following form: raise the current resistance wire temperature to 95℃, increase the rotation speed from 150rpm to 220rpm, the rotor angle deflects 25° to the northeast, and maintain it for 8 minutes.

[0028] S5: The server unit uploads the control strategy to the control unit. During the flight of the hot air balloon, the control unit uses the corresponding control strategy to adjust the flight altitude based on the set target altitude, current internal parameters, and environmental data.

[0029] Store the generated various control strategies in the control unit. During the subsequent flight of the hot air balloon, when it is necessary to adjust the altitude of the hot air balloon, first set the target altitude, and then match the corresponding control strategy based on the previously collected internal parameters and environmental data. The control unit uses the corresponding control strategy to automatically control the flight altitude of the hot air balloon, thereby improving the operation convenience of relevant personnel. In case of emergencies, such as sudden strong winds causing a sudden change in altitude, relevant personnel can still manually intervene to adjust the altitude.

[0030] In the present invention, by collecting the internal parameters and environmental data of the hot air balloon and storing them as historical flight data, when a certain quantity is reached, a control strategy including the temperature adjustment strategy of the resistance wire heater and the action posture of the action unit is analyzed and generated, and the control strategy is stored in the control unit; during the subsequent flight of the hot air balloon, relevant personnel only need to set the target height of the flight, and the control unit can automatically match the corresponding strategy according to the current internal parameters and external environment to adjust the flight height, thereby greatly improving the operation convenience.

[0031] During the flight process of the present invention, the traditional flame heating is replaced by a resistance wire heater, and through the collaborative control of fusing environmental parameters and the action unit in real time by multiple sensors, the high-precision adjustment of the hot air balloon height is realized. And through the dynamic compensation of the rotor for wind disturbance, the control precision of the hot air balloon height is further improved.

[0032] It should be particularly noted that the flight height of the hot air balloon can be accurately and intelligently controlled by the present invention.

[0033] In this embodiment, analyzing the historical flight data includes the following steps: Based on the altitude data in the historical flight data, an altitude change sequence is constructed, the time period when the altitude continuously changes in the altitude change sequence is located as the first time period, the operation effective time is obtained, the first time period and the operation effective time before it are defined as the second time period, the internal parameters and environmental data within the second time period are respectively constructed into multiple basic sequences, and the temperature values of the resistance wire heater and the action postures of the action unit within the second time period are constructed into an action variable sequence.

[0034] The basic sequence and the action variable sequence are discretized to obtain the corresponding first discrete sequence and second discrete sequence respectively. Based on the lowest altitude and the highest altitude within the second time period, the first discrete sequence is clustered for the first time, and based on the similarity between the first discrete sequences, the result of the first clustering is clustered for the second time to obtain multiple clusters.

[0035] First, the altitude data is extracted from each piece of historical flight data, and multiple altitude change sequences are obtained by sorting the altitude data in chronological order. Then, each altitude change sequence is analyzed to determine the time period when the altitude continuously changes. For example, in time period A, the altitude data rises from 1000m to 1050m and remains at 1050m without significant fluctuations, then time period A is taken as the first time period. That is to say, the first time period is the time period when the altitude changes. Since the temperature of the resistance wire heater does not change instantaneously, the operation effective time needs to be added.

[0036] After extracting and analyzing the altitude change sequence from the historical flight data A, it is determined that the first time period is from 15:02 to 15:05, the operation effective time is 1 minute, and the corresponding second time period is from 15:01 to 15:05. Continuing to obtain the internal parameters and environmental data of this time period from the historical flight data A and constructing the corresponding basic sequence, the basic sequence includes the internal temperature sequence, internal pressure sequence, wind speed sequence, etc. At the same time, an action variable sequence is also generated, and the action variable sequence includes the temperature value sequence of the resistance wire heater, the numerical sequence of the rotor rotation speed, and the numerical sequence of the rotor angle within this time period.

