Hot-air balloon translating depending on autonomous power

Abstract

The utility model relates to a hot-air balloon translating depending on autonomous power. The hot-air balloon further comprises a main blowing and moving system and a balance wind paddle system on the basis of a standard hot-air balloon. The main blowing and moving system blows the balloon from the lower half single side of the hot-air balloon by manually operating the fan direction, the fan position and the wind power of an outwards-extending axial flow fan, so that the acting force for enabling the hot-air balloon to horizontally move is actively obtained; the balance wind paddle system is arranged in different directions of the bottom of the hanging basket and blows horizontal wind power with corresponding magnitude and direction to the bottom of the hanging basket according to the inclination degree of the balloon and the hanging basket and the offset degree of a main shaft between the balloon and the hanging basket, so that the hanging basket and the balloon of the hot-air balloon keep safe relative positions and postures under the dynamic condition. The active translation capacity of the hot-air balloon in the horizontal direction is achieved, and the hot-air balloon can resist the influence of certain external wind power; and a convenient, reliable and economical carrying tool is provided for low-altitude transportation under the road-free condition.

Description

Technical Field

[0001] This utility model relates to a novel hot air balloon, specifically a low-speed, high-load space transport vehicle. Background Technology

[0002] Currently, hydrogen balloons (airships) have been largely phased out due to their flammability and explosiveness, while helium balloons (airships) are difficult to mass-produce and promote due to their scarce resources. Fuel-powered aircraft are also facing increasing cost constraints due to the energy crisis, and new energy aircraft that use electric energy storage as a medium are also struggling to achieve good performance due to the energy density and power density of batteries. Meanwhile, hot air balloons have become increasingly popular in sports, photography, and tourism due to their lower flight costs and good loitering performance.

[0003] Hot air balloons are primarily teardrop-shaped, though some irregularly shaped balloons have obtained type approval certificates and are used for advertising and performances. Chinese patent application number 201710571315.5, "A control structure for the rotation or lateral movement of a hot air balloon," uses a "pull rope-Velcro" structure to control whether or not air is released from the vents on the side of the balloon, thus achieving the balloon's rotation and movement on the horizontal plane. However, because releasing air from the vents disrupts the static air layer on the balloon's surface, doubling the heat loss, it increases the balloon's instability and reduces control precision. As the amount of air released increases, buoyancy stability further decreases, and flight endurance is reduced, making it unsuitable for heavy-load flights. Chinese patent application number 201910913772.7, "A marine autonomous rescue device based on a hot air balloon," uses a wing and wing control system installed near the balloon's equator to achieve semi-controlled translational flight under tailwind and crosswind conditions. Chinese Patent Application No. 202220121883.1, "Hot Air Balloon Frame and Hot Air Balloon", describes a hot air balloon frame with an inflatable bladder inside the balloon bladder. This frame helps with the balloon's deployment before takeoff and prevents the balloon from collapsing when facing adverse airflow conditions such as wind shear during flight.

[0004] According to the International Balloon Council's classification, the maximum permissible total load for a standard hot air balloon (teardrop shape) heated to 100 and 121 degrees Celsius under standard conditions is as follows:

[0005]

[0006] The specific parameters of the hot air balloon case (level 10) used in this application are as follows:

[0007] The hot air balloon has a total height of 25.74 meters, a balloon height of 21.42 meters, a maximum balloon diameter of 19.86 meters, a balloon volume of 4400 cubic meters, a balloon bottom diameter of 4.42 meters, and a balloon vertical projected area of ​​617.50 square meters. The basket dimensions are as follows: maximum outer diameter of 2.6 meters, basket wall outer diameter of 2.2 meters, floor inner diameter of 1.9 meters, and basket height of 1.2 meters. The maximum permissible total load is 1320 kg. The maximum flame height of the main burner is 3 meters (continuous) and 5 meters (during ignition). The maximum climb speed is 5 meters per second, and the maximum descent speed after valve opening and flameout is 6 meters per second.

[0008] The standard operating environment and procedures for hot air balloons. Generally, it is stipulated that free flight is permitted only when the wind speed is less than 6 m / s, the visibility is greater than 1500 meters, and there is no precipitation in the airspace. Otherwise, it must be anchored and towed by the ground or grounded to ensure safety. When flying freely, the hot air balloon cannot actively change its horizontal direction. Its flight speed is the same as the wind speed, and it can only choose different wind belts by ascending or descending. Before commencing flight operations, a flight plan should be developed based on various factors: restrictions on no-fly and limited-fly zones, the location of the takeoff and landing points, the expected obstacles near the flight path and landing point, including time zone weather forecasts, weather reports, weather maps, and macro- and detailed weather information such as wind direction changes, low cloud cover, and low visibility due to smoke near the planned flight path, as well as performance charts of the hot air balloon itself, its payload, density altitude, etc., and flight information broadcast by other pilots in the planned flight area. However, during the flight, due to the aforementioned issues, uncertainties related to the crew and the hot air balloon itself, and abnormal situations when flying over densely populated areas, the original flight plan may have to be temporarily changed. During the flight, the crew should include at least a pilot and a flight assistant. The crew should implement the flight plan while monitoring the airflow around the hot air balloon in real time, so as to modify the flight plan as needed. The ground support team should consist of 3 to 4 ground personnel and ground vehicles, who should track the hot air balloon's flight throughout the flight and assist with takeoff and recovery. Before takeoff, the distribution and height of major obstacles in the downwind direction at the takeoff point should be counted, and the minimum safe distance from each obstacle should be calculated based on the wind distance in one minute at the local wind speed. After takeoff, the flight altitude at the midpoint between the takeoff point and the obstacle location should be used to determine whether it is necessary to accelerate (reduce weight) or open the valve to terminate the flight. The basis for determining whether to accelerate (reduce weight) or open the valve to terminate the flight is whether the hot air balloon has reached the critical height of 6 meters. After terminating the flight, the balloon should be taken back from the takeoff point until it reaches or exceeds the minimum safe altitude. Before the hot air balloon lands, the ground crew arrives at the landing site in advance. When there are no obstacles between the hot air balloon and the landing site, a low-altitude straight approach or a stepped descent approach can be used to easily achieve a landing. When there are obstacles such as buildings or tall trees between the hot air balloon and the landing site, the pilot needs to operate the hot air balloon to pass over the obstacle at an altitude of more than 100 meters above the obstacle before landing to ensure a safe landing. At this time, the angle between the line connecting the top of the obstacle and the bottom of the hot air balloon, measured from the perspective of the crew, and the horizontal plane should be greater than the descent angle formed by the horizontal movement speed and the descent speed of the hot air balloon.Once the hot air balloon has passed all obstacles at a safe descent angle, the crew recalculates the target angle for the landing point and adjusts the descent speed. After descending to within the length of the anchor rope, the ground crew uses the lowered anchor rope to assist in the landing. If the hot air balloon approaches an obstacle at an excessive descent angle, the pilot needs to over-exhaust and over-explode the air for a period of time to adjust the angle and avoid the obstacle before landing at the landing point. If the pilot misses the landing point due to over-operation, a new landing point must be selected and a new landing procedure must be formulated on the spot.

[0009] Near the ground, wind speed and direction change significantly due to the influence of terrain and buildings. Wind direction can often change dramatically, even reverse, within a range of a few meters to tens of meters, and the wind distribution varies at different times of day. Unstable air currents affecting hot air balloon flight also include pseudo-lift, wind shear, vortices, and thermal updrafts. Vortices, because their force exceeds the balloon's capabilities, can only be encountered by either flying over them from a high altitude or following their ascent and descent points. Thermal updrafts are small-scale updrafts; their energy can be utilized during launch or by waiting for the updraft to dissipate before descending. When a hot air balloon encounters horizontal winds near the ground due to its size and shape, the wind speed on the balloon's surface increases, leading to a greater dynamic-static pressure difference. This results in a low-pressure area above the balloon, creating an upward suction force—pseudo-lift. As the balloon ascends vertically, this low-pressure area rapidly contracts until it disappears, and the pseudo-lift also disappears quickly. The pseudo-lift phenomenon is more pronounced when the wind speed is greater than 4 m / s. The pseudo-lift is even more significant when the balloon lands, exhibiting a greater force and disappearing more rapidly as it descends to a certain level. Wind shear is a vortex or eddy generated when the wind speed gradient along a given direction (vertical or horizontal) is relatively large, forming turbulence. Wind shear will cause hot air balloons to encounter strong updrafts and downdrafts and sudden horizontal movements. For balloons without frame support, it will cause serious abnormalities such as balloon compression deformation and displacement between the balloon and basket longitudinal axis. If the burner is still burning at this time, the side of the balloon, the balloon reinforcement belt or reinforcement rope will approach or even enter the flame zone, causing damage to the hot air balloon structure. In the end, the balloon opening will shrink and become blocked, tearing the balloon from the inside, ultimately leading to significant losses. Summary of the Invention

[0010] In view of this, the present invention aims to provide a hot air balloon that moves horizontally by autonomous power, giving full play to the advantages of hot air balloons in terms of good hovering ability and low energy consumption, and providing an economical and reliable means of transportation for heavy loads at medium and low altitudes.

[0011] To solve the above-mentioned technical problems, the hot air balloon that moves by autonomous power provided by this utility model also includes: a main blower module, a main blower driver, a main blower base, a balance propeller and its electric drive assembly, an angle sensing assembly, a drive power supply, and a balance controller (Balance Control Unit, abbreviated as BCU).

[0012] The ascending and descending operation of the self-powered hot air balloon is the same as that of a conventional hot air balloon. Its horizontal movement is achieved by the coordinated operation of the main blowing system and the balancing propeller system. The main blowing system includes a main blowing fan module, a main blowing fan base, and a main blowing fan driver, which is operated manually by the crew. The balancing propeller system consists of a balancing propeller and its electric drive assembly, an angle sensing assembly, and a balance controller. It is automatically controlled by the balance controller by default, but can be switched to manual control when necessary. Both systems are powered by a drive power supply.

[0013] The main air-moving fan module is rigidly connected to an axial flow fan, an air outlet guide shroud, and a movable front fork. The main air-moving fan module blows upwards or diagonally upwards from the outside of the basket, causing the outer side of the hot air balloon's bladder to move in the opposite direction after being subjected to unilateral wind force. In addition to providing mechanical connection, the movable front fork also serves as the wiring function for the control circuit. A set of hemispherical grooved bearings with reinforced bearing layers are evenly arranged on the lower side of the main beam of the movable front fork to connect with the spherical support point on the main air-moving fan base to form a detachable ball joint. The end of the movable front fork branches into a T-shape as an operating handle, and a safety rope loop is provided on the movable front fork to prevent the main air-moving fan module from accidentally falling.

