CN117826881A

CN117826881A - Tethered balloon lifting speed control system based on visual recognition closed-loop feedback

Info

Publication number: CN117826881A
Application number: CN202311716441.7A
Authority: CN
Inventors: 乔涛; 梁伟; 张泰华; 张冬辉; 屈维; 龚文韬
Original assignee: Aerospace Information Research Institute of CAS
Current assignee: Aerospace Information Research Institute of CAS
Priority date: 2023-12-13
Filing date: 2023-12-13
Publication date: 2024-04-05

Abstract

The invention provides a tethered balloon lifting speed control system based on visual identification closed-loop feedback, which relates to the technical field of aircrafts and comprises the following components: winch device, controlling means and visual feedback device. The winch device includes: the cable storage assembly, the detection assembly and the driving assembly; the control device comprises: a controller and a display; the visual feedback device is electrically connected with the controller and is used for shooting the speed value displayed by the display and transmitting the shot speed value to the controller; the controller is configured to: and comparing the speed value obtained from the visual feedback device with a set value to obtain a feedback value, and controlling the driving assembly to adjust the speed of the cable storage assembly for winding and unwinding the cable according to the feedback value. Therefore, a user only needs to input an expected speed value corresponding to the cable lifting on the display, the speed of the winch device for winding and unwinding the cable can be dynamically corrected by means of the visual feedback device and the control device, the operation is simple and quick, and the winding and unwinding speed of the cable can be effectively regulated and controlled.

Description

Tethered balloon lifting speed control system based on visual recognition closed-loop feedback

Technical Field

The invention relates to the technical field of aircrafts, in particular to a tethered balloon lifting speed control system based on visual identification closed-loop feedback.

Background

The tethered balloon is an unpowered balloon aircraft, is connected with a cable winding and unwinding device on the ground through a cable, helium is filled in a sphere of the tethered balloon, and hovers in the air by means of buoyancy. The raising and lowering of the tethered balloon is driven by a motor in the cable pay-off and pay-off device.

In the field of tethered balloon systems, particularly large tethered balloon systems, the speed of a cable is required to be effectively controlled due to the longer period of time for winding and unwinding and the uncertainty of the high altitude wind speed. However, in the control system adopted in the prior art, when the tethered balloon is retracted and released, the cable is mostly controlled at a specific speed for retraction and release, and when the retraction and release speed needs to be changed, the manual speed regulation mode is generally adopted for adjustment, so that the operation is troublesome and the efficiency is lower.

Disclosure of Invention

The invention provides a tethered balloon lifting speed control system based on visual identification closed-loop feedback, which is used for solving the defect that the retraction speed of a cable cannot be conveniently and rapidly adjusted when the tethered balloon is retracted in the prior art.

The invention provides a tethered balloon lifting speed control system based on visual identification closed-loop feedback, which comprises the following components: winch device, control device and visual feedback device,

the winch device includes: the cable storage device comprises a cable storage assembly, a detection assembly and a driving assembly, wherein the cable storage assembly is used for winding and unwinding cables, the detection assembly is used for detecting the speed of winding and unwinding the cables of the cable storage assembly, and the driving assembly is used for driving the cable storage assembly to rotate;

the control device includes: the controller can acquire speed information of the cable which is wound and unwound by the cable storage assembly through the detection assembly, can control the speed of the cable which is wound and unwound by the cable storage assembly through the driving assembly, and can control the display to display the speed information of the cable which is wound and unwound by the cable storage assembly;

the visual feedback device is electrically connected with the controller and is used for shooting the speed value displayed by the display and transmitting the shot speed value to the controller;

the controller is configured to: and comparing the speed value obtained from the visual feedback device with a set value to obtain a feedback value, and controlling the driving assembly to adjust the speed of the cable storage assembly for winding and unwinding the cable according to the feedback value, wherein the set value is a desired speed value set in the display or a preset speed value built in the controller according to the use requirement by a user.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback, the control device further comprises: the display, the push rod and the speed regulating rotary table are all arranged on the box body, the push rod and the speed regulating rotary table are all electrically connected to the controller,

the push rod can move between a first position and a second position, and the controller can output different control signals to the driving assembly according to different positions of the push rod;

the push rod can be clamped in the speed regulation rotary table, and the controller can control the speed regulation rotary table to drive the push rod to move.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback, the speed control turntable comprises: an execution motor, an execution gear, a rack shifting fork, a sliding rail and a sliding block,