[0037] To reduce the computational complexity, in this embodiment, the basic sequence and the action variable sequence are discretized. For example, for the original temperature value sequence [111 112 115 125], after discretization, [(110 - 120) (110 - 120) (110 - 120) (120 - 130)] is obtained. Through the first clustering, time periods with similar altitude change situations are found from multiple historical flight data. Then, the similarity between the first discrete sequences of each pair is calculated, and the first discrete sequences are clustered again based on the similarity. The similarity is, for example, the Euclidean distance between two sequences. The first discrete sequence represents the internal parameters and environmental data. Therefore, after clustering, the first discrete sequences in the same cluster group have similar internal parameters and environmental data.

[0038] Obtain the second discrete sequence under a cluster group, calculate the frequency ratio of the appearance of the second discrete sequence, and generate a control strategy based on the second discrete sequence with the largest frequency ratio.

[0039] By clustering twice, time periods with similar altitude changes, internal parameters, and environmental data are located. Then, the frequency ratios of the appearance of various second discrete sequences in such time periods are counted. For example, if a cluster group includes 100 first discrete sequences, then there are 100 corresponding second discrete sequences. Among them, the second discrete sequence A appears 80 times, so the frequency ratio is 80 / 100 = 0.8, which is the largest frequency ratio.

[0040] When generating a control strategy, obtain the highest temperature and the final temperature of the second discrete sequence. For example, in the second discrete sequence A, the highest temperature of the resistance wire heater is between (130 - 140), and the final temperature range is between (120 - 130). Then, use the lower limit temperature of the temperature range as the final temperature. The resistance wire heater maintained the highest temperature for 3 minutes and then dropped from the highest temperature to the final temperature, and the final temperature was maintained for 1 minute. Thus, a control scheme for the temperature of the resistance wire heater can be obtained. First, raise its temperature to 130 °C and maintain it for 3 minutes, and then drop it to 120 °C and maintain it for 1 minute. Similarly, control schemes for the angle and rotational speed of the rotor can be obtained. In other embodiments, the intermediate value of the range or the upper limit temperature can also be used as the final temperature.

[0041] In this embodiment, using the control strategy to adjust the flight altitude of the hot air balloon includes the following steps: The sensor unit obtains the average values of the internal parameters and environmental data during the detection period, determines the target altitude to be adjusted, matches the corresponding control strategy based on the average values and the target altitude and uses it as the target strategy, obtains the current temperature of the resistance wire heater, and the target temperature to which the resistance wire heater is to be adjusted in the target strategy. The control unit calculates the difference between the current temperature and the target temperature, adjusts the temperature of the resistance wire heater in multiple stages based on the difference, and adjusts the current action of the action unit to the action posture in the target strategy to achieve the adjustment of the flight altitude of the hot air balloon.

[0042] Before matching, first generate the average values of two parameters in the internal parameters and the average values of various parameters of the environmental data during the detection period. For example, during the detection period, the average internal temperature is 90 °C and the average wind speed is 3 m / s. When matching, calculate the differences between the corresponding parameters. If the differences of all types of parameters are less than the preset allowable range, the matching is successful. If the control strategy A is applicable to an average internal temperature of 90 °C and an applicable wind speed of 3 m / s, and the allowable range is ±2 °C, and the difference in internal temperature is within the allowable range, then use the control strategy A as the target strategy.

[0043] The angle and rotational speed of the rotor can be adjusted instantaneously, so that it can quickly adapt to the current environmental requirements. However, the adjustment of temperature requires a certain amount of time. Therefore, in this embodiment, the temperature of the resistance wire heater is adjusted in stages. The multi-stage adjustment is specifically carried out based on the following method.

[0044] The control strategy includes an ideal height change curve. Set a standard value. Based on the standard value, split the difference into multiple adjustment stages. Obtain the stage curve corresponding to each adjustment stage in the ideal height change curve. Obtain the first end temperature of the first adjustment stage. After the real-time temperature of the resistance wire heater reaches the first end temperature, plot the actual height change curve of the temperature adjustment process. If the deviation degree between the actual height change curve and the first stage curve is greater than the standard threshold, rematch the control strategy based on the current internal parameters and environmental data. If the deviation degree is less than or equal to the standard threshold, continue the adjustment according to the second end temperature of the second adjustment stage until the target height is reached.