[0014] The main blower fan module can achieve five-dimensional movement during operation, including four-dimensional movement at the detachable ball joint fulcrum: the operator can rotate the operating handle of the movable front fork around the ball joint fulcrum in up-down and left-right angles to make the fan at the other end rotate around the ball joint fulcrum in up-down and right-left angles, and rotate the fan around the main shaft of the movable front fork in left-right angles. After the operator disconnects the main blower fan module circuit, he can hold the operating handle with one hand and lift the middle section of the movable front fork with the other hand to separate the hemispherical groove from the spherical fulcrum. He can then move it back and forth to adjust the extension and retraction of the main blower fan module as a whole from the basket, and lower the movable front fork at a suitable position to cooperate with the detachable ball joint to form a new position.

[0015] The main blower fan base has a sliding groove supporting a ball joint. The main blower fan base is fastened to the basket wall, and the sliding groove is flush with the upper edge of the basket. The ball joint is fixed to the sliding groove by fixing bolts and T-nuts. Tightening the bolts and T-nuts can fix the spherical fulcrum to the sliding groove or loosening it can allow it to move along the sliding groove, thereby enabling the main blower fan module to move left and right on the sliding groove via the three-dimensional ball joint. The radius of the sphere constituting the ball joint is smaller than the radius of the hemispherical groove tile it connects to. The greater the difference between the two radii, the greater the range of rotation of the main blower fan module around the main shaft of the movable front fork. However, an excessively small sphere radius will affect the support strength of the ball joint. The difference between the two radii of the ball joint needs to be determined based on the angle range of the hot air balloon bladder when the main blower fan module rotates around the main shaft of the movable front fork, thereby determining the absolute value range of the two radii of the ball joint. Since the side wall of the basket that fixes the main blower fan base... Several pillars exist between the fixed heater and the upper support of the suspended basket, dividing the main blower fan base surrounding the suspended basket into different sections. Therefore, a spherical fulcrum is provided in the slide groove of each section of the main blower fan base. When the ball joint moves to the point where it needs to cross the pillar, simply lift the movable fork, retract the main blower fan module, and go around the pillar to assemble a new ball joint at the spherical fulcrum of the new section. If the size of the main blower fan module is larger than the diameter of the suspended basket due to the extended movable fork, simply pass one end of the operating handle through the suspended basket between the two pillars on the opposite side, adjust the direction and angle, and then pass it back in the opposite direction. When disassembling and assembling the ball joint, pay attention to the wiring range of the main blower fan module circuit. If the main blower fan module needs to move beyond the circuit wiring range, the main blower fan module circuit should be disconnected first, and then the circuit should be reconnected after the ball joint is restored.

[0016] The slide of the main blower base has an opening section inside one of the support columns of the basket. The opening section is connected and fixed by a grooved connector that is bent according to the curvature of the slide. The bending direction of the grooved connector is consistent with the bending direction of the slide when it is installed in the slide. After removing the opening section, the bent grooved connector is installed from the opening of the slide and its curvature is checked to ensure that it can move smoothly in the slide. This results in a grooved connector with the same curvature. After all the grooved connectors with the same curvature are pushed into the slide, the opening section can be reinstalled. At this time, the grooved connectors with the same curvature are moved along the slide until they overlap with the opening section to lock the opening section and ensure that the slide is a closed track. After moving the grooved connectors with the same curvature along the slide until they separate from the opening section, the opening section can be removed again and the slide can be reopened. After opening the slide groove from the cut section, insert the T-nuts into the slide groove from the cut. After inserting the same number of T-nuts as the slide groove sections, move each T-nut along the slide groove to each section of the slide groove. Then reinstall the cut section and lock it with the grooved strip connector with the same curvature. At this time, use the bolts under the spherical support to screw into the T-nuts through the slide groove opening to obtain the spherical support points distributed along the slide groove between each suspended platform support.

[0017] The main blower fan driver is fixedly installed inside the basket and is matched with the axial flow fan main shaft motor to control the latter's airflow. It is powered by a drive power supply and supplies power to the main blower fan module axial flow fan through the main blower fan module movable front fork. The power supply circuit has a switch near the operating handle of the movable front fork to manually control the start and stop of the axial flow fan. The drive circuit housing has manual coarse adjustment and manual fine adjustment controls, and the speed adjustment input is led to the operator's side through the circuit so that the operator can control the fan speed at any time when operating the main blower fan module in different directions.

[0018] The balancing propeller system includes at least two sets of balancing propellers of the same size and their electric drive assemblies, distributed in two perpendicular directions on the bottom plane of the basket and located at the bottom of the basket. The rotor of the balancing propeller consists of two blades and extends out of the basket via a main shaft. The diameter of the blades is smaller than the diameter of the basket to prevent the blades from colliding with each other when adjacent propellers rotate simultaneously. When the hot air balloon lands, the rotor remains horizontal and flush with the bottom plate of the basket. The electric drive system of the balancing propeller can only be powered on to make it rotate after the flight altitude of the hot air balloon exceeds the safe rotation range of the rotor blades. When the balancing propeller rotates, the upper semicircle of the rotor area coincides with the projection plane of the basket and does not generate the main thrust, while the lower semicircle protrudes from the bottom plate of the basket and is the main thrust generation area. The main shaft of the balancing propeller is driven by a servo motor located inside the basket, which gives it the advantages of flexible forward and reverse rotation, adjustable speed and the ability to quickly reach the specified speed, and fast response speed. The section of the main shaft of the balancing propeller located inside the basket is also equipped with a mechanical interface as an external power input interface. When the hot air balloon lands, the main shaft can be manually rotated after the electric drive system of the balancing propeller is powered off so that the propeller blades return to the level angle position when landing.

[0019] Furthermore, when the balancing wind turbine system is configured with two sets of vertically distributed balancing wind turbines and their electric drive assemblies, the balance adjustment in four directions (front, back, left, and right) can be achieved by rotating each set of balancing wind turbines in both directions. Alternatively, a set of balancing wind turbines and their electric drive assemblies can be arranged at corresponding positions on the front, back, left, and right sides of the suspended platform to enhance the effect of the balancing wind turbine system. In this case, it should be ensured that the two sets of balancing wind turbines on the same axis rotate in the same direction and do not generate mutually canceling wind forces. When the size of the suspended platform is larger, more balancing wind turbines and electric drive assemblies can be arranged side by side at the same height to obtain a stronger balancing effect.

[0020] Furthermore, the balancing propeller and its electric drive assembly can be automatically controlled by the balancing controller, or the balancing controller can be manually controlled to control the balancing propeller electric drive and even the balancing propeller. When it is anticipated that the hot air balloon will tilt, the balancing propeller can be started in advance to compensate for the inertial lag response of the balancing propeller system. When the balancing propeller system cannot run automatically due to a power outage, the servo motor main shaft connection needs to be disconnected from the mechanical interface of the balancing propeller main shaft and the balancing propeller needs to be driven directly by manpower. If it is driven manually due to insufficient power, a suitable landing point should be found as soon as possible and driven manually to achieve vector approach landing. After timely landing, the power should be replenished.

[0021] The hot air balloon, which moves horizontally under its own power, is subjected to three forces in the horizontal direction: external wind force, the horizontal reaction force of the axial flow fan blowing the balloon, and the wind force acting directly on the bottom of the basket when the balancing propeller rotates. Among these, the horizontal reaction force generated by the axial flow fan and the wind force generated by the balancing propeller are necessarily not on the same straight line, and the external wind force acting on a large hot air balloon is often not on the same straight line as the other two forces. In this case, the hot air balloon will inevitably be subjected to torque under the action of multiple forces in the vertical plane. In addition, the vertical reaction force of the axial flow fan blowing the balloon and the vertical torque of the wind force outside the main axis of the hot air balloon basket, the total torque after the superposition of the two types of torques often fluctuates in the positive and negative directions.

[0022] When there is no external wind interference, the axial flow fan of the self-powered hot air balloon moves in the same direction as the resultant force of the balancing propellers. In particular, when the axial flow fan's direction is consistent with the direction of a single balancing propeller, only that balancing propeller rotates and generates force. In this case, if the axial flow fan's wind force is very small, the gravity acting on the basket is greater than its own inertia, thus keeping the basket moving with the balloon with minimal deviation in their axes, similar to the drifting motion of a regular hot air balloon in a weak wind. However, if the axial flow fan's wind force is too strong, causing the balancing propellers to operate at maximum power, the main axis of the basket will also struggle to keep up with the main axis of the balloon, similar to a regular hot air balloon encountering strong winds or wind shear. In this case, the main flow fan module should be immediately turned down to restore the alignment between the basket and the balloon. If necessary, the balancing propellers and heaters should also be shut down. At this time, the air pressure inside the balloon and any leaks should be checked. Only after the balloon's shape and heaters have returned to normal can the main flow fan module and balancing propellers be reopened to continue the translation.

[0023] When the direction of the external wind is the same as the direction of the hot air balloon's translation by its own power, it is equivalent to flying with the wind. At this time, the main blower module can be turned off, and only the balancing propeller can be used to make the basket follow the balloon. Obviously, the permissible wind range for hot air balloon flight is increased after adopting the balancing propeller system. If the main blower module is turned on at this time, and the axial fan blows the balloon in the target direction, the translation speed of the hot air balloon will undoubtedly be accelerated. If the external wind is too strong, and the maximum wind force of the balancing propeller alone cannot maintain the balance between the basket and the balloon, the main blower module can be turned on in the opposite direction, so that the axial fan blows the balloon in the opposite direction of the external wind. Then, under the combined action of the main blower system and the balancing propeller system, the permissible wind range for hot air balloon flight is further expanded.