the execution motor is electrically connected to the controller, the execution motor can drive the execution gear rotates, the slide rail is arranged on the side portion of the execution gear, the slide block is movably arranged in the slide rail, the rack shifting fork is fixedly connected to the slide block, one side of the rack shifting fork is meshed with the execution gear, the other side of the rack shifting fork is provided with a clamping groove, the push rod can be clamped in the clamping groove of the rack shifting fork, the execution motor drives the execution gear to rotate, and the rack shifting fork can follow the slide block to move along the slide rail, so that the push rod clamped in the rack shifting fork is driven to move.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback, the push rod comprises the fixing part and the clamping part, one end of the fixing part is electrically connected to the controller, the clamping part is rotatably connected to the other end of the fixing part, and the clamping part can be clamped in the speed regulation turntable.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback provided by the invention, the visual feedback device comprises: the camera fixing seat is arranged on the side part of the control device, the camera is fixedly arranged on the camera fixing seat, and the camera can shoot the display.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback provided by the invention, the cable storage assembly comprises: store up cable roller, supporting seat and base, store up the cable roller setting and be in on the supporting seat and can rotate around the rotation axis that the horizontal direction extends, supporting seat fixed mounting is in on the base, store up the cable roller and can roll up the cable.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback provided by the invention, the detection assembly comprises: the photoelectric switch is arranged on the supporting seat, the photoelectric trigger block is arranged on the cable storage roller, the photoelectric trigger block can trigger the photoelectric switch in the process of following the rotation of the cable storage roller, and the photoelectric switch is electrically connected to the controller.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback, the driving assembly comprises a driving motor, the driving motor is electrically connected with the controller, the driving motor is arranged on the supporting seat, and the driving motor is connected to the cable storage roller in a transmission manner and can drive the cable storage roller to rotate.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback, the winch device further comprises a cable guiding assembly, the cable guiding assembly is used for guiding a cable released by the cable storing assembly,

the cable guide assembly includes: the cable guiding frame is provided with a guiding channel for guiding the cable to pass through, and the guiding rollers are sequentially arranged at intervals along the guiding channel and are used for supporting the cable.

According to the tethered balloon lifting speed control system based on visual identification closed-loop feedback provided by the invention, the cable guide assembly further comprises: the cable storage roller comprises a screw rod, a screw rod motor and a connecting seat, wherein the screw rod is rotatably arranged at the side part of the cable storage roller, the axial direction of the screw rod is parallel to the rotating shaft of the cable storage roller, the screw rod motor is connected to the screw rod and can drive the screw rod to rotate, the connecting seat is in threaded connection with the screw rod, the connecting seat can move along the axial direction of the screw rod in the process of rotating the screw rod, and the cable guiding frame is arranged on the connecting seat.

The tethered balloon lifting speed control system based on visual identification closed-loop feedback provided by the invention comprises the following components: winch device, controlling means and visual feedback device, winch device can receive and release the cable, and controlling means includes controller and display, and the controller can control winch device receive and release the cable to can acquire the speed of receiving and releasing the cable, the display can show the speed value of receiving and releasing the cable, and can receive the speed value of user input, and visual feedback device can shoot the speed value that the display shows back to the controller.

In the invention, when the lifting speed of the tethered balloon needs to be regulated, a user can input an expected speed value corresponding to the lifting of the cable on the display, meanwhile, the visual feedback device can take the real-time speed value of the cable winding and unwinding from the display in a visual feedback mode and transmit the real-time speed value to the controller, then the controller can compare the real-time speed value with the expected speed value, and the controller can dynamically correct the speed of winding and unwinding the cable by the winch device according to the comparison result, so that the winding and unwinding speed of the cable can be in an expected range. In the whole speed regulation process, a user only needs to input an expected speed value, the operation is simple and quick, and the winding and unwinding speed of the cable can be effectively regulated and controlled.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a tethered balloon lift control system based on visual identification closed loop feedback in accordance with one embodiment of the invention;

FIG. 2 is a schematic diagram of the control device in the tethered balloon lift control system shown in FIG. 1;

FIG. 3 is a schematic view of the timing turret in the control device shown in FIG. 2;

FIG. 4 is a schematic diagram of the visual feedback device in the tethered balloon lift control system of FIG. 1;

FIG. 5 is a schematic view of the winch apparatus in the tethered balloon lift control system of FIG. 1;

FIG. 6 is a schematic view of the cable guide assembly of the winch arrangement of FIG. 5;

fig. 7 is a schematic diagram of the circuit connections in the tethered balloon lift control system shown in fig. 1.