[0045] There is an ideal height change curve in each control strategy. By comparing the actual height change curve and the ideal height change curve, it can be determined whether the hot air balloon changes according to the established ideal situation. If not, it may be that the environment has changed, such as the sudden appearance of continuous strong winds. At this time, it is necessary to readjust the control strategy according to the environmental data. The following is an example to illustrate the above steps. The standard value is set to 2 °C, the current temperature of the resistance wire heater is 90 °C, and the target temperature is 100 °C. Then it is split into 5 adjustment stages. Similarly, the ideal height change curve is split into 5 stages, and the first end temperature of the first adjustment stage is 92 °C. As Figure 3 shown, there is an ideal height change curve L in control strategy A, which is split into 5 adjustment stages.

[0046] When calculating the deviation degree between the ideal height change curve and the actual change curve, select N coordinate points with the same abscissa on the two curves, and use the first formula to calculate the deviation degree , the first formula is: , where, is the number of selected coordinate points, is the ordinate value of the th coordinate point in the ideal height change curve, is the ordinate value of the th coordinate point in the ideal height change curve. According to the first formula, the greater the deviation degree, the less similar the two curves are. The standard threshold is set manually. The smaller the standard threshold is set, the higher the accuracy of the hot air balloon adjustment process. When the deviation degree is greater than the standard threshold, rematch the control strategy. If it is less than or equal to the standard threshold, perform the next stage of temperature increase until the hot air balloon is lifted or lowered to the target height.

[0047] In this embodiment, the steps for generating the height change curve of the control strategy are as follows: Take the height change sequences corresponding to each second discrete sequence under the same group as the analysis sequences, comprehensively analyze all the analysis sequences under the same group to generate a height change function, and generate an ideal height change curve corresponding to the control strategy based on the height change function.

[0048] The ideal height change function includes a first function and a second function. Generate an average change sequence of the flight height based on the analysis sequences, divide the average change sequence into a uniform change stage and a non-uniform change stage, define the part of each analysis sequence located in the uniform change stage as the first sequence, and the part located in the non-uniform change stage as the second sequence. Fit the first sequence based on a linear function to obtain the first function, fit the second sequence based on a non-linear function to obtain the second function, draw a first curve based on the first function, draw a second curve based on the second function, and use the first curve and the second curve as the ideal height change curve.

[0049] When dividing the average change sequence into a uniform change stage and a non-uniform change stage, calculate the Burg coefficient sequence of the average change sequence, and divide the average change sequence into a uniform change stage and a non-uniform change stage based on the Burg coefficient sequence.

[0050] Based on the previous record, generate a control strategy based on a group, and then generate a corresponding height change curve based on the height change sequence under the group. During specific analysis, first obtain the height change sequence corresponding to the second discrete sequence as the analysis sequence. The lengths of the analysis sequences may vary. For example, analysis sequence A includes 20 height data, and analysis sequence B includes 21 height data. Therefore, first align each analysis sequence. In this embodiment, each analysis sequence is aligned based on the DTW algorithm. After alignment, calculate the average value of the elements at the same position of the analysis sequences, and finally obtain an average change sequence by synthesizing each average value.

[0051] Then continue to calculate the Burg coefficient sequence of the average change sequence. Based on the numerical mutation situation in the Burg coefficient sequence, it can be determined which parts of the average change sequence are uniformly changing and which parts are non-uniformly changing. For example, through analysis, it is determined that when adjusting the height, the height of the hot air balloon is monotonically linearly increasing in the first 3 minutes, and the height of the hot air balloon is monotonically non-linearly increasing in the next 1 minute. Then fit based on the sequence part of the first 3 minutes in each analysis sequence to obtain the first function, and fit based on the sequence part of the next 1 minute in each analysis sequence to obtain the second function. Use the first curve and the second curve drawn by the first function and the second function as the ideal height change curve. In particular, an average change sequence may include multiple uniform change stages and non-uniform change stages.

