Buoyancy adjustment device, heavy cargo transport airship, loading method and unloading method

Abstract

This invention relates to the field of heavy-duty transport airship technology, providing a buoyancy adjustment device, a heavy-duty transport airship, a cargo loading method, and a cargo unloading method. The adjustment device includes: multiple water bladders, a main water injection pipe, a main water discharge pipe, and multiple branch pipes, each branch pipe including a drainage branch pipe and a water injection branch pipe. The main drainage pipe and the main water injection pipe are parallel to the axis of the heavy-duty transport airship and located on both sides of the axis. The multiple water bladders are arranged on both sides of the main drainage pipe and the main water injection pipe, along the axis of the heavy-duty transport airship. Each water bladder includes a water injection port, a water discharge port, and two valves, which are respectively located on the water injection port and the water discharge port. The water injection port is connected to the main water injection pipe through a water injection branch pipe, and the water discharge port is connected to the main drainage pipe through a drainage branch pipe. This solution can simultaneously achieve buoyancy and attitude coupling adjustment for loading and unloading heavy-duty airships, thereby solving the problems of balance stability and safety reliability during the loading and unloading of heavy cargo.

Description

Technical Field

[0001] This invention relates to the field of heavy-load transport airships, and more particularly to a buoyancy adjustment device for a heavy-load transport airship, a heavy-load transport airship, a cargo loading method, and a cargo unloading method. Background Technology

[0002] Airships, as a new type of air-floating aircraft, are widely used in various fields. The interior of an airship is filled with buoyancy gas, and the processes of ascent, hovering, and descent are achieved by adjusting the balance of buoyancy.

[0003] Heavy-duty transport airships rely on buoyancy-generating gases for buoyancy. During the loading and unloading of heavy cargo, the total weight of the airship can change drastically. If the buoyancy cannot be adjusted synchronously and precisely, it can easily lead to loss of control of the airship's attitude, rapid ascent or descent, and cause safety accidents.

[0004] Traditional buoyancy adjustment systems mostly employ a single centralized water bladder combined with an integrated auxiliary air bladder on the airship, which adjusts the airship's net buoyancy by inhaling or exhaling water and air.

[0005] This method is simple to control and adjust, only able to adjust the total buoyancy, and cannot adjust the buoyancy by zone or attitude according to the location of the cargo lifting point. It is prone to pitching, rolling and tilting during loading and unloading, resulting in poor stability. Moreover, the single water bladder or air bladder has insufficient system redundancy and low reliability.

[0006] Therefore, in response to the sudden changes in net buoyancy and the potential loss of control over the hull attitude during the loading and unloading of heavy-load transport airships, including large-angle pitch and roll angle changes, there is an urgent need for a buoyancy adjustment device, a heavy-load transport airship, a cargo loading method, and a cargo unloading method for heavy-load transport airships. This would enable the simultaneous coupling adjustment of buoyancy and attitude to solve the problems of balance stability and safety reliability during the loading and unloading of heavy cargo.

[0007] The information disclosed in the background section is only intended to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0008] The main purpose of this invention is to overcome the problems of poor hull attitude stability, easy tilting and overturning, and low system reliability caused by centralized buoyancy adjustment. It provides a buoyancy adjustment device, a heavy-load transport airship, a cargo loading method, and a cargo unloading method for heavy-load transport airships. It realizes synchronous and precise adjustment of buoyancy and attitude during loading and unloading, improves the stability and safety of heavy-load airship loading and unloading operations, and can realize buoyancy adjustment of heavy-load airship loading and unloading by coupling buoyancy and attitude adjustment at the same time, so as to solve the problems of balance stability and safety reliability during the loading and unloading of heavy-weight cargo.