[0024] When the direction of the external wind is opposite to the direction of translation of the hot air balloon powered by its own force, it is equivalent to flying against the wind. It is necessary to first assess whether this headwind is a short-lived gust or a long-term continuous headwind. It is also necessary to distinguish whether the external wind is blowing uniformly across the balloon, or whether wind shear is primarily affecting the lower half or upper half of the balloon. For headwinds that are uniformly blowing across the entire balloon, when the force of the axial fan covering more of the balloon surface is greater than the force of the external wind, the balloon tends to tilt forward. In this case, the balancing propellers should be aligned with the direction of the main airflow fan module, pushing the basket forward. When the force of the axial fan is concentrated in a small area at the base of the balloon, the balloon tends to tilt backward. In this case, the balancing propellers should be aligned with the direction of the main airflow fan module, pushing the basket backward—prioritizing the balance between the balloon and the basket before considering translation operations. For cases where wind shear is mainly concentrated in the upper hemisphere of the balloon and the balloon tends to tilt backward, the analysis and handling are similar to the second case mentioned above. For cases where wind shear is mainly concentrated in the lower hemisphere of the balloon and the balloon tends to tilt forward under the blowing force of the axial flow fan, the analysis and handling are similar to the first case mentioned above. In this case, more attention should be paid to the deformation near the balloon opening under the action of the resultant force. If the balloon opening is excessively deformed due to the compression of the resultant force, the heater should be turned off in time, and the operating handle of the moving fork of the main blower module should be raised to make the axial flow fan blow outward at the angle as flat as possible. At the same time, the output of the balancing impeller should be increased to alleviate the deformation. After the balloon deformation is restored, the heater should be turned on to continue the translation operation. When the outside wind force is greater than the combined force of the maximum horizontal component of the main blower module blowing the balloon and the maximum force of the balancing propeller, and it is a long-term continuous headwind, the balloon's translational capability limit has been exceeded. In this case, a landing point should be selected on the leeward side, and the balloon should be landed as soon as possible and the translational operation should be stopped. When the outside wind force is greater than the force of the main blower module blowing the balloon, and it is a short-term gust, the wind force of the main blower module can be appropriately increased to keep the balloon hovering in place or allow a small amount of backward movement. After the gusts pass, the balloon can continue to move forward.

[0025] When the external wind direction is not in the same direction as the translation direction of the self-powered hot air balloon, resulting in a crosswind component, it is equivalent to crosswind flight. In this case, the wind direction should be decomposed into parallel wind direction and crosswind direction according to the translation direction of the hot air balloon and considered separately: For the parallel wind direction, it is necessary to first determine whether it is a tailwind in the same direction as the translation direction of the hot air balloon or a headwind in the opposite direction to determine the blowing direction and magnitude of the blowing force component of the main blower module in the translation direction of the hot air balloon. For the crosswind direction, it must be regarded as a headwind flight situation, and the main blower module must be rotated around the main axis of the hot air balloon in the opposite direction of the crosswind direction by a certain angle to generate a blowing force to counteract the crosswind direction, thereby ensuring that the self-powered hot air balloon moves along the horizontal direction. The balloon should move in the opposite direction without lateral movement. For orthogonal winds, if the wind force is too strong, even when the main blower module is blowing at a completely opposite angle, it cannot counteract the wind force. This is similar to an excessively strong headwind exceeding the balloon's translational capacity limit, making it unable to provide a component of wind along the balloon's translational direction. In this case, a landing point should be selected on the leeward side, and the balloon should be landed as soon as possible, and the translational operation should be stopped. When the orthogonal wind does not exceed the balloon's translational capacity limit and the parallel wind direction is a headwind opposite to the balloon's translational direction, this is a crosswind. The main blower module should be rotated around the balloon's main axis to a direction angle opposite to both component winds, while ensuring a direction orthogonal to the balloon's translational direction. After balancing, increasing the output power of the main blower module can increase the translation direction angular component. When the main blower module outputs maximum power and, while ensuring balance with the orthogonal direction of the hot air balloon's translation, still cannot counteract the force of the crosswind or parallel wind, this is similar to the previous stage where the headwind was too strong and exceeded the translation capacity limit of the hot air balloon. A landing point should be selected on the leeward side, and the balloon should be landed as soon as possible and the translation operation stopped. When the orthogonal wind direction does not exceed the translation capacity limit of the hot air balloon and the parallel wind direction is a downwind in the same direction as the hot air balloon's translation, this is a crosswind. Crosswinds are further divided into weak crosswinds and strong crosswinds: when the crosswind is weak, the working margin is larger, and it can ensure... After balancing in a direction orthogonal to the balloon's translational direction, the operational needs will determine whether to increase the output power of the main blower module to rotate it around the balloon's main axis to increase the translational angle and thus increase the thrust component in the translational direction, or simply maintain the output power of the main blower module while ensuring balance in a direction orthogonal to the balloon's translational direction to save total endurance energy. When the wind is too strong and a crosswind, after ensuring balance in a direction orthogonal to the balloon's translational direction, the output power of the main blower module should be increased and the main blower module rotated around the balloon's main axis to an angle opposite to the parallel wind direction, i.e., blowing in a direction to the side and rear of the balloon's translational direction, to maintain the balance of the basket and balloon.

[0026] Furthermore, regardless of how external wind force, the main blower module, and the balancing propellers act on the balloon and even the hot air balloon itself, it is essential to ensure that the main shafts of the basket and the balloon are aligned and vertical. Any misalignment or deflection of the two main shafts of the balloon and basket will quickly cause the basket's main shaft to tilt under the tension of the ropes. This situation can be monitored not only by the crew's perception and prediction but also by a tilt sensor assembly fixedly mounted on the basket. This tilt sensor assembly includes all tilt sensors, sensor signal lines, sensor fasteners, etc. When the selected sensors are open-source devices, it also includes a power supply line. The tilt sensors can be mechanical, electronic, or a combination thereof, but all should reliably reflect the tilt direction and angle of the basket and provide a signal to the balancing propeller system.

[0027] The balance control unit can be implemented by a logic control circuit or a microcontroller. It includes at least the functions of controlling the balance propeller and its drive assembly, as well as the function of acquiring signals from the tilt angle sensing assembly. When using a more complex logic control circuit or microcontroller control, the functions of acquiring and comprehensively analyzing other status signals can also be added. When the balance propeller is manually controlled, attention should be paid to shielding the signal interference from the tilt angle sensing assembly.

[0028] The drive power source can be a battery pack, a generator, or both. The power supply targets include the main blow-down system and the balancing propeller system, and can also provide emergency charging for active equipment carried by the crew. The drive power source also includes rectifiers, transformers, step-up and step-down transformers, etc., to provide AC and DC power of various voltages. If only the battery pack provides power and the motors of the main blow-down system and the balancing propeller system are AC driven, an inverter is also required. When a gas generator set is selected, gas can be obtained from the hot air balloon fuel system through a split manifold to generate electricity.

[0029] The main blower module blows artificial wind from below onto the outer side of the lower half of the hot air balloon capsule, creating an artificial wind of appropriate size, direction, and point of force. This wind, in turn, propels the capsule in the desired direction by the horizontal reaction force of the reflected airflow.

[0030] By designing a detachable ball joint and sliding groove between the main blower module and the main blower base, the main blower module achieves five-dimensional motion capability and a motion fulcrum. Together with the speed adjustment function of the main blower module, it achieves the effect of five-dimensional blowing of the hot air balloon bladder. The five-dimensional motion includes three-dimensional rotational motion around a single ball joint, forward and backward extension motion of disassembling the ball joint, and left and right translational motion between the ball joint and the sliding groove. The effect of five-dimensional blowing of the hot air balloon bladder includes the point of force of the airflow blown by the main blower module on the three-dimensional curved surface of the bladder and the adjustment of the force angle of the airflow pitching and deflecting around the point of force. The detachable ball joint includes a spherical fulcrum and a set of spherical hemispherical groove tiles at the bottom of the main beam of the main blower module. The large circle arc angle of the hemispherical groove tile is larger than the angle of view of the bladder from the hot air balloon basket, and when the large circle arc of the hemispherical groove tile is the dominant arc, its bottom circle radius is larger than the radius of the spherical fulcrum.

[0031] An electrically controlled axial flow fan is fixed at the outer end of the long straight main beam. The operator has two hands operating the fan at a suitable height and angle to reliably control the mechanical movement of the main blower module. This ensures the operating conditions of the main blower module's extension distance and power, thus providing a guarantee for controlling the active translation of the hot air balloon.

[0032] At least two sets of balancing propellers and their electric drive assemblies are arranged in two dimensions at different angles on the bottom plane of the suspended platform, and they work together to drive the suspended platform in different directions on the horizontal plane.

[0033] The beneficial effects of this utility model are as follows:

[0034] A. When the hot air balloon lands, it can provide a balancing force that keeps it stationary in the horizontal direction, creating conditions for the ground to pull down and land by fixing the anchor rope. The fixed anchor rope pull down can eliminate the interference of false lift on the landing, thereby reducing the number of invalid landings, increasing the hot air balloon's ability to select and pass landing sites, and increasing reliability and safety, while reducing the workload of ground crew to take detours for tracking.

[0035] B. When the hot air balloon takes off, it can reduce the requirements for the "initial rate of ascent" and "rate of climb" during takeoff and departure, thus saving more fuel and completing the takeoff and departure process in a more relaxed atmosphere. Because it has the ability to autonomously avoid obstacles, it is not limited by the halfway point height restriction between the balloon and obstacles, which requires speeding up or valve opening to terminate the flight, thereby saving energy loss from speeding up. It also increases the balloon's ability to select and pass through takeoff locations and further reduces the workload of ground support.

[0036] C. During the flight of the hot air balloon, it can achieve autonomous horizontal flight in windless environments and headwind flight at a certain wind speed. It also increases the flight speed when flying with the wind and the stability control capability when flying with the wind in excessively strong winds. When encountering strong shear gusts that cause the balloon's longitudinal axis to shift vertically, the timely activation of the balancing propellers helps to counteract the vertical displacement, avoiding misalignment and burning of the hot air balloon structure after the "balloon-basket fire point" shifts, as well as catastrophic chain accidents, thereby improving safety.

[0037] D. It has greater tolerance and options when formulating flight plans, and the ability to actively avoid obstacles when designing takeoff procedures and approach and landing, which greatly enhances the possibility of safe flight.

[0038] E. In case of insufficient power or abnormal electric drive conditions, manual operation can be used instead of electric drive, ensuring reliability; or the main blower module can be stored in the basket and the balance propeller can be attached to the side wall of the basket, thus integrating with the basket. In this case, it can still perform flight missions as a traditional hot air balloon, further ensuring reliability.

[0039] F. Due to the dynamic characteristics of low wind pressure and moderate power when the main blower module blows the balloon, the axial flow fan in it is required to operate at low speed and moderate air volume. Therefore, it has low noise, low energy consumption, and is more environmentally friendly; which is conducive to promoting the realization of the energy-saving goal of "replacing oil with electricity".

[0040] G. After the hot air balloon acquires the above-mentioned functions and energy efficiency advantages, it can complete space hoisting tasks with higher operational precision under calmer conditions. Moreover, its hoisting height and the size of the hoisted object are not limited, and the hoisting load can reach hundreds of kilograms or even more, which greatly reduces the cost of hovering. It provides a convenient and efficient transportation tool for infrastructure and special activities in mountainous forests, farmland, rivers, lakes and seas where there are no roads. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the hot air balloon that moves by autonomous power, which is an embodiment of this utility model.

[0042] Figure 2 This is a top view of the hot air balloon basket that moves autonomously under its own power, without the main blower module, which is an embodiment of this utility model.

