阅读说明：本技术 一种高空气球任务载荷回收装置及其回收方法 (High-altitude balloon task load recovery device and recovery method thereof ) 是由 洪涛 唐学富 凌诏民 刘安狄 于 2021-11-03 设计创作，主要内容包括：本发明提供一种高空气球任务载荷回收装置及其回收方法。所述高空气球任务载荷回收装置包括降落伞及设于所述降落伞下端的吊舱组件,所述吊舱组件包括具有C端部的吊舱和设于所述吊舱C端部的任务载荷,在初始状态时,所述吊舱的C端部朝下设置；在翻转状态时,所述吊舱和任务载荷翻转,使所述任务载荷朝上设置。与相关技术相比,本发明提供高空气球任务载荷回收装置回收原理简单可靠,在降落伞减速的基础上,通过吊舱翻转使得任务载荷不直接触地,并采用减震器、柔性舱体的缓冲作用,将着陆瞬间的冲击能量完全吸收。(The invention provides a high-altitude balloon task load recovery device and a recovery method thereof. The high-altitude balloon task load recovery device comprises a parachute and a pod assembly arranged at the lower end of the parachute, the pod assembly comprises a pod with a C-end part and a task load arranged at the C-end part of the pod, and the C-end part of the pod is arranged downwards in an initial state; and when the nacelle and the task load are in a turning state, the nacelle and the task load are turned, so that the task load is arranged upwards. Compared with the prior art, the recovery principle of the high-altitude balloon task load recovery device is simple and reliable, the task load is not directly contacted with the ground through pod overturning on the basis of parachute deceleration, and the impact energy at the moment of landing is completely absorbed by adopting the buffer action of the shock absorber and the flexible cabin body.)

1. The high-altitude balloon mission load recovery device is characterized by comprising a parachute (2) and a pod assembly arranged at the lower end of the parachute (2), wherein the pod assembly comprises a pod (3) with a C-end part and a mission load (4) arranged at the C-end part of the pod (3), and the mission load (4) at the C-end part of the pod (3) is arranged downwards in an initial state; in the overturning state, the nacelle (3) and the mission load (4) are overturned, so that the mission load (4) is arranged upwards.

2. The high-altitude-balloon mission load recovery device according to claim 1, wherein the pod assembly further comprises an anti-collision frame (10) sleeved outside the pod (3), wherein the anti-collision frame (10) is connected with the parachute (2); the crash frame (10) is turned over together with the nacelle (3).

3. The high-altitude balloon mission load recovery device according to claim 2, further comprising a turning rope (7) and a lifting rope (8); the anti-collision frame (10) is provided with an end part A and an end part B which are oppositely arranged, the overturning rope (7) is connected with two ends of the end parts A of the parachute (2) and the anti-collision frame (10), and the lifting rope (8) is connected with two ends of the end parts B of the parachute (2) and the anti-collision frame (10); in an initial state, the lifting rope (8) and the overturning rope (7) are connected with the anti-collision frame (10), and the B ends of the mission load (4) and the anti-collision frame (10) are arranged downwards; and in the overturning state, the overturning rope (7) is broken, and the lifting rope (8) is connected with the anti-collision frame (10) to enable the B end parts of the mission load (4) and the anti-collision frame (10) to be arranged upwards after overturning.

4. The high-altitude-balloon mission load recovery device according to claim 2, wherein the crash frame (10) is slidable relative to the nacelle (3) in the overturned condition and is provided with a locking assembly at the end of the sliding.

5. The high-altitude-balloon mission load recovery device according to claim 4, wherein the locking assembly comprises a permanent magnet (11) and a locking iron piece (13), the locking iron piece (13) is arranged on the end of the crash frame (10) A, and the permanent magnet (11) is arranged on the end of the nacelle (3) C.

6. The high-altitude-balloon mission load recovery device according to claim 4, wherein the C-end of the nacelle (3) is provided with legs that prevent the collision frame (10) from falling off the nacelle (3) when sliding.

7. The high-altitude-balloon mission load recovery device according to claim 3, further comprising a pod-roll cutter (6) for cutting the roll-over line (7).

8. The high-altitude-balloon mission load recovery device according to claim 1, further comprising a shock absorber (9) disposed between the mission load (4) and the nacelle (3).

