Aerial mooring system

Abstract

The utility model relates to an aerial mooring system which comprises a rotor, a main shaft and a driving unit. The rotor has buoyancy, the buoyancy can balance the dead weight of the system, and the rotor can freely rotate around the main shaft under stress; the two ends of the main shaft are symmetrically connected to a high-altitude acting module, and the driving unit is used for adjusting the rotating speed and / or the rotating direction of the rotor; and the total counter weight of the rotor and the driving unit is symmetrically distributed on the main shaft. According to the scheme, the Magnus effect serves as the principle, any needed lift force can be obtained by adjusting the rotating speed and / or the rotating direction of the rotor, the lift force, the lift-drag ratio and the traction angle of the air mooring system can be flexibly controlled, and the air mooring system is not limited by the altitude. Compared with traditional mooring systems such as helium balloons, the situation that the lift-drag ratio is reduced due to the increase of the altitude or the increase of the wind speed is avoided, and the situation that the traction angle cannot be controlled is avoided.

Description

Technical Field

[0001] This disclosure relates to the field of high-altitude wind energy utilization technology, specifically to an aerial mooring system. Background Technology

[0002] High-altitude wind energy contains enormous potential. Compared to conventional wind power generation, utilizing high-altitude wind energy for work can yield more stable and lower-cost electricity. Power sails / power parachutes are commonly used aerial power systems that utilize high-altitude wind energy. During operation, a tethered system is typically required as a lift guide to bring the system to the desired altitude before deployment. The placement of the tethered system is crucial for the stable ascent and continuous operation of the aerial power system.

[0003] CN101852178A discloses a high-power umbrella-type wind power generation system, in which a kite or helium balloon is used as a tethering system to lift the balancing umbrella and the power umbrella assembly to a suitable height. The power umbrella assemblies then deploy into the wind to perform power or fulfill their respective purposes. CN111114737A discloses a hybrid lift high-altitude tethering system, including an airship, lifting wings, a tether cable, and a tether cable deployment and retrieval device fixed to the ground. Furthermore, existing technologies also employ multi-rotor UAVs as tethering systems to provide lift.

[0004] Among the aforementioned and similar tethered systems, kites and airships are rarely used due to the difficulty of flight control; while drones, with their limited lift and poor endurance, are generally only used for small and short-term aerobatic applications. Helium balloons are a commonly used tethered system due to their simple structure and ease of control. However, the lift-to-drag ratio of helium balloons is uncontrollable. In particular, lift decreases with increasing altitude, while wind resistance increases with increasing wind speed. In practical applications, this can easily lower the pitch angle of the aerial power system relative to the ground, which is very detrimental to both operational safety and power output. Utility Model Content

[0005] The purpose of this disclosure is to provide an aerial mooring system with a controllable lift-to-drag ratio.

[0006] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0007] An aerial mooring system includes a rotor, a main shaft, and a drive unit;

[0008] The rotor has its own buoyancy, which can balance the weight of the system. The rotor can rotate freely around the main shaft when subjected to force.

[0009] The two ends of the main shaft are symmetrically connected to the high-altitude work module, and the drive unit is used to adjust the rotational speed and / or direction of the rotor;

[0010] The total counterweight of the rotor and the drive unit is symmetrically distributed on the main shaft.

[0011] Preferably, the two ends of the main shaft are symmetrically connected to the high-altitude work module in a Y-shape by traction ropes.

[0012] Preferably, the drive unit includes a main drive motor, an energy storage module, and a power generation module;

[0013] The power generation module is used to convert wind energy into electrical energy, the energy storage module is used to store the electrical energy and supply power to the main drive motor, and the main drive motor is used to adjust the rotor speed and / or direction.

[0014] More preferably, the power generation module includes at least one first fan and at least one second fan respectively disposed on both sides of the rotor, the first fan and the second fan being connected to a generator motor, and the generator motor being connected to the energy storage module.

[0015] More preferably, the first fan and the second fan are Darrieux type fans;

[0016] The blades of the first and second wind turbines are symmetrical or asymmetrical arc-shaped structures, and the number of blades does not exceed 5.