[0043] Figure 3 This is a side sectional view of the hot air balloon basket that moves autonomously under its own power, without the main blower module, which is an embodiment of this utility model.

[0044] Figure 4The images show a side view and a bottom view of the main blower module of the hot air balloon that moves autonomously, which is an embodiment of this utility model.

[0045] Figure 5 This is a tilted view near the operating handle of the main blower module of the hot air balloon that moves by autonomous power, which is an embodiment of this utility model.

[0046] Figure 6 This is a magnified perspective view of the details of the spherical crown surface inside the hemispherical groove tile at the ball joint where the main blower module of the hot air balloon, which is powered by autonomous translation, connects to the main blower base.

[0047] Figure 7 This is a schematic diagram of the 72-degree angle range of the hot air balloon balloon that is vertically pulled upward by the main blower module when it is moved by the balloon balloon by autonomous power to move horizontally in an embodiment of this utility model.

[0048] Figure 8 The schematic diagram shows the movable front fork main beam at the ball joint of the hot air balloon main blower module and the main blower base, which is a simplified diagram of the hemispherical groove tile large arc of the beam. The ball joint is pointing upwards at the minimum boundary of 72 degrees and is critically engaged at the maximum rotation angle of 36 degrees.

[0049] Figure 9 The schematic diagram shows the movable front fork main beam at the ball joint of the hot air balloon main blower module and the main blower base, which is a simplified diagram of the hemispherical groove tile large arc at the maximum boundary angle of the major arc. The ball joint is pushing upwards, and the ball joint can just pass through the bottom circle of the hemispherical groove tile to achieve disassembly and assembly. It is also a half-section diagram when it is critically engaged at the maximum rotation angle of 36 degrees.

[0050] Figure 10 This is a schematic diagram of the groove structure and cross-section of the profile used for the main blower base of the hot air balloon that moves by autonomous power, which is an embodiment of this utility model.

[0051] Figure 11 The diagram shows the T-shaped nut used in the main blower base of the hot air balloon that moves by autonomous power, viewed from the front, top, and oblique angles, respectively, as part of an embodiment of this utility model.

[0052] Figure 12 This is a partial cross-sectional view of the connection between the ball joint and the slide groove on the main blower base of the hot air balloon that moves by autonomous power, which is an embodiment of this utility model.

[0053] Figure 13 This is a diagram showing the location distribution of the cut section of the T-nut for the sliding groove of the main blower base of the hot air balloon that moves by autonomous power within the basket, which is an embodiment of this utility model.

[0054] Figure 14 This utility model describes the grooved connector used before bending when disassembling and assembling the T-nut of the sliding groove of the main blower base of the hot air balloon that moves by autonomous power.

[0055] Figure 15 This utility model embodiment uses a grooved connector with the same curvature for the T-nut of the sliding groove of the main blower base of a hot air balloon that moves by autonomous power.

[0056] Figure 16 This is a schematic diagram showing the opening and locking of the cut section of the sliding groove of the main blower base of the hot air balloon that moves by autonomous power during the installation and removal of the T-nut, which is an embodiment of this utility model.

[0057] Figure 17 The mechanical interface of the balancing propeller of the hot air balloon that moves by autonomous power in the basket is used as an embodiment of this utility model.

[0058] Figure 18 This is a schematic diagram showing the main blower module with its crossbeam resting on the basket when it is not in use due to the extended movable fork.

[0059] Figure 19 An endoscopic view of the cabin door of a hot air balloon that moves autonomously under its own power, after being made transparent, as an embodiment of this utility model.

[0060] Figure 20 This is a side half-sectional view of a hot air balloon that moves by autonomous power, which is an embodiment of this utility model.

[0061] Figure 21 This is a schematic diagram of the wind direction of a hot air balloon that moves horizontally by its own power when flying with the wind, which is an embodiment of this utility model.

[0062] Figure 22 This is a schematic diagram of the wind direction of a hot air balloon that moves independently under its own power when flying against the wind, which is an embodiment of this utility model.

[0063] Figure 23 This is a schematic diagram illustrating the autonomously powered translational hot air balloon, which, during flight, encounters winds perpendicular to the target direction and actively blows at an angle.

[0064] Figure 24 This is a schematic diagram of a hot air balloon that moves by autonomous power as an embodiment of this utility model, where the wind direction it receives is inconsistent with the direction of active blowing, resulting in the balloon being tilted and pulled.

[0065] Figure 1 —— Figure 24 middle:

[0066] 1. Main blower fan module, 11. Axial flow fan, 12. Air outlet guide shroud, 13. Movable front fork, 131. Movable front fork simplified beam, 14. Operating handle, 15. Safety rope shackle, 16. Hemispherical groove tile, 17. Switch and speed control input on the operating handle, 18. Pluggable power and control cable, 2. Balance propeller and its electric drive assembly, 21. Balance propeller, 22. Servo motor driving the balance propeller, 23. Mechanical interface on the balance propeller main shaft, 24. Motor driver for the longitudinal and transverse balance propellers, 3. Balloon, 4. Basket, 41. Support column, 42. Heater, 43. Safety rope, 5. Main blower fan driver, 6. Main blower fan base, 61. Spherical pivot, 611. Bolt, 62. Slide groove, 621. Slide groove opening, 622. Slide groove bottom, 623. Slide groove yoke, 624. Cut section, 625. Corresponding groove curvature strip connector, 63. T-nut, 631. T-nut lug, 632. T-nut screw hole, 7 drive power supply, 71 fuel bottle, 8 tilt sensor assembly, 81 tilt sensor, 82 sensor signal line, 9 balance controller. Detailed Implementation

[0067] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0068] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 , Figure 20 , Figure 21 , Figure 22 , Figure 23 and Figure 24 , Figure 1 This is a schematic diagram of the hot air balloon that moves independently under its own power, according to an embodiment of this utility model. Figure 2 , Figure 3 The following are top and side sectional views of the hot air balloon basket 4, which is powered by autonomous translation and does not include the main blower module 1, in an embodiment of this utility model. Figure 4 , Figure 5This is a side view, a bottom view, and a tilted view near the operating handle 14 of the main blower module 1 of the hot air balloon that moves by autonomous power, according to an embodiment of this utility model. Figure 6 This is a perspective view of the enlarged detail of the spherical hinge at the junction of the main blower module 1 and the main blower base 6 of the hot air balloon, which is moved by autonomous power in this embodiment of the utility model. The view shows the inner spherical crown surface of the hemispherical groove tile 16. Figure 7 This is a schematic diagram showing the 72-degree angle range of the hot air balloon bladder 3, which is vertically pulled upwards by the basket 4 by the main blower module 1 when it is moved by the air balloon bladder 3 using autonomous power translation, as an embodiment of this utility model. Figure 8 , Figure 9 The diagram shows a simplified view of the main beam of the movable front fork 13 at the ball joint where the main air blower module 1 of the hot air balloon, which is powered by autonomous translation, connects to the main air blower base 6. The diagram also shows the hemispherical groove tile 16 at the angles of the smallest and largest large arc boundaries, with the ball joint pointing upwards and critically engaging at the maximum 36-degree rotation angle. Finally, it shows a half-section view at the maximum boundary angle where the ball joint can just pass through the bottom circle of the hemispherical groove tile 16 for assembly and disassembly. Figure 10 This is a schematic diagram of the slide groove 62 structure and cross-section of the profile used in the main blower base 6 of the hot air balloon that moves by autonomous power in an embodiment of this utility model. Figure 11 This is a structural schematic diagram of the T-nut 63 used in the main blower base 6 of the hot air balloon that moves by autonomous power in an embodiment of this utility model, viewed from the front, top, and oblique angles. Figure 12 This is a partial sectional view of the connection between the ball joint and the slide groove 62 on the main blower base 6 of the hot air balloon that moves by autonomous power in an embodiment of this utility model. Figure 14 In this embodiment of the utility model, the main blower base 6 of the hot air balloon that moves by autonomous power has a groove 62 for disassembling and assembling the T-nut 63, and a cut section 624 for the grooved connecting piece before bending used during disassembly and assembly. Figure 15 In this embodiment of the utility model, the main blower base 6 of the hot air balloon that moves by autonomous power has a sliding groove 62 for disassembling and assembling the T-nut 63, a cut section 624 for disassembling and assembling the T-nut 63, and a grooved strip connector 625 with the same curvature used during disassembly and assembly. Figure 13 , Figure 16 This invention relates to an embodiment of the hot air balloon that moves by autonomous power. The diagram shows the position distribution of the cut section 624 of the slide groove 62 for disassembling and assembling the T-nut 63 within the basket 4, and a schematic diagram showing the opening and locking of the cut section 624 during the disassembly and assembly of the T-nut 63. Figure 17 The mechanical interface of the balancing propeller 21 of the hot air balloon, which is moved by autonomous power, inside the basket 4, is described in this utility model embodiment. Figure 18 This is a schematic diagram showing the crossbeam resting on the basket 4 when the main blower module 1 is not in use with the extended movable front fork 13. Figure 19 This is an endoscopic image of the four cabin doors of a hot air balloon basket that moves under autonomous power, after being made transparent, as part of an embodiment of this utility model. Figure 20 , Figure 21 , Figure 22 This is a side half-sectional view of a hot air balloon that moves by its own power according to an embodiment of this utility model, as well as a wind direction diagram when flying with the wind and against the wind. Figure 23 This is a schematic diagram illustrating an implementation example of a hot air balloon that moves by its own power during flight, encountering winds that are perpendicular to the target direction and actively blowing in a specific direction. Figure 24 This is a schematic diagram of a hot air balloon that moves by its own power as an embodiment of this utility model. The balloon tilts and is pulled by the balloon 3 because the wind direction it receives is inconsistent with the direction of active blowing. To avoid the attached diagram being too cluttered, some circuit wiring and gas pipelines are not shown. They can be considered to be hidden in the floor, backboard and main beam of the movable front fork 13 of the basket 4.

[0069] In this specific embodiment, the present invention adds a main blower module 1, a main blower driver 5, a main blower base 6, a balancing propeller and its electric drive assembly 2, an angle sensor assembly 8, a power supply 7, and a balance controller 9 to the hot air balloon used. The main blower module 1, the main blower driver 5, and the main blower base 6 constitute the main blower system, which is manually operated by the crew. The balancing propeller and its electric drive assembly 2, the angle sensor assembly 8, and the balance controller 9 constitute the balancing propeller system, which is controlled by the balance controller 9 by default, but can also be switched to manual drive before landing and when the battery is low. Both systems are powered by the power supply 7.