9. A high-altitude balloon mission load recovery method which is carried out by using the high-altitude balloon mission load recovery device according to any one of claims 1 to 8, and which comprises:

1) carrying a task load by an air bag to execute a flight task, and confirming a task load recovery condition after finishing an expected flight task;

2) when the recovery condition meets the requirement, the air bag and the parachute are cut and separated, and the parachute and a pod assembly connected to the lower end of the parachute fall rapidly in an unopened state;

3) after the parachute is completely opened, the descending speed of the parachute is reduced and gradually becomes stable;

4) when the parachute descends to a certain altitude, the nacelle is driven to turn over, and the task load is turned upwards;

5) the descending speed of the parachute continues to be reduced until the recovery device falls to the ground.

10. The high-altitude-balloon mission load recovery method according to claim 9, wherein when the recovery device is dropped on the ground, impact energy at the time of dropping on the ground is absorbed by a shock absorber provided between the nacelle and the mission load, so that damage to the mission load can be prevented.

Technical Field

The invention relates to the technical field of captive balloons, in particular to a high-altitude balloon task load recovery device and a recovery method thereof.

Background

As a class of near space low-cost reliable carrying platforms, high-altitude balloons are often used for carrying precise task loads such as visible light, infrared, spectrum and the like, and the task loads are generally up to millions and even more expensive. After the flight mission is completed, parachutes are typically used to recover the expensive mission load. For the high-altitude balloon platform, the task load recovery has important significance: firstly, a large amount of test data can be obtained without wireless transmission; and the other is that the task load can be repeatedly used after being recovered, so that the task cost is greatly reduced. However, in order to facilitate the task load work, the task load is generally arranged at the bottom of a pod of the high-altitude balloon, and when the task load is recovered and lands, if the task load is not effectively protected, the task load can still be damaged under the action of instantaneous impact energy even though the parachute greatly reduces the descending speed of the recovery unit.

At present, the task load recovery mode adopted at home and abroad comprises the following steps: gasbag gassing, parachute, buffer, unmanned aerial vehicle nacelle etc. the principle of all kinds of recovery modes is as follows:

(a) the air bag deflation recovery mode: during recovery, a top air release valve of the high-altitude balloon is opened to release helium, so that the gravity of the system is greater than the buoyancy force and then descends. In the descending process, the descending speed of the high-altitude balloon can be adjusted by opening and closing the air release valve until the high-altitude balloon safely lands;

(b) parachute recovery mode: during recovery, the connecting cable between the air bag and the parachute is cut off through the cutter, the air bag is quickly separated from the parachute, the parachute canopy is continuously inflated and opened during descending, and the pneumatic resistance is increased, so that the deceleration effect on the task load is realized, and finally the landing is carried out at a lower speed;

(c) the damping recovery mode of the buffer device is as follows: this approach is divided into inflatable cushion cushions and laminated cushion structures. The application of the former in the space returning capsule is wider, and a large amount of gas is generated through violent chemical reaction to fill the flexible air cushion, so that the impact energy with the ground when the ground contacts the earth is greatly reduced; the latter adopts stacked elastic plastic materials (such as paper support and PU foam), is arranged at the bottom of the nacelle in advance, and the laminated buffer structure collides with the ground to be damaged at the moment of contact with the ground to absorb impact energy;

(d) unmanned aerial vehicle nacelle retrieves mode: the pod adopts the appearance structural design of the gliding unmanned aerial vehicle, the constraint is removed from the air bag during the recovery, the unmanned aerial vehicle is separated from the air bag and is accelerated to descend at a certain acceleration and a head-lowering initial posture, the posture of the unmanned aerial vehicle is gradually pulled up along with the increase of the speed, and finally the stable gliding is formed, and the descending speed is about 4m/s-5 m/s.