[0017] More preferably, the Darrieux type wind turbine includes two drive wheels that can rotate freely relative to the main shaft. The drive wheels are connected to the blades via drive arms, and the drive arms can rotate freely relative to the blades.

[0018] Preferably, the pitch angles of the blades of the first and second fans are fixed.

[0019] More preferably, at least one of the first fan and the second fan is provided with an adjustment mechanism for adjusting the pitch angle of the blades.

[0020] Preferably, one of the two drive wheels is provided with a first limiting groove and an eccentric cam fixedly mounted on the main shaft on its side, and the eccentric cam is provided with a second limiting groove;

[0021] The two ends of the traveling pin are respectively restricted to move within the first limiting groove and the second limiting groove. The traveling pin is connected to the wing located on the same side of it via a driven arm. The driven arm can rotate freely relative to the wing and the traveling pin.

[0022] More preferably, the direction of the eccentric cam is adjustable.

[0023] The technical solution claimed in this disclosure mainly achieves the following beneficial effects:

[0024] 1) Based on the Magnus effect, any desired lift can be obtained by adjusting the rotor speed and / or direction, allowing for flexible control of the lift, lift-to-drag ratio, and traction angle of the aerial tethered system, without altitude limitations. Compared to traditional tethered systems such as helium balloons, this avoids the decrease in lift-to-drag ratio due to increased altitude or wind speed, and also avoids the inability to control the traction angle.

[0025] 2) Darrieux-type wind turbines have high power conversion efficiency, enabling them to continuously provide the necessary power to the rotor and other electrical equipment in the tethering system. Furthermore, because the pitch angle of the Darrieux-type wind turbine blades can be adjusted according to changes in the actual high-altitude environment, it can maintain the optimal angle of attack, thereby maximizing power generation efficiency.

[0026] 4) By adjusting the pitch angle of the Darrieux-type wind turbine blades on both sides of the rotor, the tethered system can be deflected in a predetermined manner. Furthermore, combining the adjustment of the wind turbine blade pitch angle with the adjustment of the rotor's direction / speed allows the tethered system to simultaneously achieve positional transfer in both horizontal and vertical directions within a certain spatial range, which is beneficial for obstacle avoidance or maneuvering in space. Compared to tethered solutions such as helium balloons, this system not only enables flexible space maneuvering but also features a simpler control method, a larger control range, and superior maneuverability. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1a This is a three-dimensional schematic diagram of the overall structure of the aerial mooring system.

[0029] Figure 1b This is a plan view of the overall structure of the aerial mooring system.

[0030] Figure 2 This is a schematic diagram of the Magnus effect.

[0031] Figure 3 A schematic diagram showing the adjustment of the traction angle of the high-altitude work module for the aerial mooring system.

[0032] Figure 4a This is a schematic diagram of the symmetrical airfoils of a Darrieux-type wind turbine.

[0033] Figure 4b This is a schematic diagram of the asymmetric blades of a Darrieux-type wind turbine.

[0034] Figure 5 A schematic diagram of a Darrieux-type wind turbine with a fixed blade pitch angle (4 blades).

[0035] Figure 6 A schematic diagram of a Darrieux-type wind turbine with variable blade pitch angle (4 blades).

[0036] Figure 7 This diagram illustrates how adjusting the angle of the eccentric cam can change the direction of force on a Darrieux-type fan.

[0037] Figure 8 A schematic diagram of adjusting the spatial orientation of an aerial mooring system.

