Volume calibration method and device for auxiliary airbag of aerostat in different postures

Abstract

The invention provides a method and device for calibrating the volume of an auxiliary airbag of an aerostat under different postures. The device comprises an airbag body, a posture adjusting mechanism, a distance measuring instrument, a pressure collecting instrument, a posture measuring instrument, a flow meter and a data recording instrument. The bag body comprises a main air bag and a plurality of auxiliary air bags. The posture adjusting mechanism is used for adjusting the pitch angle and the roll angle of the main air bag. The distance measuring instrument is used for measuring the distance from the position to the top of the corresponding auxiliary airbag; the pressure acquisition instrument is used for measuring pressure difference between the inside of the main air bag and outside atmosphere; the attitude measuring instrument is used for measuring a pitch angle and a roll angle of the main air bag; the flowmeter is used for recording the inflation volume of the main air bag in real time; the data recording instrument is used for recording and storing the pitch angle and the roll angle of the main air bag and the distance value measured by the distance measuring instrument in real time. According to the invention, the effective volume of each auxiliary air bag in an actual working state can be accurately measured, and the relationship between the volume of each auxiliary air bag and the pitch angle, the roll angle and the ranging distance can be rapidly calibrated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of airship calibration, and particularly relates to a method and device for calibrating the volume of a secondary air bag of an airship in different postures. BACKGROUND

[0002] As a kind of aircraft using buoyancy to ascend, the airship has the advantages of long time in the air, large load, little pollution, low cost of use and maintenance, and low requirement for landing site, and has a wide application prospect.

[0003] The airship, such as a tethered balloon and an airship, is generally composed of a main air bag and a plurality of secondary air bags located inside the main air bag. The main air bag is filled with light gas, and the secondary air bag is filled with air. The density of the light gas will change with the change of the ambient temperature and pressure, thereby causing the volume of the light gas in the main air bag to change. In order to maintain the aerodynamic shape and stiffness of the tethered balloon and the airship, the secondary air bag needs to be filled with air at this time. At present, the volume of the secondary air bag is mainly measured by a laser range finder designed on the abdomen of the secondary air bag to measure the distance from the bottom to the top of the secondary air bag, and then converted. However, the measured distance will change significantly under different posture angles, and the converted volume of the secondary air bag will have a serious deviation from the true volume.

[0004] For the airship, the volume of the secondary air bag affects the accurate evaluation and calculation of the ascending height and the flight performance in the air. Therefore, in order to meet the calculation and test of the related performance of the airship, the volume of the secondary air bag needs to be accurately calibrated in order to guide the flight test. SUMMARY

[0005] In order to solve the technical problems in the background art, the present application provides a method and device for calibrating the volume of a secondary air bag of an airship in different postures.

[0006] The method for calibrating the volume of a secondary air bag of an airship in different postures provided by the present application comprises the following steps:

[0007] S1, a distance measuring device is installed on the abdomen of each secondary air bag in advance;

[0008] S2, first fill all the secondary air bags with air, and then fill the main air bag with gas;

[0009] S3, adjust the pitch angle and roll angle of the main air bag to 0°, and make the pressure difference between the main air bag and the outside atmosphere 0;

[0010] S4, select one of the secondary air bags as a target air bag to be calibrated;

[0011] S5, filling gas into the main air bag, and the volume of the filled gas is less than the theoretical volume of the target air bag; at the same time, the target air bag adjusts the pressure in the main air bag by discharging the air in the body, so that the pressure difference between the main air bag and the outside atmosphere is maintained at 0, and the volume of the filled gas is recorded;

[0012] S6, adjusting the pitch angle and roll angle of the main air bag, and recording the values of the adjusted pitch angle and roll angle; at the same time, the distance from the ranging device to the top of the target air bag is measured by the ranging device arranged inside the target air bag, and the distance value is recorded;

[0013] S7, repeating steps S4-S6 until the target air bag has no air discharge or the target air bag cannot adjust the pressure in the main air bag by discharging the air in the body; at this time, the sum of the recorded volumes of the filled gas is the actual effective volume of the target air bag;

[0014] S8, establishing V 副 The matrix of detVj=f (αj, βj, Xj) can be completed to calibrate the volume of the target air bag and the pitch angle, roll angle, and distance; in the formula: V 副 is the actual effective volume of the target air bag, detVj is the set of filled volumes recorded in step S5, αj is the set of adjusted pitch angles recorded in step S6, βj is the set of adjusted roll angles recorded in step S6, and Xj is the set of distances recorded in step S6;

[0015] S8, repeating steps S3-S7 until the calibration of all auxiliary air bags is completed.