[0009] To achieve the above objectives, the first aspect of the present invention provides a buoyancy adjustment device for a heavy-duty transport airship, comprising: multiple water bladders, a main water injection pipe, a main water drainage pipe, and multiple branch pipes, wherein the branch pipes include drainage branch pipes and water injection branch pipes; The main drainage pipe and the main water injection pipe are parallel to the axis of the heavy-load transport airship and are located on both sides of the axis of the heavy-load transport airship. Multiple water bladders are installed on both sides of the main drain pipe and the main water injection pipe, arranged along the axis of the heavy-duty transport airship; Each water bladder includes an inlet, a outlet, and two valves. The two valves are respectively installed on the inlet and outlet. The inlet is connected to the main inlet via an inlet branch pipe, and the outlet is connected to the main drain pipe via a drain branch pipe.

[0010] According to an exemplary embodiment of the present invention, the buoyancy adjustment device of the heavy-duty transport airship is located in the belly of the airship.

[0011] According to an exemplary embodiment of the present invention, along the axis of the heavy-duty transport airship, the distance between every two water bladders is equal, and the space between every two water bladders is a cargo mounting point.

[0012] According to an exemplary embodiment of the present invention, each water bladder has a cuboid structure, with the water inlet located at the upper part of the water bladder and the water outlet located at the lower part of the water bladder.

[0013] According to an exemplary embodiment of the present invention, each water bladder further includes multiple liquid level sensors for measuring the liquid level height at different locations within the water bladder.

[0014] According to an exemplary embodiment of the present invention, the liquid level sensor is in four groups, which are distributed on the four vertical surfaces of the water bag. With the direction of the airship's head as the front side, one group of liquid level sensors is located on the center line of the front side, one group of liquid level sensors is located on the center line of the rear side, and the other two groups of liquid level sensors are located on both sides of the center line of the two sides, one group is closer to the front side and the other group is closer to the rear side.

[0015] According to an exemplary embodiment of the present invention, the buoyancy adjustment device of the heavy-duty transport airship further includes an airship control unit, which is connected to each set of liquid level sensors, and the valves of each water inlet and outlet are electrically controlled valves connected to the airship control unit. The airship control unit controls the opening and closing of the water inlet and outlet of each water bladder based on the airship's attitude tilt and net buoyancy.

[0016] According to a second aspect of the present invention, the present invention provides a heavy-load transport airship, including an airship body and a buoyancy adjustment device for the heavy-load transport airship; The buoyancy adjustment device of the heavy-duty transport airship is located on the belly of the airship body.

[0017] According to a third aspect of the present invention, the present invention provides a cargo-carrying method for a heavy-load transport airship, comprising the following steps: A1: Hover the heavy-duty transport airship above the cargo to be loaded; A2: Connect the cargo to be loaded to the cargo attachment point using a cable; A3: Simultaneously open the drain outlet of the water bladder near the cargo mounting point; A4: Real-time monitoring of changes in airship attitude and net buoyancy; A5: If the airship's tilt exceeds the threshold or the airship's net buoyancy meets the requirements of the current cargo transport, close all water bladder drain outlets. A6: If the airship's tilt exceeds the threshold, after closing the water bladder's drain outlet, determine which individual water bladders need to continue draining water based on the airship's tilt direction to reduce the airship's tilt. A7: Open the drain outlet of the target water bladder to continue draining; A8: Repeat steps A4 to A7 until the tilt of the airship is adjusted to within the threshold. A9: Determine whether the airship's net buoyancy meets the requirements for current cargo transportation; A10: If the airship's net buoyancy does not meet the requirements for the current cargo transport, repeat steps A3 to A9; A11: If the airship's net buoyancy meets the requirements for current cargo transport, then close all water bladder drain outlets; A12: Complete the adjustment of the airship's cargo attitude and net buoyancy, and initiate transportation.