[0038] Figure label:

[0039] 100-Rotor; 101-Main drive motor; 200-First fan; 201-First generator motor; 210-Second fan; 211-Second generator motor; 300-Main shaft; 400-First tethered arm; 410-Second tethered arm; 500-Traction rope; 600-Energy storage module; 700-Drive wheel; 701-Driven arm; 711-First limiting groove; 800-Eccentric cam; 801-Second limiting groove; 900-Traveling pin; 901-Driven arm. Detailed Implementation

[0040] To make the objectives, technical solutions, and beneficial effects of the embodiments in this disclosure clearer, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0041] The overall structure of the aerial tethered system provided in this embodiment is shown in Figure 1, including a rotor 100, a main shaft 300, and a drive unit. The rotor 100 has its own buoyancy, which can balance the weight of the entire system, and the rotor 100 can rotate freely around the main shaft 300 under force. The two ends of the main shaft 300 are symmetrically connected to a high-altitude work module (e.g., a work rope). The drive unit is used to adjust the rotational speed and / or direction of the rotor 100, and the total counterweight of the rotor 100 and the drive unit is symmetrically distributed on the main shaft 100.

[0042] In this embodiment, the rotor 100 is a Magnus effect rotor. Exemplarily, the rotor 100 is a sealed cylinder (or other suitable shape), its surface made of a lightweight, high-strength, radiation-resistant buoyancy ball material or other suitable material. An internal high-strength, lightweight skeleton, such as carbon fiber, can be installed to maintain a certain level of rigidity. The hollow portion of the rotor 100 is filled with helium or a helium-hydrogen mixture to maintain a certain degree of self-levitation capability, essentially balancing the weight of the entire system. The rotor 100 is mounted on the main shaft 300 via bearings. Driven by the drive unit, the cylindrical rotor 100 can rotate freely in both directions around the main shaft 100.

[0043] Figure 2 This illustrates the working principle of a Magnus effect rotor. According to the Kuta-Jukovsky lift formula, when the incoming flow velocity is v... ∞ When a fluid has circulation around a cylinder, the lift force L exerted by the fluid on the rotating cylinder of length b is equal to the fluid density ρ and the incoming flow velocity v. ∞ The product of the velocity circulation Γ, i.e.

[0044] L=-ρv ∞ Γb formula (1)

[0045] The direction of the lift force is determined by the velocity vector v of the incoming flow. ∞ It is determined by rotating 90° along the direction of the anti-circulation. Figure 2 The cylindrical rotor shown experiences lift perpendicular to the incoming flow direction, pointing upwards. If the cylinder reverses direction, the lift becomes perpendicular to the incoming flow direction, pointing downwards. Therefore, by adjusting the cylinder's rotational speed and direction based on real-time air density and velocity, any target lift can be obtained. Simultaneously, the drag contribution of the surrounding flow to the cylinder is zero; therefore, by controlling the cylinder's rotational speed, a target lift-to-drag ratio can also be obtained.

[0046] In a preferred embodiment, the drive unit includes a main drive motor 101, an energy storage module 600, and a power generation module. The power generation module converts wind energy into electrical energy, the energy storage module 600 stores the electrical energy and supplies power to the main drive motor 101, and the main drive motor 101 adjusts the rotational speed and / or direction of the rotor 100. Exemplarily, the power generation module includes at least one first fan 200 and at least one second fan 210 respectively disposed at both ends of the rotor 100. The first fan 200 and the second fan 210 are respectively connected to a first generator motor 201 and a second generator motor 211, and the first generator motor 201 and the second generator motor 211 are connected to the energy storage module 600.

[0047] In this embodiment, the rotor 100, main drive motor 101, first fan 200, first generator motor 201, second fan 210, second generator motor 211, and energy storage module 600 are symmetrically mounted on the main shaft 300 according to the counterweight, that is, the weight is symmetrically distributed at both ends with the center point of the main shaft 300 as the reference. In a preferred embodiment, the main shaft 300 is provided with a first tethering arm 400 and a second tethering arm 410 at both ends, and the ends of the first tethering arm 400 and the second tethering arm 410 are respectively used to attach the traction rope 500. The traction rope 500 is symmetrically fixed to the first tethering arm 400 and the second tethering arm 410 in a Y-shape, and the end is used to pull the aerial work component. The main shaft 300 does not rotate with the rotor 100 under the action of the traction rope 500.

