Method for starting a kite system, control unit for a kite device, and kite device

Abstract

The invention relates to a method for starting a kite system (23), wherein the kite system (23) comprises a kite (14) and a gondola (25), and the gondola (25) is connected to the kite (14) via a line tree (24). The kite system (23) is coupled to a base station (16) via a traction cable (15). In an intermediate phase (28) of a starting process, a guide line (29) extends between the freely flying kite system (23) and the base station (16). In the method, the kite system (23) is controlled along a flight path such that the traction cable (23) is guided in a lateral direction (42) with respect to the wind direction (W) until the guide line (29) rests against the traction cable (15), the guide line (29) is moved until the guide line (29) lies in a guide line receiving area (55, 56) of the base station (16), said receiving area adjoining the traction cable (15), and the distal portion (32) of the guide line (29) is separated from the proximal portion (31) of the guide line (29). The invention also relates to a control unit for a kite device and to a kite device.

Description

Method for launching a kite system, control unit for a kite device, kite device

[0001] The invention relates to a method for launching a kite system and a control unit for a kite device, wherein the kite device comprises a kite system and a base station. The invention also relates to a kite device.

[0002] Such a kite system, which comprises a gondola and a kite, can be coupled to a base station via a towing cable. By appropriately adjusting the aerodynamic properties of the kite, the kite system can be moved along flight paths that are essentially perpendicular to the towing cable. Such a flight state of the kite is hereinafter referred to as free-flying. As the kite moves along the flight paths, a tensile force is exerted on the towing cable. This tensile force can be used, for example, to generate electrical energy or as propulsion for a ship.

[0003] During breaks in operation or periods of calm wind, the kite system is stored in a stowed state at the base station. To put the kite system into operation, a launch procedure is required, with which the kite is brought into a state in which an aerodynamic lift force is effective, and with which the kite system then ascends to the intended operating altitude. In an intermediate phase of the launch procedure, a guide line extends between the already freely flying kite system and the ground station. The guide line is required, for example, if the launch procedure has to be aborted and the kite system has to be brought back to the ground station. In the event of a successful After the launch process, it is no longer necessary for the guide line to be in direct contact with the ground station. The guide line then becomes a hindrance to the kite system's continued ascent and normal flight operations.

[0004] DE 10 2015 111 224 A1 discloses a method for launching a kite system, in which the guide line is guided by a swivel arm from a launch and landing mast of the base station in the direction of the towing cable of the kite device. This design is complex to manufacture and expensive to maintain. EP 3 802 313 B1 describes a kite system in which several folding lines extend between the kite system and a ground station during a launch or landing process. The folding lines are separated by a manual intervention during launch and reconnected by another manual intervention during landing.

[0005] The invention is based on the object of presenting a method for launching a kite system, a control device for a kite device, and a kite device with which the aforementioned disadvantages are mitigated. This object is achieved by the features of the independent claims. Advantageous embodiments are specified in the subclaims.

[0006] In the method according to the invention for launching a kite system, the kite system comprises a kite and a gondola, the gondola being connected to the kite via a line boom and the kite system being coupled to a base station via a towing rope. In an intermediate phase of a launch process, a guide rope extends between the freely flying kite system and the base station. The method comprises the following steps: The kite system is steered along a flight path so that the towing rope is guided into a position relative to the The guide line is guided sideways in the direction of the wind until it rests against the towing rope. The guide line is moved until it rests in a guide line receptacle on the base station adjacent to the towing rope. A distal section of the guide line is separated from a proximal section of the guide line.

[0007] The launch process is based on a sequence in which the kite is first brought into a starting position from which the kite can unfold. In the starting position, the guide line can form a connection between the ground station and the kite, whereby the guide line can be hinged to the ground station in such a way that a pulling force exerted via the guide line has a different direction than a pulling force exerted with the towing rope. The angle between a pulling force of the towing rope and a pulling force of the guide line can be greater than 30°, preferably greater than 45°, more preferably greater than 60°. As soon as the kite has unfolded from the starting position and an aerodynamic lift force has built up, the kite system can enter the free-flying state in which the possible flight paths of the kite system depend on the distance at which the kite system is held from the ground station by the towing rope.When the kite is in free flight, the guide line no longer needs to be used to support the kite system. When the kite is in free flight, the guide line can be moved into a position where it does not interfere with the operation of the kite system. To ensure that the kite can be operated at an altitude of, for example, several hundred meters, the tow rope must be released sufficiently. By separating a distal section of the guide line from a proximal section of the guide line, there is no need to release the guide line, which has no function during normal flight of the kite system, to the same length as the tow rope.

[0008] The launch procedure should be carried out in such a way that the guide line can be used again during a later landing to retrieve and stow the kite. To this end, it is desirable that the guide line be attached to the kite system in a defined position when the kite system is in free-flying mode, so that the guide line can be accessed again during the landing. The launch procedure according to the invention aims to create such a defined relationship between the guide line and the kite system.

