Air observation complex built around tethered balloon

FIELD: transport.

SUBSTANCE: invention relates to development of tethered balloons. Proposed complex comprises balloon gas bag, tether, coupler secured to gas bag whereto attached via top support element are gimbal joint with two degrees of freedom and bottom support element to carry payload, surface control station and communication means to transmit control commands. Payload is arranged for azimuth rotation about bottom support element vertical axis, driven by electric motor controlled by electronic control unit incorporating speed and acceleration transducers. Top support element is furnished with knock-down lock whereto attached is rotary fastener rigidly secure to horizontal top disc. Gimbal joint upper fork is jointed to upper disc bottom surface and accommodates gimbal joint ring fitted on joint first pin. Gimbal joint bar is arranged inside joint ring on joint second pin arranged perpendicular to aforesaid first pin. Gimbal joint bar lower end is jointed to bottom support element. Top ends of two extra dampers are secured to one vertical element of joint fork on the side of two opposite side surfaces. Bottom ends of said dampers are attached to damper bracket arranged on bottom support element so that dampers in initial position are located vertically and in parallel.

EFFECT: stable images, higher accuracy of observation camera alignment, simplified design.

10 cl, 2 dwg

 

The technical field to which the invention relates.

The invention relates to the field of development and use of tethered balloons intended for air surveillance of objects, processes and phenomena on the earth or water surface with the possibility of transmission to the ground control station in real-time information obtained by sensors mounted on a tethered balloon.

The invention is important when using aerial observations based on tethered balloons to detect emergency situations and liquidation of their consequences, for the preservation of life and health, minimize property damage and prevent environmental pollution. Of particular importance to the invention can be in fighting fires due to the early detection of fires and their effective extinguishing. The invention can be used for technical support of industrial activities and events conducted by law enforcement agencies in day and night conditions.

The level of technology

Known air surveillance complexes based on tethered balloons for U.S. patent No. 5,115,997, as well as from sources http://www.aerostar.com/aerostat.htm and http://www.lockheedmartin.com/data/assets/ms2/pdf containing the main elements of the membrane of the balloon, napolnenno the gas is lighter than air, tethered cable, terrestrial means of ascent and descent of the balloon (e.g., a winch), tools, payload, ground control station, sources (generators) of electricity and maintenance. A television camera mounted on a tethered balloon as the payload sensors, can detect and track targets, to receive and record information about interesting events, actions and incidents.

Famous aerial surveillance for U.S. patent No. 5,757,157 using a tethered balloon, with a device for placing a payload sensors, consisting of a yoke, the upper and lower plate and the sliding mechanism. This mechanism allows you to move the bottom plate with the attached payload sensors relative to the upper plate due to its rotation around the vertical axis. In the case of use as a sensor payload optical camera that provides a circular field of view in three hundred and sixty degrees. In this aerial surveillance there are no technical means of stabilizing the position of the payload. When exposed to the balloon wind air flow that causes swinging of the payload and the shift from the vertical position, which reduces the quality of the floor is emich images and degrades surveillance capabilities.

Famous aerial surveillance for U.S. patent No. 7,237,750 in which to stabilize the position of the payload it is suspended from the balloon using a universal joint. It allows to significantly reduce vibration of the payload from the wind and to maintain its vertical position, which is very important for air surveillance. This aerial surveillance, the number and content of functionally similar features, is the prototype of the invention.

The prototype is an aerial surveillance on the basis of a tethered balloon, which includes:

- membrane balloon filled with gas lighter than air,

- tie the cable, the upper end of which is attached to the membrane of the balloon, and the lower end attached to the ground means of ascent and descent of the balloon,

- a connecting element attached to the membrane of the balloon, through which the upper supporting element, a universal joint with two degrees of freedom and lower supporting element is attached to the platform with the installed payload made with the possibility circular rotation in azimuth around the axis of the lower support element by means of an electric motor controlled by an electronic control unit,

- a means of measuring the motion of the platform with the installed useful Naga is narrow, includes speed sensors and acceleration

- ground control station,

- communication means for transmitting control commands from the ground control station on a tethered balloon and receive data from sensors payload tethered balloon on the ground control station.

In the prototype, the vertical position of the payload is achieved through its free movement in the gimbal joint on which it is suspended from a tethered balloon, under the action of gravity. When exposed to the balloon turbulent air masses that causes swinging of the payload and its undesirable vibrational and rotational movements relative to the vertical axis, which leads to loss of stability of the obtained image and impedes its alignment and direction of surveillance cameras on an object of interest. Design prototype allows fast Assembly procedure and prepare it for operation in situations where the time factor is crucial, for example when extinguishing fires.