[0048] In the preferred embodiment, the first fan 200 and the second fan 210 are Darrieux-type fans. Darrieux-type fans include H-type, φ-type, and triangular types. Darrieux-type fans have a simple structure, and their vertical design is insensitive to changes in wind direction, allowing them to adapt well to these changes. Furthermore, Darrieux-type fans have high wind energy conversion efficiency; when the tip speed ratio reaches approximately 4, the power coefficient of a fixed-blade Darrieux-type fan can reach 0.4 or even higher. However, Darrieux-type fans have relatively poor starting performance; generally, when the tip speed ratio is below 3, it is difficult to achieve self-rotation using lift alone. Therefore, external force is required to drive the tip speed ratio to the starting speed to maintain its rotation. This embodiment does not limit the type of Darrieux-type fan, but an H-type fan is preferred. By using a pitch control design, the airfoil angle of the H-type fan can be changed, achieving a certain increase in speed ratio and maneuverability control.

[0049] In this embodiment, the first generator motor 201 obtains electrical energy from the energy storage module 600 to drive the first wind turbine, i.e., the first Darius type wind turbine, to its starting speed. When the first Darius type wind turbine achieves stable rotation under lift, the first generator motor 201 switches to power generation mode, converting the rotational kinetic energy of the first Darius type wind turbine into electrical energy and storing it in the energy storage module 600, thereby continuously supplying power to the main drive motor 100 and other electrical devices in the system. Similarly, the second generator motor 211 obtains electrical energy from the energy storage module 600 to drive the second wind turbine, i.e., the second Darius type wind turbine, to its starting speed. When the second Darius type wind turbine achieves stable rotation under lift, the second generator motor 211 switches to power generation mode, converting the rotational kinetic energy of the second Darius type wind turbine into electrical energy and storing it in the energy storage module 600, continuously supplying power to various electrical devices in the system (necessary monitoring modules such as GPS, altitude sensor, wind speed sensor, communication module, etc.), achieving self-sufficiency in system energy consumption.

[0050] In this embodiment, since the weight of the entire tethered system is evenly distributed along the main shaft 300, the main shaft 300 will always remain basically horizontal with respect to the ground and perpendicular to the airflow direction under the action of high-altitude winds. In the initial stage of ascent, the rotor 100, filled with helium or a helium-hydrogen mixture, can drive the system to float and rise to a certain height, and autonomously align itself with the wind direction. According to formula (1), the lift can be increased when the incoming wind speed increases or the rotor speed is increased. Therefore, based on the preset lift and traction angle requirements, the system controls the main drive motor 101 to adjust the speed or direction of the rotor 100 in real time based on the real-time monitored wind speed, altitude, and GPS data, thereby achieving the predetermined target lift or lift-to-drag ratio and traction angle, and guiding the traction rope 500 to pull the aerial work module to the predetermined altitude and spatial position.

[0051] In such Figure 3 In the umbrella-ladder combined high-altitude wind power generation system shown, increasing the clockwise rotational speed of rotor 100 can increase lift and traction angle α; stopping or reversing rotor 100 can decrease lift and traction angle α. In other similar applications, the scheme of this embodiment can also achieve on-demand control of lift and traction angle.

[0052] In the preferred embodiment, to maximize the power generation efficiency of the first wind turbine 200 and the second wind turbine 210, and to optimize their weight and size structure, a suitable wind turbine airfoil can be selected according to different usage scenarios, and there is no limitation thereto. Figure 4 shows two preferred airfoils, in which... Figure 4a The NACA0018 airfoil shown is one of the airfoils with superior aerodynamic performance among common symmetrical airfoils. Figure 4b The airfoil shown is the NACA4418. Compared to symmetrical airfoils, this curved airfoil exhibits superior dynamic characteristics, such as vibration resistance. Depending on the needs, some local shape optimizations can be made to the airfoil to achieve a higher tip speed ratio and power generation efficiency. The first wind turbine 200 and the second wind turbine 210 are preferably designed with 3 to 4 blades, with a maximum of 5 blades; too many or too few blades are detrimental to improving power generation efficiency. The blades must be evenly distributed along the circumference of the wind turbine's rotation to ensure that the wind turbine's center of gravity is located on the axis of the main shaft 300.