[0009] Against this background, the method according to the invention comprises a step in which the guide line is brought closer to the towing rope before the two sections of the guide line are separated. Before this step, there may be a state in which the spatial relationship of the guide line relative to the towing rope is undefined. The kite system may be in a state in which it is already flying independently and in which no pulling force is exerted via the guide line. The guide line can sag and move in an undefined manner relative to the towing rope under the influence of its own weight, the influence of the wind and the influence of other environmental conditions. If the guide line were to be cut in this state, it would be difficult to catch a free end of the guide line during the subsequent landing manoeuvre. By bringing the guide line close to the towing rope, a state is created in which the guide line touches the towing rope. When the guide line touches the towing rope, the position of the guide line relative to the towing rope is defined in at least one dimension. The defined position refers to the section of the guide rope and the section of the towing rope in which there is contact between the two. Other sections of the guide line and other sections of the towing rope do not necessarily have a defined position relative to one another in this state.

[0010] The invention is based on the idea of ​​using the tow rope to guide the guide line into the desired position, starting from the state in which the guide line is resting against the tow rope. The invention has recognized that a certain spatial arrangement arises between the guide line and the tow rope during the launch phase, which results from the kite being aligned to the wind in a predetermined way during the launch process. This spatial arrangement is utilized to guide the guide line along the tow rope and thus bring the guide line into a position in which the two sections can be separated from one another in such a way that they can be reconnected at a later stage. The option of reconnecting the distal section of the guide line to the proximal section can be used, for example, when landing the kite system.

[0011] In the intermediate phase of the launch process, a part of the guide line attached to the base station can be upwind of the towing rope and a part of the guide line located between the base station and the kite system can be downwind of the towing rope. In particular, for this purpose the length of a part of the guide line located between the base station and the kite system can be set to a suitable length and / or a part of the guide line attached to the base station can be moved to a suitable height. In the lateral direction the position of the guide line relative to the towing rope can be undefined. In particular this can mean that in the lateral direction there is a distance between the guide line and the towing rope and that there is no contact between the guide line and the towing rope.Starting from such a configuration, a movement of the pull rope transverse to the wind direction, i.e. in a lateral direction relative to the wind direction, can bring about a situation in which the guide line is attached to the side of the. In other words, the lateral movement can move the haul rope closer to the guide line until the guide line touches the haul rope. The guide line can rest on a section of the haul rope located between the gondola and the base station.

[0012] In order to be able to adjust the length of the guide line, the kite device can comprise a guide cable winch. The guide cable winch can be provided with a motor drive in order to be able to reel in the guide line. The guide cable winch can comprise a brake in order to hold the length of the guide line fixed. The brake can be released in order to bring the guide cable winch into a state in which the guide line can be paid out by applying a pulling force. The pulling force can result, for example, from a wind load acting on the guide line. It is also possible for the guide cable winch to be motor-driven for releasing. Starting from a state in which a pulling force is exerted on the kite via the guide line, the guide line can be paid out so that the guide line slackens between the ground station and the kite system.The guide line can be released so far that the lowest point of the guide line is in a position that is below the gondola.

[0013] A part of the guide line upwind of the traction cable can be moved downwards to guide the guide line to the guide line receptacle of the base station. The guide line thus slides downwards along the traction cable into the area where the traction cable merges into the base station. According to the invention, a guide line receptacle is arranged in this area, in which the guide line is received when the guide line slides downwards along the traction cable. This preferably occurs so that a deflection point is defined within the guide line by the guide line receptacle. By pulling the guide line forward, a specific longitudinal position of the guide line can be brought closer to the guide line receptacle. Once the guide line has been brought into a defined position relative to the traction cable in this way, the distal section of the guide line can be separated from the proximal section of the guide line. This can be done via a coupling which can be arranged in the relevant longitudinal position of the guide line. The traction cable can be paid out after the guide line has been separated without there still being a connection to the base station via the guide line.

[0014] The kite's aerodynamic lift keeps the tow rope under tension as soon as the kite system is in free flight. Free flight means that apart from the tow rope there are no other connections between the base station and the kite system that define the position of the kite system relative to the base station. When in free flight, the guide line can be separated from the ground station or paid out so far that no pulling force is exerted via the guide line that influences the flight position of the kite system. When the kite system is in free flight, it is at a distance from the base station that is defined by the length of the tow rope. In a direction perpendicular to the pulling force, the kite system can move along paths guided by the tow rope.

[0015] In the intermediate phase, when the kite system is already in a free-flying state, the guide line can be released to a length that is between 5% and 40%, preferably between 10% and 30% longer than the length of the towing rope. In this way, the guide line can have sufficient play to to the tow rope in the desired manner, while at the same time preventing the guide line from sagging all the way to the bottom or water surface. The length specification refers to the current length of the tow rope between the base station and the kite system, as well as the current length of the guide line between the base station and the kite system.

[0016] To keep the process as controllable as possible, it is advantageous to keep the length of the tow rope and the length of the guide line constant while the guide line slides along the tow rope toward the guide line receptacle. Since the kite has not yet reached its operating height during this phase, this means that with this variant of the procedure, the kite's ascent is interrupted before the kite has reached its operating height. In other words, there is a phase of the launch process during which the tow rope is not released any further.