The method for recovering the task loads of various high-altitude balloons has the following defects:

(a) the air bag deflation recovery mode: the flow of the air release valve is uncertain, the descending speed is difficult to control through air release, and the air release valve is easy to break down due to repeated opening and closing. In addition, the task load is in direct contact with the ground when falling to the ground, and the task load is damaged when the descending speed is not controlled properly;

(b) parachute recovery mode: the stable descending speed of the parachute is usually within the range of 5-7 m/s, and the parachute does not effectively protect the task load and can cause the damage of the task load as the airbag deflation recovery method is adopted;

(c) a buffer device shock absorption recovery method: the inflatable buffer air cushion has complex design and higher development cost, and the use cost-effectiveness ratio is not high for the low-cost high-altitude balloon. The laminated buffer structure is arranged at the bottom of the nacelle in a large area, and obviously shields the visual angle of the observation task load;

(d) unmanned aerial vehicle nacelle recycling method: the appearance, weight and the internal chamber size of unmanned aerial vehicle are limited, and the loading capacity is limited, only is applicable to the task load of minimum weight.

Disclosure of Invention

The invention aims to provide a high-altitude balloon task load recovery device and a recovery method thereof, which can realize the overall safe and nondestructive recovery of expensive task loads.

The technical scheme of the invention is as follows: a high-altitude balloon task load recovery device comprises a parachute and a pod assembly arranged at the lower end of the parachute, wherein the pod assembly comprises a pod with a C-end part and a task load arranged at the C-end part of the pod, and the task load on the C-end part of the pod is arranged downwards in an initial state; and when the nacelle and the task load are in a turning state, the nacelle and the task load are turned, so that the task load is arranged upwards.

Preferably, the pod assembly further comprises an anti-collision frame sleeved outside the pod, and the anti-collision frame is connected with the parachute; the crash frame is flipped with the nacelle.

Preferably, the high-altitude balloon task load recovery device further comprises a turning rope and a lifting rope; the anti-collision frame is provided with an end part A and an end part B which are oppositely arranged, the overturning rope is connected with two ends of the end parts A of the parachute and the anti-collision frame, and the lifting rope is connected with two ends of the end parts B of the parachute and the anti-collision frame; in an initial state, the lifting rope and the overturning rope are both connected with the anti-collision frame, and the B ends of the task load and the anti-collision frame are arranged downwards; and in the overturning state, the overturning rope is broken, and the lifting rope is connected with the anti-collision frame, so that the task load and the end part B of the anti-collision frame are arranged upwards after overturning.

Preferably, the crash frame is slidable relative to the nacelle in the flipped state and is provided with a locking assembly at the end of the sliding.

Preferably, the locking assembly comprises a permanent magnet and a locking iron sheet, the locking iron sheet is arranged on the end part of the anti-collision frame A, and the permanent magnet is arranged on the end part of the nacelle C.

Preferably, the C end part of the nacelle is provided with a support leg for preventing the anti-collision frame from being separated from the nacelle when sliding.

Preferably, the high-altitude balloon mission load recovery device further comprises a pod overturning cutter for cutting the overturning rope.

Preferably, the high-altitude balloon mission load recovery device further comprises a shock absorber arranged between the mission load and the nacelle. .

The invention also provides a buoyancy recovery method of the high-altitude balloon, which is carried out by adopting the high-altitude balloon task load recovery device and comprises the following steps:

1) carrying a task load by an air bag to execute a flight task, and confirming a task load recovery condition after finishing an expected flight task; confirming the recovery condition of the system by a ground measurement and control station;

2) when the recovery condition meets the requirement, the air bag and the parachute are cut and separated, and the parachute and a pod assembly connected to the lower end of the parachute fall rapidly in an unopened state; the separation of the air bag and the parachute by cutting is realized by pressing down the detonation function of the parachute separation cutter through ground display and control software and transmitting the detonation function to a spherical computer in the hanging cabin through a visual communication link; the spherical computer executes the function of separating and cutting the spherical parachute, the air bag is immediately separated from the parachute, and the recovery units such as the nacelle and the task load descend along with the parachute;

3) after the parachute is completely opened, the descending speed of the parachute is reduced and gradually becomes stable;

4) according to the geographical altitude characteristics of a test site, when the parachute falls to a certain altitude, a pod overturning instruction is sent, a pod overturning cutter is detonated immediately, an overturning rope for connecting the pod and the parachute is cut off, and the pod and the parachute are still connected through a lifting rope and are fixedly connected to the bottom of a pod body, so that the pod body is integrally inverted after being separated from the constraint of the overturning rope, and an anti-collision support slides to a task load position to be clamped;

5) after the nacelle is turned over, the recovery unit continues to descend until the nacelle falls to the ground, the descending speed of the parachute is about 5-7 m/s when the nacelle falls to the ground, the task load is not directly and rigidly landed due to inversion, the shock absorber and the flexible cabin body of the nacelle absorb instantaneous impact energy of the falling to the ground, and the task load is basically in a non-damage state.