[0053] In this embodiment, the first fan 200 and the second fan 210 can adopt a fixed blade pitch angle design, such as... Figure 5As shown. This structural design is simple to install. For most common airfoil designs, it can generate lift at angles of attack of 0–15 degrees, and particularly, it can generate significant lift with low drag at angles of attack of 8–13 degrees. The Darrieux-type wind turbine with a fixed airfoil pitch angle is well-suited for airspaces with relatively stable wind speeds, thus maintaining a stable angle of attack to drive the generator. However, when wind speeds vary significantly, the rotational speed must be adjusted in real-time through the coordination of the first generator motor 201 and the second generator motor 211 to prevent the turbine from stalling due to a sudden drop in tip speed ratio when subjected to sudden strong winds.

[0054] In a more preferred embodiment, the first wind turbine 200 and the second wind turbine 210 can employ a periodically variable blade pitch angle design to maximize power generation efficiency. This configuration can utilize methods such as cam pushrods or eccentric wheels to periodically adjust the blade angle of attack, which are not limited here. In an exemplary structure, Figure 6 The design of periodically changing the airfoil pitch angle using an eccentric cam 800 and a driven arm 901 is shown. This configuration can achieve pitch angle adjustment through mechanical structure only. It is simple in structure, requires no additional electromechanical control, and has a lower starting speed.

[0055] Specifically, such as Figure 6 As shown, the Darrieux-type wind turbine includes two drive wheels 700 that can rotate freely relative to the main shaft 300. Each drive wheel 700 is connected to a vane via a drive arm 701, which can rotate freely relative to the mounting shaft on the vane. One drive wheel 700 has a first limiting groove 711 and an eccentric cam 800 fixedly mounted to the main shaft 300 on its side. The eccentric cam 800 has a second limiting groove 801. The two ends of a traveling pin 900 are respectively restricted to move within the first limiting groove 711 and the second limiting groove 801. The traveling pin 900 is connected to the side of the corresponding vane via a driven arm 901, which can rotate freely relative to the mounting shaft on the vane and the traveling pin 900.

[0056] When the blade generates lift due to wind, it drives the drive wheel 700 to rotate via the drive arm 701, which in turn drives the generator motor to generate electricity. The eccentric cam 800, being fixed to the main shaft 300, does not rotate with the drive wheel 700. The travel of the travel pin 900 is simultaneously controlled by the first limiting groove 711 on the drive wheel 700 and the second limiting groove 801 on the eccentric cam 800. The limiting grooves can be exemplarily configured as annular grooves. When the driven arm 901 rotates with the blade, due to the limiting effect of the first limiting groove 711 and the second limiting groove 801, the driven arm 901 can drive the blade to periodically rotate relative to the drive arm 701 on the blade's mounting axis within a predetermined angle range. This allows for adjustment of the blade's pitch angle, achieving the optimal angle of attack, resulting in lower starting speed and higher wind energy conversion efficiency.

[0057] In a more preferred embodiment, the pitch angles of the first fan 200 and the second fan 210 can be adjusted asymmetrically. Under the active action of, for example, the electric motor, the horizontal balance of the aerial mooring system will be disrupted. With further wind force, the mooring system will undergo a predetermined deflection, thereby achieving maneuverable control of the aerial mooring system's spatial position, which is beneficial for obstacle avoidance or maneuvering. In this case, the pitch angles of the fan blades can be precisely adjusted by a micromotor or mechanically, without specific limitations.

[0058] In a preferred embodiment, the eccentric cam 800 is preferably fixedly mounted on the spindle 300 in an adjustable manner, and the eccentric cam can be controlled by, for example, a micro motor, and the specific method is not limited. Figure 7 An example is shown of the change in the force direction of a Darrieux-type fan when the angle of the eccentric cam is actively adjusted. When the direction of the eccentric cam 800 is adjusted by 180 degrees, although the rotation direction of the vanes does not change, the force direction of the fan changes by 180 degrees.