[0018] According to a fourth aspect of the present invention, the present invention provides a method for unloading cargo from a heavy-load transport airship, comprising the following steps: B1: Hover the heavy-load transport airship above the unloading point; B2: Open the water inlet of the water bladder near the cargo mounting point; B3: Real-time monitoring of changes in airship attitude and net buoyancy; B4: If the airship's tilt exceeds the threshold or the airship's net buoyancy meets the current unloading requirements, close all water bladder inlets. B5: If the airship's tilt exceeds the threshold, after closing the water inlet of the water bladder, determine which individual target water bladders need to continue injecting water based on the airship's tilt direction in order to reduce the airship's tilt. B6: Open the water inlet of the target water bladder and continue filling with water; B7: Repeat steps B3 to B6 until the tilt of the airship is adjusted to within the threshold. B8: Determine whether the airship's net buoyancy meets the requirements for unloading. B9: If the airship's net buoyancy does not meet the requirements for current unloading, repeat steps B2 to B8; B10: If the airship's net buoyancy meets the current unloading requirements, close all water bladder inlets; B11: Complete the adjustment of the airship's unloading attitude and net buoyancy, and complete the unloading.

[0019] The most significant feature and advantage of this invention is the arrangement of numerous distributed array water bladders beneath the airship's hull. Through the airship's central control unit, in conjunction with numerous sensors and actuators, the displacement and injection volumes of each water bladder can be precisely controlled during loading and unloading. This allows for dynamic, smooth, and effective control of the airship's attitude and net buoyancy, ensuring the cargo is loaded and unloaded once the airship has adjusted to a suitable state. Furthermore, the numerous distributed array water bladders design avoids single points of failure, significantly improving system redundancy and reliability.

[0020] The technical solution of this invention avoids the sudden changes in the net buoyancy of the airship and the instability of the airship's attitude that occur during cargo loading and unloading, which are present in other methods. This ensures the safety, reliability, and balance stability during the operation.

[0021] In addition, the entire loading and unloading process can be achieved simply by precisely controlling the discharge and injection of water, without the need for other materials and tools, making the solution relatively environmentally friendly. Attached Figure Description

[0022] The above and other objects, features, and advantages of this application will become more apparent from the detailed description of exemplary embodiments with reference to the accompanying drawings. The drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0023] Figure 1 The diagram illustrates a top view of the airship's underside.

[0024] Figure 2 A schematic diagram of the water bladder is shown.

[0025] Figure 3 The diagram schematically illustrates the connection between the airship control unit and the water bladder.

[0026] Figure 4 A flowchart illustrating the cargo loading method is shown.

[0027] Figure 5 A flowchart illustrating the unloading method is shown.

[0028] Among them, 1—airship body, 2—water bladder, 3—main water injection pipe, 4—main drainage pipe, 5—branch pipe, 6—cargo mounting point, 7—water injection port, 8—drainage port, 9—liquid level sensor, 10—communication bus. Detailed Implementation

[0029] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0030] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0031] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0032] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0033] It should be understood that although the terms first, second, third, etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0034] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily necessary for implementing this application, and therefore cannot be used to limit the scope of protection of this application.

[0035] According to a first specific embodiment of the present invention, the present invention provides a heavy-load transport airship, such as Figure 1 As shown, it includes the airship body 1 and a buoyancy adjustment device for a heavy-duty transport airship.

[0036] The buoyancy adjustment device of the heavy-duty transport airship is located on the belly of the airship body, that is, below the middle of the airship body 1.

[0037] like Figure 1 As shown, the buoyancy adjustment device of the heavy-duty transport airship includes: multiple water bladders 2, a main water injection pipe 3, a main water discharge pipe 4, multiple branch pipes 5, and an airship control unit. The branch pipes 5 include drainage branch pipes and water injection branch pipes.

[0038] The main drainage pipe 4 and the main water injection pipe 3 are parallel to the axis of the heavy-load transport airship and are located on both sides of the axis. The main drainage pipe 4 and the main water injection pipe 3 achieve drainage and water injection by connecting to the outside of the airship.

[0039] Multiple water bladders 2 are installed on both sides of the main drain pipe 4 and the main water injection pipe 3, arranged along the axis of the heavy-duty transport airship; such as Figure 1 As shown, multiple water bladders 2 are arranged symmetrically in an array. Along the axis of the heavy-duty transport airship, the distance between any two water bladders 2 is equal, and each pair of water bladders 2 serves as a cargo mounting point 6. Figure 1 The position of the middle triangle.