[0070] In this specific embodiment, the main blower module 1 is rigidly connected to an axial flow fan 11, an air outlet guide shroud 12, and a movable front fork 13. The end of the movable front fork 13 branches into a T-shaped operating handle 14 so that the crew can stably and reliably grip the main blower module 1 during manual operation; Figure 18The main blower module 1 uses the upper edge of the basket 4 backboard as a fulcrum and the main beam of the movable fork 13 as a lever. The forces on the extended and non-extended sections should be balanced. To make the main blower module 1 blow upward or diagonally upward from the outside of the basket 4 to the outside of the hot air balloon bladder 3, so that the outside of the bladder 3 moves in the opposite direction after being subjected to unilateral wind force, it is necessary to ensure that the airflow blown by the axial flow fan 11 of the main blower module 1 through the air outlet guide shroud 12 falls entirely on the outside of the bladder 3 and does not blow in from the lower end of the bladder 3. At this time, it should be ensured that the extension of the main blower module 1 is greater than the distance between the bladder 3 opening and the basket 4 backboard. The distance from the airflow from the blower shroud 12 to the horizontal diffusion of the airflow before reaching the balloon 3 is calculated according to the parameters of the selected hot air balloon case. The extension of the main blower fan module 1 should be greater than 3.3 meters. The main torques on the extended section of the main blower fan module 1 include: the weight of the axial fan 11 and the blower shroud 12 multiplied by the horizontal extension distance, the airflow force of the axial fan 11 multiplied by the extension length, and half the weight of the extended section of the movable front fork 13 multiplied by the horizontal extension distance. The main torques on the non-extended section of the main blower fan module 1 include: the torque applied by the crew when manually operating the handle 14, the weight of the handle 14 multiplied by the non-extended section. The horizontal distance of the extended section is equal to half the weight of the non-extended section of the movable fork 13 multiplied by the horizontal distance of the non-extended section. To achieve a good blowing effect, the extension is taken as 5 meters and the main beam length of the movable fork 13 is 6 meters. At this time, the main beam of the movable fork 13 leaves a 1-meter section inside the basket 4. Based on the average weight of adult males in my country of 69.6 kg, the maximum torque of the main blower module 1 inside the basket 4 is greater than 700 Nm. After selecting suitable materials for the axial flow fan 11, the air outlet guide shroud 12, and the main beam of the movable fork 13, the weight of the extended section meets the margin requirements. For example, if 6 kg, 2 kg, and 20 kg are selected respectively, the gravitational torque is 90 Nm. Including the air outlet torque, the torque meets the requirements and there is still an extension margin. In actual operation, based on the average height of 1.7 meters and the arm span of more than 1.6 meters for adult males in my country, and the weight of the unextended section is estimated at 5.2 kg, a healthy adult male can hold the rear end of the movable front fork 13 with one hand and extend the other hand 1.3 meters forward to lift the main blower module 1 in a short time. In addition, the pressure of the main blower module 1 acting on the fulcrum is about 600~700 Newtons, which is equivalent to a 60~70 kg object pressing on one side of the 4 fulcrums of the basket. The impact on the counterweight balance of the hot air balloon with a load capacity of one ton is negligible.

[0071] Furthermore, if a smaller diameter balloon 3 is selected, a smaller elongation can be allowed, resulting in a shorter active fork 13 and a lighter main blower module 1. Lighter materials and lighter structures can also be selected to manufacture the main blower module 1 while meeting the requirements of power performance.

[0072] In this specific embodiment, the axial flow fan 11 in the main blower fan module 1 is powered and controlled by the main blower fan driver 5 located inside the basket. Its power and signal lines are connected to the operating handle 14 via a pluggable power and control cable 18, ultimately leading to the axial flow fan 11 at the front end of the main blower fan module 1. When the main blower fan module 1 is not in use or is temporarily stopped due to the reverse extension of the basket 4, the control cable can be disconnected. Figure 19 As shown; the control signal of the main blower fan driver 5 can be directly controlled by the crew on the main blower fan driver 5, or it can be adjusted by the operator at any time near the operating handle 14 through the switch and speed control input 17, such as Figure 5 As shown.

[0073] Furthermore, the axial fan 11 can be powered by the main blower fan driver 5 and the signal control input can be provided near the operating handle 14. Alternatively, the wiring can be connected to the movable fork 13 via the ball joint 61 of the main blower fan base 6 on the backboard of the basket 4, thereby connecting to the axial fan 11 and the operating handle 14 respectively. In this wiring method, it is still necessary to ensure that the continuity of the circuit near the ball joint 61 is compatible with the disassembly and assembly of the hemispherical groove tile 16.

[0074] In this specific implementation, the main blower module 1 achieves five-dimensional movement through a detachable ball joint formed by a set of hemispherical groove tiles 16 arranged at the bottom of the main beam of its movable front fork 13 and the spherical fulcrum 61-slide groove 62 set at the top of the main blower base 6. This not only allows the center of the airflow blown by the axial flow fan 11 to fall at any point on the lower half-curved surface of the balloon 3, but also allows the airflow direction in the main blowing area to deflect at pitch and left and right angles, thereby more flexibly controlling the force on the balloon 3.

[0075] In this specific implementation, when the operator grips the operating handles 14 of the movable front fork 13 with both hands and rotates them around the ball joint fulcrum at up-down and left-right angles, the axial flow fan 11 located at the other end of the main blower fan module 1 rotates around the ball joint fulcrum at up-down and right-left angles, thereby achieving the deflection of the blown airflow at the pitch angle and the movement along an arc trajectory centered on the ball joint; when the operator grips the operating handles 14 and rotates them around the main shaft of the movable front fork 13 at the left-right angle, the axial flow fan 11 also rotates around the main shaft of the movable front fork 13 at the left-right angle, thereby achieving the deflection of the blown airflow at the left-right angle; after the operator disconnects the circuit of the main blower fan module 1, lifts the main blower fan module 1 and moves it back and forth to adjust the extension and retraction of the main blower fan module 1 out of the basket, and lowers the movable front fork 13 at a suitable position to cooperate with the detachable ball joint to form a new position, the blown airflow can move along an arc trajectory with different radii.

[0076] In the main blower base 6 described in this specific embodiment, the profile selected for the slide groove 62 is as follows: Figure 10As shown, the selected T-nut 63 is as follows Figure 11 As shown, the T-nut 63 matches the selected profile. Both sides of the groove opening 621 have groove yokes 623, and both sides of the T-nut 63 also have T-nut lugs 631, as shown. Figure 12 The direction shown indicates that inserting the T-nut 63 into the slide groove 62 from both ends of the profile prevents the T-nut 63 from rotating within the slide groove 62; the depth between the slide groove yoke 623 and the slide groove bottom 622 exceeds the thickness of the T-nut lugs 631 on both sides of the T-nut 63; the width of the slide groove opening 621 is 8.2 mm; the width of the T-nut 63 boss is 8 mm; and the inner width of the slide groove 62 is 4 mm greater than the width of the T-nut 63; because the diameter of the slide groove 62 is similar to the diameter of the main blower fan base 6 and... The diameter of the suspended platform 4 is approximately 2 meters, and the length of the T-nut 63 is approximately 1.5 centimeters. Therefore, the bending angle of the groove corresponding to the length of the T-nut 63 is approximately 0.86 degrees. The arc height for a 1-meter radius 0.86-degree arc is 0.1125 millimeters. Furthermore, since the width of the groove is 4 millimeters greater than the width of the T-nut 63, and the 8.2-millimeter width of the groove opening 621 is 0.2 millimeters greater than the 8-millimeter width of the top protrusion of the T-nut 63, the T-nut 63 can be bent... Smooth movement within the groove; if jamming occurs due to excessive manufacturing error of the T-nut 63 or the groove opening 621, the jammed area can be sanded or filed to meet the precision requirements; therefore, the space within the groove 62 ensures that the T-nut 63 moves freely along the groove, and the groove 62 forms a semi-constraint relationship with the T-nut 63; at this time, screw the bolt 611 into the T-nut screw hole 632 and tighten it until the bolt 611 presses downward against the bottom 622 of the groove, and the T-nut 63 is in the screw hole. Driven upwards by the groove, the yoke 623 is pushed against the groove. At this time, the upward and downward pressure generated between the bottom of the groove 622 and the bolt 611, the groove yoke 623 and the T-nut lug 631 can make the bolt 611-T-nut 63-groove 62 a fixed connection. After the bolt 611 is loosened again, the bolt 611 and the T-nut 63 are both subject to the semi-constraint of the groove 62. Therefore, a conditional semi-constraint relationship is formed between the bolt 611-T-nut 63 and the groove 62.

[0077] In this specific embodiment, the main blower fan base 6 is tightly fixed to the side wall of the suspended basket 4, and its sliding groove 62 is flush with the upper edge of the suspended basket 4. The bolts at the root of the sliding groove 62 and the spherical fulcrum 61 are constrained and fixed by T-nuts 63. Figure 12As shown, when the bolt and T-nut 63 are tightened, the spherical fulcrum 61 can be fixed on the slide groove 62. When the bolt and T-nut 63 are loosened, the spherical fulcrum 61 can move along the slide groove 62, thereby realizing that the main blower module 1 can move left and right on the slide groove 62 through the three-dimensional ball joint, that is, the blown airflow moves according to the constraint of different centers of the circle. When the fixing bolt 611 is threadedly connected to the T-nut 63 and passes through the T-nut threaded hole 632, when the bolt 611 is rotated in the tightening direction, there is a relative movement of "T-nut 63 upward - bolt 611 downward" until "T-nut lug 631 upward against slide groove yoke 623 - bottom of bolt 611 downward against slide groove bottom 622". At this time, continuing to tighten the bolt 611 in the tightening direction can increase the pressure between the bolt 611-T-nut 63 connection pair and the slide groove 62 (slide groove bottom 622, slide groove yoke 623), thereby increasing the friction force to achieve mechanical positioning of the structure and thus achieve the fastening of the spherical fulcrum 61 on the slide groove 62. After loosening bolt 611, the clamping force between bolt 611-T-nut 63 and slide groove 62 disappears, and T-nut 63 can slide freely along the length of slide groove 62 with spherical pivot 61 (when the operator lifts the movable fork 13 with his arm, the friction caused by gravity and the side friction of spherical pivot 61 can be ignored), thereby moving spherical pivot 61 to the target position; after moving to the target position, tightening bolt 611 again will complete the re-tightening of spherical pivot 61.