[0052] When the control unit adjusts the flight altitude based on the control strategy, if the hot air balloon is not adjusted to the target altitude within the preset time period, a manual adjustment reminder is generated.

[0053] As Figure 4 shown, the present application also provides an intelligent control system for the flight altitude of a hot air balloon, which is used to implement an intelligent control method for the flight altitude of a hot air balloon as described above. The system includes: A sensor unit for collecting internal parameters and environmental data. The internal parameters include the internal temperature and internal pressure of the hot air balloon itself.

[0054] A control unit. When the hot air balloon takes off, the control unit starts both the flame heater and the resistance wire heater at the same time. When the takeoff conditions are met, the flame heater is removed. During the flight of the hot air balloon, the control unit adjusts the flight altitude using the corresponding control strategy based on the set target altitude, the current internal parameters, and the environmental data.

[0055] A server unit. After each flight is completed, the server unit stores the internal parameters, environmental data, and the action postures of the resistance wire heater and the action unit as historical flight data. When the historical flight data reaches the first quantity, the server unit analyzes the historical flight data to generate a control strategy. The control strategy includes various temperature adjustment strategies for the resistance wire heater and action adjustment strategies for the action unit. The temperature adjustment strategy is used to adjust the temperature of the resistance wire heater, and the action adjustment strategy is used to adjust the action posture of the action unit. The server unit uploads the control strategy to the control unit.

[0056] It should be understood that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0057] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent control method for the flight altitude of a hot air balloon, characterized in that the sensor unit in the hot air balloon collects internal parameters and environmental data, and the internal parameters include the internal temperature and internal pressure of the hot air balloon itself; when the hot air balloon takes off, the control unit starts the flame heater and the resistance wire heater simultaneously, and when the take-off conditions are met, the flame heater is removed; after each flight is completed, the server unit stores the internal parameters, the environmental data, and the action postures of the resistance wire heater and the action unit as historical flight data; when the historical flight data reaches a first quantity, the server unit analyzes the historical flight data to generate a control strategy, and the control strategy includes a plurality of temperature adjustment strategies for the resistance wire heater and action adjustment strategies for the action unit, the temperature adjustment strategy is used to adjust the temperature of the resistance wire heater, and the action adjustment strategy is used to adjust the action posture of the action unit; the server unit uploads the control strategy to the control unit, and during the flight of the hot air balloon, the control unit uses the corresponding control strategy to adjust the flight altitude based on the set target altitude, the current internal parameters, and the environmental data.

2. The method according to claim 1, characterized in that, The environmental data includes wind speed data, altitude data, geographical location data, and external temperature data, the action unit includes a fan and a rotor structure, and the action posture includes the rotor rotation speed and the rotor rotation angle.

3. The method according to claim 2, wherein Analyzing the historical flight data includes the following steps: constructing a height change sequence based on the altitude data in the historical flight data, positioning the time period when the altitude continuously changes in the height change sequence as the first time period, obtaining the operation effective time, defining the first time period and the operation effective time before it as the second time period, respectively constructing the internal parameters and the environmental data within the second time period into a plurality of basic sequences, and constructing the temperature values of the resistance wire heater and the action postures of the action unit within the second time period into an action variable sequence; performing discretization processing on the basic sequence and the action variable sequence to respectively obtain corresponding first and second discrete sequences, performing a first clustering on the first discrete sequence based on the lowest and highest altitudes within the second time period, and performing a second clustering on the result of the first clustering based on the similarity between the first discrete sequences to obtain a plurality of clusters; obtaining the second discrete sequence under a cluster, calculating the frequency ratio of the occurrence of the second discrete sequence, and generating the control strategy based on the second discrete sequence with the largest frequency ratio.