[0040] like Figure 2 As shown, each water bladder 2 has a cuboid structure. Each water bladder 2 includes an inlet 7, a outlet 8, two valves, and multiple level sensors 9. The two valves are respectively installed on the inlet 7 and the outlet 8. The inlet 7 is connected to the main inlet 3 through an inlet branch pipe, and the outlet 8 is connected to the main drain pipe 4 through a drain branch pipe.

[0041] Water inlet 7 is located at the upper part of water bladder 2, and water outlet 8 is located at the lower part of water bladder 2.

[0042] The liquid level sensor 9 is used to measure the liquid level at different positions inside the water bladder 2. As a preferred embodiment, such as... Figure 2 As shown, the liquid level sensor 9 consists of four groups, distributed on the four vertical surfaces of the water bladder, with the front surface being the direction of the airship's bow (…). Figure 2 On the left vertical surface, one set of liquid level sensors 9 is located on the vertical center line of the front side, and another set of liquid level sensors 9 is located on the vertical center line of the rear side. The other two sets of liquid level sensors 9 are located on both sides of the center line of the two sides, one set near the front side and the other set near the rear side.

[0043] The airship control unit is connected to each set of liquid level sensors 9, and the valves of each water inlet 7 and drain 8 are electrically controlled valves connected to the airship control unit. The airship control unit controls the opening and closing of the water inlet 7 and drain 8 of each water bladder 2 according to the airship's attitude tilt and net buoyancy.

[0044] like Figure 3 As shown, the airship control unit collects real-time data from the level sensors 9 of each water bladder 2 via a communication bus, and controls the opening and closing of the electrically controlled valves at the water inlet 7 and the water outlet 8. The communication bus 10 can be a serial industrial control bus such as RS485 or CAN. The electrical interfaces of the airship control unit and all water bladders 2 are connected to the communication bus 10 as master and slave devices, respectively. The airship control unit can determine the changes in the water volume within the water bladders 2 in real time through the level sensors 9, achieving dynamic and precise control of the injection and drainage volume.

[0045] According to a second specific embodiment of the present invention, the present invention provides a cargo-carrying method for a heavy-load transport airship, such as... Figure 4 As shown, it includes the following steps: A1: Hover the heavy-load transport airship of the first specific embodiment above the cargo to be loaded; A2: Connect the cargo to be loaded to cargo attachment point 6 via cable; specifically, connect the cargo to be loaded to cargo attachment point 6 on the belly of the airship via cable, ensuring a secure and reliable connection; A3: At the same time, the airship control unit opens the drain port 8 of the water bladder 2 near the cargo mounting point 6 through the command, and the water in the water bladder 2 begins to be discharged. The airship control unit monitors the changes in airship attitude and net buoyancy in real time. A4: During the drainage process, monitor the changes in the airship's attitude and net buoyancy in real time; A5: If the airship's tilt exceeds the threshold or the airship's net buoyancy meets the requirements of the current cargo transport, close all water bladder drain outlets through the airship control unit. A6: If the airship's tilt exceeds the threshold, after closing the water bladder's drain outlet, determine which individual water bladders need to continue draining based on the airship's tilt direction to reduce the airship's tilt; by determining which water bladders need to continue draining to reduce the airship's tilt, adjust the airship's attitude to balance. A7: The airship control unit opens the drain outlet of the target water bladder via command to continue draining water; at the same time, the control unit monitors the changes in airship attitude and net buoyancy in real time; A8: Repeat steps A4 to A7 until the tilt of the airship is adjusted to within the threshold. A9: Determine whether the airship's net buoyancy meets the requirements for current cargo transportation; A10: If the airship's net buoyancy does not meet the requirements for the current cargo transport, repeat steps A3 to A9; A11: If the airship's net buoyancy meets the requirements for current cargo transportation, the airship control unit will close the drain outlets of all water bladders via command. A12: Once the cargo to be loaded is completed, the airship's cargo attitude and net buoyancy are adjusted, and transportation begins.