[0017] The base station can be provided with an inlet device that receives the towing rope coming from the kite system. The inlet device can form the first point on the base station that the towing rope coming from the kite system touches. The inlet device can be part of a pulley system over which the towing rope is guided. The pulley system can comprise a frame that supports a pulley. The inlet device can be pivotally mounted relative to the frame. The inlet device can be pivotable about an axis that coincides with the axis of rotation of the pulley.

[0018] The base station may comprise a base frame supporting the pulley system. The frame of the pulley system may be pivotally mounted relative to the base frame of the base station. The direction of the pivot axis between the The frame of the pulley system and the base frame of the base station can form a right angle with the direction of the pivot axis between the inlet device and the frame of the pulley system. By moving around the two pivot axes, the plane of the pulley and the direction of the inlet device can be aligned with the direction of pull of the towing rope. This ensures that the pulley system is always correctly aligned with the direction of pull of the towing rope, regardless of the kite system's current position on its flight path.

[0019] The guide line receptacle can be a component of the deflection pulley system. The deflection pulley system can be designed so that the guide line receptacle is attached to the inlet device. The guide line receptacle can be arranged adjacent to an inlet point of the base station, i.e. the point on the base station that the traction cable coming from the gondola first touches. The deflection pulley system can comprise a guide slot with which the guide line is lifted from the traction cable and guided into the guide line receptacle. The guide slot can, for example, be designed as an inlet slope.

[0020] After separating the distal section from the proximal section of the guide line, the proximal section of the guide line can be held on the pulley system. After separating the distal section from the proximal section of the guide line, the distal section of the guide line can be held on the traction cable. The pulley system can comprise a barrel sleeve to hold the guide line on the traction cable. A part of the guide line receptacle can be formed in the barrel sleeve. A detachable connection can be provided between the barrel sleeve and the pulley system. The barrel sleeve can be connected to the pulley system be connected as long as the proximal section and the distal section of the guide line are connected to each other. The running sleeve can be separated from the pulley system when the distal section is separated from the proximal section of the guide line. Conversely, it is also possible to separate the guide line from the pulley system by releasing the running sleeve. The running sleeve can be detachably connected to the pulley system. The connection can be released by using the pulley to exert a tensile force on the pulley system and / or on the guide line receptacle. Alternatively, the connection to the pulley system could be released by means of an actuator.

[0021] The barrel sleeve can be held in a fixed longitudinal position on the pulley cable. The barrel sleeve can be held on the pulley cable by a locking mechanism. The locking mechanism can lock in one direction and allow movement of the barrel sleeve relative to the pulley cable in the opposite direction. The locking mechanism can be designed so that it does not allow rotation of the barrel sleeve relative to the pulley cable. This has the advantage that when the pulley cable is retrieved, the barrel sleeve runs back into the inlet device of the deflection pulley system with the correct alignment or aligns itself when running in. Alternatively, correct alignment when docking could also be ensured by a suitable contour between the barrel sleeve and the inlet device. The barrel sleeve can be rotatable relative to the locking mechanism.

[0022] The distal and proximal sections of the guide line can be connected via a coupling. The coupling can be arranged in a longitudinal position of the guide line, which runs into the guide line receptacle when the guide line is retracted. The coupling can be The coupling can be separated by applying a tensile force to the pulley system and / or the guide line receptacle using the traction cable. Alternatively, the coupling can be separated passively when the coupling is locked in the guide line receptacle. It is also possible to trigger the separation of the coupling using a control signal from a control unit. The release of the running sleeve from the pulley system and the separation of the coupling can be carried out in a single operation.

[0023] It depends on the individual case on which side of the pull rope the guide line is placed. If the guide line is to the left of the pull rope, moving the pull rope from left to right will not bring the guide line into contact with the pull rope. It will then not be possible to guide the guide line along the pull rope into the guide line holder. To determine whether the process was successful, a sensor can be used to check whether the guide line is in the guide line holder. The sensor could be an optical sensor, for example.

[0024] If inserting the guide line into the guide line receptacle was not successful, the process can be repeated. To do this, the guide line can be moved into a position where it can rest against the towing rope. The direction of movement can be opposite to the previous movement with which the attempt was made to guide the guide line into the guide line receptacle. If the guide line is in a suitable starting position, the kite system can be controlled so that the towing rope is guided in a lateral direction relative to the wind direction, whereby the lateral direction is opposite to the lateral direction in the previous attempt. In general, the movement of the towing rope in a lateral direction corresponds to a movement parallel to lei can be superimposed on the wind direction. A lateral movement within the meaning of the invention occurs when the movement of the traction cable has a component in the lateral direction.

[0025] The base station can comprise a first guide line receptacle and a second guide line receptacle. The guide line receptacles can be a component of the deflection pulley system, in particular a component of the inlet device. The guide line receptacles can be arranged such that the traction cable lies between the guide line receptacles.