[0078] In this specific embodiment, the main blower module 1 rotates around the main shaft of the movable front fork 13, causing the blowing ball 3 to move at an angle of approximately 72 degrees. Figure 1 , Figure 7 As shown, the radius of the sphere constituting the ball joint is selected to be slightly smaller than the radius of the sphere of the hemispherical groove tile 16. The two form a detachable ball joint through the contact of the spherical crown curved surface. The great circle arc of the spherical crown corresponding to the hemispherical groove tile 16 is greater than 72 degrees to ensure that the ball joint can still be tightly engaged when the main blower fan module 1 rotates around the main shaft of the movable front fork 13 to the maximum angle. Furthermore, when the great circle arc of the spherical crown corresponding to the hemispherical groove tile 16 is the dominant arc, its bottom circle radius is greater than the radius of the sphere constituting the ball joint to ensure that the ball joint is detachable. Figure 6 , Figure 8 , Figure 9 As shown.

[0079] In this specific embodiment of the ball joint, the hemispherical groove 16 is made by first cutting a row of spherical notches with a radius larger than that of the spherical support 61 directly into the bottom surface of the main beam profile of the movable fork 13, and then adding a wear-resistant and reinforced bearing layer with the same spherical crown surface on the inner curved surface. This ensures that the sharp corners and edges generated at the intersection of the lightweight grooves inside the main beam profile of the movable fork 13 and the spherical crown surface of the hemispherical groove 16 will not deform or be damaged due to compression when the hemispherical groove 16 and the spherical support 61 are used together, or even jam the spherical support 61 and prevent it from rotating, thus ensuring the reliability of the hemispherical groove 16 during operation; however, Figure 6 When displaying a detailed enlarged view of the ball joint connection, to showcase the curved surface features inside the hemispherical groove tile 16, the inner spherical crown has been made transparent, and only the bottom edge of the spherical crown is shown. Figure 8 , Figure 9 Two sets of simplified half-section views of the main beam of the movable fork 13 further explain the detachable spherical hinge composed of the hemispherical groove 16 and the spherical support 61 and its usage. The hinge between the hemispherical groove 16 and the spherical support 61 is mainly achieved by the pressure between their contact points and the stabilizing torque provided by the operator's hands holding the operating handle 14 on the entire movable fork 13. In the horizontal direction, the shear force transmitted to the main beam of the movable fork 13 is mainly due to the friction force of the operator's hands holding the operating handle 14. During translation, the centripetal constraint force between the spherical crown curved surface inside the hemispherical groove 16 and the spherical support 61 also works to maintain balance. When the hemispherical groove 16, with its large circle as the dominant arc, and the movable fork 13 is in a large deflection angle posture, causing the bottom circle of the hemispherical groove 16 to touch the bolt in the middle section of the spherical support 61, there is also a constraint force between these two contact points. Figure 9 As shown in the figure below; in the vertical direction, the ball joint is balanced by the pressure between the hemispherical groove 16 and the spherical fulcrum 61, and the stabilizing torque provided by the operator's hands holding the operating handle 14 on the entire movable fork 13. The hemispherical groove 16, with its large circle as the dominant arc, and the large deflection angle of the movable fork 13, result in a vertical frictional force between the two contact points when the bottom circle of the hemispherical groove 16 touches the bolt in the middle of the spherical fulcrum 61. Figure 9 As shown in the figure below, after the forces in the vertical and horizontal directions are balanced, the ball joint can achieve effective constraint.

[0080] In this specific embodiment of the ball joint, if the large circle of the hemispherical groove 16 is designed with a minor arc, the ball joint can be easily disassembled and assembled. However, attention should be paid to the issue of maintaining a tight grip at a large angle when the movable fork 13 rotates around the 72-degree boundary angle of the main shaft. Figure 8 As shown, assuming the hot air balloon balloon bladder 3 pulls the basket 4 vertically upwards, then when the main blower module 1 needs to blow the balloon bladder 3 at the maximum boundary angle, it is only necessary to rotate the movable fork 13, which extends horizontally along the radius of the basket 4, around the main axis of the movable fork 13 to tilt 36 degrees to the left or right. Figure 7 As shown, if the large circle of the hemispherical channel tile 16 is designed with a minimum boundary angle of 72 degrees, then the spherical fulcrum 61 is exactly at the boundary point of the large circle of the hemispherical channel tile 16, that is, at the bottom circle of the hemispherical channel tile 16. Figure 8 As shown in the diagram below, if the operator controls the movable front fork 13 to rotate too much or there is slight vibration, or if the balloon 3 tilts upwards on the basket 4 during level flight, causing the basket 4 and the main blower base 6 to be out of level, the following situation may occur: Figure 24As shown, the direction of gravity is not perpendicular to the tangent plane of the spherical fulcrum 61 and the vertex of the hemispherical channel tile 16, which makes it very easy for the ball joint to disengage, thus preventing the main blower fan module 1 from working normally at the required angle. Therefore, when the large circle of the hemispherical channel tile 16 is designed with a minor arc, its arc should be greater than 72 degrees to ensure that the ball joint can still be engaged when the main blower fan module 1 rotates around the main shaft of the movable fork 13 to the maximum angle. If disengagement occurs due to the operator twisting too much, the main beam of the movable fork 13 of the main blower fan module 1 will fall onto the main blower fan base 6. At this time, the main blower fan module 1 can be lifted and put back into its original position. If the large circle of the hemispherical channel tile 16 is designed with a major arc, it is easy to ensure that the ball joint can be engaged without disengaging when the movable fork 13 rotates around the main shaft at a large angle. However, it is necessary to ensure the detachability of the ball joint when manufacturing the hemispherical channel tile 16. Figure 9 As shown, if the bottom circle exit radius of the hemispherical grooved bearing 16 after the reinforcement of the bearing layer is exactly equal to the radius of the sphere forming the spherical hinge 61, then when disassembling and assembling the spherical hinge, the spherical hinge can only be disassembled by aligning the spherical hinge 61 with the bottom circle of the hemispherical grooved bearing 16. Figure 9 As shown in the right figure, this increases both the difficulty and time for the operator to lift the entire main blower fan module 1 with both arms. It is not conducive to the rapid response of the front and rear extension and conversion slide 62 section of the main blower fan module 1. Therefore, the bottom circle outlet radius of the hemispherical channel tile 16 should be larger than the sphere radius of the spherical fulcrum 61 that constitutes the spherical hinge to ensure that the spherical hinge can be easily installed and removed. That is, the spherical fulcrum 61 can be smoothly installed or removed from the bottom circle of the hemispherical channel tile 16.

[0081] Furthermore, applying lubricating grease to the inside of the hemispherical groove 16 can increase the rotational flexibility and adhesion of the ball joint, further improving the performance of the detachable ball joint.

[0082] In this specific embodiment, the length of the main blower fan module 1 is greater than the diameter of the suspended platform 4. When the main blower fan module 1 needs to move along the slide 62 to pass over the support column 41 of the suspended platform 4, the pluggable power and control cable 18 must first be disconnected, the main blower fan module 1 lifted and moved in the opposite direction until the axial flow fan 11 retracts into the suspended platform 4 (at this time, the operating handle 14 extends in the opposite direction). The direction is adjusted until the axial flow fan 11 passes over the support column 41 to the required main blower fan base 6 section, and then it extends to a suitable extension amount and forms a new ball joint with the spherical fulcrum 61 in the new section. Finally, the pluggable power and control cable 18 is reconnected before operation can begin. Figure 1 , Figure 18 , Figure 19 As shown.

[0083] In this specific embodiment, the T-nut 63 is inserted into the slide groove 62 through an opening inside a support column 41 of the suspended basket 4. This opening is used to open and close the slide groove 62 via a cut section 624 and a grooved connector 625 of the same curvature. Figure 13 , Figure 16 As shown. Cut a groove 62 from the inside of a support 41 in an inverted trapezoidal shape to obtain a cut section 624 approximately the size of a palm. Remove this cut section 624 and, from its original position, align the T-nuts 63 to be installed in each section of the groove 62 with the shape of the groove 62, insert them into the groove 62, and move them to their respective sections. Select or cut grooved connectors the size of a palm, as shown. Figure 14 As shown, the groove is then slightly bent and shaped according to the curvature of the groove 62 to obtain the groove bar connector 625 with the same curvature as the groove. Figure 15 As shown, the cross-section of the grooved connector 625 with the same curvature is the same as the front view of the T-nut 63, and it can move freely in the slide 62 like the T-nut 63. Since the diameter of the slide 62, the diameter of the main blower fan base 6, and the diameter of the basket 4 are all about 2 meters, and the length of the grooved connector 625 with the same curvature is about 10 to 15 centimeters, the bending angle of the grooved connector 625 with the same curvature is between 5.7 degrees and 9 degrees. Since the depth of the slide is greater than the thickness of the grooved connector 625 with the same curvature, the degree of bending and the accuracy margin of the grooved connector 625 with the same curvature are relatively large when processing the grooved connector according to the bending direction of the inner cylindrical surface slide 62 of the main blower fan base 6.

[0084] In this specific embodiment, after removing the cut section 624 and installing the T-nuts 63 and the groove connectors 625 of the same curvature groove in each section of the slide groove 62, the groove connectors 625 of the same curvature groove are pushed completely into the slide groove 62. Figure 16 As shown in the figure below, the cut section 624 is then reinstalled and the groove connector 625 with the same curvature is moved until it passes through the cut section 624, so as to lock the cut section 624 and the slide groove 62 into a whole. Figure 16 As shown in the image above.

[0085] Furthermore, the bending direction of the grooved connector 625 with the same curvature and the sliding groove 62 selected for installation on the main blower fan base 6 can also be a sliding groove 62 on the top or bottom of the main blower fan base 6. In this case, the clearance margin between the vertical sliding groove opening 621 and the boss portion of the grooved connector 625 with the same curvature is 0.2 mm. Figure 12 As shown, the machining accuracy requirements for the curved groove connector 625 with the same groove curvature are relatively high.

[0086] In this specific embodiment, the main blower fan driver 5 is arranged next to the drive power supply 7 at the bottom of the suspended platform 4. The control functions on the main blower fan driver 5 include a start / stop switch and two speed adjustment inputs: quick coarse adjustment and fine adjustment. The corresponding speed adjustment input on the operating handle 14 includes at least a fine adjustment setting. When the main blower fan module 1 needs to reduce its extension to a minimum of 3.3 meters to blow the balloon 3, the main beam of the movable fork 13 is placed across the side walls of the suspended platform 4 (similar to being out of service), and the operating handle 14 extends in the opposite direction by a maximum of 0.1 meters. At this time, the pluggable power and control cable 18 is still connected to the operating handle 14 and pulled out in the opposite direction. At this time, the operator can control the input on the main blower fan driver 5 without having to turn around to control the reverse-extended operating handle 14.