The invention

The invention solves the problem of increasing the stability obtained in the process of observation of the image in terms of exposure to adverse air flow, increase the accuracy of alignment of the cameras and their directions at the points of interest, as well as oprosti and speed up the Assembly process and preparation of aerial surveillance to work.

The invention is a complex of air surveillance on the basis of the tethered balloon containing membrane of the balloon filled with gas lighter than air, tie the rope, the upper end of which is attached to the membrane of the balloon, and the lower end connected to a ground means of ascent and descent of the balloon, the connecting element attached to the membrane of the balloon, through which the upper supporting element, a universal joint with two degrees of freedom and lower supporting element is attached to the platform with the installed payload made with the possibility circular rotation in azimuth about the vertical axis of the lower support element by means of an electric motor controlled by an electronic control unit, hosts the speed sensors and acceleration for motion measurement, ground control station, and communication means for transmitting control commands from the ground control station on a tethered balloon and receive data from sensors payload tethered balloon on the ground control station.

In addition, in the invention:

the upper supporting element is provided with a collapsible locking castle, to which is attached below the swivel mount rigidly attached to a horizontally positioned upper disk to the bottom surface of which is Chikovani upper plug universal joint, inside which the first axis of the cardan posted by the cardan ring, inside of which the second axis of the shaft, located perpendicular to the first axis of the shaft, put the rod shaft, the lower end of which is attached to the lower supporting element, and one vertical element of the fork of the universal joint from the two opposite side surfaces in the lower part thereof attached to the upper ends of the two additional installed shock absorbers, lower ends of which are attached to the bracket of the shock absorbers located on the lower bearing element in such a way that in the initial position the dampers are arranged vertically and parallel to each other.

In the proposed aerial surveillance on the basis of a tethered balloon in the composition of the payload included a television camera and a thermal imaging camera, placed at opposite ends of the one attached to opposite side surfaces of the body of the payload using the horizontal bearings of the shaft, by rotation of which by means of electric stepper motor embodying included and off gyrostabilization, the axis of observation of these cameras are moved in elevation.

In the proposed aerial surveillance on the basis of the tethered balloon circular rotation TV, televisio the Noah camera payload around the vertical axis of the lower support element is carried out by means of an electric stepper motor, provides the tools included and off gyrostabilization.

In this aerial surveillance on the basis of a tethered aerostat communications of the balloon with the ground control station is made in the form of radio communication systems with the installation of transceivers with antennas on the balloon and the ground control station.

The transceiver ground control station aerial surveillance on the basis of the tethered balloon is made of multi-channel, which allows you to manage multiple aerostats with one control station and take the air surveillance information simultaneously from multiple balloons on one ground control station.

Ground control station aerial surveillance on the basis of the tethered balloon is equipped with two display devices for information display, one of which displays a digital map of the terrain in the area airborne surveillance, and the second information is displayed aerial observations in the optical and in the infrared range of the established on the balloon chambers.

In aerial surveillance on the basis of a tethered balloon in the computer ground control station introduced an algorithm that simultaneously displayed on one display image information, the airbag is th observation from a few balloons.

To avoid loss of the balloon in the event of breakage of the harness cable to the aerial surveillance on the basis of the tethered balloon equipped with a means of emergency landing of the balloon, made in the form of the command radio transmitter which is installed on the ground control station, and the receiver on the connecting element of the balloon, and electrical operated valve to release helium mounted on the shell of the balloon.

The aerial surveillance on the basis of the tethered balloon posted on Autonomous mobile platforms, with their means of loading and unloading, to ensure its transportation to the area of application and back to the base storage.

In aerial surveillance on the basis of the tethered balloon outside has moisture-proof protective casing, the upper end of which is fixed under the swivel bracket, with clamp, and the lower end bolted to the lower supporting element.

The presence of collapsible retainer lock allows you to quickly and securely attach the payload to the tethered balloon and release it. Swivel mount gives you the ability to accurately align the initial vertical position of the payload and fix it with clamps when assembling, preparing, and deploying complex is Ostashkovo observations. Two are installed in the claimed technical solution of the shock absorber extinguish all the sharp move in the gimbal joint that may occur as a result of displacement of the balloon due to the impact of sudden gusts of wind. Smooth movement of the payload in azimuth and elevation angle are compensated by using the tools included and off gyrostabilization. These tools are disabled when the required finding and pointing the camera at an object of interest by the air operator complex observations. Their inclusion is when you want continuous continuous observation target object. In the moment of switching is fixed angular position of the camera as the source. In the case of moving the payload in the wind on aerial surveillance using a set of speed sensors, acceleration and magnetic compass are measured motion parameters. In the electronic control unit generates commands to the actuators in azimuth and elevation, which return the payload to its original position. Thus, regardless of the swinging and rotation of the balloon of his camera constantly directed at an object of interest. The image of the observed object is highly stable even under conditions of turbulent flow of air through the shackles.