Reference numerals:

10. a winch device; 11. a cable storage roller; 12. a support base; 13. a base; 14. an optoelectronic switch; 15. a photoelectric trigger block; 16. a driving motor; 17. a base; 20. a control device; 21. a controller; 22. a display; 23. a case; 24. a push rod; 241. a fixing part; 242. a clamping part; 25. a speed regulating rotary table; 251. executing a motor; 252. an execution gear; 253. a rack fork; 254. a slide rail; 255. a slide block; 30. a visual feedback device; 31. a camera; 32. a camera fixing seat; 41. a cable guide frame; 42. a guide roller; 43. a screw rod; 44. a screw motor; 45. a connecting seat; 46. and (5) balancing weights.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In one embodiment according to the present invention, there is provided a tethered balloon lifting speed control system based on visual recognition closed loop feedback, the system including a winch device, a control device and a visual feedback device, the winch device being capable of winding and unwinding a cable to implement lifting processing of the tethered balloon, the control device being capable of controlling a speed of winding and unwinding the cable by the winch device while being capable of detecting the speed of winding and unwinding the cable by the winch device, the visual feedback device being capable of acquiring the speed of winding and unwinding the cable by the winch device by the control device and feeding corresponding speed information back to the control device, thereby enabling the control device to timely adjust the speed of winding and unwinding the cable by the winch device. The tethered balloon lift control system based on visual recognition closed loop feedback in this embodiment is further described below in conjunction with the illustrations of fig. 1-7.

Specifically, as shown in fig. 1, the tethered balloon lifting speed control system based on visual recognition closed-loop feedback in the present embodiment includes: winch device 10, control device 20 and visual feedback device 30.

Wherein the winch arrangement 10 comprises: store up cable subassembly, detection component and drive assembly, store up cable subassembly and be used for receiving and releasing the cable, detection component is used for detecting the speed of storing up cable subassembly receive and release cable, and drive assembly is used for driving and stores up cable subassembly and rotate.

It will be appreciated that in this embodiment, the tethered balloon can be released into the sky via a cable, one end of which is connected to a cable storage assembly which can effect the pay-off and pay-off of the cable in the process of rotation. In order to realize receiving the in-process of paying off cable at the cable storage subassembly, the rotation speed of cable storage subassembly can be detected to the detection subassembly to detect the receive and release speed of cable.

The control device 20 includes: the controller 21 and the display 22, detection subassembly and drive assembly all are connected with the controller 21 electricity, and the display 22 can receive user input's expected speed value, and the controller 21 can obtain the speed information of the receipts cable of cable storage subassembly through detection subassembly, and the speed of the receipts cable of cable storage subassembly can be controlled to the controller 21 through drive assembly, and the speed information of the receipts cable of cable storage subassembly can be displayed to the controller 21.

It will be appreciated that in this embodiment, the detecting component in the winch apparatus 10 and the display 22 in the control apparatus 20 are electrically connected to the controller 21, the speed information of the cable winding and unwinding component detected by the detecting component can be transmitted to the controller 21, and the controller 21 can transmit the corresponding speed information to the display 22, so that the display 22 can display the current speed of the cable winding and unwinding component. The driving assembly in the winch device 10 is also electrically connected with the controller 21, and the controller 21 can output a control signal to the driving assembly to control the rotation speed of the driving assembly, thereby controlling the speed of winding and unwinding the cable of the cable storage assembly.

The visual feedback device 30 is electrically connected to the controller 21, and the visual feedback device 30 is used for capturing the speed value displayed by the display 22 and transmitting the captured speed value to the controller 21.

It will be appreciated that during the process of winding and unwinding the cable in the cable storage assembly, the display 22 can display speed information corresponding to the winding and unwinding cable, the visual feedback device 30 can timely photograph the display 22, and the speed value displayed by the display 22 can be obtained through a visual recognition algorithm, and then the speed value can be timely transmitted to the controller 21.

Further, in the present embodiment, the controller 21 is configured to: the speed value obtained from the visual feedback device 30 is compared with a set value, and a feedback value is obtained, and then the driving assembly is controlled according to the feedback value to adjust the speed of the cable storage assembly to wind and unwind the cable, wherein the set value is a desired speed value set in the display 22 or a preset speed value built in the controller according to the use requirement by a user.