[0026] The ground station of the kite device can comprise a launch and landing mast. In an early phase of the launch process, which is before the intermediate phase, the kite system can be held on the launch and landing mast. In one embodiment, the kite system is held on a mast adapter which is attached to the launch and landing mast in a height-adjustable manner. The mast adapter can define an entry point for the guide line. The guide line can extend through the mast adapter to the guide cable winch. The inventive step of moving the guide line in order to guide the guide line into the guide line receptacle can be carried out by sliding the mast adapter along the launch and landing mast. In particular, the mast adapter can be moved downwards along the launch and landing mast in order to guide the guide line into the guide line receptacle.If the attempt to bring the guide line into the guide line holder fails, the mast adapter can be moved back up along the take-off and landing mast before the next attempt.

[0027] The launch and landing mast can be pivoted on a base frame of the base station. Once the kite system is flying freely, the launch and landing mast can be pivoted to a position away from the tow rope to To give the tow rope sufficient room to move when the kite system flies along flight paths.

[0028] The invention also relates to a control unit for a kite device, which is designed to control the components of the kite device in such a way that the method according to the invention is carried out in an automated process. The control unit is designed, in an intermediate phase of a launch process in which a guide line extends between a freely flying kite system and a base station, to control the kite system of the kite device so that the kite system moves along a flight path and so that the towing rope is guided in a lateral direction with respect to the wind direction until the guide line rests against the towing rope. The control unit is designed to control a mast adapter of a launch and landing mast of the kite device in such a way that a guide line guided in the mast adapter is moved until the guide line lies in a guide line receptacle of the base station adjacent to the towing rope.The control unit is designed to emit a control signal to separate a distal section of the guide line from a proximal section of the guide line. In one embodiment, the control signal directly controls a triggering mechanism. It is also possible to use the control signal to control the guide cable winch, so that the guide cable winch exerts an increased tensile force, and the increased tensile force triggers the separation of the two sections of the guide line.

[0029] The invention further relates to a kite device with a kite system, with a control unit and with a ground station. The kite system comprises a kite and a gondola, wherein the gondola is connected to the kite via a line tree. The kite system is connected to the base station via a tow rope. coupled. The base station includes a traction cable winch for retrieving the traction cable. The base station includes a guide cable winch for retrieving the guide line. The control unit is designed according to the invention.

[0030] The base station can be a ground station located on the ground. The kite device can be designed to generate electrical energy. The kite system can be connected to a power machine via the towing cable, so that in a first operating state, the power machine acts as a generator driven by the towing cable, and in a second operating state, the power machine acts as a motor used to retract the towing cable.

[0031] It is also possible for the base station to be part of a ship, so that the kite system can generate propulsion power for the ship.

[0032] The disclosure includes further developments of the method with features described in connection with the control unit according to the invention or the kite device according to the invention. The disclosure includes further developments of the control unit and the kite device with features described in connection with the method according to the invention.

[0033] The invention is described below by way of example with reference to the accompanying drawings using advantageous embodiments. They show: Fig. 1: a schematic representation of a kite device according to the invention; Fig. 2: a schematic representation of an operating state of the kite device from Fig. 1; Fig. 3: a kite device according to the invention during a phase of a launching process; Fig. 4-5: Details of the kite device from Fig. 3 in an enlarged view; Fig. 6-9: the view according to Fig. 3 in intermediate phases of the startup process; Fig. 10: a schematic representation of an aspect of the Kite device from Fig. 3; Fig. 11: a section along line AA in Fig. 10; Fig. 12: a schematic representation of another aspect of the kite device of Fig. 3; Fig. 13: the inlet device from Fig. 12 in a different state; Fig. 14: the view according to Fig. 3 in a further phase of the starting process; Fig. 15: a block diagram of a control unit according to the invention: Fig. 16: an alternative embodiment of a kite device according to the invention.

[0034] A kite device shown in Fig. 1 is designed to generate electrical energy using a kite system 23. The kite system 23 comprises a kite 14, a gondola 25, and a line boom 24, via which the kite 14 is connected to the gondola 25. The gondola 25 is coupled to a base station 16 via a tow rope 15. The point on the base station 16 at which the tow rope coming from the gondola 25 15 which has the first contact with the base station 16 forms an entry point 26 of the base station.

[0035] The base station 16 comprises a traction cable winch 27 (Fig. 3) which is coupled to an electric power machine 17. The power machine 17 operates as a generator in a first operating state and as a motor in a second operating state. The power machine 17 is connected to a public transmission network 19 via an electrical power train 18 which comprises a converter and a transformer, so that either electrical energy generated by the power machine 17 can be fed into the transmission network 19 or the power machine 17 can be operated as a motor with electrical energy taken from the transmission network 19. The device comprises a control unit 20 which is designed to control the interaction of the components of the device.

[0036] The control unit 20 includes an antenna 21, allowing control signals to be exchanged with the gondola 25 via a radio link 22. In particular, the control unit 20 sends control signals to the gondola 25 to control the flight direction of the kite 14. Using the control signals, the length of the control lines of the line boom 24 is changed, thereby influencing the flight direction of the kite 14.