In the proposed aerial surveillance the possibility of simultaneous observations at the ground control station images from several (e.g. four) tethered balloons, which are transmitted by radio communication in real-time. At the same time on one display device to display information ground control station displays a digital map of the terrain in the area airborne surveillance, and the second information is displayed aerial observations in the optical and in the infrared range of the established on the balloon chambers. This allows precise binding monitoring information to the terrain.

To avoid loss of the balloon in the event of breakage of the tie rope can be made its emergency landing. On the command radio transmitted the command of the operator on Board the balloon, which triggers mounted on the shell of the balloon electrically operated valve for release of helium. The result is a smooth controlled descent of the balloon near the site of his recovery.

Declared aerial surveillance on the basis of the tethered balloon has a high autonomy and mobility, as it is placed on the Autonomous mobile platforms, with their means of loading and unloading.

Mounted on the outside of the binder element moisture-proof protective cover well protects it from the negative impact of atmospheric factors (water, ice, and others), providing reliable operation declared aerial surveillance.

List of drawings

The invention is further explained with specific examples of its implementation with reference to the accompanying drawings, which depict:

figure 1 - General view of the payload air complex observations based on the tethered balloon with means of attachment and stabilization;

figure 2 - General view of the fastening means and stabilizing the payload air complex observations based on the tethered balloon.

The implementation of the invention

Aerial surveillance on the basis of the tethered balloon contains a payload of 1, with means for mounting and stabilization 2 (figure 1). The membrane of the balloon filled with gas lighter than air, tethered cable and ground ascent and descent of the balloon is not shown. The connecting element 3 is attached to the membrane of the balloon. To him through the upper supporting element 4, the universal joint with two degrees of freedom 5 and the lower supporting element 6 is connected to the platform 7 installed on it payload 8. It is made with the possibility of circular rotation is about the azimuth about the vertical axis of the lower support element 6.

Part of the payload of air complex observations based on the tethered balloon included television camera 9 and thermal imaging camera 10. They are placed at opposite ends located within a horizontal shaft (not shown)attached to opposite side surfaces of the body of the payload 11 through bearings. Due to the rotation of the horizontal shaft by means of an electric stepper motor, provides the tools included and off gyrostabilization, the axis of observation of these cameras are moved in elevation. The circular rotation of the TV 9 and 10 cameras thermal imaging payload around the vertical axis of the lower support element 6 is effected by means of electric stepper motor embodying included and off gyrostabilization.

The transmission of control commands on a tethered balloon and information surveillance ground control station is performed using a radio communication system. The on-Board transceiver tethered balloon with antennas installed in the lower part 12 of the payload 1.

The command radio receiver means emergency landing of the balloon 13 is installed on the connecting element 3.

The upper supporting element 4 provided with a collapsible retainer lock 14 (figure 2), to kotromanic attached swivel mount 15, rigidly attached to a horizontally positioned upper disk 16. To the lower surface of the disk attached to the upper plug universal joint 17, inside which the first axis 18 posted by cardan ring of the universal joint 19. Inside on the second axis 20 of the shaft that is located perpendicular to the first axis 18 of the shaft, put the rod shaft 21, the lower end of which is attached to the lower supporting element 6. To one vertical element 22 of the fork shaft 17 by two opposite narrow side surfaces 23 and 24 in the lower part thereof attached to the upper ends 25 and 26 of the two additional installed shock absorbers 27 and 28, the lower ends 29 and 30 which are attached to the bracket of the shock absorbers 31 located on the platform 7 so that in the initial position the dampers are arranged vertically and parallel to each other.

Industrial applicability

The invention is intended for continuous air monitoring areas of emergencies (fires, floods, earthquakes and other), as well as for support and technical support of industrial and law enforcement activities in day and night conditions.

Each of the funds, the use of which is envisaged by the invention, is produced by the industry of different countries. Provided by the invention the engagement means implementing what is in the known processes for various purposes in the aviation industry Aeronautics and practical use of tethered and manned balloons for various purposes.

The aerial surveillance based on tethered balloons that implements the invention, which is a standard product that is fully tested.