It will be appreciated that the controller 21 may be provided with a preset speed value corresponding to the cable winding and unwinding speed in advance, or the user may manually set a desired speed value on the display according to a specific usage scenario when lifting and lowering the tethered balloon, and the controller 21 may use the built-in preset speed value or the desired speed value manually set by the user as a set value.

In practical use, after the visual feedback device 30 transmits the speed value displayed on the display 22 to the controller 21, the controller 21 can compare the speed value with the set value and obtain a feedback value, and then the controller 21 can control the driving assembly to adjust the speed of winding and unwinding the cable according to the feedback value.

Alternatively, the user sets a priority of the desired speed value on the display 22 higher than a preset speed value built in the controller 21. For example, when the controller 21 has a preset speed value built therein, and the user additionally sets a desired speed value on the display 22, the desired speed value set by the user needs to be set as the set value. When the controller 21 has a preset speed value built therein and the user does not set a desired speed value on the display 22, the built-in preset speed value is set as a set value.

In a specific use scenario, when the tethered balloon is lifted, the cable storage assembly in the winch device 10 may wind up and down the cable, so as to realize lifting of the tethered balloon, the detection assembly may detect the speed of winding up and down the cable of the cable storage assembly in real time, and may transmit corresponding speed information to the controller 21, and the controller 21 may transmit corresponding speed information to the display 22, so that the display 22 may display the speed of winding up and down the cable of the cable storage assembly in real time. The visual feedback device 30 can shoot the speed value displayed on the display 22 in real time, and can transmit the shot speed value to the controller 21, the controller 21 compares the speed value with a set value to obtain a feedback value, and then the controller 21 controls the driving assembly to operate according to the feedback value so as to adjust the rotation speed of the cable storage assembly, thereby adjusting the winding and unwinding speed of the cable.

For example, when the speed value transmitted to the controller 21 by the visual feedback device 30 is smaller than the set value, the cable winding and unwinding speed is smaller than the expected value, and the controller 21 can obtain a forward feedback value, and then the controller 21 will transmit a forward control signal to the driving assembly, so that the driving assembly drives the cable storage assembly to rotate at a faster speed, thereby increasing the cable winding and unwinding speed. When the speed value transmitted to the controller 21 by the visual feedback device 30 is greater than the set value, the cable winding and unwinding speed is greater than the expected value, the controller 21 can obtain a reverse feedback value, and then the controller 21 will transmit a reverse control signal to the driving assembly, so that the driving assembly drives the cable storage assembly to rotate at a slower speed, thereby slowing down the cable winding and unwinding speed.

In yet another embodiment, the set point may be a single value or a range of values.

Therefore, with the help of the tethered balloon lifting speed control system in the embodiment, in the process of lifting the tethered balloon, a user only needs to input an expected speed value corresponding to the lifting of the cable on the display, the visual feedback device can take the real-time speed value of the cable winding and unwinding from the display in a visual feedback mode and transmit the real-time speed value to the controller, so that the controller can compare the real-time speed value with the expected speed value, the winding and unwinding speed of the cable can be dynamically adjusted and corrected, and the winding and unwinding speed of the cable can be within an expected range.

Further, in the present embodiment, as shown in fig. 2 and 7, the control device further includes: the box 23, the push rod 24 and the speed regulation turntable 25, the display 22, the push rod 24 and the speed regulation turntable 25 are all arranged on the box 23, and the push rod 24 and the speed regulation turntable 25 are all electrically connected to the controller 21.

The push rod 24 can move between a first position and a second position, and the controller 21 can output different control signals to the driving assembly according to different positions of the push rod 24;

the push rod 24 can be clamped into the speed regulation rotary table 25, and the controller 21 can control the speed regulation rotary table 25 to drive the push rod 24 to move.

Illustratively, the case 23 has a first control panel extending in a vertical direction, the display 22 being provided on the first control panel, and a second control panel connected to a bottom of the first control panel and extending obliquely outward, the push rod 24 and the speed regulation turntable 25 being provided on the second control panel, the second control panel being provided with an elongated through groove in which the push rod 24 is movably mounted.

The controller 21 is disposed inside the case 23, and the push rod 24 is electrically connected to the controller 21. The push rod 24 can move along the length direction of the through groove and can move between a first position and a second position, and the push rod 24 can transmit different control signals to the controller 21 in the moving process.