[0037] In the embodiment according to Fig. 2, the kite 14 is guided along a figure eight aligned substantially transversely to the wind direction W. The figure eight lies completely within a wind window 29, in which the wind W acts with high force on the kite 14. While the kite 14 follows the direction of flight, a tensile force is exerted on the traction cable 15, with which the power machine 17 is driven via the traction cable winch 27. With the The mechanical energy is converted into electrical energy by the power machine 17 operating as a generator and fed into the public transmission grid 19 via the power train 18. It is also possible to store a portion of the generated energy in electrical form in an energy storage device in the power train 18. In this way, electrical energy can be generated until the length of the traction cable 15 is exhausted. The traction cable 15 is then reeled in by the power machine 17 operating as a motor before electrical energy can be generated again.

[0038] The base station 16 comprises a deflection pulley system 33, via which the traction cable 15 coming from the gondola 25 is deflected in the direction of the traction cable winch 27. According to Fig. 4, the deflection pulley system 33 comprises a structural part 38 which is fixedly connected to a base frame 43 of the base station 16. A deflection pulley 35 is mounted in a frame 40 so as to be rotatable about an axis 39. The frame 40 is pivotally mounted on the structural part 38 via a pivot joint 41, the pivot axis 37 coinciding with the axis along which the traction cable 15 extends between the deflection pulley 35 and the traction cable winch 27. When the kite 14 performs flight figures as shown in Fig. 2 fully , the frame 40 is pivoted relative to the structural part 38 so that the traction cable 15 can always run out of the deflection pulley system 33 within the plane of the deflection pulley 35 .

[0039] The deflection pulley system 33 comprises an inlet device 34 through which a section of the traction cable 15 leading to the gondola 25 is passed. The inlet device 34 forms the inlet point 26, i.e. the first point of the base station 16 which the traction cable 15 coming from the gondola 25 touches. The inlet device 34 is held on a pivot arm 36 which is pivotally mounted on the frame 40. The pivot axis about which the pivot arm 36 can be pivoted is identical to the axis 39 about which the deflection pulley 35 turns . When the kite 14 performs flight manoeuvres as shown in Fig . 2 , the swivel arm 36 is pivoted about the axis 39 so that the towing rope 15 can run through the inlet device 34 without lateral tension .

[0040] During breaks in operation or in phases of calm wind, the kite system 23 is in a stowed state (not shown), in which the kite 14 is folded up and stored on the base station 16. In order to transfer the kite system 23 into an operating state as in Figs. 1, 2, a launching process is required, with which the kite 14 is first brought into a state in which an aerodynamic lift force acts, and in which the kite 14 then rises to a greater height of, for example, several 100 m, utilizing the aerodynamic lift force.

[0041] Fig. 3 shows an early phase of the launch process in which an aerodynamic lift force is already acting, so that the towing cable 15 between the gondola 25 and the base station 16 is kept under tension, but in which the kite 14 is still connected to a launch and landing mast 30 of the base station 16 by a guide line 29. To bring the kite system into this state, the base frame 43 of the base station 16 is aligned to the wind direction W, so that the launch and landing mast 30 is arranged upwind of the pulley system 33. In this way it is achieved that the kite 14, under the influence of the wind force, pulls the towing cable 15 in a direction in which the towing cable 15 does not collide with the launch and landing mast 30. An XZ plane is tensioned by the wind direction W and the vertical direction. A Y-direction perpendicular to the XZ plane corresponds to the lateral direction 42 in the sense of the invention.

[0042] To enable this alignment with the wind direction W, the base frame 43 of the base station 16 rests on a foundation 44 via a rotating ring 45. The base frame 43 can be rotated about a vertical axis relative to the foundation 44 via the rotating ring 45.

[0043] The takeoff and landing mast 30 is pivotably connected to the base frame 43 of the base station 16 about a horizontal axis 47. A rail 48, which supports a mast adapter 46, extends along the takeoff and landing mast 30. The mast adapter 46 can be displaced along the rail 48 by a motor drive 53. The rail 48 extends beyond the axis 47 into the area of ​​the base frame 43, which supports a segment 49 of the rail 48 that is separate from the takeoff and landing mast 30.

[0044] The guide line 29 coming from the kite 14 runs via the mast adapter 46 into the base station 16. According to Fig. 5, the mast adapter 46 comprises a first pulley 50 and a second pulley 51, over which the guide line 29 is deflected so that it runs parallel to the rail 48. The guide line 29 extends along the rail 48 to the base frame 43 of the base station 16, where the other end of the guide line 29 is wound onto a guide cable winch 52. The guide cable winch 52 can be rotated by a motor to wind up the guide line 29. The guide line 29 is pulled off the guide cable winch 52 passively by exerting a tensile force on the guide line 29.

[0045] Starting from the state in Fig. 3, it is not possible to lower the traction cable 15 further without simultaneously adjusting the guide line 29. The invention proposes a launching procedure in which the guide line 29 is separated so that a proximal section 31 of the guide line 29 remains at the base station 16 and a distal section 32 of the guide line 29 can rise upwards with the kite system 23 (Fig. 14). For this purpose, the guide line 29 is provided with a coupling 54, via which the proximal section 31 and the distal section 32 of the guide line 29 remain connected to one another until a final phase of the launch process.