[0046] According to a second specific embodiment of the present invention, the present invention provides a method for unloading cargo from a heavy-load transport airship, such as... Figure 5 As shown, it includes the following steps: B1: Hover the heavy-load transport airship of the first specific embodiment above the unloading point; B2: The airship control unit opens the water inlet of the water bladder near the cargo mounting point through the command, starts the water pump to fill water bladder 2, and monitors the changes in airship attitude and net buoyancy in real time. B3: During the water injection process, monitor the changes in the airship's attitude and net buoyancy in real time; B4: If the airship's tilt exceeds the threshold or the airship's net buoyancy meets the current unloading requirements, close all water bladder inlets. B5: If the airship's tilt exceeds the threshold, after closing the water inlet of the water bladder, determine which individual water bladders need to continue injecting water based on the airship's tilt direction to reduce the airship's tilt; by determining which water bladders need to continue injecting water to reduce the tilt of the airship, adjust the airship's attitude to balance. B6: The flight control unit opens the water inlet of the target water bladder via command to continue filling water; B7: Repeat steps B3 to B6 until the tilt of the airship is adjusted to within the threshold. B8: Determine whether the airship's net buoyancy meets the requirements for unloading. B9: If the airship's net buoyancy does not meet the requirements for current unloading, repeat steps B2 to B8; B10: If the airship's net buoyancy meets the current unloading requirements, close all water bladder inlets; B11: Adjust the airship's unloading attitude and net buoyancy until the cargo is unloaded. Remove the cargo-carrying cable from cargo attachment point 6 on the airship to complete the unloading.

[0047] Therefore, the most significant feature and advantage of this design is the deployment of numerous distributed array water bladders beneath the airship's hull. Through the airship's central control unit, in conjunction with numerous sensors and actuators, the displacement and injection volumes of each water bladder can be precisely controlled during loading and unloading. This allows for dynamic, smooth, and effective control of the airship's attitude and net buoyancy, ensuring the cargo loading and unloading are completed once the airship has adjusted to a suitable state. Furthermore, the numerous distributed array water bladders design avoids single points of failure, significantly improving system redundancy and reliability.

[0048] The technical solution of this invention avoids the sudden changes in the net buoyancy of the airship and the instability of the airship's attitude that occur during cargo loading and unloading, which are present in other methods. This ensures the safety, reliability, and balance stability during the operation.

[0049] In addition, the entire loading and unloading process can be achieved simply by precisely controlling the discharge and injection of water, without the need for other materials and tools, making the solution relatively environmentally friendly.

[0050] Exemplary embodiments of the present invention have been specifically shown and described above. It should be understood that the present invention is not limited to the detailed structures, arrangements, or implementations described herein; rather, the present invention is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A buoyancy adjustment device for a heavy-duty transport airship, characterized in that, include: Multiple water bladders, a main water injection pipe, a main drainage pipe, and multiple branch pipes, wherein the branch pipes include drainage branch pipes and water injection branch pipes; The main drainage pipe and the main water injection pipe are parallel to the axis of the heavy-load transport airship and are located on both sides of the axis of the heavy-load transport airship. Multiple water bladders are installed on both sides of the main drain pipe and the main water injection pipe, arranged along the axis of the heavy-duty transport airship; Each water bladder includes an inlet, a outlet, and two valves, which are respectively located on the inlet and outlet. The inlet is connected to the main inlet pipe via an inlet branch pipe, and the outlet is connected to the main drain pipe via a drain branch pipe.

2. The buoyancy adjustment device for a heavy-load transport airship according to claim 1, characterized in that, The buoyancy adjustment device of the heavy-duty transport airship is located on the belly of the airship.

3. The buoyancy adjustment device for a heavy-load transport airship according to claim 1, characterized in that, Along the axis of the heavy-duty transport airship, the distance between every two water bladders is equal, and the space between every two water bladders is a cargo mounting point.