The complex comprises a membrane tethered balloon with a volume of 50 to 80 cubic meters, payload, tie rope, winch electric, gasoline generator, control panel, balloons with helium and the container. Their total weight is 1200 kg Weight portable ground control station along with the antenna does not exceed 20 kg

Application of the complex is carried out by the technical crew of two people with untrained in engineering for sites with wind speeds of 10 meters per second. Preparation for the use of this complex, including the rise of tethered balloon at working height not to exceed 45 minutes.

Time smooth lifting tethered balloon at the maximum height of 300 meters does not exceed 10 minutes.

The transmission range of television and infrared image areas with a bead tethered balloon on the ground control station is 5 km

On a vehicle of appropriate capacity are 4 aerial observation the Oia.

1. The aerial surveillance on the basis of the tethered balloon containing membrane of the balloon filled with gas lighter than air, tie the rope, the upper end of which is attached to the membrane of the balloon, and the lower end connected to a ground means of ascent and descent of the balloon, the connecting element attached to the membrane of the balloon, through which the upper supporting element, a universal joint with two degrees of freedom and lower supporting element is attached to the platform with the attached payload made with the possibility circular rotation in azimuth about the vertical axis of the lower support element by means of an electric motor controlled by an electronic control unit, which houses the speed sensors and acceleration for motion measurement, ground control station, and communication means for transmitting control commands from the ground control station on a tethered balloon and receive data from sensors payload tethered balloon on the ground control station, characterized in that, to improve the stability obtained in the course of the observation image, increase the accuracy of the alignment, the simplification and acceleration of procedures for the Assembly and preparation of aerial surveillance to work, the upper supporting element is provided with a collapsible locking Palace is, to which is attached below the swivel mount rigidly attached to a horizontally positioned upper disk to the lower surface of which is docked top plug universal joint, in which the first axis of the cardan posted by the cardan ring, inside of which the second axis of the shaft, located perpendicular to the first axis of the shaft, put the rod shaft, the lower end of which is attached to the lower supporting element, and one vertical element of the fork of the universal joint from the two opposite side surfaces in the lower part thereof attached to the upper ends of the two additional installed shock absorbers, lower ends of which are attached to the bracket of the shock absorbers located on the lower bearing element thus, in the initial position the dampers are arranged vertically and parallel to each other.

2. The aerial surveillance on the basis of the tethered balloon according to claim 1, characterized in that the payload included a television camera and a thermal imaging camera, placed at opposite ends of the one attached to opposite side surfaces of the body of the payload using the horizontal bearings of the shaft, by rotation of which by means of electric stepper motor embodying included is my off gyrostabilization axis monitoring these cameras are moved in elevation.

3. The aerial surveillance on the basis of the tethered balloon according to claim 1 or 2, characterized in that the circular rotation of the television and thermal imaging cameras payload around the vertical axis of the lower support element is carried out by means of electric stepper motor embodying included and off gyrostabilization.

4. The aerial surveillance on the basis of the tethered balloon according to claim 1, characterized in that the communication means of the balloon with the ground control station is made in the form of radio communication systems with the installation of transceivers with antennas on the balloon and the ground control station.

5. The aerial surveillance on the basis of the tethered balloon according to claim 1, characterized in that the transceiver on the ground control station and executed multi-channel, which allows you to manage multiple balloons with one control station and take the air surveillance information simultaneously from multiple balloons on one ground control station.

6. The aerial surveillance on the basis of the tethered balloon according to claim 1, wherein the ground control station is equipped with two display devices for information display, one of which displays a digital map of the terrain in the area of the airbag the observation that, and the second displays information air surveillance.

7. The aerial surveillance on the basis of the tethered balloon according to claim 1, characterized in that the computer ground control station introduced an algorithm that simultaneously displayed on one display image information aerial observations from several balloons.

8. The aerial surveillance on the basis of the tethered balloon according to claim 1, characterized in that, to avoid loss of the balloon in the event of breakage of the tie rope, this complex is equipped with an emergency landing of the balloon, made in the form of the command radio transmitter which is installed on the ground control station, and the receiver on the connecting element of the balloon, and electrically operated valve to release helium mounted on the shell of the balloon.

9. The aerial surveillance on the basis of the tethered balloon according to claim 1, characterized in that it is placed on the Autonomous mobile platforms, with their means of loading and unloading.

10. The aerial surveillance on the basis of the tethered balloon according to claim 1, characterized in that the outside has moisture-proof protective casing, the upper end of which is fixed under the swivel bracket, with clamp, and the lower end bolted to the lower supports of the th element.



 

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