As an implementation manner, the push rod 24 may be connected with a potentiometer, the potentiometer is electrically connected to the controller 21, the push rod 24 may enable the potentiometer to output different potential signals to the controller 21 during the moving process, and then the controller 21 may output different control signals to the driving assembly according to the angle signals, so that the driving assembly drives the cable storage assembly to rotate in different directions or at different speeds.

Optionally, a start-stop button may be arranged on the first control panel for power-up, power-down, etc. operations of the system, and a nasal lanyard, lateral lanyard winch control button may be arranged.

Further, the speed regulation turntable 25 is electrically connected to the controller 21, and the push rod 24 can be clamped in the speed regulation turntable 25, so that the speed regulation turntable 25 can acquire a control signal of the controller 21, thereby driving the push rod 24 to move between the first position and the second position, enabling the controller 21 to obtain different signals, and finally outputting different control signals to the driving assembly.

In the process of lifting the tethered balloon, when the controller 21 needs to control the driving assembly to adjust the rotation speed of the cable storage assembly according to the feedback value, the controller 21 can output a control signal to the speed adjusting rotary table 25, the speed adjusting rotary table 25 drives the push rod 24 to move to a proper position between the first position and the second position, then the controller 21 can acquire an adjusting signal of the push rod 24, and the controller 21 can output the control signal to the driving assembly according to the adjusting signal, so that the driving assembly finally changes the rotation speed of the cable storage assembly.

In one embodiment, as shown in fig. 2 and 3, the timing turntable 25 includes: an execution motor 251, an execution gear 252, a rack fork 253, a slide rail 254, and a slider 255.

As shown in fig. 7, the execution motor 251 is electrically connected to the controller 21, the execution motor 251 can drive the execution gear 252 to rotate, the sliding rail 254 is arranged at the side of the execution gear 252, the sliding block 255 is movably arranged in the sliding rail 254, the rack fork 253 is fixedly connected to the sliding block 255, one side of the rack fork 253 is meshed with the execution gear 252, the other side is provided with a clamping groove, the push rod 24 can be clamped in the clamping groove of the rack fork 253, and in the process that the execution motor 251 drives the execution gear 252 to rotate, the rack fork 253 can move along the sliding rail 254 along with the sliding block 255, so as to drive the push rod 24 clamped in the rack fork 253 to move.

For example, in actual use, the controller 21 can output an adjustment signal to the execution motor 251, so that the execution motor 251 drives the execution gear 252 to rotate, and the rack fork 253 moves along the track direction of the slide rail 254 during the rotation of the execution gear 252 due to the mutual engagement of the rack fork 253 and the execution gear 252 and the movement of the slider 255 in the slide rail 254. Moreover, since the push rod 24 is caught in the rack fork 253, the push rod 24 is also moved in the through groove and between the first position and the second position during the movement of the rack fork 253 in the track direction of the slide rail 254.

In the present embodiment, the position of the push rod 24 is changed by using the speed adjusting turntable 25 to adjust the driving assembly to change the rotation speed of the cable storage assembly, and an electric control mode is adopted. However, in actual use, if a speed regulation abnormality occurs, the electric control needs to be switched to the manual control, and the user needs to be able to self-adjust the drive assembly with the push rod 24 to change the rotational speed of the cable storage assembly.

In order to meet the use requirement of manual control, as shown in fig. 3, the push rod 24 may include a fixing portion 241 and a clamping portion 242, one end of the fixing portion 241 is electrically connected to the controller 21, the clamping portion 242 is rotatably connected to the other end of the fixing portion 241, and the clamping portion 242 can be clamped into the speed regulation turntable 25.

Specifically, one end of the fixing portion 241 may be connected to the controller 21 by means of a potentiometer or the like, so that different signals can be transmitted to the controller 21 during movement thereof, the other end of the fixing portion 241 is provided with a U-shaped mounting groove to which one end of the clamping portion 242 may be rotatably connected by means of a pin shaft.

In practical use, if an operation mode of electric control is adopted, the clamping part 242 can be rotated and clamped into the clamping groove of the rack shifting fork 253, so that the speed regulation turntable 25 drives the push rod 24 to move. When the manual control operation mode is needed, the clamping part 242 can be pushed out from the clamping groove of the rack shifting fork 253, so that the push rod 24 is separated from the speed regulation turntable 25, and then the user can move the whole push rod 24 by himself as required.