[0016] Preferably, in step S5, the volume of the filled gas is less than 30% of the theoretical volume of the target air bag.

[0017] The present application provides a device for calibrating the volume of an auxiliary air bag of a floating vehicle in different postures, which comprises a bag body, a posture adjusting mechanism, a ranging instrument, a pressure collecting instrument, a posture measuring instrument, and a flow meter and a data recording instrument, wherein:

[0018] The bag body comprises a main air bag and a plurality of auxiliary air bags arranged inside the main air bag;

[0019] The posture adjusting mechanism is connected with the main air bag, and is used for adjusting the pitch angle and roll angle of the main air bag;

[0020] The ranging instruments are arranged in pairs and are installed on the abdomen of each auxiliary air bag, and are used for measuring the distance from the position of the ranging instrument to the top of the corresponding auxiliary air bag;

[0021] The pressure collecting instrument is arranged on the abdomen of the main air bag, and is used for measuring the pressure difference between the inside of the main air bag and the outside atmosphere;

[0022] The attitude measuring instrument is fixedly connected with the main air bag for measuring the pitch angle and roll angle of the main air bag.

[0023] The flow meter is used for recording the inflation volume of the main air bag in real time.

[0024] The data recording instrument is used for recording and storing the pitch angle, roll angle and distance value measured by the distance measuring instrument of the main air bag in real time.

[0025] Preferably, the attitude adjusting mechanism comprises a lower mounting plate, an upper mounting plate located above the lower mounting plate, a lower front electric winch, a lower rear electric winch, a left lower electric winch and a right lower electric winch mounted on the lower mounting plate, and an upper front electric winch and an upper rear electric winch mounted on the upper mounting plate, a lower front cable with a length controlled by the lower front electric winch, a lower rear cable with a length controlled by the lower rear electric winch, a left lower cable with a length controlled by the left lower electric winch, a right lower cable with a length controlled by the right lower electric winch, an upper front cable with a length controlled by the upper front electric winch and an upper rear cable with a length controlled by the upper rear electric winch, wherein the lower front cable is fixedly connected with the head of the main air bag, the lower rear cable is fixedly connected with the tail of the main air bag, the upper front cable is fixedly connected with the head of the main air bag, the upper rear cable is fixedly connected with the tail of the main air bag, the left lower cable is fixedly connected with the left side of the main air bag and the right lower cable is fixedly connected with the left side of the main air bag.

[0026] Preferably, the inflation pipeline connected with the main air bag for conveying gas into the main air bag is further included.

[0027] Preferably, the flow meter is mounted in the inflation pipeline.

[0028] The present application can accurately measure the effective volume of each auxiliary air bag in the actual working state, and quickly calibrate the relationship between the volume of each auxiliary air bag and the pitch angle, roll angle and distance measured by the distance measuring instrument, so as to guide the flight test. BRIEF DESCRIPTION OF DRAWINGS

[0029] Fig. 1 A structural schematic view of the auxiliary air bag volume calibration device for the aerostat in different attitudes according to the present application;

[0030] Fig. 2 A structural schematic view of the attitude adjusting mechanism in the auxiliary air bag volume calibration device for the aerostat in different attitudes according to the present application;

[0031] Fig. 3 A structural schematic view of the air bag body in the auxiliary air bag volume calibration device for the aerostat in different attitudes according to the present application. DETAILED DESCRIPTION

[0032] The auxiliary air bag volume calibration method for the aerostat in different attitudes according to the present application comprises the following steps:

[0033] S1, install a distance measuring device on each of the auxiliary airbag bellies in advance;

[0034] S2, first fill all the auxiliary airbags with air, and then fill the main airbag with gas;

[0035] S3, adjust the pitch angle and roll angle of the main airbag to 0°, and make the pressure difference between the main airbag and the outside atmosphere 0;

[0036] S4, select one of the auxiliary airbags as the target airbag to be calibrated;

[0037] S5, fill the main airbag with gas, and make the volume of the gas filled detVj1 less than the theoretical volume of the target airbag; at the same time, the target airbag adjusts the pressure in the main airbag by discharging air in the body to maintain the pressure difference between the main airbag and the outside atmosphere at 0, and records the volume of the gas filled as detVj1;