The method integrates parachute recovery, specially-made nacelle turnover protection and a shock absorber, impact is reduced gradually, the task load is decelerated through the parachute, the nacelle structure is turned over integrally before falling to the ground, the task load is not directly contacted with the ground, the effect of absorbing impact energy of the shock absorber is assisted, and finally, integral safe and lossless recovery of expensive task loads is achieved.

Compared with the related technology, the invention has the beneficial effects that:

the recovery principle is simple and reliable, on the basis of parachute deceleration, the task load is not directly contacted with the ground through pod overturning, and the impact energy at the moment of landing is completely absorbed by adopting the buffer action of a shock absorber and a flexible cabin body;

compared with the recovery modes such as a buffer device and an unmanned aerial vehicle pod, the recovery mode is simpler and has lower cost; compared with the conventional parachute recovery and air bag deflation recovery method, the impact of expensive task load and the ground is basically avoided, and the protection effect is better;

and thirdly, integrating the modes of parachute deceleration, pod overturning, shock absorber buffering and the like to realize the principle of task load recovery of the high-altitude balloon.

Drawings

FIG. 1 is a schematic diagram of a high-altitude balloon in a state before the high-altitude balloon is ready for recovery;

FIG. 2 is a schematic view of the structure of the nacelle;

FIG. 3 is a schematic view showing the state of the recovery device after separation of the parachute;

FIG. 4 is a schematic view of the state of the recovery device after the pod is flipped;

FIG. 5 is a schematic view of a shock absorber;

fig. 6 is a schematic view of the installation of the permanent magnets and the locking iron pieces on the nacelle.

In the drawings: 1. an air bag; 2. a parachute; 3. a nacelle; 4. task load; 5. a ball-umbrella separation cutter; 6. The pod is turned over and cut; 7. turning over the rope; 8. a lifting rope; 9. a shock absorber; 10. an anti-collision frame; 11. a permanent magnet; 12. mounting a plate; 13. and locking the iron sheet.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.

As shown in fig. 2 and 3, the high-altitude balloon mission load recovery device provided by the embodiment comprises a parachute 2, a pod assembly arranged at the lower end of the parachute 2, a turning rope 7 and a lifting rope 8.

The nacelle assembly comprises a nacelle 3 with a C-end, a mission load 4 arranged at the C-end of the nacelle 3, and a collision avoidance frame 10 sleeved outside the nacelle 3. A shock absorber 9 between said mission load 4 and the nacelle 3. The crash frame 10 is slidable relative to the nacelle 3 in the overturned condition and is provided with a locking assembly at the end of the sliding. Legs (not shown) for preventing the collision frame 10 from coming off the nacelle 3 when sliding are provided at the C-end of the nacelle 3.

Anticollision frame 10 has the A tip and the B tip that are relative setting, the both ends of the A tip of parachute 2 and anticollision frame 10 are connected to upset rope 7, the both ends of the B tip of parachute 2 and anticollision frame 10 are connected to lifting rope 8. The overturning ropes 7 and the lifting ropes 8 are light high-strength polymer cables. The turning rope 7 is connected with the parachute 2 and then is in an inverted V shape, and two ends of a V-shaped opening of the turning rope are respectively fixed on the hanging bolts at the end part A of the anti-collision frame 10. The lifting rope 8 is also in an inverted V shape after being connected with the parachute 2, and two ends of the V-shaped opening of the lifting rope penetrate through a limiting groove (not shown) arranged at the end part B of the anti-collision frame 10 and then are connected to the supporting leg at the end part C.

And a pod overturning cutter 6 is arranged on the overturning rope 7. The pod overturning cutter 6 adopts an electric ignition type cutter, and a cable of the pod overturning cutter adopts a double-dot line redundancy design, so that the cable can be smoothly cut off after ignition.

As shown in fig. 2 and 5, the shock absorber 9 is a mature commercial product, and is provided with a rigid mounting plate 12 on the upper side and the lower side, wherein one (upper) mounting plate 12 is connected with the end part C through a fastener; the other (lower) mounting plate 12 is connected to the mission load 4 by fasteners.