In one embodiment, in order to better move the push rod 24 in the manual operation state, as shown in fig. 3, the length direction of the pin shaft connected between the fixing portion 241 and the locking portion 242 is the same as the length direction of the slide rail 254 and the length direction of the through slot on the second control panel, so that the locking portion 242 can be ensured to swing up and down to be locked in the locking slot of the rack fork 253, and the whole push rod 24 can be ensured to move when moving up and down along the length direction of the through slot after the locking portion 242 is separated from the rack fork 253.

Further, as shown in fig. 1 and 4, the visual feedback device 30 includes: the camera 31 and the camera fixing base 32, camera fixing base 32 set up the lateral part at controlling means 20, and camera 31 fixed mounting is on camera fixing base 32, and camera 31 can shoot display 22.

In the present embodiment, the camera fixing base 32 may be placed in front of the first control panel of the case 23 in the control device 20, the camera 31 may be fixedly disposed on the camera fixing base 32 by means of a bolt or the like, and the photographing direction of the camera 31 is toward the display 22 on the first control panel.

As shown in fig. 7, the camera 31 is also electrically connected to the controller 21.

In actual use, the camera 31 is able to shoot the display 22 for a certain number of frames and can identify the speed value on the display 22 by means of an image recognition algorithm, after which the camera 31 can transmit the identified speed value to the controller 21.

Further, in the present embodiment, as shown in fig. 5, the cable assembly includes: store up cable roller 11, supporting seat 12 and base 13, store up cable roller 11 and set up on supporting seat 12 and can rotate around the rotation axis that the horizontal direction extends, supporting seat 12 fixed mounting is on base 13, store up cable roller 11 and can the rolling cable.

Illustratively, the cable storage roller 11 may include a cylindrical portion and baffles disposed at both ends of the cylindrical portion, the cable may be wound around the cylindrical portion during rotation of the cylindrical portion, the number of the supporting seats 12 is two, the two supporting seats 12 may be fixedly disposed on the base 13 by means of a structure such as a bolt, the cable storage roller 11 is rotatably disposed between the two supporting seats 12 by means of a structure such as a bearing, and the rotation axis of the cable storage roller 11 is in a horizontal plane. The base 13 may be a plate-like structure made of a metal material.

Thus, the cable drum 11 can perform the winding and unwinding process of the cable during the rotation.

Further, in the present embodiment, as shown in fig. 5 and 7, the detection assembly includes: the photoelectric switch 14 and the photoelectric trigger block 15, the photoelectric switch 14 sets up on supporting seat 12, and the photoelectric trigger block 15 sets up on storing cable roller 11, and photoelectric trigger block 15 can trigger photoelectric switch 14 along with storing cable roller 11 pivoted in-process, and photoelectric switch 14 electricity is connected to controller 21.

Illustratively, the number of the photoelectric triggering blocks 15 may be plural, the plurality of photoelectric triggering blocks 15 may be disposed on the shutter of the cable drum 11, and the photoelectric switch 14 is disposed at the position where the support base 12 can sense the photoelectric triggering blocks 15. During the rotation of the cable storage roller 11, the photoelectric trigger block 15 can move synchronously along with the baffle, and can trigger the photoelectric switch 14 when passing through the photoelectric switch 14, and then the photoelectric switch 14 can transmit a corresponding trigger signal to the controller 21, so that the controller 21 can acquire the speed of winding and unwinding the cable of the cable storage roller 11.

In a specific embodiment, two photoelectric triggering blocks 15 may be disposed on the baffle, where the two photoelectric triggering blocks 15 are disposed opposite to each other in the radial direction of the baffle, and the photoelectric switch 14 may be triggered once every half a revolution of the cable drum 11, and the radius parameter of the cable drum 11 is stored in the controller 21. Thus, the speed of the receiving and dispatching cable of the cable drum 11 can be obtained in the controller by means of the receiving frequency of the trigger signal and the radius parameter of the cable drum.

Further, as shown in fig. 5 and 7, the driving assembly includes a driving motor 16, the driving motor 16 is electrically connected to the controller 21, the driving motor 16 is disposed on the supporting base 12, and the driving motor 16 is drivingly connected to the cable drum 11 and is capable of driving the cable drum 11 to rotate.

Illustratively, drive motor 16 has a rotatable output shaft, and the output shaft of drive motor 16 may be drivingly connected to cable drum 11 by gears or the like. The driving motor 16 can receive the control signal of the controller 21 and can drive the cable drum 11 to rotate in different directions and at different speeds according to the direction and the magnitude of the control signal.

Further, as shown in fig. 5 and 6, the winch apparatus further includes a cable guide assembly for guiding the cable released from the cable storage assembly.