[0038] S6, adjust the pitch angle and roll angle of the main airbag, and record the values of the adjusted pitch angle and roll angle as αj1 and βj1 respectively; at the same time, the distance measuring device installed inside the target airbag measures the distance Xj1 from the distance measuring device to the top of the target airbag;

[0039] S7, repeat steps S4-S6 until the target airbag has no air discharged or the target airbag cannot adjust the pressure in the main airbag by discharging air in the body; at this time, the sum of the recorded gas filling volumes detVj1, detVj2...detVj n is the actual effective volume of the target airbag;

[0040] S8, establish the matrix V 副 -detVj = f(αj, βj, Xj), which completes the calibration of the volume of the target airbag and the pitch angle, roll angle, and distance; in the formula: V 副 is the actual effective volume of the target airbag; detVj is the set of filling volumes recorded in step S5, i.e. detVj = {detVj1, detVj2..., detVj n}; αj is the set of adjusted pitch angles of the main airbag recorded in step S5, i.e. αj = {αj1, αj2..., αj n}; βj is the set of adjusted roll angles of the main airbag recorded in step S5, i.e. βj = {βj1, βj2..., βj n}; Xj is the set of distances measured by the distance measuring instrument recorded in step S5, i.e. Xj = {Xj1, Xj2..., Xj n};

[0041] S8, repeat steps S3-S7 until the calibration of all auxiliary airbags is completed.

[0042] In further embodiments, the volume of gas filled at each time is less than 30% of the target airbag theoretical volume to ensure that the calibration of the target airbag is performed at least three times to increase the reliability of the data.

[0043] Referring to Figs. 1-3 The present application provides a device for calibrating the volume of a secondary airbag of an aerostat in different postures, comprising: an airbag body, a posture adjustment mechanism, a gas filling pipeline 53, distance measuring instruments 52, pressure collecting instruments 55, posture measuring instruments 54, and a flow meter 51 and a data recording instrument, wherein:

[0044] The airbag body comprises a main airbag 11 and a plurality of secondary airbags 12 arranged inside the main airbag 11. The gas filling pipeline 53 is connected to the main airbag 11 for delivering gas to the main airbag 11. The posture adjustment mechanism is connected to the main airbag 11 for adjusting the pitch angle and roll angle of the main airbag 11.

[0045] The distance measuring instruments 52 are provided in plurality and are installed one by one on the abdomen of each secondary airbag 12 for measuring the distance from the position of each distance measuring instrument 52 to the top of the corresponding secondary airbag 12. The pressure collecting instruments 55 are arranged on the abdomen of the main airbag 11 for measuring the pressure difference between the inside of the main airbag 11 and the outside atmosphere. The posture measuring instruments 54 are fixedly connected to the main airbag 11 for measuring the pitch angle and roll angle of the main airbag 11. The flow meter 51 is installed in the gas filling pipeline 53 for recording the volume of gas filled by the gas filling pipeline to the main airbag 11 in real time. The data recording instrument is used for recording and storing the pitch angle, roll angle of the main airbag 11, and the distance values measured by the distance measuring instruments 52 in real time.

[0046] In operation: first, fill all the secondary airbags 12 with air, and then fill the main airbag 11 with gas; secondly, the posture adjustment mechanism starts to work to adjust the pitch angle and roll angle of the main airbag 11 to 0°, and to make the pressure difference between the main airbag 11 and the outside atmosphere to be 0; then, take one of the secondary airbags 12 as the target airbag to be calibrated, and the calibration process is as follows:

[0047] First, the main airbag 11 is inflated by the inflation line 53, and the volume of the gas inflating into the main airbag 11 is recorded by the flow meter 51 in real time, and the volume detVj1 is less than the theoretical volume of the target airbag, at the same time, the target airbag adjusts the pressure in the main airbag 11 by discharging the air in the body, so that the pressure difference between the main airbag 11 and the atmosphere is maintained at 0; then, the attitude adjustment mechanism is actuated to adjust the pitch angle and roll angle of the main airbag 11, when the attitude of the main airbag 11 is stable, the attitude measuring instrument 54 records the pitch angle αj1 and the roll angle βj1 of the main airbag 11 at this time, at the same time, the distance measuring device arranged in the target airbag works to measure the distance Xj1 from the distance measuring device to the top of the target airbag; repeat several times until there is no air discharged in the target airbag or the target airbag can no longer adjust the pressure in the main airbag 11 by discharging the air in the body; at this time, the flow meter 51 records the cumulative volume of the gas inflating into the main airbag 11 (i.e. the sum of detVj1, detVj2...detVj n ). Finally, the matrix of V 副 -detVj=fαj,βj,Xj is established, and the calibration of the volume of the target airbag and the pitch angle, roll angle, and distance is completed.