4. The method according to claim 3, characterized in that, Using the control strategy to adjust the flight altitude of the hot air balloon includes the following steps: The sensor unit obtains the average values of the internal parameters and the environmental data within a detection time period, determines the target height to be adjusted, matches the corresponding control strategy based on the average values and the target height and uses it as the target strategy, obtains the current temperature of the resistance wire heater, and the target temperature to which the resistance wire heater is to be adjusted in the target strategy. The control unit calculates the difference between the current temperature and the target temperature, adjusts the temperature of the resistance wire heater in multiple stages based on the difference, and adjusts the current action of the action unit to the action posture in the target strategy to achieve the adjustment of the flight height of the hot air balloon.

5. The method according to claim 4, characterized in that, The multi-stage adjustment of the temperature of the resistance wire heater includes the following steps: The control strategy includes an ideal height change curve. Set a standard value, split the difference into multiple adjustment stages based on the standard value, obtain the stage curve corresponding to each adjustment stage in the ideal height change curve, obtain the first end temperature of the first adjustment stage. After the real-time temperature of the resistance wire heater reaches the first end temperature, draw the actual height change curve of the temperature adjustment process. If the deviation degree between the actual height change curve and the first stage curve is greater than the standard threshold, rematch the control strategy based on the current internal parameters and the environmental data. If the deviation degree is less than or equal to the standard threshold, continue the adjustment according to the second end temperature of the second adjustment stage until the target height is reached.

6. The method according to claim 5, wherein Generating the height change curve of the control strategy includes the following steps: Use the height change sequences corresponding to each of the second discrete sequences under the same group as the analysis sequences, comprehensively analyze all the analysis sequences under the same group to generate a height change function, and generate the ideal height change curve corresponding to the control strategy based on the height change function.

7. The method according to claim 6, wherein Generating the ideal height change function includes the following steps: The ideal height change function includes a first function and a second function. Generate the average change sequence of the flight height based on the analysis sequences, divide the average change sequence into a uniform change stage and a non-uniform change stage. Define the part of each analysis sequence located in the uniform change stage as the first sequence, and the part located in the non-uniform change stage as the second sequence. Fit the first sequence based on a linear function to obtain the first function, fit the second sequence based on a non-linear function to obtain the second function, draw a first curve based on the first function, draw a second curve based on the second function, and use the first curve and the second curve as the ideal height change curve.

8. The method according to claim 7, wherein Dividing the average change sequence into the uniform change stage and the non-uniform change stage includes the following steps: Calculate the Burg coefficient sequence of the average change sequence, and divide the average change sequence into the uniform change stage and the non-uniform change stage based on the Burg coefficient sequence.

9. The method according to claim 1, wherein When the control unit adjusts the flight altitude based on the control strategy, if the hot air balloon is not adjusted to the target altitude within a preset time period, a manual adjustment reminder is generated.

10. An intelligent control system for the flight altitude of a hot air balloon, which is used to implement an intelligent control method for the flight altitude of a hot air balloon as described in any one of claims 1-9, characterized in that, It includes: A sensor unit for collecting internal parameters and environmental data, where the internal parameters include the internal temperature and internal pressure of the hot air balloon itself; A control unit. When the hot air balloon takes off, the control unit starts the flame heater and the resistance wire heater simultaneously. When the takeoff conditions are met, the flame heater is removed. During the flight of the hot air balloon, the control unit adjusts the flight altitude using the corresponding control strategy based on the set target altitude, the current internal parameters, and the environmental data; A server unit. After each flight is completed, the server unit stores the internal parameters, the environmental data, and the action postures of the resistance wire heater and the action unit as historical flight data. When the historical flight data reaches a first quantity, the server unit analyzes the historical flight data to generate a control strategy. The control strategy includes various temperature adjustment strategies for the resistance wire heater and action adjustment strategies for the action unit. The temperature adjustment strategy is used to adjust the temperature of the resistance wire heater, and the action adjustment strategy is used to adjust the action posture of the action unit. The server unit uploads the control strategy to the control unit.

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