[0046] Following the phase in Fig. 3, the towing cable 15 is paid out so that the kite 14 ascends, but still remains well below its later operating height. As the kite 14 ascends, the guide line 29 is pulled off the guide cable winch 52 by a corresponding length. The coupling 54 runs over the two rollers 50, 51 of the mast adapter 46. This is possible because the diameter of the coupling 54 is not significantly larger than the diameter of the guide line 29.

[0047] The kite system 23 is in this way brought into a state which is shown in Fig. 6. The mast adapter 46 is then moved downwards along the rail 48 into a position shown in Fig. 7. The take-off and landing mast 30 is pivoted outwards in order to create space for flight movements of the kite 14, see Fig. 8. The guide line 29 is pulled off the guide cable winch 52 during these steps and in Fig. 8 can have a length of between 150 m and 200 m, for example, between the kite 14 and the mast adapter 46. The length of the towing cable 15 between the gondola 25 and the guide line receptacle 34 is less than the length of the guide line 29 and can be between 120 m and 170 m, for example. 7, 8 show the kite device in an intermediate phase 28 in the sense of the invention, in which a belly of the guide line is formed from windward to leeward or upwind to downwind.

[0048] The movement of the kite 14 up to this point is essentially limited to ascending against the direction of pull of the towing cable 15. Starting from the state shown in Fig. 8, the control unit 20 sends control signals to the gondola 25 in order to steer the kite 14 along flight paths at the height predetermined by the towing cable 15. The repeating flight paths can, for example, correspond to the figure of a horizontal eight as shown in Fig. 2. The kite 14 is steered along such flight paths by the gondola 25 lengthening or shortening the length of individual control lines belonging to the line boom 24.

[0049] The flight movements of the kite 14 result in the towing rope 15 performing movements transverse to its longitudinal direction. The movements of the towing rope 15 can have a component in the wind direction W and a component in the lateral direction 42. Of interest to the invention is the movement in the lateral direction 42, which results in the guide line 29 coming to rest laterally on the towing rope 15 during the course of a flight path. If, in the phase in which the guide line 29 rests laterally on the towing rope 15, the mast adapter 46 is moved downwards along the rail 48 and the guide line 29 is optionally additionally reeled in, the guide line 29 slides along the towing rope 15 in the direction of the inlet device 34, see Fig. 9, until the guide line experiences a defined deflection in the area of ​​the inlet device 34, see Bz z. 67 in Fig. 9 .

[0050] Selected aspects of the inlet device 34 are shown schematically in Fig. 10. According to this, a first guide line receptacle 55 and a second guide line receptacle 56 are formed in the inlet device 34. The guide line receptacles 55, 56 extend, relative to the longitudinal direction of the traction cable 15, over the entire extent of the inlet Device 34 and each form a recess that is open to the outside, i.e. a recess that is open in the direction from which the mast adapter comes. In the lower third of each guide line receptacle 55, 56 there is a stop 59 so that a section of the guide line receptacles 55, 56 that is below the stop 59 has a smaller diameter than a section that is above the stop 59. Towards the upper end the diameter of the guide line receptacles 55, 56 widens. At the upper end of the inlet device 34 there is a collar with a conical outer surface 58 that extends around the traction cable 15. A sensor 57 is arranged inside the inlet device 34.

[0051] If, starting from the state shown in Fig. 8, the mast adapter 46 is moved downwards along the rail 48, the guide line 29 slides downwards on the traction cable 15 until the intersection point between the traction cable and the guide line abuts the inlet device 34. The guide line is guided into one of the guide line receptacles by the contour 58 of the inlet device. If the guide line 29 is now reeled in using the guide cable winch 52, in the exemplary embodiment shown, the guide line 29 is pulled longitudinally through the first guide line receptacle 55 until the coupling 54 of the guide line 29 abuts the stop 59 of the first guide line receptacle 55.

[0052] In Fig. 12, 13, other aspects of the inlet device 34 are shown in schematic form. According to this, the inlet device 34 comprises a base body 60, which is fixedly connected to the base frame 43 of the base station 16 via the pivot arm 36 of the deflection roller system 33. Accommodated in the base body 60 is a running sleeve 65, which is detachably connected via a locking mechanism 61 to the base body 60. In Fig. 12 the locking mechanism 61 is shown in a locked state, in Fig. 13 the locking mechanism 61 is released.

[0053] If, starting from the state shown in Fig. 10, in which the coupling 54 of the guide line 29 rests against the stop 59 of the first guide line receptacle 55, the guide line 29 is reeled in further, pressure is exerted on the locking mechanism 61 via the stop 59 and a spring element of the locking mechanism 61 is compressed. By compressing the locking mechanism 61, several processes are triggered in the inlet device 34. A lever 64 is flipped inside the running sleeve 65 and acts on the coupling 54 so that an upper part 63 of the coupling 54 is separated from a lower part 62 of the coupling 54. The lever 64 has the further effect that the running sleeve 65 is tensioned against the pull cable 15, so that the pull cable 15 can no longer run freely through the running sleeve 65. Finally, the locking mechanism 61 itself is released so that the barrel sleeve 65 is no longer locked relative to the base body 60.