[0048] Then the next auxiliary airbag 12 is calibrated in the same way, until all the auxiliary airbags 12 complete the calibration work.

[0049] In a further embodiment, the attitude adjustment mechanism includes a lower mounting plate 42, an upper mounting plate 41 located above the lower mounting plate 42, and a lower front electric winch 21, a lower rear electric winch 22, a left lower electric winch 25, and a right lower electric winch 26 mounted on the lower mounting plate 42, an upper front electric winch 23 and an upper rear electric winch 24 mounted on the upper mounting plate 41, a lower front cable 31 with a length controlled by the lower front electric winch 21, a lower rear cable 32 with a length controlled by the lower rear electric winch 22, a left lower cable 35 with a length controlled by the left lower electric winch 25, a right lower cable 36 with a length controlled by the right lower electric winch 26, an upper front cable 33 with a length controlled by the upper front electric winch 23, and an upper rear cable 34 with a length controlled by the upper rear electric winch 24.

[0050] The lower front cable 31 is fixedly connected with the head of the main air bag 11, the lower front electric winch 21 adjusts the up-down position of the head of the main air bag 11 by winding or releasing the lower front cable 31, and then adjusts the pitch angle of the main air bag 11. The lower rear cable 32 is fixedly connected with the tail of the main air bag 11, the lower rear electric winch 22 adjusts the up-down position of the tail of the main air bag 11 by winding or releasing the lower front cable 32, and then adjusts the pitch angle of the main air bag 11. The upper front cable 33 is fixedly connected with the head of the main air bag 11, the upper front electric winch 23 adjusts the up-down position of the head of the main air bag 11 by winding or releasing the upper front cable 33, and then adjusts the pitch angle of the main air bag 11. The upper rear cable 34 is fixedly connected with the tail of the main air bag 11, the left lower electric winch 25 adjusts the left-right position of the main air bag 11 by winding or releasing the left lower cable 35, and then adjusts the roll angle of the main air bag 11. The left lower cable 35 is fixedly connected with the left side of the main air bag 11; the right lower cable 36 is fixedly connected with the left side of the main air bag 11, the right lower electric winch 26 adjusts the left-right position of the main air bag 11 by winding or releasing the right lower cable 36, and then adjusts the roll angle of the main air bag 11. The specific adjustment mode of the attitude adjustment mechanism is as follows:

[0051] When the buoyancy of the capsule is less than the gravity, the lower front electric winch 21 and the lower rear electric winch 22 release the lower front cable 31 and the lower rear cable 32, so that the lower front cable 31 and the lower rear cable 32 are no longer stressed; at this time, the main capsule 11 is fixed to a suspended state through the upper front cable 33 and the upper rear cable 34, and then the pitch angle of the main air bag 11 is adjusted.

[0052] When the buoyancy of the capsule is greater than the gravity, the upper front electric winch 23 and the upper rear electric winch 24 release the upper front cable 33 and the upper rear cable 34, so that the upper front cable 33 and the upper rear cable 34 are no longer stressed; at this time, the main capsule 11 is pulled to a suspended state through the lower front cable 31 and the lower rear cable 32, and then the pitch angle of the main air bag 11 is adjusted.

[0053] After the pitch angle of the main air bag 11 is adjusted, the length of the left lower cable 35 and the right lower cable 36 is controlled by the left lower electric winch 25 and the right lower electric winch 26, and the roll angle of the main air bag 11 is adjusted.