Wherein, the cable guide assembly includes: the cable guiding device comprises a cable guiding frame 41 and guiding rollers 42, wherein the cable guiding frame 41 is provided with guiding channels for guiding cables to pass through, the guiding rollers 42 are sequentially arranged at intervals along the guiding channels, and the guiding rollers 42 are used for supporting cables.

It will be appreciated that the cable leading from the cable assembly is typically not directly connected to the captive balloon, and the cable requires guidance of position and orientation by means of a guidance device, and then is connected to the captive balloon. Based on this, in the present embodiment, the cable led out from the cable drum 11 of the cable assembly passes through the guide channel in the cable guide frame 41 first and then is connected to the tethered balloon, and the guide channels are sequentially provided with guide rollers at intervals, and the guide rollers can receive the cable, and the guide rollers 42 can rotate along with the movement of the cable during the cable winding and unwinding process, so that the loss of the cable due to friction can be reduced.

Further, in the present embodiment, as shown in fig. 6, the cable guide assembly further includes: the wire rod 43, the wire rod motor 44 and the connecting seat 45, the wire rod 43 rotatably sets up the lateral part of cable storage roller 11, and the axial direction of wire rod 43 is parallel to Chu Lan roller 11's rotation axis, and wire rod motor 44 is connected to wire rod 43 and can drive wire rod 43 rotation, and connecting seat 45 threaded connection is to wire rod 43, and in wire rod 43 pivoted in-process, connecting seat 45 can follow wire rod 43's axial direction and remove, and cable guide frame 41 sets up on connecting seat 45.

Illustratively, two ends of the screw 43 are respectively provided with mounting seats, the two mounting seats can be fixed to the base 13 by means of bolts or the like, a rotation axis of the screw 43 is parallel to a rotation axis of the cable storage roller 11, a screw motor 44 is disposed at an end of the screw 43, the screw motor 44 can be in transmission connection with the screw 43 by means of a coupling, a connection seat 45 is provided on the screw 43, and the cable guiding frame 41 is fixed on the connection seat 45.

As shown in fig. 7, the lead screw motor 44 is electrically connected with the controller 21, and the controller 21 can output a control signal to the lead screw motor 44, so that the lead screw motor 44 drives the lead screw 43 to rotate, and in the process of rotating the lead screw 43, the connection seat 45 can drive the cable guiding frame 41 to move along the axial direction of the lead screw 43.

In this embodiment, the winch apparatus 10 further includes a base 17, and the cable storage assembly and the cable guide assembly are fixedly disposed on the base 17.

In actual use, in the process of rotating the cable storage roller 11 to reel the cable, the controller 21 can output a synchronous signal to the lead screw motor 44, and the lead screw motor 44 drives the lead screw 43 to synchronously rotate, so that the cable guiding frame 41 can synchronously move along the axial direction of the cable storage roller 11, and finally the cable can enter the guide channel of the cable guiding frame 41 from the cable storage roller 11 or be wound onto the cable storage roller 11 from the guide channel of the cable guiding frame 41 in a manner perpendicular to the rotation axis of the Chu Lan roller 11.

In order to be able to better guide the cables, in one embodiment, the guide channels on the cable guide frame 41 are configured as arc-shaped, as shown in fig. 6, and the tangent to the end of the guide channel near the cable guide roller 11 is perpendicular to the rotation axis of the Chu Lan roller 11, whereby the cables can be wound from the cable guide roller 11 into the guide channel of the cable guide frame 41 or from the guide channel of the cable guide frame 41 onto the cable guide roller 11 in a more smooth manner during the synchronous movement of the cable guide frame 41 along the axial direction of the cable guide roller 11.

In order to effectively reduce friction of the cable in the guide channel, in one embodiment, the guide roller 42 may include a first roller, a second roller, and a third roller, as shown in fig. 6.

The number of the first rollers is two, the two first rollers are arranged on one side, close to the cable storage roller 11, of the guide channel, the two first rollers are oppositely arranged, and cables can pass through the two first rollers. The quantity of second gyro wheel is a plurality of, and this a plurality of second gyro wheels set up along the arc extension direction interval in proper order of guide way, and the cable can the butt to the outside of the arc region that this a plurality of second gyro wheels formed. The number of the third rollers is two, the two third rollers are arranged on one side of the guide channel far away from the cable storage roller 11, the two third rollers are oppositely arranged, and the cable can pass through the space between the two third rollers.