[0054] If the traction cable 15 is now further released, the running sleeve 65 extends out of the base body together with the traction cable 15, the upper part 63 of the coupling 54, and the distal section 32 of the guide line 29. Further release of the traction cable 15 is then no longer subject to any restriction emanating from the guide line 29.

[0055] Fig. 14 shows the final phase of the launching process after the running sleeve 65 has exited the base body 60. During this phase, the towing cable 15 is further extended until the kite 14 has reached its operating height. This can be followed by the operating phase shown in Fig. 2, in which electrical energy is generated by the kite system 23.

[0056] It is subject to imponderables whether the guide line 29 comes to lie on the left side or the right side of the traction cable 15 during the transition between the state in Fig. 6 and the state in Fig. 7. The illustration in Figs. 10-13 is based on the assumption that, with reference to the view in Fig. 7, the guide line 29 lies behind the traction cable 15. If the guide line 29 slides along the traction cable 15 on this side, it runs into the first guide line receptacle 55 of the inlet device 34, as shown in Figs. 10-13. If the guide line 29 were to lie in front of the traction cable 15 in Fig. 7, the guide line 29 would run into the second guide line receptacle 56 of the inlet device 34.

[0057] When the mast adapter 46 has moved downwards (Fig. 9), the sensor 57 of the inlet device 34 determines whether the guide line 29 has come to rest in either the first guide line receptacle 55 or the second guide line receptacle 56. If this is the case, the starting process can be continued as described.

[0058] If this is not the case, the previous steps of the starting process must be repeated. To do this, the mast adapter 46 is moved back up a little into the position shown in Fig. 7 and the described process is repeated when the pull rope 15 moves in the opposite lateral direction. The guide line 29 is then on the other side of the pull rope 15 and, in the described sequence of steps, runs into the second guide line receptacle 56 of the run-in device 34. If everything goes normally, the guide line 29 will be in either the first guide line receptacle 55 or the second guide line receptacle 56 after the first repetition of the process at the latest. This is detected by the sensor 57 and the starting process can continue with the subsequent steps.

[0059] If, due to exceptional circumstances, for example unfavourable wind conditions, the guide line 29 is not in one of the guide line receptacles 55, 56 even on the second attempt, further repetitions can follow until the guide line 29 has been successfully inserted into one of the guide line receptacles 55, 56.

[0060] Fig. 15 shows a block diagram of the controller 20, which is designed to control the components of the device so that the launch process takes place in an automated sequence. At the beginning of a launch process, the control unit 20 controls an actuator of the guide cable winch 52 so that the brake of the guide cable winch 52 is released. The guide line 29 can then be pulled off the guide cable winch 52 as soon as a tensile force acts on the guide line 29. In the next step, the control unit 20 controls an actuator of the traction cable winch 27 so that the traction cable 15 is paid out by a predetermined distance. The kite device is thus brought into the state shown in Fig. 6. In the next step, the control unit 20 controls the motor drive 53 of the mast adapter 46 so that the mast adapter 46 moves downwards along the rail 48 of the take-off and landing mast 30, Fig. 7.An actuator (not shown) is controlled to pivot the take-off and landing mast 30 outwards, Fig. 8.

[0061] In the next step, the control unit 20 sends control signals to the gondola 25 via the radio link 22, so that the kite 14 is steered along predetermined flight paths. A signal is sent from the gondola 25 to the control unit 20 as soon as the traction cable 15 has reached an extreme position in the lateral direction 42 and the lateral direction of movement has reversed. After receiving the signal, the control unit 20 controls the motor drive 53 of the mast adapter 46, so that the mast adapter 46 can continue to move along the rail 48. moves downwards until the mast adapter 46 reaches the position shown in Fig. 9. If, after the downward movement of the mast adapter 46, the guide line 29 is in one of the two guide line receptacles and is detected there by the sensor 57, the actuator of the guide cable winch 52 is activated so that the guide cable winch 52 rotates and reels in the guide line. The guide cable winch 52 is set up in such a way that the rotating process stops automatically as soon as either an increased tensile force emanates from the guide line 29 or the guide line 29 has been reeled in far enough that the coupling 54 can no longer reel in the reeling device 34. The control unit 20 then queries the sensor 57 as to whether the guide line 29 is in one of the guide line receptacles 55, 56.As soon as the coupling rests against the stop 59 of the guide line receptacle, the control unit 20 can send a control signal to open the locking mechanism 61, which releases the running sleeve from the base body 60. This actuates the locking mechanism 61 of the inlet device 34, which releases the running sleeve from the base body 60. The control unit 20 can then send a control signal to the towing cable winch 27, so that the towing cable 15 is released to the desired operating height of the kite.