[0054] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A method for calibrating the volume of an aerostat's auxiliary airbag under different postures, characterized in that: The following steps are involved: S1. Install a distance measuring device in the abdomen of each auxiliary airbag in advance; S2. First fill all auxiliary airbags with air; then fill the main airbag with air; S3. Adjust the pitch angle and roll angle of the main airbag to 0°, and make the pressure difference between the main airbag and the outside atmosphere 0; S4, selecting one of the auxiliary airbags as the target airbag to be calibrated; S5. Inflate the main airbag so that the volume of the gas filled is less than the theoretical volume of the target airbag. Simultaneously, the target airbag adjusts the pressure in the main airbag by discharging air from its body so that the pressure difference between the main airbag and the outside atmosphere is maintained at zero, and the volume of gas filled is recorded. S6. Adjust the pitch angle and roll angle of the primary airbag and record the adjusted pitch angle and roll angle values; at the same time, use a distance measuring device disposed inside the target airbag to measure the distance from the distance measuring device to the top of the target airbag and record the distance value; S7. Repeat steps S4-S6 until the target airbag has no more air discharged or the target airbag cannot adjust the pressure in the main airbag by discharging the internal air; at this time, the sum of the recorded gas filling volumes is the actual effective volume of the target airbag; S8. Establish V 副 -detVj=f(αj,βj,Xj) matrix, the target airbag volume and pitch angle, roll angle, and distance can be calibrated; where: V 副 is the actual effective volume of the target airbag, detVj is the set of filled volumes recorded in step S5, αj is the set of adjusted pitch angles recorded in step S6, βj is the set of adjusted roll angles recorded in step S6, and Xj is the set of distances recorded in step S6; S8. Repeat steps S3-S7 until the calibration of all auxiliary airbags is completed.

2. The method for calibrating the volume of the auxiliary airbag of an aerostat under different postures according to claim 1 is characterized in that: In step S5, the volume of gas filled each time is less than 30% of the target airbag theoretical volume.

3. A device for calibrating the volume of an aerostat's auxiliary airbag under different postures, used to implement the method described in any one of claims 1-2, characterized in that: include: A capsule, a posture adjustment mechanism, a distance measuring instrument (52), a pressure collecting instrument (55), a posture measuring instrument (54), a flow meter (51) and a data recording instrument, wherein: The bag body includes a main air bag (11) and a plurality of auxiliary air bags (12) arranged inside the main air bag (11); The attitude adjustment mechanism is connected to the main airbag (11) and is used to adjust the pitch angle and roll angle of the main airbag (11); There are multiple distance measuring instruments (52), which are installed one by one on the belly of each auxiliary airbag (12) to measure the distance from the location of the distance measuring instrument (52) to the top of the corresponding auxiliary airbag (12); A pressure collecting instrument (55) is provided on the abdomen of the main airbag (11) to measure the pressure difference between the interior of the main airbag (11) and the outside atmosphere; The attitude measuring instrument (54) is fixedly connected to the main airbag (11) and is used to measure the pitch angle and roll angle of the main airbag (11); The flow meter (51) is used to record the inflation volume of the main air bag (11) in real time; The data recording instrument is used for recording and storing the pitch angle and roll angle of the main airbag (11) and the distance value measured by the distance measuring instrument (52) in real time.

4. The device for calibrating the volume of the auxiliary airbag of an aerostat under different postures according to claim 3 is characterized in that: The posture adjustment mechanism comprises a lower mounting plate (42), an upper mounting plate (41) located above the lower mounting plate (42), a lower front electric winch (21), a lower rear electric winch (22), a lower left electric winch (25), and a lower right electric winch (26) installed on the lower mounting plate (42), an upper front electric winch (23) and an upper rear electric winch (24) installed on the upper mounting plate (41), a lower front cable (31) whose retraction length is controlled by the lower front electric winch (21), a lower rear cable (32) whose retraction length is controlled by the lower rear electric winch (22), a lower left cable (35) whose retraction length is controlled by the lower left electric winch (25), and a lower right electric winch (26) whose retraction length is controlled by the lower front electric winch (21). The invention relates to a right lower cable (36) whose retraction and extension length is controlled by a movable winch (26), an upper front cable (33) whose retraction and extension length is controlled by an upper front electric winch (23), and an upper rear cable (34) whose retraction and extension length is controlled by an upper rear electric winch (24), wherein: the lower front cable (31) is fixedly connected to the head of the main airbag (11); the lower rear cable (32) is fixedly connected to the tail of the main airbag (11); the upper front cable (33) is fixedly connected to the head of the main airbag (11); the upper rear cable (34) is fixedly connected to the tail of the main airbag (11); the left lower cable (35) is fixedly connected to the left side of the main airbag (11); and the right lower cable (36) is fixedly connected to the left side of the main airbag (11).

5. The device for calibrating the volume of the auxiliary airbag of an aerostat under different postures according to claim 3 is characterized in that: It also includes an inflation pipeline (53) connected to the main air bag (11) to transport gas into the main air bag (11).

6. The device for calibrating the volume of the auxiliary airbag of an aerostat under different postures according to claim 5 is characterized in that: The flow meter (51) is installed in the inflation pipeline (53).

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