[0087] In this specific embodiment, the balancing propeller and its electric drive assembly 2 consists of four sets of balancing propellers 21 distributed in the front, rear, left, and right directions, a servo motor 22 driving the balancing propellers, and motor drivers 24 for the longitudinal and transverse balancing propellers. Figure 2 As shown; when the two servo motors in each direction are connected to the servo drive in opposite directions, each set of motors rotates in opposite directions when viewed from the front. However, after passing through the opposing arrangement around the basket, the main shafts of each pair of servo motors actually rotate in the same direction, so that the fan wind direction is consistent when the longitudinal and transverse pairs of balance propellers 21 rotate.

[0088] In this specific embodiment, the main shaft of the balancing propeller and its electric drive assembly 2 is positioned on the floor of the cradle 4 to achieve maximum driving efficiency. To avoid affecting the opening and closing of the cradle 4 door and the landing and resting of the balancing propeller 21, a dual-blade fan structure is adopted. Figure 3 , Figure 19 As shown; to prevent the blades from failing to return to their original position due to insufficient power supply 7, malfunction of the balancing propeller and its electric drive assembly 2, or accidental jamming of the external balancing propeller 21, the main shaft of the balancing propeller 21 is equipped with a mechanical interface inside the basket, which can switch the motor drive to manual drive, such as... Figure 17 As shown; the motor driver 24 of the longitudinal and transverse balancing wind turbine can be automatically controlled by the balance controller 9 or manually controlled. In the automatic control mode, the drive is driven by the attitude of the basket obtained by the tilt angle sensor assembly 8, so there is a certain lag. When the operator can foresee the external wind force, he / she can press the speed adjustment button of the motor driver 24 of the longitudinal and transverse balancing wind turbine in advance for manual active control. At this time, it is necessary to pay attention to shielding the signal interference between the balance controller 9 and the tilt angle sensor assembly 9.

[0089] Furthermore, the balancing propeller and its electric drive assembly 2 can also be configured as a lifting type, that is, the balancing propeller 21 is lowered to the bottom plate of the basket 4 when the hot air balloon is flying through an external lifting mechanism, and raised to the outside of the basket for storage when the balancing propeller and its electric drive assembly 2 are stopped before landing. In this case, the balancing propeller 21 can be a multi-blade fan structure.

[0090] In this specific embodiment, the tilt sensing assembly 8 consists of a tilt sensor 81 and a sensor signal line 82. It is fastened to a suitable position around the inner side of the suspended platform 4 wall panel by sensor fasteners, and is connected to a balance controller 9, which is also fastened to the inner side of the suspended platform 4 wall panel, to collect the tilt state of the suspended platform 4. Figure 3 , Figure 19 As shown; when the tilt sensor 81 is a passive component with a small mass, it can be fastened by adhesive or other means. When the tilt sensor 81 is an active component with a large mass, it requires not only special sensor fasteners but also a dedicated circuit for power supply. In this case, the required power can be obtained from the drive power supply 7.

[0091] Furthermore, the tilt sensor 81 can be selected from electronic type, mechanical type, or electromechanical combination type.

[0092] In this specific implementation, the balance controller 9 is implemented using a microcontroller system. Its functions include at least issuing corresponding control commands to the longitudinal and transverse balance propellers and their electric drive assemblies 2 based on the collected tilt angle signal of the basket 4, so that the basket 4 remains horizontal under the blowing of each balance propeller 21, thereby maintaining the balance of the entire hot air balloon. In addition, the use of a microcontroller system can also receive more additional sensor signals and control signals, program setting functions, and leave more communication margin. When the balance propellers and their electric drive assemblies 2 are manually controlled, logical shielding should be performed at the balance controller 9.

[0093] In this specific implementation, when there is no external wind interference, and the target translation direction is one of the four directions (front, back, left, right), the main blower module 1 is first mounted on the spherical fulcrum 61 in that direction and extended by a suitable amount. During the process of gradually increasing the force of the axial flow fan 11: when the wind force of the axial flow fan 11 is very small, the balloon 3 only deflects at a very small angle. At this time, the basket 4 overcomes its own inertia and moves with the balloon 3 under the combined action of gravity and the tension of the balloon 3, and the deviation of their axes is not large, similar to the drifting of a regular hot air balloon in a weak wind; when the wind force of the axial flow fan 11 increases, the deflection angle of the balloon 3 increases. In automatic control mode, this can... When the basket 4 tilts under the tension of the balloon 3, the balancing propeller and its electric drive assembly 2 at the bottom target direction automatically start, blowing the basket 4 to move with the balloon 3 until the basket 4 swings to a horizontal angle, after which the balancing propeller and its electric drive assembly 2 shuts off. Setting an appropriate response sensitivity in the balance controller 9 can make the basket 4 and the balloon 3 move together with a small axial angle. If the response sensitivity is too high, the basket 4 will be blown in front of the balloon 3 under the impact response of the balancing propeller 21, resulting in a swing angle in the opposite direction. After that, the basket 4 is very likely to swing back and forth under the repeated action of the balancing propeller and its electric drive assembly 2. If the response sensitivity is too low, the basket 4 will swing back and forth with the balloon 3. As the angle between the three bags increases and the balancing impeller and its electric drive assembly 2 slowly increase in force, the suspended basket 4 exhibits a large tilting sway at the start and stop of translation. In manual control mode, the balancing impeller and its electric drive assembly 2 can be opened synchronously with the axial flow fan 11, and the motor speed of the latter can be controlled according to pre-calculated or tested data to control the airflow, keeping the suspended basket 4 in a horizontal or near-horizontal state. Manual control mode requires a high level of operator skill, but with sufficient data accumulation, experience can be written into the balance controller 9 to improve the level of automatic control. When the axial flow fan 11 continues to increase the wind force, causing the balancing impeller 21 to open to its maximum lifting force... When the main axis of basket 4 is difficult to maintain a safe angle with the main axis of balloon 3, or when the axial flow fan 11 blows too concentrated air onto balloon 3, causing balloon 3 to deform significantly, similar to a hot air balloon encountering strong winds or wind shear, the main blower module 1 should be immediately turned off to restore the alignment of basket 4 and balloon 3. If necessary, the balancing propeller 21 and heater 42 should also be turned off to prevent excessive swaying and accidents. At this time, the air pressure inside balloon 3 and whether there is any leakage should also be checked. Only after balloon 3 has recovered its shape and the swaying is within a controllable range can the heater 42, main blower module 1, and balancing propeller and its electric drive assembly 2 be turned on one by one to continue translation. When the target translation direction is not directly facing the four directions of front, back, left, and right, but has a horizontal angle with these directions, the main blower module 1 should be rotated to the corresponding angle on the slide 62 through the spherical pivot 61, and then the load of the two pairs of balancing propellers and their electric drive assemblies 2 below should be distributed according to the orthogonal decomposition method to achieve the aforementioned translation effect.

[0094] In this specific implementation, when the external wind force is in the same direction as the target's translation, it is equivalent to flying with the wind. Figure 21 The direction shown is to the right. In this case, the installation direction of the main blower module 1 needs to be determined based on the strength of the outside wind and the maximum wind force that the balancing propeller and its electric drive assembly 2 can provide: when the outside wind force is less than the maximum wind force that the balancing propeller and its electric drive assembly 2 can provide, the main blower module 1 is installed and ready to go in the downwind direction; when the outside wind force is greater than the maximum wind force that the balancing propeller and its electric drive assembly 2 can provide, the main blower module 1 is installed in the upwind direction and needs to be turned on immediately. At the same time, the balancing propeller and its electric drive assembly 2 should also be turned on immediately to ensure the balance of the balloon 3 and the basket 4. After setting up the main blower module 1, the output wind force of the balancing propeller and its electric drive assembly 2, as well as the output wind force and direction of the main blower module 1, should be determined sequentially based on the deflection angle of the main shaft of the balloon 3 and the deformation of the balloon 3 caused by the external wind force. At this point, first, the balancing propeller and its electric drive assembly 2 should be turned on to fan the air to the left and increase the force until the basket 4 moves to the right and remains synchronous and perpendicular to the main shaft of the balloon 3. Continue to increase the output of the main blower module 1 and the output wind force of the balancing propeller and its electric drive assembly 2 to accelerate the overall translation speed until the maximum output power of the balancing propeller and its electric drive assembly 2 is reached, achieving the fastest translation speed. When the external wind force is large, the overall translation speed will be accelerated. When the main blower module 1 is set up to the right, the balancing propeller and its electric drive assembly 2 are still outputting at maximum power. The hot air balloon as a whole is still flying at the fastest translation speed under the reverse blowing of the main blower module 1. At this time, the crew should closely monitor whether the tilt angle and deformation of the balloon 3 are within the safe range. When the outside wind is too strong, such that the main blower module 1 and the balancing propeller and its electric drive assembly 2 cannot meet the balance conditions even when they are at maximum power, or when the balloon 3 undergoes large deformation under the combined action of the main blower module 1 and the outside wind, this is the maximum wind limit for tailwind flight. The flight mission should be abruptly terminated and a suitable landing site should be found nearby to avoid the wind.

[0095] In this specific implementation, when the external wind force is opposite to the target's translational direction, it is equivalent to flying against the wind. Figure 22The scenario depicts an external wind blowing to the left but requiring a move to the right. In such cases, it is necessary to first assess whether the headwind is a short-term gust or a long-term continuous headwind. If the external wind force is greater than the combined force of the maximum horizontal component of the main wind-shifting module 1 blowing the balloon 3 and the maximum action force of the balancing propeller 21, and it is a long-term continuous headwind, then the balloon's translational capability limit has been exceeded. The flight mission should be abruptly terminated, and a suitable landing site should be found nearby to avoid the wind. When the external wind force is greater than the action force of the main wind-shifting module blowing the balloon, and it is a short-term gust, the wind force of the main wind-shifting module 1 and the balancing propeller 21 can be appropriately increased to maintain the balloon's original position or allow a slight backward movement. After the gust passes, the balloon can continue to move to the right. When flying against the wind, the main blower module 1 maintains the direction of blowing the left side of the balloon 3, but the balancing propeller and its electric drive assembly 2 will change direction according to the shear of the external wind blowing the balloon 3 to ensure the balance between the basket 4 and the balloon 3. At this time, the advantages of automatic control of the balance controller 9 should be utilized and its response sensitivity should be improved accordingly. When flying against the wind, attention should also be paid to the coverage of the airflow blown by the axial fan 11 on the outer surface of the balloon 3: the lower the area of ​​the axial fan 11 blowing the balloon 3, the more concentrated the airflow and the higher the airflow propulsion efficiency, but the more likely it is to cause deformation of the balloon 3; raising the operating handle 14 to tilt the airflow blown by the axial fan 11 outwards covers more of the surface of the balloon 3 and is less likely to deform, but more airflow is lost; this point should be paid special attention to when encountering external wind shear blowing different parts of the balloon 3 during headwind flight. When the external headwind shear mainly blows the upper half of the balloon 3, or when the airflow is concentrated at the root of the balloon 3 due to the axial flow fan 11 of the main blower module 1, the balloon 3 will tilt to the left. At this time, the smoothing propeller 21 should blow to the right to restore balance and cause a certain amount of backward movement. When the external headwind shear mainly blows the lower half of the balloon 3, the external wind force is concentrated near the center of gravity of the hot air balloon. At this time, the smoothing propeller 21 should keep blowing to the left. However, it is necessary to pay attention to the fact that the lower half of the balloon 3 will deform too much under the squeezing force of the axial flow fan 11 and the external wind. Once the deformation of the balloon 3 exceeds the safe range, the heater 42 should be turned off immediately, and the operating handle 14 of the movable fork 13 of the main blower module 1 should be raised to make the axial flow fan 11 flatten and blow outward. At the same time, the output of the balancing propeller 21 should be increased to ensure that the secondary problem of tilting is not caused by the external wind force during the process of alleviating the deformation. After the deformation of the balloon 3 is restored, the translation operation can be resumed.