[0062] If the sensor 57 signals that the guide line 29 is not in any of the guide line receptacles 55, 56, the control unit 20 activates the motor drive 53 of the mast adapter 46, so that the mast adapter 46 moves upwards again. The control unit repeats the described process until the sensor 57 signals that the guide line 29 is in one of the guide line receptacles 55, 56.

[0063] In Fig. 16 an alternative embodiment of the invention is shown, in which the kite device according to the invention serves to generate a propulsion force for a ship 66.

Claims

Patent claims 1. Method for launching a kite system (23), wherein the kite system (23) comprises a kite (14) and a gondola (25), wherein the gondola (25) is connected to the kite (14) via a line tree (24) and wherein the kite system (23) is coupled to a base station (16) via a towing rope (15), in which in an intermediate phase of a launch process a guide line (29) extends between the freely flying kite system (23) and the base station (16) so that a part of the guide line (29) attached to the base station (16) lies upwind of the towing rope (15) and a part of the guide line (29) lying between the base station (16) and the kite system (23) lies downwind of the towing rope (15), comprising the following steps: a.Controlling the kite system (23) during the intermediate phase of the launch process along a flight path such that the towing rope (23) is guided in a lateral direction (42) with respect to the wind direction (W) until the guide line (29) rests against the towing rope (15); b. Moving the guide line (29) such that the guide line (29) slides downwards along the towing rope (15) until the guide line (29) lies in a guide line receptacle (55, 56) of the base station (16) adjacent to the towing rope (15); c. Separating a distal section (32) of the guide line (29) from a proximal section (31) of the guide line (29).

2. Method according to claim 1, wherein in the intermediate phase of the starting process a signal attached to the base station (16) Part of the guide line (29) is upwind of the towing rope (15) and a part of the guide line arranged between the base station (16) and the kite system (23) is downwind of the towing rope.

3. Method according to claim 1 or 2, wherein a part of the guide line (29) lying upwind of the traction cable (15) is moved downwards in order to guide the guide line (29) to the guide line receptacle (55, 56) of the base station (16).

4. Method according to one of claims 1 to 3, wherein the guide line receptacle (55, 56) is part of a deflection pulley system (33) via which the traction cable (15) is deflected.

5. The method according to claim 4, wherein the pulley system (33) comprises a contour (58) with which the guide line (29) is lifted from the traction cable (15) and guided into the guide line receptacle (55, 56).

6. Method according to claim 4 or 5, wherein after the guide line (29) has been separated, the proximal section (31) is held on the pulley system (33) 7. Method according to one of claims 1 to 6, wherein after the guide line (29) has been separated, the distal section (32) is held on the traction cable (15).

8. Method according to one of claims 4 to 7, wherein a running sleeve (65) is in a detachable connection to the deflection roller system (33).

9. Method according to one of claims 1 to 8, wherein the distal portion (32) and the proximal portion (31) of the Guide line (29) are connected to one another via a coupling (54) and wherein the coupling (54) is separated after the guide line (29) has run into the guide line receptacle (55, 56).

10. Method according to one of claims 1 to 9, wherein a sensor (57) is used to determine whether the guide line (29) is located in the guide line receptacle (55, 56).

11. Method according to one of claims 1 to 10, wherein the traction cable (15) is guided in a first lateral direction and wherein, if the guide line (29) has not been brought into contact with the traction cable (15), the traction cable (15) is guided in a second lateral direction opposite to the first direction.

12. The method according to any one of claims 1 to 11, wherein the base station (16) comprises a first guide line receptacle (55) and a second guide line receptacle (56) and wherein the traction cable (15) is arranged between the first guide line receptacle (55) and the second guide line receptacle (56).

13. Control unit for a kite device, wherein the control unit is designed to control the kite system (23) in an intermediate phase (28) of a launching process, in which a guide line (29) extends between a freely flying kite system (23) of the kite device and a base station (16), so that a part of the guide line (29) attached to the base station (16) lies upwind of the towing cable (23) and a part of the guide line (29) lying between the base station (16) and the kite system (23) lies downwind of the towing cable (23), so that the kite system (23) is during the intermediate phase of the launching process along a flight path and so that the traction cable (23) is guided in a lateral direction (42) with respect to the wind direction (W) until the guide line (29) rests against the traction cable (15); to control a mast adapter (46) of a take-off and landing mast (30) of the kite device in such a way that a guide line (29) guided in the mast adapter (46) is moved so that the guide line (29) slides downwards along the traction cable (15) until the guide line (29) lies in a guide line receptacle (55, 56) of the base station (16) adjacent to the traction cable (15); and to give a control signal in order to separate a distal section (32) of the guide line (29) from a proximal section (31) of the guide line (29).

14. Kite device, with a kite system (23), with a control unit (20) and with a ground station (16), wherein the kite system (23) comprises a kite (14) and a gondola (25), wherein the gondola (25) is connected to the kite (14) via a line tree (24), wherein the kite system (23) is coupled to the base station (16) via a towing cable (15), wherein the base station (16) comprises a towing cable winch (27) for retrieving the towing cable (15), wherein the base station (16) comprises a guide cable winch (52) for retrieving the guide line (29), wherein the control unit (20) is designed according to claim 13.

Images