As shown in fig. 6, the locking assembly includes a permanent magnet 11 and a locking iron piece 13, the locking iron piece 13 is disposed on the periphery of the a end portion of the impact frame 10, and the permanent magnet 11 is disposed on the periphery of the C end portion of the car 3. The permanent magnet 11 and the locking iron sheet 13 are connected to corresponding positions through fasteners. When the crash frame 10 slides, the permanent magnet 11 at the end of C and the locking iron piece 11 are tightly attracted to each other.

The recovery device has two states: fig. 3 shows the recovery device in an initial state, in which the lifting rope 8 and the overturning rope 7 are both connected to the crash frame 10, and the B ends of the mission load 4 and the crash frame 10 are disposed downward. As shown in fig. 4, the recovery device is in a reversed state, at this time, the reversing rope 7 is broken, and the lifting rope 8 is connected to the impact frame 10, so that the B end portions of the mission load 4 and the impact frame 10 are disposed upward after being reversed. And the collision avoidance frame 10 can slide relative to the nacelle 3 in a turning state, and after the sliding, the end B of the collision avoidance frame 10 slides to be above the end C of the nacelle 3, so that the mission load 4 is just in the collision avoidance frame 10.

As shown in fig. 1, an air bag 1 is connected to the top of a parachute 2 in the high-altitude balloon mission load recovery device, and a parachute separating cutter 5 is provided between the parachute 2 and the air bag 1. The mission is performed for the mission load as shown in fig. 1, with the nacelle 3 facing downwards.

The relevant design parameters are as follows:

flight height: 21 km;

pod weight (including mission load): 47 kg;

the parachute is a first-level circular parachute;

parachute diameter: 9 m;

total weight of recovery unit: including parachute, pod, mission load, total 62.5 kg.

The invention also provides a high-altitude balloon task load recovery method, which specifically comprises the following steps:

step S1, after the mission load 4 executes the flight mission, the ground measurement and control station confirms the recovery condition of the high-altitude balloon;

step S2, according to the position information fed back by the Beidou onboard, the high-altitude balloon is in an airspace range, and according to the ground and high-altitude wind field conditions on the same day of the test, the follow-up prediction recovery track cannot fall into an unsafe area;

step S3, before the recovery operation is executed, the high-altitude balloon state is as shown in figure 1, when the recovery operation is formally executed, the ground software is operated to send a parachute separating instruction, and the parachute separating cutter 5 is electrically detonated;

step S4, separating the recovery device from the air bag 1, starting to descend at the moment, observing the descending process, and descending the parachute 2 with the task load 4 in a descending state as shown in FIG. 3, wherein the instantaneous descending speed displayed by the ground software is about 13.4 m/S;

step S5, after the canopy of the parachute 2 is completely opened, the descending speed of the parachute gradually becomes stable; when the speed is 5000m below the sea, the instantaneous speed of the parachute 2 is 4.7 m/s;

step S6, in order to avoid geographical environment limitation, prevent the pod 3 from falling on a mountain before overturning, execute pod 3 overturning at the altitude of 5000m, and the ground software sends a pod 3 overturning instruction;

step S7, sending a command to the nacelle overturning cutter 6 to act, cutting the overturning rope 7, carrying the lifting rope 8, inverting the whole position of the nacelle 3, sliding the anti-collision frame 10 to the end C of the nacelle 3, and adsorbing and locking the locking iron sheet 13 and the permanent magnet 11 on the nacelle 3. Continuously observing the flight altitude change of the recovery unit through ground software, wherein the overturned state of the system is shown in FIG. 4;

step S8, the recovery device falls to the ground for 47min, the instantaneous speed of the parachute 2 before falling to the ground is about 4.314m/S, the top of the nacelle 3 touches the ground, and the steel wire shock absorber 9 absorbs instantaneous impact energy;

and step S9, after the pod 3 lands, the altitude of the landing point is observed to be 1869m through the Beidou, and after the task load 4 is recovered, the appearance inspection and the function inspection show that the task load 4 is not damaged, the appearance and the function are intact, and the lossless recovery is realized.

In other embodiments, pod flipping may also be accomplished with a steering engine, or the cutter with a fuse.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.