[0096] In this specific implementation, when the direction of the external wind force is not in the same direction as the translation direction of the hot air balloon that is moving by autonomous power, and an orthogonal component of wind appears, it is equivalent to crosswind flight. At this time, the wind direction should be decomposed into parallel wind direction and orthogonal wind direction according to the translation direction of the hot air balloon and considered separately. The main blower module 1 should also deflect a certain angle around the main axis of the hot air balloon towards the orthogonal wind direction to counteract the offset of the orthogonal direction. Furthermore, it should be ensured that the hot air balloon blown by the main blower module 1 can be balanced in both the translation direction and the orthogonal direction, and there should still be a power margin before adding the blowing force component in the translation direction of the hot air balloon.For parallel winds, it's necessary to first determine whether it's a tailwind or a headwind in the same direction as the hot air balloon's translation to determine the blowing direction and force component of the main blower module 1 in the balloon's translation direction. For orthogonal winds, it must be treated as a headwind, and the main blower module 1 must be rotated around the hot air balloon's main axis in the opposite direction of the orthogonal wind to generate a force that counteracts the orthogonal wind, ensuring that the hot air balloon, which is translated by its own power, moves along the translation direction without lateral movement. If the orthogonal wind force is too strong, causing the main blower module 1 to blow at a completely opposite angle, it still cannot counteract the wind force. If the balloon's translational capability is exceeded, and it cannot provide a blowing component along the translational direction, a suitable landing point should be selected on the leeward side, and the translational operation should be stopped as soon as possible. When the orthogonal wind direction does not exceed the balloon's translational capability limit and the parallel wind direction is a headwind opposite to the balloon's translational direction (this is a crosswind), the main blower module 1 should be rotated around the balloon's main axis to blow at an angle opposite to both component winds. After ensuring balance with the orthogonal direction of the balloon's translational direction, the output power of the main blower module 1 should be increased to increase the translational direction angle component. When the main blower module 1 outputs maximum power and maintains balance... If, even when the direction of the balloon's translation is perpendicular to the balloon's direction of movement, the wind force of the crosswind or parallel wind direction cannot be counteracted, this is similar to the previous stage where the wind force was too strong and exceeded the balloon's translational capacity limit. In this case, a suitable landing point should be selected on the leeward side, and the balloon should be landed as soon as possible and the translational operation stopped. When the wind direction perpendicular to the balloon's direction of movement does not exceed the balloon's translational capacity limit and the parallel wind direction is a downwind in the same direction as the balloon's translational direction, this is a crosswind. Crosswinds are further divided into weak crosswinds and strong crosswinds: When the crosswind is weak, there is a greater margin of error, and the operation can be adjusted according to the needs of the operation after ensuring balance in the direction perpendicular to the balloon's translational direction. Increase the output power of the main blower module 1 to rotate it around the main axis of the hot air balloon to increase the translational angle and thus increase the thrust component in the translational direction. Alternatively, keep the output power of the main blower module 1 unchanged after ensuring balance in the direction orthogonal to the translational direction of the hot air balloon to save total endurance energy. When the wind is too strong and the wind is tailwind, after ensuring balance in the direction orthogonal to the translational direction of the hot air balloon, increase the output power of the main blower module 1 and rotate it around the main axis of the hot air balloon to an angle opposite to the parallel wind direction, that is, blow it to the side and rear of the translational direction of the hot air balloon to maintain the balance of the basket and the balloon.

[0097] In this specific implementation, the drive power source 7 uses a dual-fuel generator set and a battery pack to supply power simultaneously. A commonly available 3-5 kW generator set is selected: its original parameters are approximately 0.6*0.45*0.4 cubic meters in volume, 20-50 kg in weight, a fuel tank capacity of approximately 5-13 liters, and a set of lead-acid batteries. These lead-acid batteries are replaced with lithium battery packs of the same voltage rating and their capacity expanded. After adding transformers and rectifiers to meet the voltage requirements of each electrical load, the total volume is reduced to 0.7*0.6*0.6 cubic meters. The area is 1,000 square meters. At this time, the driving power supply 7 weighs about 100 kilograms. Including the aforementioned main blower module 1, balance propeller and its electric drive assembly 2, main blower driver 5, main blower base 6, tilt sensor assembly 8 and balance controller 9, this hot air balloon that moves horizontally by its own power weighs about 200 kilograms more than the standard hot air balloon of the same level. Under the condition that the maximum allowable load remains unchanged, including the 210 kilograms of the 3-person crew, 80 kilograms of fuel, and 200 kilograms of basket and support, it can still carry a load of about 630 kilograms.

[0098] Furthermore, when hot air balloons with other size parameters are selected so that the angle of view from the hot air balloon basket 4 to the balloon 3 is not 72 degrees, the arc range requirements for the hemispherical groove tile 16 in the main blower module 1 when the major circle arc of the spherical crown is minor are also different, and need to be redefined according to the angle of view from the hot air balloon basket 4 to the balloon 3.

[0099] The above provides a detailed description of the self-powered translational hot air balloon provided by this utility model. Specific examples have been used to illustrate the principle and implementation of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core idea of ​​this utility model. It should be noted that for those skilled in the art and other fields using this utility model, several improvements and modifications can be made to this utility model without departing from the principle of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A hot air balloon that translates by autonomous motive force, other than a hot air balloon for modification, characterized by further comprising It comprises: The main blowing fan module, the main blowing fan driver, the main blowing fan seat, the balance wind paddle and its electric drive assembly, the inclination sensing assembly, the driving power supply, and the balance controller.

2. The self-propelled, translationally moving, hot air balloon of claim 1, wherein: The main blowing fan module blows hot air from below the outside of the lower half of the balloon envelope to form artificial wind of appropriate size, direction, and force point, thereby pushing the balloon envelope in the desired direction by means of the horizontal reaction force of the reflected air flow.

3. The self-propelled, translationally moving, hot air balloon of claim 1, wherein: The balance wind paddle and its electric drive assembly blow the lower end of the gondola to keep the relative inclination of the gondola to the balloon envelope and the main shaft deviation within a safe range during the overall translation of the hot air balloon, thereby enabling the overall translation of the hot air balloon.

4. The self-propelled, translationally moving, hot air balloon of claim 1, wherein: The start-stop and speed adjustment of the main blowing fan module are provided at both the main blowing fan driver and the operator's operating handle, thereby increasing the control mode.

5. The self-propelled, translationally moving, hot air balloon of claim 1, wherein: The inclination sensing assembly and the balance controller realize automatic control of the steering, speed, and angle of the balance wind paddle and its electric drive assembly, thereby exerting the advantages of fast and accurate response of servo drive and improving the automatic balance capability of the gondola.

6. The self-propelled, translationally moving, hot air balloon of claim 1, wherein: The detachable ball hinge and the sliding groove between the main blowing fan module and the main blowing fan seat provide the five-dimensional movement capability and movement fulcrum of the main blowing fan module, and together with the speed adjustment function of the main blowing fan module, the effect of five-dimensional blowing of the hot air balloon envelope is achieved; the five-dimensional movement includes three-dimensional rotational movement around a single ball hinge, forward and backward extension movement after the ball hinge is detached, and left and right translational movement between the ball hinge and the sliding groove, and the five-dimensional blowing effect of the hot air balloon envelope includes the force point of the air flow blown by the main blowing fan module on the three-dimensional curved surface of the balloon envelope and the adjustment of the force angle of the pitch and yaw deflection of the air flow around the force point; the detachable ball hinge includes a spherical fulcrum and a set of spherical segment-shaped half-tile on the bottom of the main beam of the main blowing fan module, the large circular arc angle of the half-tile is greater than the viewing angle of the balloon envelope from the gondola of the hot air balloon gondola, and when the large circular arc of the half-tile is an optimal arc, the radius of the bottom surface is greater than the radius of the spherical fulcrum.

7. The self-propelled, translationally moving, hot air balloon of claim 2, wherein: The outer end of the long straight main beam is fixed with an electrically controlled axial flow fan, and a double-handed operating handle is provided at a suitable height and angle at the operator's end, thereby realizing reliable control of the mechanical movement of the main blowing fan module and ensuring the operating conditions of the extension distance and power of the main blowing fan module, thereby providing protection for the active translation control of the hot air balloon.

8. The self-propelled, translationally moving, hot air balloon of claim 6 wherein the spherical envelope is made of a material that is transparent to visible light. 5 The fulcrum is semi-constrainedly fixed in the sliding groove with a T-shaped nut through a bolt, and when the bolt is tightened, it is firmly fixed, and when the bolt is loosened, the T-shaped nut can freely slide in the sliding groove; a palm-sized inverted trapezoidal detachable cutout section is cut out at the position of the sliding groove inside the gondola support to fit the T-shaped nut; the cutout section is locked or opened by a groove strip connector with the same curvature as the sliding groove and a palm-sized length.

9. The self-propelled, translationally moving, hot air balloon of claim 3, wherein: A mechanical interface is provided between the balance wind paddle main shaft and the servo motor driving it to realize the switching between motor driving and manual driving, thereby ensuring the controllability of the gondola attitude when the power supply energy is insufficient, and improving the reliability of the hot air balloon relying on autonomous power translation.

10. The self-propelled, translationally moving, hot air balloon of claim 3, wherein: At least two sets of balance wind paddle and its electric drive assembly are arranged in two dimensions at different angles on the bottom plane of the gondola, and drive each other to realize the driving force of the gondola in different directions in the horizontal plane.

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