[0059] In another exemplary embodiment, the eccentric cams of the first Darrieux-type wind turbine and the second Darrieux-type wind turbine are adjusted to face opposite directions. Then, the Darrieux-type wind turbines are actively rotated by the first generator motor 201 and the second generator motor 211, thus achieving horizontal deflection of the tethered system. Under the influence of wind force in the air, the system will reach equilibrium again. Viewed from the air, the tethered system will exhibit a horizontal deflection relative to the ground base at a certain angle, thereby achieving maneuver control of its position change in the air. The deflection effect is as follows... Figure 8 As shown. Clearly, the deflection angle is related to wind speed and the rotational speed of the generator motor.

[0060] Based on adjusting the horizontal deflection, such as Figure 3As shown, if the rotational speed and / or direction of the rotor 100 are adjusted synchronously, the tethering system can also simultaneously achieve vertical maneuvering adjustments. That is, the tethering system can simultaneously achieve horizontal and vertical position transfers within a certain spatial range. Compared to traditional tethering solutions such as helium balloon tethering systems, the tethering system in this embodiment not only flexibly achieves spatial maneuvering, but also has a simpler control method, a larger control range, and more outstanding maneuverability.

[0061] The embodiments described above are merely illustrative descriptions of this disclosure and are not intended to limit the scope of this disclosure. Any modifications and improvements made by those skilled in the art to the technical solutions of this disclosure without departing from the spirit of this disclosure should fall within the protection scope defined by this disclosure.

Claims

1. An aerial mooring system, characterized in that, Includes rotor, spindle, and drive unit; The rotor has its own buoyancy, which can balance the weight of the system. The rotor can rotate freely around the main shaft when subjected to force. The two ends of the main shaft are symmetrically connected to the high-altitude work module, and the drive unit is used to adjust the rotational speed and / or direction of the rotor; The total counterweight of the rotor and the drive unit is symmetrically distributed on the main shaft.

2. The aerial mooring system according to claim 1, characterized in that, The two ends of the main shaft are symmetrically connected to the high-altitude work module in a Y-shape by traction ropes.

3. The aerial mooring system according to claim 1, characterized in that, The drive unit includes a main drive motor, an energy storage module, and a power generation module; The power generation module is used to convert wind energy into electrical energy, the energy storage module is used to store the electrical energy and supply power to the main drive motor, and the main drive motor is used to adjust the rotor speed and / or direction.

4. The aerial mooring system according to claim 3, characterized in that, The power generation module includes at least one first fan and at least one second fan respectively disposed on both sides of the rotor. The first fan and the second fan are respectively connected to a generator motor, and the generator motor is connected to the energy storage module.

5. The aerial mooring system according to claim 4, characterized in that, The first and second fans are Darrieux type fans; The blades of the first and second wind turbines are symmetrical or asymmetrical arc-shaped structures, and the number of blades does not exceed 5.

6. The aerial mooring system according to claim 5, characterized in that, The Darrieux-type wind turbine includes two drive wheels that can rotate freely relative to the main shaft. The drive wheels are connected to the blades via drive arms, and the drive arms can rotate freely relative to the blades.

7. The aerial mooring system according to claim 6, characterized in that, The pitch angles of the blades of the first and second fans are fixed.

8. The aerial mooring system according to claim 6, characterized in that, At least one of the first fan and the second fan is provided with an adjustment mechanism for adjusting the pitch angle of the blades.

9. The aerial mooring system according to claim 8, characterized in that, One of the two drive wheels is provided with a first limiting slide groove, and an eccentric cam fixedly installed on the main shaft is provided on its side. The eccentric cam is provided with a second limiting slide groove. The two ends of the traveling pin are respectively restricted to move within the first limiting groove and the second limiting groove. The traveling pin is connected to the wing located on the same side of it via a driven arm. The driven arm can rotate freely relative to the wing and the traveling pin.

10. The aerial mooring system according to claim 9, characterized in that, The direction of the eccentric cam is adjustable.

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