In actual use, when needing to release the cable, the cable can get into the guide way from between two first gyro wheels, and under the effect of accepting of second gyro wheel, the cable can leave the guide way from between two third gyro wheels. When the cable needs to be recovered, the cable can enter the guide channel from between the two third rollers, and under the bearing action of the second rollers, the cable can leave the guide channel from between the two first rollers.

In one embodiment, as shown in fig. 6, a balancing weight 46 is further disposed on the cable guiding frame 41, where the balancing weight 46 is connected to a side of the cable guiding frame 41 away from the cable storage roller 11, and the balancing weight 46 can enable the cable guiding frame 41 to be in an inclined state, so that the cable guiding frame 41 keeps the pitching gravity balance during the cable winding and unwinding process.

Therefore, the tethered balloon lifting speed control system based on visual recognition closed-loop feedback in the embodiment has the following advantages:

the tethered balloon lifting speed control system based on visual recognition closed-loop feedback in the embodiment comprises: winch device, controlling means and visual feedback device, winch device can receive and release the cable, and controlling means includes controller and display, and the controller can control winch device receive and release the cable to can acquire the speed of receiving and releasing the cable, the display can show the speed value of receiving and releasing the cable, and can receive the speed value of user input, and visual feedback device can shoot the speed value that the display shows back to the controller.

In addition, the speed is displayed by means of the display, so that a user can conveniently monitor the lifting speed. The visual feedback device is used as a signal source for speed identification, and has a good man-machine interaction function.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Tethered balloon lifting speed control system based on visual recognition closed loop feedback, which is characterized by comprising: winch device, control device and visual feedback device,

2. The tethered balloon lift control system based on visual identification closed loop feedback of claim 1, wherein the control device further comprises: the display, the push rod and the speed regulating rotary table are all arranged on the box body, the push rod and the speed regulating rotary table are all electrically connected to the controller,

3. The tethered balloon lift control system based on visual identification closed loop feedback of claim 2, wherein the speed regulating turntable comprises: an execution motor, an execution gear, a rack shifting fork, a sliding rail and a sliding block,

4. A tethered balloon lift control system based on visual identification closed loop feedback of claim 3, wherein the pushrod comprises a fixed portion and a clamping portion, one end of the fixed portion is electrically connected to the controller, the clamping portion is rotatably connected to the other end of the fixed portion, and the clamping portion is capable of being clamped into the speed regulating turntable.

5. The tethered balloon lift control system based on visual identification closed loop feedback of claim 1, wherein the visual feedback device comprises: the camera fixing seat is arranged on the side part of the control device, the camera is fixedly arranged on the camera fixing seat, and the camera can shoot the display.

6. The tethered balloon lift control system based on visual identification closed loop feedback of claim 1, wherein the cable storage assembly comprises: store up cable roller, supporting seat and base, store up the cable roller setting and be in on the supporting seat and can rotate around the rotation axis that the horizontal direction extends, supporting seat fixed mounting is in on the base, store up the cable roller and can roll up the cable.

7. The tethered balloon lift control system based on visual identification closed loop feedback of claim 6, wherein the detection assembly comprises: the photoelectric switch is arranged on the supporting seat, the photoelectric trigger block is arranged on the cable storage roller, the photoelectric trigger block can trigger the photoelectric switch in the process of following the rotation of the cable storage roller, and the photoelectric switch is electrically connected to the controller.

8. The tethered balloon lift control system based on visual identification closed loop feedback of claim 6, wherein the drive assembly comprises a drive motor electrically connected to the controller, the drive motor disposed on the support base, the drive motor drivingly connected to and capable of driving the cable drum to rotate.

9. The tethered balloon lift control system based on visual identification closed loop feedback of claim 6 wherein said winch apparatus further comprises a cable guide assembly for guiding a cable released by said cable storage assembly,

10. The tethered balloon lift control system based on visual identification closed loop feedback of claim 9, wherein the fairlead assembly further comprises: the cable storage roller comprises a screw rod, a screw rod motor and a connecting seat, wherein the screw rod is rotatably arranged at the side part of the cable storage roller, the axial direction of the screw rod is parallel to the rotating shaft of the cable storage roller, the screw rod motor is connected to the screw rod and can drive the screw rod to rotate, the connecting seat is in threaded connection with the screw rod, the connecting seat can move along the axial direction of the screw rod in the process of rotating the screw rod, and the cable guiding frame is arranged on the connecting seat.