4. The buoyancy adjustment device for a heavy-load transport airship according to claim 1, characterized in that, Each water bladder has a cuboid structure, with the water inlet located at the top and the water outlet located at the bottom.

5. The buoyancy adjustment device for a heavy-load transport airship according to claim 4, characterized in that, Each water bladder also includes multiple liquid level sensors to measure the liquid level at different locations inside the bladder.

6. The buoyancy adjustment device for a heavy-load transport airship according to claim 5, characterized in that, The liquid level sensor consists of four sets, which are distributed on the four vertical surfaces of the water bladder. With the direction of the airship's head as the front side, one set of liquid level sensors is located on the center line of the front side, and one set of liquid level sensors is located on the center line of the rear side. The other two sets of liquid level sensors are located on both sides of the center line of the two sides, one set near the front side and the other set near the rear side.

7. The buoyancy adjustment device for a heavy-load transport airship according to claim 5, characterized in that, It also includes an airship control unit, which is connected to each set of liquid level sensors, and the valves of each water inlet and outlet are electrically controlled valves connected to the airship control unit; The airship control unit controls the opening and closing of the water inlet and outlet of each water bladder based on the airship's attitude tilt and net buoyancy.

8. A heavy-load transport airship, characterized in that, Includes the airship body and the buoyancy adjustment device of the heavy-load transport airship as described in any one of claims 1-7; The buoyancy adjustment device of the heavy-duty transport airship is located on the belly of the airship body.

9. A method for loading cargo onto a heavy-load transport airship, characterized in that, Includes the following steps: A1: Hover the heavy-load transport airship of claim 8 above the cargo to be loaded; A2: Connect the cargo to be loaded to the cargo attachment point using a cable; A3: Simultaneously open the drain outlet of the water bladder near the cargo mounting point; A4: Real-time monitoring of changes in airship attitude and net buoyancy; A5: If the airship's tilt exceeds the threshold or the airship's net buoyancy meets the requirements of the current cargo transport, close all water bladder drain outlets. A6: If the airship's tilt exceeds the threshold, after closing the water bladder's drain outlet, determine which individual water bladders need to continue draining water based on the airship's tilt direction to reduce the airship's tilt. A7: Open the drain outlet of the target water bladder to continue draining; A8: Repeat steps A4 to A7 until the tilt of the airship is adjusted to within the threshold. A9: Determine whether the airship's net buoyancy meets the requirements for current cargo transportation; A10: If the airship's net buoyancy does not meet the requirements for the current cargo transport, repeat steps A3 to A9; A11: If the airship's net buoyancy meets the requirements for current cargo transport, then close all water bladder drain outlets; A12: Complete the adjustment of the airship's cargo attitude and net buoyancy, and initiate transportation.

10. A method for unloading cargo from a heavy-load transport airship, characterized in that, Includes the following steps: B1: Hover the heavy-load transport airship of claim 8 above the unloading point; B2: Open the water inlet of the water bladder near the cargo mounting point; B3: Real-time monitoring of changes in airship attitude and net buoyancy; B4: If the airship's tilt exceeds the threshold or the airship's net buoyancy meets the current unloading requirements, close all water bladder inlets. B5: If the airship's tilt exceeds the threshold, after closing the water inlet of the water bladder, determine which individual target water bladders need to continue to be filled with water based on the airship's tilt direction, in order to reduce the airship's tilt. B6: Open the water inlet of the target water bladder and continue filling with water; B7: Repeat steps B3 to B6 until the tilt of the airship is adjusted to within the threshold. B8: Determine whether the airship's net buoyancy meets the requirements for unloading. B9: If the airship's net buoyancy does not meet the requirements for current unloading, repeat steps B2 to B8; B10: If the airship's net buoyancy meets the current unloading requirements, close all water bladder inlets; B11: Complete the adjustment of the airship's unloading attitude and net buoyancy, and complete the unloading.

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